留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

基于故障树的柔索驱动拣矸机器人系统分拣可靠性研究

乔心州 武琛琛 刘鹏 樊红卫 毛清华

乔心州,武琛琛,刘鹏,等. 基于故障树的柔索驱动拣矸机器人系统分拣可靠性研究[J]. 工矿自动化,2022,48(8):107-113.  doi: 10.13272/j.issn.1671-251x.2022050075
引用本文: 乔心州,武琛琛,刘鹏,等. 基于故障树的柔索驱动拣矸机器人系统分拣可靠性研究[J]. 工矿自动化,2022,48(8):107-113.  doi: 10.13272/j.issn.1671-251x.2022050075
QIAO Xinzhou, WU Chenchen, LIU Peng, et al. Research on sorting reliability of cable-driven gangue sorting robot system based on fault tree[J]. Journal of Mine Automation,2022,48(8):107-113.  doi: 10.13272/j.issn.1671-251x.2022050075
Citation: QIAO Xinzhou, WU Chenchen, LIU Peng, et al. Research on sorting reliability of cable-driven gangue sorting robot system based on fault tree[J]. Journal of Mine Automation,2022,48(8):107-113.  doi: 10.13272/j.issn.1671-251x.2022050075

基于故障树的柔索驱动拣矸机器人系统分拣可靠性研究

doi: 10.13272/j.issn.1671-251x.2022050075
基金项目: 陕西省自然科学基础研究计划项目(2019JQ-796)。
详细信息
    作者简介:

    乔心州(1974—),男,河南安阳人,副教授,博士,研究方向为结构可靠性与优化设计等,E-mail:qiaoxinzhou@xust.edu.cn

    通讯作者:

    刘鹏(1984—),男,陕西渭南人,讲师,博士,研究方向为机器人与人工智能等,E-mail:liupeng@xust.edu.cn

  • 中图分类号: TD67

Research on sorting reliability of cable-driven gangue sorting robot system based on fault tree

  • 摘要: 拣矸机器人的分拣可靠性与煤的品质及分拣效率息息相关,对拣矸机器人系统分拣可靠性进行研究十分必要。现有机器人系统可靠性研究主要是针对其结构可靠性进行研究,而没有对其工作任务可靠性即分拣可靠性进行研究。针对该问题,以柔索驱动拣矸机器人系统为研究对象,采用故障树分析法对其分拣可靠性进行研究。首先,从拣矸机器人系统的结构出发,分析了拣矸机器人系统分拣故障的原因,采用演绎法构建拣矸机器人系统的分拣故障树;然后,将故障树底事件发生概率考虑为区间变量,根据区间性质、运算法则和顶事件的概率表达式得到分拣故障树顶事件概率区间参数,结合设计要求计算出反映拣矸机器人系统分拣可靠性的非概率可靠性指标;最后,基于非概率可靠性指标公式及模糊重要度定义,提出了一种区间重要度指标,对分拣故障树底事件的区间重要度进行求解并排序,结果表明分拣可靠性满足拣矸机器人可靠分拣要求,煤矸石流瞬时含矸率增大和工业相机故障是影响其分拣可靠性的重要因素。根据非概率可靠性指标计算结果和区间重要度排序找出了拣矸机器人系统的薄弱环节,并针对薄弱环节提出了3个改进措施:在分拣前对煤矸石流振荡混合;根据识别的矸石信息,智能控制带式输送机带速;在拣矸机器人系统中增加备用工业相机。

     

  • 图  1  柔索驱动拣矸机器人系统结构

    Figure  1.  Structure of cable-driven gangue sorting robot system

    图  2  柔索驱动拣矸机器人分拣结果

    Figure  2.  Sorting result of cable-driven gangue sorting robot

    图  3  拣矸机器人系统分拣故障树

    Figure  3.  Fault tree of sorting of gangue sorting robot system

    图  4  拣矸机器人系统非概率可靠性指标判定

    Figure  4.  Evaluation of non-probabilistic reliability index of gangue sorting robot system

