矿用淤泥自适应水仓清淤机器人研究与应用

Research and application of sludge self-adaptive sump dredging robot for coal mine

为了解决现有煤矿井下水仓人工清仓周期长、效率低、劳动强度大等问题,结合井下水仓实际工况,研发了一种矿用淤泥自适应水仓清淤机器人,介绍了该水仓清淤机器人的结构组成、进料集料系统、泵送系统、车架平台、电气系统的设计,详细阐述了自主越障自适应控制方法。通过搭建基于AMEsim的越障阀组液压系统仿真模型,得出油缸伸出速度及油缸无杆腔流量误差分别为0.16%、1.26%,液压系统控制平稳、精度良好,负载敏感控制在额定压力下,执行元件速度不受负载变化的影响,能够实现自适应浮动越障。通过在枣泉煤矿14采区880水仓和980水仓的实际应用表明,该水仓清淤机器人清淤效果良好,实现了水仓清淤作业任务的半自动化,进一步降低了清仓工人的作业强度。

To solve the problems of long cycle,low efficiency and high labor intensity of existing manual cleaning mode for underground mine sump,a sludge self-adaptive sump dredging robot was developed based on the actual working conditions of underground mine sump.The structural composition,feeding and aggregate system,pumping system,frame platform,and electrical system design of the sump dredging robot were introduced,and the automatic obstacle crossing self-adaptive control method was elaborated in detail.By building a simulation model of obstacle crossing valve group hydraulic system based on AMEsim,it was found that the errors of the extension speed and the rodless chamber flow rate of the cylinder were 0.16%and 1.26%,respectively,showing the stable and accurate control of the hydraulic system,and when the load sensitive control mode was under rated pressure,the speed of the actuator was not affected by load changes,and self-adaptive floating obstacle crossing could be achieved.The practical application in the 880 sump and 980 sump of the No.14 mining area of Zaoquan Coal Mine showed that the dredging robot has good dredging effects,achieving semi-automation sump dredging operation and further reducing the workload of the cleaning workers.