Study On The Control System Of Coal Mine Sorting Robot

In order to change the backward production mode of coal production in the coal production process,promote the technological progress of the coal production industry and realize energy conservation and emission reduction,study a coal shovel sorting robot and its control system to improve the automation degree of coal gangue sorting.It can replace manual picking,liberate labor,and can replace traditional washing methods,save water resources in China's water-scarce areas,reduce environmental pollution,and is of great significance to promote the development of the coal industry.Based on the truss type manipulator body of coal shovel sorting robot,this paper makes an in-depth study on its control system.(1)The basic structure of the coal sh,ovel sorting robot is determined.According to the working principle of the robot and the control demand of the coal shovel sorting work,the overall control scheme of the coal gang sorting robot is proposed.(2)The fuzzy logic reasoning method is studied,and the priority ranking model to be captured is constructed according to the characteristics of the meteorstone to be captured in the recognition area.In order to solve the problem of dynamic tracking trajectory planning of the mechanical arm on the picking tape machine,the proportional guiding method is used to establish the mechanical arm trajectory planning model of the mechanical arm picking process.Considering the problem that large meteorites need to track and capture synchronously,the robotic arm synchronously tracks the motion trajectory based on the seven-segment trapezoidal curve.In order to ensure the minimum movement time of the manipulator,the"even acceleration"in the seven-segment trapezoidal curve is optimized based on the genetic algorithm.The movement time of the manipulator in the"constant speed"and"even deceleration"phases,and gives the overall process of the trajectory planning.(3)The mathematical model of the robotic single-joint motor-driven ball screw system is established.With this model as the controlled object,the variable-domain fuzzy PID controller is designed for the control robot to track the expected complex trajectory problem.The detailed design process is studied.And compare the traditional PID controller to control the simulation effect on Matlab.(4)Study the control system of coal gang sorting robot,build hardware subsystems such as detection speed module,control module and communication module,develop software control system based on C#in Visual Studio development environment,adopt Ethernet communication mode to ensure the upper and lower machine Data interaction.On this basis,the truss type double mechanical arm is used as the robot body,the control system platform of coal gang sorting robot is built,and the test is carried out to verify the control effect of the control method proposed in this paper and the correct control system of the coal shovel sorting robot developed.Sex and reliability.