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Analysis of Stability of Whole Machine and Dynamic Simulation of Walking Mechanism of Mine Unanchoring Robot
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Qingyu KONG1, 2, Yongan LI1, 3, Xipeng GU2, 4, Jiahao LI1, Jianping ZHOU2, 4, Hongwei WANG1, 3
Mining Research and Development | 2025, 45(9) : 158 - 166
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Mining Research and Development | 2025, 45(9): 158-166
Analysis of Stability of Whole Machine and Dynamic Simulation of Walking Mechanism of Mine Unanchoring Robot
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Qingyu KONG1, 2, Yongan LI1, 3, Xipeng GU2, 4, Jiahao LI1, Jianping ZHOU2, 4, Hongwei WANG1, 3
Affiliations
  • 1.College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan, Shanxi 030024, China
  • 2.Shanxi Wangjialing Coal Industry Co., Ltd., Xinzhou, Shanxi 036600, China
  • 3.Xinjiang Intelligent Equipment Research Institude, Aksu Prefecture, Xinjiang 843000, China
  • 4.School of Safety and Emergency Management Engineering, Taiyuan University of Technology, Taiyuan, Shanxi 030024, China
Published: 2025-09-25
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Based on the working condition, structure composition and working principle of the mine unanchoring robot, the whole machine model was established by using the three-dimensional software SolidWorks, and the variation law of the center of gravity position of the whole machine and the anchor-breaking manipulator in different postures and the dynamic characteristics of the crawler walking system were analyzed. The results show that under ideal conditions, the maximum lateral slope angle that can meet the normal operation of the unanchoring robot is 10°. Under the forward and turning conditions, the force between the crawler board and the driving sprocket during the movement of the mine unanchoring robot is very similar in the vertical, longitudinal and horizontal directions. The force in the Y direction is approximately sinusoidal, and the force in the Z direction is almost fluctuating near zero. The numerical comparison shows that the force on the crawler board when turning is 2-3 times of that when forward, so the crawler board is more likely to be damaged when turning, and its maximum bearing capacity should be fully considered in the design and strength check. The research results can provide theoretical basis and technical support for the research and development of mine unanchoring robot.

Mine unanchoring robot  /  Crawler walking mechanism  /  Stability of whole machine  /  Dynamic characteristy
孔庆宇, 李永安, 顾喜鹏, 李佳浩, 周建平, 王宏伟. 矿用退锚机器人整机稳定性及行走机构动力学仿真分析. 矿业研究与开发, 2025 , 45 (9) : 158 -166 .
Qingyu KONG, Yongan LI, Xipeng GU, Jiahao LI, Jianping ZHOU, Hongwei WANG. Analysis of Stability of Whole Machine and Dynamic Simulation of Walking Mechanism of Mine Unanchoring Robot[J]. Mining Research and Development, 2025 , 45 (9) : 158 -166 .
Appendix
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Year 2025 volume 45 Issue 9
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Article Info
  • Receive Date：2024-10-12
  • Online Date：2026-10-28
  • Published：2025-09-25
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History
  • Received：2024-10-12
Funding
Affiliations
    1.College of Mechanical and Vehicle Engineering, Taiyuan University of Technology, Taiyuan, Shanxi 030024, China
    2.Shanxi Wangjialing Coal Industry Co., Ltd., Xinzhou, Shanxi 036600, China
    3.Xinjiang Intelligent Equipment Research Institude, Aksu Prefecture, Xinjiang 843000, China
    4.School of Safety and Emergency Management Engineering, Taiyuan University of Technology, Taiyuan, Shanxi 030024, China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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