煤矿井下搬运机器人机械设计与仿真分析

Mechanical design and simulation analysis of coal mine underground handling robot

随着科学技术的持续发展与应用,如今煤矿井下生产逐步从半自动模式向全自动模式发展。在此过程中,煤矿井下搬运设备作为煤矿自动化发展的重要组成内容,其机械设计将会直接决定着煤矿井下自动化搬运效率及效果。据此,以煤矿井下搬运机器人为研究方向,基于煤矿井下标准化搬运策略,结合井下巷道特殊环境及场景特点,介绍一种煤矿井下搬运机器人机械设计方案,具体设计主要包括转运机械臂、铲叉机构、运动底板3部分。在对机械设计详细内容进行分析后,为验证煤矿井下搬运机器人机械设计的可行性,通过仿真分析方法,从转运机械臂、铲叉机构、运动底板3个角度实施有限元仿真分析,根据分析结果确认机械设计具有较强可行性,将其应用于某煤矿井下工程实践,最终确认煤矿井下搬运机器人机械设计可满足煤矿井下搬运使用需求。

With the continuous development and application of science and technology,underground production in coal mine is gradually shifting from semi-automatic mode to fully automatic mode.In this process,coal mine underground handling equipment as an important component of the development of coal mine automation,its mechanical design will directly determine the efficiency and effect of coal mine underground automatic handling.Based on this,with the research direction of coal mine underground handling robots,based on the standardized transportation strategy of coal mine underground,combined with the special environment and scene characteristics of underground tunnels,this paper reasonably introduces a mechanical design scheme of coal mine underground handling robot,which mainly includes three parts:transfer manipulator,forklift mechanism and motion floor.After analyzing and explaining the detailed content of the mechanical design,in order to verify the feasibility of the mechanical design of the coal mine underground handling robot,the finite element simulation analysis was implemented from the three perspectives of transfer manipulator arm,shovel fork mechanism and motion chassis through simulation analysis method,and the mechanical design was confirmed to have strong feasibility according to the analysis results,and it was applied to the underground engineering practice of a coal mine,and finally confirmed that the mechanical design of the coal mine underground handling robot could meet the needs of underground handling in coal mine.