基于TRIZ的全断面铺锚支机器人结构创新设计

Innovative Design of Full Section Anchor Laying Support Robot Structure Based on TRIZ

为解决煤矿巷道掘进过程中支护、铺网、钻孔及锚固等工序自动化水平低、难以高效协同等技术难题,基于TRIZ理论,开展全断面铺锚支机器人的结构创新设计。通过九屏分析法、功能模型图与因果轴分析得出现有铺锚支机器人效率不足的根本原因,并综合运用技术矛盾法、物理矛盾法以及76种标准解等方法,设计出新型全断面铺锚支机器人结构,进而通过ADAMS-AMESim联合仿真,开展其关键迈步式自移支架的机液耦合分析。结果表明:全断面铺锚支机器人具备迈步行走、铺网、支护、锚固、钻孔的平行作业;迈步式自移支架工作时推移缸的最大推架力为10940 N,最大拉架力为18510 N,实际位移与理想位移误差满足设计要求。

In order to solve the technical problems of low automation level and difficulty in efficient collaboration in support,mesh laying,drilling and anchoring processes during coal mine tunnel excavation,based on TRIZ theory,a structural innovation design of a full section anchor laying support robot was carried out.By using the nine screen analysis method,functional model diagram,and causal axis analysis,the root cause of the insufficient efficiency of the existing anchor laying support robot was identified.A new type of full section anchor laying support robot structure was designed using methods such as technical contradiction method,physical contradiction method,and 76 standard solutions.Through ADAMS-AMESim co-simulation,the mechanical hydraulic coupling analysis of its key step self moving bracket was carried out.The results show that the full section anchor laying support robot has parallel operations such as walking,laying nets,supporting,anchoring and drilling;the maximum pushing force of the pushing cylinder and the maximum pulling force of the walking self moving bracket during operation are 10940 N and 18510 N,respectively.The error between the actual displacement and the ideal displacement meets the design requirements.