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;

• 1:西安科技大学机械工程学院
• 2:西安科技大学陕西省矿山机电装备智能监测重点实验室

摘要(Abstract)：

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。

关键词(KeyWords)： 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

Abstract:

Keywords:

基金项目(Foundation): 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)

作者(Author): 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;

Email:

DOI: 10.13800/j.cnki.xakjdxxb.2020.0501

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