摘要
按照国家“加快煤矿智能化发展”的战略部署,贯彻“采掘并重,掘进先行”方针,针对煤矿巷道掘进存在地质条件复杂、工艺装备落后、作业人员偏多、操作环境恶劣、安全风险严竣、采快掘慢失衡等问题,深入总结分析国内外煤矿巷道智能掘进技术的研究动态,指出存在的不足和亟待解决的问题。针对煤矿复杂地质条件下的巷道掘进难题,研发了一种全新的集截割、临时支护、钻锚和锚网运输等并行智能协同的煤矿巷道掘进机器人系统。通过研究进展分析、理论方法探索以及研发实践,提出构建煤矿巷道智能掘进机器人系统的3大关键技术问题及其研究内涵,创建解决关键技术问题的研究体系架构:煤矿巷道掘进机器人系统建模与围岩耦合机理;煤矿巷道掘进机器人系统智能协同控制技术,提出数字孪生驱动的虚拟现实远程智能控制方法;煤矿巷道快速掘进机器人系统精确定位定向和定形技术,提出机器人系统全局和局部精准定位定向及断面截割精准定形控制方法。破解复杂地质条件下的煤矿巷道智能掘进机器人系统关键技术难题,对于研发高质量、高可靠、高效率、高智能的煤矿巷道智能掘进机器人系统,从根本上改善掘进工作面环境,解放生产力,全面提高煤矿巷道掘进效率和质量。
According to the national strategy of“accelerating the intelligent development of coal mines”and the policy of“paying equal attention to mining and excavation,excavation first”,aiming at the problems of complex geological conditions,outdated technology and equipment,too many workers,bad operating environment,strict safety risk,imbalance of fast mining and slow excavation,a detailed analysis and summarization have been made of the intelligent driving technology of coal mine roadway at home and abroad with the existing shortcomings and problems pointed out.For the problems of roadway tunneling under complicated geological conditions in coal mines in China,a new tunneling robotic system is developed with parallel intelligent coordination of cutting,temporary support,drill anchor and anchor net transportation.By the analysis of research progress,the exploration of theoretical methods and the practice of research and development,three key technical problems of intelligent tunneling robot system of coal mine roadway its research connotation are proposed,with a research system architecture to solve key technical problems created.The mathematical modeling of the coal mine tunneling robot system is designed to reveal the coupling mechanism between the robot system and the surrounding rock.The mathematical model of the parallel collaborative control of the robot system is established and a virtual reality remote intelligent control method driven by a digital twin is put forward.The mathematical model of the precise positioning,orientation and shaping control of the robot system is established,and the methods of global and local precise positioning and orientation and section cutting precise shaping control are introduced.The key technical problems of the intelligent tunneling robot system for coal mine roadways under complex geological conditions are solved,which is of great significance for the research and development of high-quality,high-reliability,high-efficiency and high-intelligence intelligent tunneling robot system,thus fundamentally improving the tunneling face environment and liberating productivity and comprehensively improving the efficiency and quality of coal mine tunneling.
作者
马宏伟
王鹏
张旭辉
曹现刚
毛清华
王川伟
薛旭升
刘鹏
夏晶
董明
田海波
MA Hong-wei;WANG Peng;ZHANG Xu-hui;CAO Xian-gang;MAO Qing-hua;WANG Chuan-wei;XUE Xu-sheng;LIU Peng;XIA Jing;DONG Ming;TIAN Hai-bo(College of Mechanical and Engineering,Xi’an University of Science and Technology,Xi’an 710054,China;Shaanxi Key Laboratory of Mine Mechanical and Electromechanical Equipment Intelligent Monitoring,Xi’an University of Science and Technology,Xi’an 710054,China)
出处
《西安科技大学学报》
CAS
北大核心
2020年第5期751-759,共9页
Journal of Xi’an University of Science and Technology
基金
国家自然科学基金重点项目(51834006)
国家自然科学基金面上项目(51975468)。
关键词
煤矿巷道
智能掘进机器人
精准定位定向
定形控制
智能协同控制
coal mine roadway
intelligent tunneling robots
precise positioning and orientation
shaping control
intelligent collaborative control
