Analysis of motion characteristics of manipulator for safe maintenance of dump truck for coal mines

doi:10.16265/j.cnki.issn1003-3033.2025.S1.0026

Abstract

Abstract:

In order to solve the problem of unsafe and inefficient maintenance of mine trucks, a manipulator dedicated to the removal of truck axle pins was developed, and its motion performance was analyzed. Firstly, the model of the axle pin disassembly manipulator of a dump truck for coal mines was established by using SolidWorks 3D software, and the structure and performance parameters of the axle pin disassembly manipulator were analyzed. Secondly, based on the improved D-H modeling method, the change matrix and motion relationship between the joints of the manipulator were solved. Then, with the help of MATLAB robot toolbox and Adams kinematic simulation software, the motion performance of the axle pin disassembly manipulator was analyzed. Finally, the engineering practice of axle pin disassembly and assembly manipulators was carried out to verify the working performance of the manipulator. The results show that the total disassembly and installation time of the axle pin disassembly and assembly manipulators is about 11-15 min, which greatly reduces the maintenance time compared with the traditional manual disassembly and assembly.

Key words: axle pin disassembly, manipulator, kinematic analysis, performance simulation, motion performance

CLC Number:

X943起重及搬运安全

WANG Wei, ZHU Jianwei, WANG Shilong, WANG Meng. Analysis of motion characteristics of manipulator for safe maintenance of dump truck for coal mines[J]. China Safety Science Journal, 2025, 35(S1): 173-179.

Figures/Tables 12

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序号	名称	性能
1	侧移范围/mm	-150~150
2	回转范围/(°)	-57.5~57.5
3	摆转范围/(°)	-15~15
4	伸缩距离/mm	0~920
5	整体尺寸	2 250 mm×1 470 mm×1 360 mm

关节i	α_i/(°)	d_i/mm	θ_i/(°)	关节变量
1	0	d₁	0	d₁
2	90	d₂	θ₂	θ₂
3	90	0	θ₃	θ₃
4	-90	d₄	0	d₄

车辆种类	编号	拆卸时间	安装时间	总计拆装时间
洒水车	1	6	7.6	13.6
	2	6.3	8.3	14.6
	3	6.3	5.6	11.9
	4	6.5	7.3	13.8
运输卡车	1	5.6	7.8	13.4
	2	6.1	8.5	14.6
	3	5.6	7.2	12.8
	4	5.6	6.3	11.9
自卸卡车	1	5.3	6.5	11.8
	2	5.9	6.3	11.9
	3	5.3	6.3	11.6
	4	5.7	6.9	13.6
机械式电动挖掘机	1	5.2	6.3	11.8
	2	5.6	6.3	12.4
	3	5.3	6.3	11.6
	4	5.5	7.2	12.7