    图  5  中值重要度与离差重要度

    Figure  5.  Median importance degree and dispersion importance degree

    图  6  底事件中值重要度与离差重要度

    Figure  6.  Median importance degree and dispersion importance of bottom events

    表  1  拣矸机器人系统分拣故障树底事件

    Table  1.   Bottom event of sorting fault tree of gangue sorting robot system

    事件代号事件内容事件代号事件内容
    X1柔索断裂 X13继电器故障
    X2柔索变形X14熔断器故障
    X3索架破坏X15开关故障
    X4定滑轮破坏X16编码器通信故障
    X5卷筒破坏X17传感器故障
    X6末端抓斗定位不准X18控制卡板故障
    X7末端抓斗抓取掉落X19工控机故障
    X8末端抓斗空抓X20集成电路故障
    X9伺服电动机故障X21控制程序无法加载
    X10驱动器故障X22控制程序跑飞
    X11变压器故障X23瞬时含矸率增大
    X12线路故障X24工业相机故障
    下载: 导出CSV

    表  2  底事件发生概率区间变量的上界和下界

    Table  2.   Upper and lower bounds of the bottom event probability interval

    底事件
    发生概率
    区间变量
    下界
    区间变量
    上界
    底事件
    发生概率
    区间变量
    下界
    区间变量
    上界
    q12.0×10−54.0×10−5q135.8×10−47.8×10−4
    q21.6×10−42.4×10−4q145.8×10−48.2×10−4
    q31.8×10−42.4×10−4q153.0×10−55.0×10−5
    q42.5×10−43.5×10−4q165.4×10−47.8×10−4
    q51.3×10−41.7×10−4q172.6×10−43.8×10−4
    q65.0×10−47.2×10−4q188.0×10−51.6×10−4
    q71.5×10−41.9×10−4q193.5×10−45.5×10−4
    q81.0×10−53.0×10−5q201.2×10−31.6×10−3
    q95.0×10−47.0×10−4q216.0×10−41.8×10−3
    q105.9×10−48.1×10−4q222.5×10−44.5×10−4
    q114.0×10−46.0×10−4q231.4×10−32.6×10−3
    q121.0×10−53.0×10−5q244.2×10−34.8×10−3
    下载: 导出CSV

    表  3  底事件区间重要度计算结果

    Table  3.   Calculation results of the interval importance degree of the bottom event

    底事件EiDi底事件EiDi
    X12.95×10−59.77×10−6X136.70×10−49.70×10−5
    X21.97×10−43.89×10−5X146.89×10−41.16×10−4
    X32.07×10−42.90×10−5X153.94×10−59.75×10−6
    X42.95×10−44.85×10−5X166.50×10−41.16×10−4
    X51.48×10−41.93×10−5X173.15×10−45.83×10−5
    X66.01×10−41.07×10−4X181.18×10−43.91×10−5
    X71.67×10−41.93×10−5X194.43×10−49.75×10−5
    X81.97×10−59.80×10−6X201.38×10−31.94×10−4
    X95.91×10−49.71×10−5X216.90×10−49.70×10−5
    X106.90×10−41.07×10−4X223.45×10−49.77×10−5
    X114.92×10−49.73×10−5X231.97×10−35.88×10−4
    X121.97×10−59.80×10−6X244.45×10−32.87×10−4
    下载: 导出CSV
  • [1] HOU Wei. Identification of coal and gangue by feed-forward neural network based on data analysis[J]. International Journal of Coal Preparation and Utilization,2019,39(1):33-43. doi: 10.1080/19392699.2017.1290609
    [2] 来文豪,周孟然,胡锋,等. 基于多光谱成像和改进YOLO v4的煤矸石检测[J]. 光学学报,2020,40(24):72-80.

