Research and application of sludge self-adaptive sump dredging robot for coal mine
To solve the problems of long cycle,low efficiency and high labor intensity of existing manual cleaning mode for underground mine sump,a sludge self-adaptive sump dredging robot was developed based on the actual working conditions of underground mine sump.The structural composition,feeding and aggregate system,pumping system,frame platform,and electrical system design of the sump dredging robot were introduced,and the automatic obstacle crossing self-adaptive control method was elaborated in detail.By building a simulation model of obstacle crossing valve group hydraulic system based on AMEsim,it was found that the errors of the extension speed and the rodless chamber flow rate of the cylinder were 0.16%and 1.26%,respectively,showing the stable and accurate control of the hydraulic system,and when the load sensitive control mode was under rated pressure,the speed of the actuator was not affected by load changes,and self-adaptive floating obstacle crossing could be achieved.The practical application in the 880 sump and 980 sump of the No.14 mining area of Zaoquan Coal Mine showed that the dredging robot has good dredging effects,achieving semi-automation sump dredging operation and further reducing the workload of the cleaning workers.
sump dredging robotautomatic obstacle crossingself-adaptivesensitive control
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