Research on fast automatic net-laying technology based on the auxiliary drilling and anchoring integrated machine
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摘要:
传统铺网作业高度依赖人工，不仅劳动强度大、安全隐患高，而且效率低下，成为制约采掘平衡的重要因素。为实现煤矿井下机器人标准化铺网，通过引入自动化、智能化技术，提升铺网作业效率，减轻工人劳动负荷，增强作业安全性，进而促进煤矿生产的高效、绿色、可持续发展。研究采取了仿真与试验相结合的方法，基于井下特殊环境和作业特点，设计了一种辅助掘锚一体机铺网作业的遥控机械手结构。该结构采用七轴关节型机械臂，搭配顶部抓手，以实现锚网的多角度、高精度铺设。此外，利用先进的计算机仿真技术，对机械臂的动力学性能、运动轨迹规划及受力特点进行分析，通过迭代优化机械臂的结构设计和控制算法，确保其在复杂井下环境中的稳定性和可靠性。同时，针对机械臂的运动控制，开发了一套自适应调整策略，使机械臂能够根据实际工况（如巷道形状、锚网材质等）自动调整运动参数，实现精准、高效的铺网作业。结果表明：自动化铺网设备显著提高了铺网作业的效率，相较于传统人工铺网方式，效率提升超过20%。通过自动化作业，实现了减员33%以上的目标，有效缓解了煤矿井下人力资源紧张的问题。大幅降低了工人的劳动强度，减少了高难度登高作业，降低了工伤风险，劳动强度降低超过80%。同时，自动化铺网过程减少了人为操作失误的可能性，显著提升了作业安全性。未来，随着技术的不断迭代和完善，该技术有望在煤矿智能化建设中发挥更加重要的作用，推动煤矿生产向更加安全、绿色、高效的方向发展。
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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表 1 七自由度机械臂D-H参数
Table 1 Parameters of seven-degree-of-freedom robotic arm D-HTrajectory parameters
关节i θi di/mm ai bi/rad 1 π 15 0 π/2 2 π/2 0 25 π/2 3 π/2 0 0 π 4 π 25 15 −π/2 5 π/2 0 5 −π/2 6 π 40 0 0 7 0 0 0 0 
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