Design Of Mechanical Arm For Mesh Laying And Feeding In Fully Mechanized Mining Face

At present,the mesh laying and feeding work in the fully mechanized mining face prone to roof fracture is mainly completed manually,which may cause potential safety hazards,but also has the disadvantages of high labor intensity and low efficiency.In view of the above problems,a mesh feeding mechanical arm is designed to improve the safety of workers’ work under the mine,reduce the labor intensity of workers and improve the work efficiency to complete the transportation of I-beam in the support work of the fully mechanized mining face,and improve the reliability and automation of the equipment in the fully mechanized mining face.This paper analyzes the advantages and disadvantages of various existing mechanical arms,and combined with the requirements of the actual working environment,determines the overall design scheme of a collapsible two-stage telescopic hydraulic driven mechanical arm.This scheme can not only realize the feeding work of the remote fully mechanized mining face,but also has a small volume after folding,which will not hinder the work of the shearer and hydraulic support.According to this scheme,the structural design of each component is carried out,and the 3D modeling of each component is carried out in solidworks and the assembly is completed.The rationality of the structural design is preliminarily verified by using the interference inspection function,and the stress analysis of the key parts is carried out,and the appropriate hydraulic cylinder model is selected according to the results.On the basis of 3D solid modeling,the ANSYS Workbench is used to carry out static analysis on each limit working condition of the mesh spreading and feeding mechanical arm in the fully mechanized mining face,and the stress and deformation nephogram under each limit working condition is obtained.The results show that the maximum equivalent stress of each component does not exceed the allowable stress.The safety and reliability of this structure are further demonstrated.Using homogeneous transformation matrix and D-H model,the dynamic model of the mesh feeding robot arm is established.The mathematical model is applied to analyze it and its inverse kinematics is analyzed,which proves the effectiveness of the method.Through the simulation of Matlab Robotic robot toolbox,it is proved that the analytical method is correct and effective.The reachable working area of the mesh feeding manipulator is calculated by Monte Carlo method.Combining the actual working space size and the relevant size of the hydraulic support,the optimal solution of the manipulator process that will not interfere and has the least steps is found.The constructed 3D solid modeling is introduced into Adams,the Step function is selected to set the drive,and the kinematics simulation of the multi rigid body manipulator is carried out to obtain the displacement,velocity and acceleration changes of each drive joint of the manipulator and the space track of the end effector.The change curve of driving force is obtained,and it is found that there is little difference with the theoretical calculation value,which is within a reasonable range.Through the above analysis and research,this paper designed a reasonable structure,safe and efficient fully mechanized coal face mesh feeding manipulator.