矿用水仓清淤机器人液压越障自适应控制技术  

Adaptive Control Technology of Hydraulic Barrier Crossing for Mine Water Silting Robot

作　　者：康向南 Kang Xiangnan(Zaoquan Coal Mine of Ningmei Company,National Energy Group,Ningxia,751411)

机构地区：[1]国家能源集团宁煤公司枣泉煤矿,宁夏751411

出　　处：《当代化工研究》2023年第24期171-173,共3页Modern Chemical Research

摘　　要：井下液压系统工况条件和工作状态与常规陆地环境的差异性非常大,主要体现为工作环境受限,工况条件恶劣,工作状态超负载运行等。通过液压自主越障功能配合负载敏感技术的应用,研究矿井清淤机器人在其特殊的工作环境下运行效果。提出一种液压自主越障功能装置,在清淤机器人遇到较大障碍物时,前段料兜机构可进行浮动越障措施,以提高液压系统及清淤机器人车体的运动平稳性和可靠性。The working conditions and working conditions of the underground hydraulic system are very different from the conventional land environment,which are mainly reflected in the limited working environment,bad working conditions,and over-load operation in the working state.Through the application of hydraulic autonomous obstacle crossing function and load sensitive technology,the operation effect of mine desilting robot in its special working environment is studied.In this paper,a hydraulic autonomous obstacle crossing function device is proposed.When the dredging robot encounters a large obstacle,the front part of the material hood can carry out floating obstacle crossing measures,so as to improve the motion stability and reliability of the hydraulic system and the dredging robot body.

关 键 词：自主越障 负载敏感 液压系统 矿井场合 工程设备 

分 类 号：TD[矿业工程]