摘要
针对煤矿巷道掘进中锚索支护过程自动化程度低、劳动强度大等问题,提出了一种煤矿巷道掘进锚索输送系统。通过对锚索输送系统的空间布局进行参数化建模,以机械臂输送过程中锚索的弯曲半径和悬空长度为指标,利用多目标粒子群算法(MOPSO),求解得出了锚索输送系统的最优空间布局;结合锚索输送和安装需求,设计锚索输送装置的总体结构,利用改进D-H法建立了输送装置的运动学模型并分析了工作空间;分析锚索与其输送装置之间的相互作用机理,建立锚索参数、锚索弯曲弹性力和弯管参数关系的力学模型,以及锚索输送装置的虚拟样机模型,完成了锚索输送过程动力学仿真。结果表明:锚索输送装置能够满足6000 mm×4400 mm(宽×高)巷道的支护要求;当锚索参数确定时,锚索驱动力与弯管曲率半径平方项相关,而与锚索和弯管摩擦系数呈线性关系,增大弯管曲率半径可以显著减小所需最大驱动力;为使机械臂牵引的负载最小,弯管曲率半径的取值应使得弯管入口与锚索库出口高度接近;考虑锚索输送力得到的最优空间布局为弯管曲率半径1.5 m,端面转角90°,输送装置与锚索库水平距离1.51 m。研究结果为煤矿巷道锚索支护效率的提高,锚索支护的自动化和智能化的实现提供了参考依据。
To solve the problems of low automation and high labor intensity in the process of anchor cable support in coal mine roadway excavation,an anchor cable conveying system for coal mine roadway excavation is proposed.Through the parametric modeling of the spatial layout of the anchor cable conveying system,the optimal spatial layout of the anchor cable conveying system is obtained by using the multi-objective particle swarm optimization(MOPSO)with the bending radius and suspension length of the anchor cable in the process of the manipulator conveying as the index.According to the requirements of anchor cable transportation and installation,the overall structure of the anchor cable conveying device is designed.The kinematics model of the conveying device is established by using the modified D-H method and the working space is analyzed.The interaction mechanism between anchor cable and anchor cable conveying device is explored.The mechanical model of the relationship between anchor cable parameters,bending elastic force of anchor cable and elbow parameters is established,as well as the virtual prototype model of anchor cable conveying device.The dynamic simulation of anchor cable conveying process is completed.The results show that the anchor cable conveying device can meet the requirements of roadway support with width×height of 6000 mm×4400 mm.When the parameters of the anchor cable are determined,the driving force of the anchor cable is related to the square term of the curvature radius of the elbow,and is linearly related to the friction coefficient of the anchor cable and the elbow.Increasing the curvature radius of the elbow can significantly reduce the required maximum driving force.In order to minimize the traction load of the manipulator,the radius of curvature of the elbow should be close to the height of the inlet of the elbow and the outlet of the anchor cable library.The optimal spatial layout obtained by considering the transmission force of the anchor cable is:the radius of curvature of the elbow is 1.5 m,the angle of the end face is 90°,and the horizontal distance between the conveying device and the anchor cable library is 1.51 m.This study provides a reference for improving the efficiency of anchor cable support in coal mine roadways,so as to realize the automation and intelligence of anchor cable support.
作者
马宏伟
喻祖坤
王川伟
崔闻达
成家帅
郭逸风
苏浩
MA Hongwei;YU Zukun;WANG Chuanwei;CUI Wenda;CHENG Jiashuai;GUO Yifeng;SU Hao(College of Mechanical Engineering,Xi’an University of Science and Technology,Xi’an 710054,China;Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring,Xi’an 710054,China)
出处
《西安科技大学学报》
北大核心
2025年第3期429-438,共10页
Journal of Xi’an University of Science and Technology
基金
国家自然科学基金项目(52174150)
国家重点研发计划项目(2023YFC2907600)
陕西省重点研发计划项目(2023-JC-YB-331)。
关键词
煤矿巷道掘进
锚索自动输送装置
工作空间
虚拟样机
粒子群算法
coal mine roadway excavation
anchor cable automatic conveying device
workspace
virtual prototype
particle swarm optimization algorithm
