Design And Research Of Mining Robots For Thin And Narrow Ore Bodies

With the rapid development of world economy,the exploitation and demand for mineral resources were larger and larger.But mineral resources were non-renewable,so the ore deposit which fit for large-scale mining become less and less.In order to meet the demand of social production,it's very necessary to exploit and utilize thin and narrow orebody(thin and narrow,rarely and dispersedly,small-scale distributed)which had no exploitation value all along.But the high efficiency mining technology and equipment for this kind of ore body had not been researched.If we still use the traditional mining methods and equipment to mine thin and narrow orebody,it would not only take a lot of manpower and material resources,but also destroy the surrounding environment.For the above problems,the corresponding mining scheme was established and the technical feasibility was analyzed with the low cost mining of thin and narrow orebody as the goal.A mining robot which had the functions such as,automatic tunneling,navigation and on-line path tracking was researched to fulfill low cost,safe,efficient and green mining.The main research work and conclusions of this thesis were as follows:(1)The low cost mining technology was designed according to the analysis of characteristics and distribution of thin and narrow orebody based on the geological exploration data.The overall program was researched based on trenchless technology and stepping movement mechanism of earthworm.(2)The key structures of the mining robot were designed and analyzed by using systematic and modular design method.The virtual prototype model was established by adopting Solidworks software.And to improve the stability and reliability while working in the harsh environment,the key parts were performed by using ANSYS/Workbench.(3)The program of position and orientation detection system in harsh environment was established through the analysis of a variety of position detection methods.It can improve the accuracy and reliability of the system effectively.According to the results of position and orientation detection,real time position and orientation of the mining robot was determined based on D-H matrix.The path tracing of the mining robot was researched,according to the mining path which determined based on geological exploration,and the fuzzy PID control algorithm was designed.And simulation study of its path tracking was performed through MATLAB/SIMULINK.The results showed that the system had a good track performanceboth in the straight path and curved path.(4)Functional requirements of the mining robot control system was determined based on the analysis of the operating procedures.The control system was designed by using PLC,and man-machine interface of the remote monitoring system was designed by using EB8000 configuration software.The thin and narrow orebody which was samll-scale,narrow,rarely and dispersedly distributed can be efficiently mined at low cost by using mining robot researched in this thesis.And it is of great significance to improve resource recycling rate.