摘要
带式输送机作为煤矿井下主煤流运输装备,在运行过程中会出现撒煤及堆煤现象,而传统人工清理方式效率低且存在安全隐患,现有针对煤料清扫的巷道清理机器人存在清煤场景受限、清煤机构灵活性差等问题。针对上述问题,设计了一种井下运输巷带式输送机撒煤自动清扫机构,该机构由PCC型扒煤机械臂和CRRR型挖运机械臂组成,通过履带行走平台搭载其到达指定位置,然后由扒煤机械臂将胶带下方堆积的煤料扒出并聚拢,再由挖运机械臂将聚拢的煤料挖起并放回至胶带上。利用Ansys Workbench软件对扒煤机械臂插入煤堆和水平扒煤工况进行了静力学仿真,对频繁启停的扒煤机械臂齿轮齿条升降机构进行了瞬态动力学仿真分析;利用ADAMS软件分别对扒煤机械臂自主扒煤、挖运机械臂自主挖运作业过程进行了运动学和动力学仿真。仿真结果表明:自动清扫机构的强度与刚度能满足实际工作需求,且具有一定的安全裕量;清扫机构的扒煤机械臂与挖运机械臂均可根据给定关节转角平稳运行至目标位置,满足煤矿井下运输巷最窄处仅80 cm条件下的撒煤清理作业需求;在负载变化条件下,清扫机构各关节的力矩响应情况均符合预期,验证了其结构与实际任务需求之间的匹配性。
As the main coal flow transportation equipment in underground coal mines,belt conveyors may experience coal spillage and accumulation during operation.Traditional manual cleaning methods are inefficient and pose safety hazards.Existing roadway cleaning robots for coal removal suffer from limited operating scenarios and low flexibility of cleaning mechanisms.To address these problems,an automatic coal spillage cleaning mechanism for belt conveyors in underground transportation roadways was designed.The mechanism consisted of a PCC-type coal-raking robotic arm and a CRRR-type excavating and transporting robotic arm,which were carried to the designated position by a crawler-walking platform.The coal-raking robotic arm raked and gathered the coal accumulated beneath the belt,and then the excavating and transporting robotic arm dug up the gathered coal and placed it back onto the belt.Static simulation of the coal-raking robotic arm inserting into the coal pile and horizontal scraping conditions was performed using Ansys Workbench.A transient dynamic analysis of the rack-and-pinion lifting mechanism under frequent start-stop conditions was also conducted.In addition,ADAMS software was used to perform kinematic and dynamic simulations of the autonomous scraping operation of the coal-raking robotic arm and the autonomous excavating operation of the excavating and transporting robotic arm.The simulation results showed that the strength and stiffness of the automatic cleaning mechanism met actual working requirements and had a certain safety margin.Both the coal-raking robotic arm and the excavating and transporting robotic arm operated smoothly to the target position according to the given joint angles,satisfying the coal spillage cleaning requirements under the condition that the narrowest roadway in underground coal transportation was only 80 cm wide.Under varying load conditions,the torque responses of each joint of the cleaning mechanism met expectations,verifying the structural matching with actual task requirements.
作者
杨姣
李冲
鲍久圣
杨瑞
张小牛
王雷
胡而已
戴守晨
YANG Jiao;LI Chong;BAO Jiusheng;YANG Rui;ZHANG Xiaoniu;WANG Lei;HU Eryi;DAI Shouchen(School of Mechanical and Electrical Engineering,China University of Mining and Technology,Xuzhou 221116,China;Pingdingshan Tian'an Coal Mining Co.,Ltd.,Pingdingshan 467099,China;Information Institute,Ministry of Emergency Management,Beijing 100029,China)
出处
《工矿自动化》
北大核心
2025年第8期123-133,共11页
Journal of Mine Automation
基金
国家自然科学基金项目(52274159)
徐州市在徐高校服务“343”产业发展项目(gx2024002)
平顶山天安煤业股份有限公司重点科研项目(2023120045)
江苏高校优势学科建设工程资助项目(PAPD)。
关键词
带式输送机
撒煤自动清扫
巷道清理机器人
扒煤机械臂
挖运机械臂
有限元仿真
运动学仿真
动力学仿真
belt conveyor
automatic coal spillage cleaning
roadway cleaning robot
coal-raking robotic arm
excavating and transporting robotic arm
finite element simulation
kinematic simulation
dynamic simulation
