智能化矿用喷浆机器人研究及应用  

Research and application of intelligent mining spraying robot

作　　者：贾建龙 王志鹏 赵耀斌 刘飞 贾明超 高子龙 呼雨 陈利剑 JIA Jianlong;WANG Zhipeng;ZHAO Yaobin;LIU Fei;JIAN Mingchao;GAO Zilong;HU Yu;CHEN Lijian(Qinglongsi Coal Mine Branch of China Energy Yulin Energy Co.,Ltd.,Yulin,Shaanxi 719400,China;CCTEG Robot Technology Co.,Ltd.,Shenzhen,Guangdong 518057,China)

机构地区：[1]国能榆林能源有限责任公司青龙寺煤矿分公司,陕西省榆林市719400 [2]中煤科工机器人科技有限公司,广东省深圳市518057

出　　处：《中国煤炭》2024年第7期91-96,共6页China Coal

基　　金：国家重点研发计划项目(2022YFB4703600)。

摘　　要：针对现有井下传统人工喷浆存在的作业效率低、劳动强度大等问题,研究出一种智能化矿用喷浆机器人,结合巷道喷浆工艺,提出了一体化自主喷浆作业工艺完成上料、搅拌、远距离泵送及喷浆的全自动流程化作业;介绍了智能化矿用喷浆机器人的系统组成,采用模块化设计方法,基于拖缆式供电、全液压驱动、多传感器布局等实现机器人样机研制;重点阐述了喷浆机械臂壁面感知与路径规划技术,实现对喷浆机械臂更加高效、稳定的喷浆作业;现场应用表明,采用智能化矿用喷浆机器人一次喷浆作业需1~2人参与,作业效率为18 min/m,对比人工作业,喷浆效率提升2倍,且喷浆作业质量得到显著改善,实现了井下巷道高效、高质量的智能化喷浆作业。Aiming at the problems of low operational efficiency and high labor intensity in traditional manual spraying process in underground coal mine,an intelligent mining spraying robot was developed,and an integrated autonomous spraying operation process based on the roadway spraying process was proposed,which completed the fully automated process of feeding,stirring,long-distance pumping and spraying.The system composition of the intelligent mining spraying robot was introduced,and a robot prototype was developed based on towed power supply,full hydraulic drive,multi-sensor layout and modular design method.The wall perception and path planning technology of the spraying robotic arm were elaborated in detail,achieving more efficient and stable spraying operations for the spraying robotic arm.The practical application showed that one or two workers were required to participate in a spraying operation by intelligent spraying robot,with a work efficiency of 18 minutes per meters;compared with manual operation,the spraying efficiency by the spraying robot was doubled,and the quality of spraying operation was significantly improved,and the efficient and high-quality intelligent spraying operation in underground roadways was achieved.

关 键 词：喷浆机器人 喷浆作业工艺 喷浆机械臂 壁面感知 路径规划 

分 类 号：TD353[矿业工程—矿井建设]