Research On The Mine Track Auxiliary Transportation Electric Locomotive Traction Connection Robot

In mine track auxiliary transportation systems,minecarts need to circulate and transfer cargo at different yards,requiring frequent coupling and decoupling operations between locomotives and minecarts.Currently,coupling and decoupling tasks are carried out manually by workers,which is inefficient and poses significant safety risks,hindering the implementation of automation in the rail auxiliary transportation system.In response to the demand for automated coupling operations in minecart traction,this thesis investigates the development of a minecart traction connection robot system for track auxiliary transportation in mines.The main research work includes the following aspects:Analyzing the work content of track-based mining trolley traction connection operations,a three-ring chain-pin integrated connection device was designed to address the shortcomings of the original three-ring chain-pin connection method.The implementation strategy and system composition of the motor car’s automatic traction connection operation were determined.A traction connection robot was designed based on the grasping operation of the connection device.Finite element simulation analysis of key components of the connection device and traction connection robot was conducted using ANSYS Workbench,verifying the reliability of the designed structure.To accurately describe the relationship between the robot end-effector pose and the actuator variables,the MD-H method is used for forward kinematics analysis of the robot,and the geometric method is employed to establish the inverse kinematics model,solving the conversion relationship between the joint space and the actuator space.The robot’s dynamic model is established based on the Lagrangian method,and through ADAMS simulation analysis,the relative error between the established dynamic model and the ADAMS simulation solved torque is less than 10%,with the change trends being essentially consistent.To ensure the smoothness of the robot’s motion,segmented polynomial,cubic spline,and non-uniform B-spline interpolation methods are used for trajectory planning in the robot’s actuator space.Trajectory planning simulation is carried out,and the motion parameter curve characteristics of the actuators are analyzed and compared,verifying that the actuator’s motion impact is smaller and the action is smoother under nonuniform B-spline interpolation trajectory planning.Based on this,considering kinematic constraints,the time-optimal trajectory planning for the robot is solved using a genetic algorithm.After optimization,the robot’s motion time is reduced by 6.85 seconds.According to the robot’s working conditions,the hydraulic system of the robot is designed,and the hydraulic components are calculated and selected.AMESim is used to build simulation models for the mechanical and hydraulic systems,and the dynamic characteristics of the hydraulic system are analyzed through simulation.The analysis of load and pressure confirms that the robot’s hydraulic system operates normally and meets the design requirements.A fuzzy PID control method is used to design an electrohydraulic proportional position controller for the driving cylinder,and a joint simulation is performed using AMESim and Simulink.The simulation results show that the output displacement signal can track the input signal well,with a maximum displacement error of 1.612 mm,verifying the feasibility of the electro-hydraulic proportional position control system.According to the task requirements,determine the control requirements and control schemes for the robotic system.In terms of hardware,select the appropriate PLC,expansion modules,and sensors;in terms of software,design relevant programs based on the workflow.Finally,design a visualization interface for the robot’s operation.This thesis has 104 figures,19 tables,and 78 references.