Analyzed the situations and characteristics of thin coal seam mining and its mining technologies,and introduced the mining innovation technology used by Tianchen Coal Mine of Zhaozhuang Coal Company of China.This inno...Analyzed the situations and characteristics of thin coal seam mining and its mining technologies,and introduced the mining innovation technology used by Tianchen Coal Mine of Zhaozhuang Coal Company of China.This innovation technology combined the fully mechanized mining with individual props,and the working face of mining is over length,irregular form and double units.The rotational adjusting mining technology on thin coal seam is also practiced in this new mining technology.The detail technologies,such as outlays of working face and ways,mining methods,equipments of cutting,transporting and sporting,have been introduced.So that,using the synthetic and creative mining tech- nologies,Tianchen Coal Mine solves the mining problems of thin coal seam successfully.展开更多
The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on th...The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex terrain.The leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes,which enhances the obstacle surmounting capability.The pitch adjustment in leg unit requires as few independent adjusting actuators as possible.Based on the kinematic analysis of the mechanical leg,the biped and quadruped leg units with adjustive pitch are analyzed and compared.The configuration of the robot is designed to obtain a compact structure and pragmatic performance.The uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are presented.Then the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried out.The results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities.展开更多
基金the Natural Science Fund of China(70771060)the Production Safety and Supervision of Management Bureau of China(04-116)+3 种基金the National Soft Science Planed Program(2004DGQ3D090)and(2006GXQ3D154)the Natural Science Fund of Shandong Province(Y2006H10)the Social Science Planning Program of Shandong Province(06BJJ005)the Soft-science Planed Program of Shandong Province(2007RKA134)
文摘Analyzed the situations and characteristics of thin coal seam mining and its mining technologies,and introduced the mining innovation technology used by Tianchen Coal Mine of Zhaozhuang Coal Company of China.This innovation technology combined the fully mechanized mining with individual props,and the working face of mining is over length,irregular form and double units.The rotational adjusting mining technology on thin coal seam is also practiced in this new mining technology.The detail technologies,such as outlays of working face and ways,mining methods,equipments of cutting,transporting and sporting,have been introduced.So that,using the synthetic and creative mining tech- nologies,Tianchen Coal Mine solves the mining problems of thin coal seam successfully.
基金Supported by National Natural Science Foundation of China(Grant No.51735009).
文摘The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex terrain.The leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes,which enhances the obstacle surmounting capability.The pitch adjustment in leg unit requires as few independent adjusting actuators as possible.Based on the kinematic analysis of the mechanical leg,the biped and quadruped leg units with adjustive pitch are analyzed and compared.The configuration of the robot is designed to obtain a compact structure and pragmatic performance.The uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are presented.Then the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried out.The results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities.
