基于故障树的柔索驱动拣矸机器人系统分拣可靠性研究  

Research on sorting reliability of cable-driven gangue sorting robot system based on fault tree

作　　者：乔心州[1] 武琛琛 刘鹏[1] 樊红卫[1] 毛清华[1] QIAO Xinzhou;WU Chenchen;LIU Peng;FAN Hongwei;MAO Qinghua(College of Mechanical Engineering,Xi'an University of Science and Technology,Xi'an 710054,China)

机构地区：[1]西安科技大学机械工程学院,陕西西安710054

出　　处：《工矿自动化》2022年第8期107-113,共7页Journal Of Mine Automation

基　　金：陕西省自然科学基础研究计划项目(2019JQ-796)。

摘　　要：拣矸机器人的分拣可靠性与煤的品质及分拣效率息息相关,对拣矸机器人系统分拣可靠性进行研究十分必要。现有机器人系统可靠性研究主要是针对其结构可靠性进行研究,而没有对其工作任务可靠性即分拣可靠性进行研究。针对该问题,以柔索驱动拣矸机器人系统为研究对象,采用故障树分析法对其分拣可靠性进行研究。首先,从拣矸机器人系统的结构出发,分析了拣矸机器人系统分拣故障的原因,采用演绎法构建拣矸机器人系统的分拣故障树;然后,将故障树底事件发生概率考虑为区间变量,根据区间性质、运算法则和顶事件的概率表达式得到分拣故障树顶事件概率区间参数,结合设计要求计算出反映拣矸机器人系统分拣可靠性的非概率可靠性指标;最后,基于非概率可靠性指标公式及模糊重要度定义,提出了一种区间重要度指标,对分拣故障树底事件的区间重要度进行求解并排序,结果表明分拣可靠性满足拣矸机器人可靠分拣要求,煤矸石流瞬时含矸率增大和工业相机故障是影响其分拣可靠性的重要因素。根据非概率可靠性指标计算结果和区间重要度排序找出了拣矸机器人系统的薄弱环节,并针对薄弱环节提出了3个改进措施:在分拣前对煤矸石流振荡混合;根据识别的矸石信息,智能控制带式输送机带速;在拣矸机器人系统中增加备用工业相机。The sorting reliability of the gangue sorting robot is closely related to coal quality and sorting efficiency.It is necessary to study the sorting reliability of the sorting robot system.The existing reliability research of robot system mainly focuses on the structural reliability.There is no research on the task reliability of robot system,namely sorting reliability.In order to solve this problem,taking the cable-driven gangue sorting robot system as the research object,the sorting reliability is studied by fault tree analysis.Firstly,based on the structure of the gangue sorting robot system,the reasons for the sorting failure of the gangue sorting robot system are analyzed.The deductive method is used to construct the sorting fault tree of the gangue sorting robot system.Secondly,the occurrence probability of the bottom event of the fault tree is considered as an interval variable.The probability interval parameter of the top event of the sorting fault tree is obtained according to the interval property,the algorithm and the probability expression of the top event.According to the design requirements,the non-probabilistic reliability index which reflects the sorting reliability of the gangue sorting robot system is calculated.Finally,based on the formula of the non-probabilistic reliability index and the definition of fuzzy importance,an interval importance index is proposed.The interval importance of the events at the bottom of the sorting fault tree is solved and ranked.The results show that the sorting reliability can meet the requirements of sorting reliability of the gangue sorting robot.The increase of instantaneous gangue content in coal gangue flow and the failure of the industrial camera are important factors affecting the sorting reliability.According to the calculation result of the non-probability reliability index and the ranking of interval importance,the weak link of the gangue sorting robot system is found.Three improvement measures are proposed for the weak link.It is suggested to shake and mix

关 键 词：柔索驱动拣矸机器人 煤矸分拣 拣矸机器人系统 分拣可靠性 故障树 非概率可靠性 区间重要度 

分 类 号：TD67[矿业工程—矿山机电]