Design and Mechanics Analysis of Moving Mechanism of Inspection Robot for Thin Coal Seam

Shang Deyong, Zhao Jianwei, F. Xun
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引用次数: 1

Abstract

The inspection robot for thin coal seam can replace workers to make the daily inspection in fully mechanized mining surface. Based on the narrow and poor environment of thin coal seam, we design a joint swing arm inspection robot, which is able to adapt to the unstructured terrain in thin coal seam. The structure of the moving mechanism of the inspection robot has been designed. It can be realized that there are two DOF for moving on a single drive central axis through design of the shaft inside and shaft sleeve outside. The strength check and the modal analysis about the key parts of the moving mechanism such as the hollow shaft sleeve and the drive shaft are made by Ansys Workbench. According to the analysis results, the maximum stress caused by internal load and external impact load is far less than the yield strength of the material. The modal shape diagram shows that, when the meshing frequency and the external excitation frequency is much less than the first-order natural frequency of the parts, there will be no resonance and noise. The analysis results show that the design is reasonable and reliable.
薄煤层巡检机器人运动机构设计及力学分析
薄煤层巡检机器人可以代替工人在综采工作面进行日常巡检。针对薄煤层狭窄恶劣的环境,设计了一种能够适应薄煤层非结构化地形的关节摆动臂巡检机器人。设计了检测机器人的运动机构结构。通过内轴和外轴套的设计,可以实现在单个驱动中心轴上有两个运动自由度。利用Ansys Workbench对空心轴套、传动轴等运动机构关键部件进行了强度校核和模态分析。根据分析结果,内载荷和外冲击载荷所产生的最大应力远远小于材料的屈服强度。模态振型图表明,当啮合频率和外激励频率远小于零件的一阶固有频率时,将不会产生共振和噪声。分析结果表明,该设计合理可靠。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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