Research On Automatic Layout Net Unit Of Drill-anchor Robot In Coal Mine

In view of the fact that coal mine underground excavation and support are difficult to operate parallel and permanent support is less automated,the project of rapid tunneling intelligent robot system suitable for underground coal mines in China was proposed after being studied,and then the Layout mesh cell of the permanent support drill-anchor robot was further studied.Firstly,according to the excavation process in coal mine and the need of roadway support,the overall project of the excavation robot system that includes the excavation robot,the advance support robot and the drill-anchor robot was proposed.In addition,the working principle and coordination mode of the excavation robot system and each subsystem were given.Secondly,researched and analyzed the single-crawling of the driving support network and the requirements of different deployment of the top and side sills,a new project that can automatically distribute mesh cell for the drill-anchor robot was carried out.The structure of the key component of.layout net unit was designed and the stress of the structure was analyzed by ANSYS software to verify the reliability.Thirdly,According to the working principle and environment of the layout net unit,the type,degree of freedom and parameters of the robot arm were determined.The solid model of the layout net unit was built by Solid Works software.Meanwhile,established the coordinate system and calculated the forward and inverse kinematics equation of the layout net unit by D-H method,the relationship between the joint drive of the robotic jaw and arm was obtained.Then the simulation model was established by the Robotic toolbox for verifying the correctness of the forward and inverse kinematics equation.The motion space of the layout net unit was calculated by the Monte Carlo method to analyze whether the parameters of the layout net unit meet the requirements of underground coal roadway support.Fourthly,the trajectory planning method of the joint network unit in the joint and Cartesian space was studied.The polynomial interpolation function was used to plan the joints of the mechanical arm of the layout net unit to ensure the smooth operation of the robot arm of the layout net unit.The linear and arc functions were used to plan the path of the robotic claws of the layout net unit to ensure that the layout net unit meets the roadway support requirements.Finally,simulated and analyzed the trajectory planning of the top and side of the layout net unit by MATLAB software,the rationality of the algorithm was determined.In the ADAMS,established the layout net unit prototype model,added the motion pair and the algorithm driving function,and carried out the kinematics simulation on the meshing and transporting operations,the corresponding motion curves were obtained,and then compared them.The research design and simulation analysis indicate that the overall structure design of the layout net unit of the drill-anchor robot was reasonable,furthermore,the key components of the layout net unit manipulator meet the strength requirements,and the trajectory planning meets the requirements for the single grabbing,stable movement and deployment posture of the support mesh.