Design and Analysis of a Vertical Take-Off and Landing Pipeline Bolt Hole Alignment Robot
Abstract：To solve the problems of difficult bolt hole alignment, high manual operation intensity, and low efficiency of traditional manipulators in pipeline installation underground in coal mines, a vertical take-off and landing pipeline bolt hole alignment robot was designed. A forklift-style lifting mechanism was used to replace the traditional manipulator, combined with translation, rotation, tilting mechanisms, and a new active rolling gripping hand, and a temporary support frame was added to optimize the workflow. Based on the improved D-H method, the robotic link coordinate system and kinematic model were established, and ADAMS was used for dynamic simulation (to verify that the gripping contact force and hydraulic cylinder thrust meet the requirements). A test bench was built to verify the functionality of the active rolling gripping hand. The results show that the robot can achieve accurate pipeline clamping, lifting, translation, and bolt hole positioning (with a center deviation of ≤±1 mm), meeting the semi-automatic installation requirements for underground pipelines, reducing labor costs and safety risks, and providing technical support for intelligent pipeline installation in tunnels.
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Publication Date：2025-11-30
Online Publishing Date：2025-12-10(First online date of this platform, not the publication date of the document)
Pages：9( 15-23 )