    LAI Wenhao,ZHOU Mengran,HU Feng,et al. Coal gangue detection based on multi-spectral imaging and improved YOLO v4[J]. Acta Optica Sinica,2020,40(24):72-80.
    [3] LI Man,DUAN Yong,HE Xianli,et al. Image positioning and identification method and system for coal and gangue sorting robot[J]. International Journal of Coal Preparation and Utilization,2020,40(4):1759-1777.
    [4] SUN Zhiyuan, HUANG Linlin, JIA Ruiqing. Coal and gangue separating robot system based on computer vision[J]. Sensors, 2021, 21(4): 1349. DOI: 10.3390/s21041349.
    [5] 夏晶,张昊,周世宁,等. 煤矸分拣机器人动态拣取避障路径规划[J]. 煤炭学报,2021,46(增刊1):570-577. doi: 10.13225/j.cnki.jccs.2020.1448

    XIA Jing,ZHANG Hao,ZHOU Shining,et al. Dynamic picking and obstacle avoidance path planning of coal gangue sorting robot[J]. Journal of China Coal Society,2021,46(S1):570-577. doi: 10.13225/j.cnki.jccs.2020.1448
    [6] 赵明辉. 双臂并联煤矸石分拣机器人及其轨迹规划研究[J]. 工矿自动化,2020,46(9):57-63. doi: 10.13272/j.issn.1671-251x.2020040059

    ZHAO Minghui. Research on dual-arm parallel coal gangue sorting robot and its trajectory planning[J]. Industry and Mine Automation,2020,46(9):57-63. doi: 10.13272/j.issn.1671-251x.2020040059
    [7] LIU Peng, MA Hongwei, ZHANG Xuhui, et al. On the equivalent position workspace for a coal gangue picking robot [J]. Journal of Physics: Conference Series, 2019, 1267(1). DOI: 10.1088/1742-6596/1267/1/012078.
    [8] WANG Zixiang,XIE Shuxin,CHEN Guodong,et al. An online flexible sorting model for coal and gangue based on multi-information fusion[J]. IEEE Access,2021,9:90816-90827. doi: 10.1109/ACCESS.2021.3090780
    [9] 刘鹏,马宏伟,乔心州,等. 柔索驱动拣矸机器人最小索拉力等值曲面研究[J]. 西安科技大学学报,2020,40(5):797-804. doi: 10.13800/j.cnki.xakjdxxb.2020.0507

    LIU Peng,MA Hongwei,QIAO Xinzhou,et al. On the contour surfaces of minimum tensions for a cable-driven coal-gangue picking gangue robot[J]. Journal of Xi'an University of Science and Technology,2020,40(5):797-804. doi: 10.13800/j.cnki.xakjdxxb.2020.0507
    [10] 曹现刚,吴旭东,王鹏,等. 面向煤矸分拣机器人的多机械臂协同策略[J]. 煤炭学报,2019,44(增刊2):763-774. doi: 10.13225/j.cnki.jccs.2019.0734

    CAO Xiangang,WU Xudong,WANG Peng,et al. Collaborative strategy of multi-manipulator for coal-gangue sorting robot[J]. Journal of China Coal Society,2019,44(S2):763-774. doi: 10.13225/j.cnki.jccs.2019.0734
    [11] 曹现刚,费佳浩,王鹏,等. 基于多机械臂协同的煤矸分拣方法研究[J]. 煤炭科学技术,2019,47(4):7-12. doi: 10.13199/j.cnki.cst.2019.04.002

    CAO Xiangang,FEI Jiahao,WANG Peng,et al. Study on coal-gangue sorting method based on multi-manipulator collaboration[J]. Coal Science and Technology,2019,47(4):7-12. doi: 10.13199/j.cnki.cst.2019.04.002
    [12] 王鹏,曹现刚,夏晶,等. 基于机器视觉的多机械臂煤矸石分拣机器人系统研究[J]. 工矿自动化,2019,45(9):47-53. doi: 10.13272/j.issn.1671-251x.17442

