西安科技大学学报2025，Vol.45Issue(3)：429-438,10.DOI:10.13800/j.cnki.xakjdxxb.2025.0301
煤矿巷道掘进锚索自动输送系统设计与仿真
Design and simulation of automatic conveying system of anchor cable in coal mine roadway excavation
摘要
Abstract
To solve the problems of low automation and high labor intensity in the process of anchor ca-ble support in coal mine roadway excavation,an anchor cable conveying system for coal mine roadway excavation is proposed.Through the parametric modeling of the spatial layout of the anchor cable con-veying system,the optimal spatial layout of the anchor cable conveying system is obtained by using the multi-objective particle swarm optimization(MOPSO)with the bending radius and suspension length of the anchor cable in the process of the manipulator conveying as the index.According to the require-ments of anchor cable transportation and installation,the overall structure of the anchor cable conveying device is designed.The kinematics model of the conveying device is established by using the modified D-H method and the working space is analyzed.The interaction mechanism between anchor cable and anchor cable conveying device is explored.The mechanical model of the relationship between anchor cable parameters,bending elastic force of anchor cable and elbow parameters is established,as well as the virtual prototype model of anchor cable conveying device.The dynamic simulation of anchor cable conveying process is completed.The results show that the anchor cable conveying device can meet the requirements of roadway support with width×height of 6 000 mm×4 400 mm.When the parameters of the anchor cable are determined,the driving force of the anchor cable is related to the square term of the curvature radius of the elbow,and is linearly related to the friction coefficient of the anchor cable and the elbow.Increasing the curvature radius of the elbow can significantly reduce the required maxi-mum driving force.In order to minimize the traction load of the manipulator,the radius of curvature of the elbow should be close to the height of the inlet of the elbow and the outlet of the anchor cable li-brary.The optimal spatial layout obtained by considering the transmission force of the anchor cable is:the radius of curvature of the elbow is 1.5 m,the angle of the end face is 90°,and the horizontal dis-tance between the conveying device and the anchor cable library is 1.51 m.This study provides a refer-ence for improving the efficiency of anchor cable support in coal mine roadways,so as to realize the au-tomation and intelligence of anchor cable support.关键词
煤矿巷道掘进/锚索自动输送装置/工作空间/虚拟样机/粒子群算法Key words
coal mine roadway excavation/anchor cable automatic conveying device/workspace/virtual prototype/particle swarm optimization algorithm分类
矿山工程引用本文复制引用
马宏伟,喻祖坤,王川伟,崔闻达,成家帅,郭逸风,苏浩..煤矿巷道掘进锚索自动输送系统设计与仿真[J].西安科技大学学报,2025,45(3):429-438,10.基金项目
国家自然科学基金项目(52174150) （52174150）
国家重点研发计划项目(2023YFC2907600) （2023YFC2907600）
陕西省重点研发计划项目(2023-JC-YB-331) （2023-JC-YB-331）
