煤矸分拣多机械臂任务分配问题研究  

Study on task allocation for multiple manipulators of coal gangue sorting

作　　者：董雅文[1] 孙家祺 张宝锋[2] 刘文慧[1] DONG Yawen;SUN Jiaqi;ZHANG Baofeng;LIU Wenhui(School of Mechanical and Electrical Engineering,Xi’an Polytechnic University,Xi’an 710048,China;School of Mechanical and Precision Instrument Engineering,Xi’an University of Technology,Xi’an 710048,China)

机构地区：[1]西安工程大学机电工程学院,陕西西安710048 [2]西安理工大学机械与精密仪器工程学院,陕西西安710048

出　　处：《煤炭工程》2024年第1期170-176,共7页Coal Engineering

基　　金：陕西省重点研发计划项目(2023-YBGY-349)。

摘　　要：针对煤矸分拣过程中分拣率低、大粒度矸石分拣效果差等问题,通过考虑矸石粒度、分拣时间、矸石与分拣区边界距离等因素,构建矸石优先级模型;采取分拣机械臂放置矸石后不复位的方式,提出了一种煤矸分拣多机械臂任务分配策略,并以分拣率为标准进行评判,最后,采用本研究分配策略和传统的分配策略进行仿真。结果表明:本研究分配策略比传统的分配策略分拣效果更好,提高了7%~10%的分拣率,减少了大粒度矸石的漏拣数量;当矸石的间距不变时,矸石数量变化对分拣率影响较小,分拣率波动在3%左右,验证了本研究分配策略的有效性;矸石间距对分拣率和分拣机械臂数量的影响较大,当矸石的间距增大时,分拣率得到提高;矸石间距在250 mm以上时,3个分拣机械臂能保证较高的分拣率。Aiming at the problems in the coal gangue sorting process such as low sorting rate and poor sorting effect of large gangue,by considering the gangue particle size,sorting time,gangue and sorting area boundary distance and other factors,the gangue priority model was constructed;taking the non-reset way of the manipulators after placing gangue,a coal gangue sorting multi manipulators task allocation strategy was proposed,and the sorting rate was taken as the evaluation standard;finally,the proposed allocation strategy and the conventional allocation strategy was compared in simulation.The results show that:the proposed strategy works better than the traditional strategy,which improves the sorting rate by 7%to 10%,reduce the missed picking number of large particle size gangue;when the gangue spacing is constant,the gangue number changes on the sorting rate has less impact,the sorting rate fluctuations around 3%,which verifies the effectiveness of the proposed strategy;gangue spacing has a greater impact on the sorting rate and the number of sorting manipulators,when the spacing of gangue increases,the sorting rate increases;when the gangue spacing is above 250 mm,the sorting rate is maintained at a high level with three sorting manipulators.

关 键 词：煤矸分拣 多机械臂 矸石优先级 分拣时间 分拣策略 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]