煤巷掘进工作面支护机器人的设计  

Design of Support Robot for Coal Roadway Excavation Working Face

作　　者：陈加胜[1] 杨帅 胡陈军 王梦丽 郝彦李 Chen Jiasheng;Yang Shuai;Hu Chenjun;Wang Mengli;Hao Yanli(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《煤矿机械》2024年第1期1-4,共4页Coal Mine Machinery

基　　金：国家重点研发计划资助项目(2020YFB1314203);安徽省重点研发计划(202004a07020043)。

摘　　要：目前煤矿巷道掘进支护过程中存在支护效率低、支护劳动强度大、安全风险系数高等问题,这些问题将影响巷道的支护和掘进速度,最终影响煤矿的开采效率。设计了七自由度掘进工作面液压支护机器人,该机器人与传统机器人不同,其大臂具有伸缩功能,各个关节均采用液压驱动,通过伸缩大臂到达不同的工作区域,而且该支护机器人可以安装在掘进工作面的支护平台上进行巷道支护。根据工况,计算各关节所需要的力矩,并对液压支护机器人进行运动学分析;为实现巷道的安全高效智能支护、掘进,提出了一种以机器人代替矿工的掘进支护施工新方案。At present,there are some problems such as low support efficiency,high support labor intensity and high safety risk coefficient in the process of coal mine roadway excavation support,which will affect the support and excavation speed of roadway,and ultimately affect the mining efficiency of coal mine.Designed a seven-degree of freedom hydraulic support robot for excavation working face,which different from traditional robots,has the telescopic function of its big arm,and each joint is driven by hydraulic pressure.Through the telescopic arm,it can reach different working areas.Moreover,the support robot can be installed on the support platform of the excavation working face for roadway support.According to the working conditions,the torque required by each joint was calculated,and the kinematics analysis of the hydraulic support robot was carried out.In order to realize the safe and efficient intelligent support and excavation of roadway,a new construction scheme of supporting excavation with robot instead of miner was proposed.

关 键 词：巷道支护 智能化 自由度 液压支护机器人 关节 

分 类 号：TD421.5[矿业工程—矿山机电]