Design And Simulation Analysis Of Anchor Beam Supporting Robot

Bolt beam support is a special support method developed in roof bolt support,It combines W steel strip with anchor bolt to form a whole bearing structure.It can change the force of bolt to surrounding rock from concentrated force to distributed force,and ensure the integrity of surrounding rock.In view of the problems of long time and low automation of anchor beam support at present,based on the track chassis,the anchor beam support robot is studied.Combined with kinematic theory and mechanical hydraulic coupling analysis method,aiming at the realization of bolt beam support automation,the mechanical structure,kinematic analysis and mechanical hydraulic joint dynamic characteristic analysis of lifting beam manipulator and drilling arm are studied in detail.Based on the actual working condition requirements of roadway anchor beam support,it is determined that the anchor beam support robot is composed of track chassis,the mechanical arm for the lifting steel belt and drilling arm.the structural design of the mechanical arm for the lifting beam and the automatic drill change mechanism is carried out.At the same time,the strength analysis of the mechanical arm of the lifting beam shows that its strength meets the requirements.In this paper,the forward kinematics analysis of anchor beam support robot is carried out.Firstly,the D-H expression of the forward kinematics equation of the arm is established,and the forward kinematics is solved and its accuracy is verified.The relationship between the position and pose of the end actuator and the joint variables is obtained.BP neural network is used to analyze the inverse kinematics of the anchor beam support robot,and in view of the problem that the magnitude of the extension joint differs greatly from that of other rotation joints,the inverse kinematics analysis is carried out separately.The analysis results show that the error of the rotation joint is controlled within 0.005 rad,and the error of the extension joint is controlled within 0.5mm,which meets the demand of precise control.Aiming at the problem that the single load change in the traditional hydraulic analysis can't truly reflect the change of the load and flow of the hydraulic cylinder when the mechanical structure acts,the dynamic characteristics of the joint model of the dynamic model and the hydraulic model of the drilling and support system are analyzed.By analyzing the dynamic characteristics of the hydraulic cylinder in the actual working condition,it is not only proved that the strength of the hydraulic cylinder meets the working requirements,but also proved that the effect of the valve front compensation load sensitive system in the hydraulic model is significant,so that the stepless control independent of the load can be realized.Based on the mechanical structure and hydraulic system of anchor beam support robot,S7-200 smart PLC is used to control it.The calculated inverse solution of each joint is converted into the elongation of the hydraulic cylinder,which is transmitted to PLC.Through the feedback of the sensor,the Automation of anchor beam support are controlled.Based on the MCGS configuration software,the visual interface of the control system is built,which is convenient for the automatic control of the Anchor beam support robot,and can display the action amount of each hydraulic component in real time.Through the experiment of automatic control,it is proved that the error of inverse kinematics solution in two actions is 1mm and 2mm respectively,and the effect of the pressure compensation circuit in front of the valve is obvious,which can realize the stepless control independent of the load.This thesis has 76 pictures,24 tables,114 references.