摘要
针对煤矿小型巷道空间狭小、现有喷浆机械手外形偏大、人工手持喷浆劳动强度大等问题,设计了一套以螺旋摆动马达为主要驱动的喷浆机械手。该机械手采用平面三连杆机构搭配直线伸缩臂,能保证喷枪与受喷面的最佳距离和角度,从而有效降低喷浆回弹。基于煤矿喷浆工艺流程,设计了机械手的喷浆动作流程。运用三维软件构建了机械手的结构模型,对主要零部件进行了设计、计算和有限元分析;最后研制出样机并进行了工业性试验。试验结果表明,喷浆机械手刚性好、距离和角度控制精度高、动作灵活,能满足煤矿小型巷道喷浆要求。
In response to the problems of narrow space in small coal mine roadway,large appearance of existing shotcrete manipulator and high labor intensity of manual handheld shotcrete,a set of shotcreting manipulator mainly driven by a spiral swing motor was designed.The manipulator adopts a planar 3-link mechanism combined with a linear telescopic arm,which can ensure the optimal distance and angle between the spray gun and the sprayed surface,thereby effectively reduces the rebound of the shotcrete.Based on the coal mine shotcreting process,the spraying action process of the manipulator was designed.A structural model of themanipulator was constructed using 3D software,and the main components were designed,calculated and finite element analyzed.Finally,a prototype was developed and industrial experiments were conducted.The experimental results show that shotcreting manipulator has good rigidity,high precision in distance and angle control,and flexible action,and can meet the requirements of shotcrete in small coal mine roadway.
作者
陈波
龚小兵
Chen Bo;Gong Xiaobing(Chongqing Research Institute,China Coal Technology and Engineering Group,Chongqing 400039,China)
出处
《煤矿机械》
2024年第5期103-106,共4页
Coal Mine Machinery
基金
“十四五”国家重点研发计划项目(2022YFB4703603)
天地科技股份有限公司重点项目(2020-TD-ZD011)。
关键词
煤矿
小型巷道
喷浆
机械手
螺旋摆动马达
有限元
coal mine
small roadway
shotcreting
manipulator
spiral swing motor
finite element
