Design And Research Of Hydraulic Support Robot For Driving Face

Intellectualization of roadway excavation is the development direction of coal mine.At present,there are problems in the process of roadway excavation and support,such as low support efficiency,high support labor intensity,and high safety risk coefficient.These problems will affect the speed of roadway excavation,and ultimately affect the mining efficiency of coal mine.Based on the support platform of the heading face and according to the space size of the roadway,this paper designs a7-DOF hydraulic support robot for the heading face,which effectively improves the problem of mining imbalance.The main contents of the paper are as follows:(1)For the support platform of the driving face,design and model the joints,connecting rods and actuators of the hydraulic support robot for the driving face.Calculate the torque required by each joint in actual work,and carefully design the hydraulic cylinder inside the telescopic arm part of the support robot and calculate its parameters.(2)Aiming at the kinematics problem of the hydraulic support robot in the heading face,the kinematics model of the support robot is established by using D-H parameters,the forward kinematics equation of the support robot is derived by matrix transformation,and then the forward and reverse simulation analysis is carried out using Matlab to verify the correctness of the kinematics equation derivation of the hydraulic support robot.The workspace of the support robot is simulated by Monte Carlo method,and the results show that the designed workspace of the support robot meets the design requirements.(3)Aiming at the strength and stiffness of the key parts of the support robot,according to the actual workload,use the Workbench module in Ansys to carry out a finite element analysis on it,and verify that the key parts of the designed support robot are under load and limit attitude.In the case of action,its stress and strain will not exceed the yield limit of the material and will not affect the overall working accuracy of the support robot.Fig.ure [63] Table [7] Reference [86]...