| At present,the transportation and deployment of anchor nets in permanent support operations of coal mine roadways are mainly completed by workers,and there are problems such as low work efficiency,high labor intensity,and high safety risks.On the basis of the coal mine intelligent tunneling robot system developed by the team,a coal mine tunnel excavation bolt-mesh fork taking and transporting robot system is proposed,which aims to improve the accuracy,reliability and automation of the bolt-mesh fork taking and placement.Researched and analyzed the requirements of anchor net fork picking and placement in the coal mine intelligent tunneling robot system,proposed the overall plan of the anchor net fork picking and transporting robot system,and developed a new type of anchor net;The structure schemes of the anchor net fork and take robot and anchor net transport and release robot are respectively proposed;The process flow of anchor net fork pick-up and transport and release has been formulated.Researched and designed the mechanical structure of the anchor net fork picking robot and the anchor net transport and release robot,designed a linear differential stroke multiplier mechanism,and used Solidworks to establish the 3D model of the robot system.The force analysis of the mechanical structure of the net-taking manipulator and the net-laying shield was carried out,and the Ansys finite element analysis software was used to obtain the force simulation cloud diagram of the key components,which verified the reliability of the structural design.Based on the operating mechanism of the anchor protection system,a U-shaped foldable anchor net solution is proposed,which can meet the anchor protection requirements of a footage section through a single transportation.The research analyzes the stability of the crawler walking mechanism of the robot,and combines the two cases of forward and lateral overturning to give the safe slope of robot operation.The research analyzes the deformation of the U-shaped anchor net under the influence of gravity in the folded state,which provides a basis for optimizing the design of the manipulator.Through the modal analysis of the structural natural frequency characteristics of the truss manipulator arm and the chain transport frame during the transportation of the anchor net,the sixth-order vibration model and its natural frequency are obtained respectively.Researched and analyzed the kinematics and trajectory planning of the anchor-net fork robot manipulator,using homogeneous transformation matrix and D-H modeling method to establish the kinematics model of the manipulator,and using Paul inverse transformation method to complete the inverse kinematics solution;Use Matlab Robotic to establish a simulation model of the robotic arm to verify the correctness of the kinematics model.The working space of the truss manipulator is analyzed based on the geometric method,and the simulation cloud image of the reachable working space of the truss manipulator is obtained.The motion planning method of the truss manipulator in the joint space and the operating space is analyzed.The third and fifth-order polynomial interpolation are used for traj ectory planning in the joint space,and the trapezoidal acceleration and deceleration linear programming method is used in the operating space.The Lagrangian dynamics method is used to establish the dynamic model of the truss manipulator.Through the kinematics simulation analysis of the truss manipulator,the ADAMS virtual prototype simulation platform is used to obtain the five-order interpolation planning of the joint space and the motion of the linear programming of the operating space.curve.Research,analysis and simulation show that the coal mine tunnel excavation bolt-mesh picking and transporting robot system designed in this paper has perfect functions and reasonable structure,which can realize the automatic bolt-mesh picking and transporting and launching. |
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