Design And Research Of Coal Bunker Clearance Robot System

In the process of coal production,the coal will inevitably be mixed with water,gangue and other sundries,which will cause the pulverized coal to stick on the coal bunker wall.Over time,the caking coal on the coal bunker wall will accumulate Up to a few meters thick,this will seriously affect the storage capacity of the coal bunker,and may also cause blockage inside the bunker.In view of the above problems,this paper designs a coal bunker clearance robot.The main research contents are as follows:By analyzing the characteristics of the working conditions of the coal bunker clearing robot,the overall design requirements and selecting the main technical parameters are proposed.On this basis,the overall plan and working process of the coal bunker clearing robot are described in detail,and the three-dimensional clearing robot is established through Solid Works software.Model,design and parameter calculation of crawler walking device,cutting and cleaning mechanism and luffing mechanism.The kinematics of the coal bunker clearance robot is analyzed.The position of the coal bunker clearance robot relative to the bunker wall is obtained in real time through three laser ranging sensors,and a dual-input-single-output fuzzy controller is designed.According to the kinematics formula,a simulation model of the motion control system is established in MATLAB software.The simulation results show that the system has large overshoot and steady-state error.An optimized motion control system based on serial PID is proposed.The simulation results show that the system has fast response speed,small overshoot and steady-state error as small as 28.1mm,which can meet the movement requirements of coal bunker clearance robots.According to the design requirements of the coal warehouse clearance robot hydraulic system,in order to realize the high efficiency and energy saving of the clearance robot,the principle of the hydraulic system is determined to be a loadsensitive system.Draw up the schematic diagram of the hydraulic system and analyze the hydraulic circuit of the key components and actuators.According to the design parameters of the main structure,the selection of hydraulic components is completed.The dynamic characteristics of the hydraulic system are simulated and analyzed by AMESim software.The results show that the pump outlet pressure can change with the change of the drum rotary motor and the luffing cylinder.Both circuits are It can meet the load-sensitive characteristics and meet the design requirements of the hydraulic system.Determine the overall plan of the control system,and design the hardware and software separately.The hardware is mainly to select the PLC,expansion modules,and sensors,and the software is to realize the automatic control,fault diagnosis and status parameter monitoring of the coal bunker clearance robot.Considering that the position of the coal bunker clearance robot in the coal bunker is constantly changing,it is determined that the communication between the coal bunker clearance robot and the warehouse mouth lifting system adopts wireless local area network technology based on industrial Ethernet technology.There are 68 figures,19 tables and 68 references in this paper.