井下运输巷带式输送机撒煤自动清扫机构设计及仿真分析

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中图分类号：TD67/634 文献标志码：A

Abstract：As the main coal flow transportation equipment in underground coal mines，belt conveyors may experience coal spilageand accumulation during operation.Traditional manual cleaning methods are inefcient and pose safety hazards.Existing roadway cleaning robots for coal removal sufer from limited operating scenarios and low flexibility of cleaning mechanisms. To address these problems， an automatic coal spillge cleaning mechanism for belt conveyors in underground transportation roadways was designed. The mechanism consisted ofa PCC-type coal-raking robotic arm and a CRRR-type excavating and transporting robotic arm， which were carried to the designated position by a crawler-walking platform.The coal-raking robotic arm raked and gathered the coal accumulated beneath the belt，and then the excavating and transporting robotic arm dug up the gathered coal and placed it back onto the belt.Static simulation of thecoal-raking robotic arm inserting into the coal pileand horizontal scraping conditions was performed using Ansys Workbench. A transient dynamic analysis of the rack-and-pinion lifting mechanism under frequent start-stop conditions was also conducted. In addition， ADAMS software was used to perform kinematic and dynamic simulations of the autonomous scraping operation of the coal-raking robotic armand the autonomous excavating operation of the excavating and transporting robotic arm.The simulation results showed that the strength and stiffness of the automatic cleaning mechanism met actual Working requirements and had a certain safety margin.Both the coal-raking robotic arm and the excavating and transporting robotic armoperated smoothly to the target position according to the given joint angles，satisfying the coal spillge cleaning requirements under the condition that the narrowest roadway in underground coal transportation was only 80cm wide.Under varying load conditions， the torque responses of each joint of the cleaning mechanism met expectations， verifying the structural matching with actual task requirements.

Key words： belt conveyor; automatic coal spillge cleaning; roadway cleaning robot; coal-raking robotic arm; excavating and transporting robotic arm； finite element simulation; kinematic simulation； dynamic simulation

0引言

带式输送机作为煤矿井下主煤流运输环节关键装备[1-3]，在实际运行中常会因胶带跑偏、凹段悬空及煤料在转载点粘附等原因而发生煤料撒落[4-5]。（剩余16347字）