    WANG Peng,CAO Xiangang,XIA Jing,et al. Research on multi-manipulator coal and gangue sorting robot system based on machine vision[J]. Industry and Mine Automation,2019,45(9):47-53. doi: 10.13272/j.issn.1671-251x.17442
    [13] JIANG Guangjun,GAO Le. Reliability analysis of martial arts arena robot systems based on fuzzy set theory[J]. Journal of Mechanical Science and Technology,2018,32(11):5069-5077. doi: 10.1007/s12206-018-1003-1
    [14] 陈霞. 蠕动式缆索机器人模糊故障树分析与应用[J]. 机械设计,2015,32(8):31-35. doi: 10.13841/j.cnki.jxsj.2015.08.007

    CHEN Xia. Analysis and application of the worming cable robot fuzzy fault tree[J]. Journal of Machine Design,2015,32(8):31-35. doi: 10.13841/j.cnki.jxsj.2015.08.007
    [15] 韩雪,訾斌,孙辉辉. 可缠绕式混合驱动柔索并联机器人可靠性分析[J]. 机械设计与制造,2015(4):155-158,162. doi: 10.3969/j.issn.1001-3997.2015.04.043

    HAN Xue,ZI Bin,SUN Huihui. The reliability analysis of the winding hybrid-driven cable parallel manipulator[J]. Machinery Design & Manufacture,2015(4):155-158,162. doi: 10.3969/j.issn.1001-3997.2015.04.043
    [16] FERSGUSON T A, LU Lixuan. Fault tree analysis for an inspection robot in a nuclear power plant[EB/OL]. [2022-03-11]. https://iopscience.iop.org/article/10.1088/1757-899X/235/1/012003/meta.
    [17] FAZLOLLAHTABAR H,NIAKI S. Integration of fault tree analysis,reliability block diagram and hazard decision tree for industrial robot reliability evaluation[J]. Industrial Robot,2017,44(6):754-764. doi: 10.1108/IR-06-2017-0103
    [18] BALASUNDARAM M,MUTHUSWAMY S. Implementation of role assignment and fault tree analysis for multi robot interaction[J]. International Journal of Robotics and Automation,2017,32(3):214-223.
    [19] 周长聪, 常琦, 周春苹, 等. 基于非概率模型的飞机襟翼故障树分析[J]. 清华大学学报(自然科学版), 2021, 61(6): 636-642.

    ZHOU Changcong, CHANG Qi, ZHOU Chunping,et al. Fault tree analysis of an aircraft flap system based on a non-probability model[J]. Journal of Tsinghua University (Science and Technology), 2021, 61(6): 636-642.
    [20] 方坤,陶军. 液压ABS系统的故障树分析[J]. 液压与气动,2020,44(2):155-161.

    FANG Kun,TAO Jun. Fault tree analysis of hydraulic ABS system[J]. Chinese Hydraulics and Pneumatics,2020,44(2):155-161.
    [21] 庞楠,贾鹏,王立权,等. 水下连接器结构可靠性分析[J]. 哈尔滨工程大学学报,2021,42(1):68-73.

    PANG Nan,JIA Peng,WANG Liquan,et al. Reliability analysis of subsea connector structure[J]. Journal of Harbin Engineering University,2021,42(1):68-73.
    [22] 罗承昆,陈云翔,何桢,等. 基于故障树分析的航空装备体系结构贡献率评估方法[J]. 国防科技大学学报,2021,43(1):155-162.

    LUO Chengkun,CHEN Yunxiang,HE Zhen,et al. Evaluation method of aviation equipment's structure contribution rate to system-of-system based on fault tree analysis[J]. Journal of National University of Defense Technology,2021,43(1):155-162.
    [23] CHENG S R,LIU B S,HSU B M,et al. Fault-tree analysis for liquefied natural gas terminal emergency shutdown system[J]. Expert Systems with Applications,2009,36(9):11918-11924.
  • 加载中
图(6) / 表(3)
计量
  • 文章访问数:  34
  • HTML全文浏览量:  2
  • PDF下载量:  8
  • 被引次数: 0
出版历程
  • 收稿日期:  2022-05-27
  • 修回日期:  2022-08-11
  • 网络出版日期:  2022-08-09

目录

    /

    返回文章
    返回