Meitan kexue jishu (Sep 2024)
Research on fast automatic net-laying technology based on the auxiliary drilling and anchoring integrated machine
Abstract
The traditional net-laying operation is highly dependent on manual labor, which not only has high labor intensity and high safety risks, but also has low efficiency, which has become an important factor restricting the balance of mining and excavation. Therefore, the core objective of this study is to design and implement a standardized mesh-laying strategy for underground coal mine robots, which improves the efficiency of mesh-laying operation, reduces the labor load of workers, enhances the safety of operation through the introduction of automation and intelligent technology, and then promotes the efficient, green and sustainable development of coal mine production. In order to realize the above research objectives, this study adopts a combination of simulation and experimental methods, based on the special environment and operating characteristics of underground, and designs a remote-controlled manipulator structure that assists the net-laying operation of digging-anchor integrated machine. The structure adopts a seven-axis articulated robotic arm with a top gripper in order to realize the multi-angle and high-precision laying of anchor nets. In addition, advanced computer simulation technology is used to analyze the dynamic performance, motion trajectory planning and force characteristics of the robotic arm, and the structural design and control algorithm of the robotic arm are optimized iteratively to ensure its stability and reliability in the complex underground environment. At the same time, a set of adaptive adjustment strategy is developed for the motion control of the robotic arm, so that the robotic arm can automatically adjust the motion parameters according to the actual working conditions (tunnel shape, mesh material), and realize accurate and efficient net-laying operation. The results show that the automated net-laying equipment significantly improves the efficiency of net-laying operation, compared with the traditional manual net-laying method, the efficiency is increased by more than 20%. Through automated operation, it realizes the goal of reducing the number of workers by more than 33%, which effectively alleviates the problem of tense human resources in underground coal mines. The labor intensity of workers has been greatly reduced, reducing the high degree of climbing work, reducing the risk of work-related injuries, and the labor intensity has been reduced by more than 80%. At the same time, the automated net-laying process reduces the possibility of human error and significantly improves operational safety. In the future, with the continuous iteration and improvement of the technology, this technology is expected to play a more important role in the intelligent construction of coal mines, and promote the development of coal mine production in the direction of safer, greener and more efficient.
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