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

并联式选矸机器人路径规划研究

黄金凤 张建喜 于江涛 苗术佶

黄金凤,张建喜,于江涛,等. 并联式选矸机器人路径规划研究[J]. 工矿自动化,2022,48(8):26-32, 42.  doi: 10.13272/j.issn.1671-251x.2022040073
引用本文: 黄金凤,张建喜,于江涛,等. 并联式选矸机器人路径规划研究[J]. 工矿自动化,2022,48(8):26-32, 42.  doi: 10.13272/j.issn.1671-251x.2022040073
HUANG Jinfeng, ZHANG Jianxi, YU Jiangtao, et al. Research on path planning of parallel gangue selection robot[J]. Journal of Mine Automation,2022,48(8):26-32, 42.  doi: 10.13272/j.issn.1671-251x.2022040073
Citation: HUANG Jinfeng, ZHANG Jianxi, YU Jiangtao, et al. Research on path planning of parallel gangue selection robot[J]. Journal of Mine Automation,2022,48(8):26-32, 42.  doi: 10.13272/j.issn.1671-251x.2022040073

并联式选矸机器人路径规划研究

doi: 10.13272/j.issn.1671-251x.2022040073
基金项目: 河北省创新能力提升计划项目(199676195H)。
详细信息
    作者简介:

    黄金凤(1965—),女,河北唐山人,副教授,硕士,研究方向为机器人技术,E-mail:hjf@ncst.edu.cn

    通讯作者:

    于江涛(1988—),男,河北唐山人,实验师,硕士,研究方向为机器人技术,E-mail:yujt@ncst.edu.cn

  • 中图分类号: TD948.9

Research on path planning of parallel gangue selection robot

  • 摘要: 目前煤矸石分选机械手多采用串联式,与串联机械手相比,并联机械手能够在短时间内达到较高的运动速度,且负载能力更强,更适用于大质量煤矸石分选。以并联式选矸机器人为研究对象,对其并联机械手的“梯”型路径规划与“V”型路径规划2种动态分选路径规划方法进行对比分析。“梯”型路径规划:机械手末端执行器将矸石推出输送带后,先向上抬起一定距离,再完成回程运动。“V”型路径规划:机械手末端执行器将矸石推出输送带后,先回到标准线内,再快速运动到与下一个目标矸石平行的位置,完成1个运动周期。通过建立并联机械手动力学模型,探究机械手在沿2种路径运动时驱动电动机转矩的变化情况,计算在转矩满足要求的前提下,沿2种路径完成1个运动周期所用的时间,进而对比机械手沿2种路径的作业效率。仿真结果表明,采用“梯”型路径和“V”型路径完成1个运动周期所用时间分别为1.2,0.65 s,采用“V”型路径所用时间较短,选矸效率较高。现场应用结果表明,采用“V”型路径、“梯”型路径时,平均矸石分选率分别为94.23%和88.28%,且采用“V”型路径时的总用时比采用“梯”型路径时少近19%,选矸效率更高。

     

  • 图  1  并联式选矸机器人系统

    Figure  1.  Parallel gangue selection robot system

    图  2  煤矸分选过程

    Figure  2.  Coal and gangue selection process

    图  3  并联机械手结构

    Figure  3.  The structure of parallel manipulator

    图  4  “梯”型路径

    Figure  4.  "Ladder" path

    图  5  “V”型路径

    Figure  5.  "V" path

    图  6  机械手机构简图

    Figure  6.  Schematic diagram of manipulator mechanism

    图  7  机械手驱动电动机转矩变化曲线

    Figure  7.  Torque curves of drive motor of manipulator

    图  8  并联式选矸机器人应用现场

    Figure  8.  Application site of parallel gangue selection robot

    表  1  2种路径规划方法测试结果

    Table  1.   Test results of 2 path planning methods

    序号路径规
    划方法
    总用
    时/s
    识别
    数/块
    分选
    数/块
    矸石分
    选率/%
    1“梯”型21019817889.90
    “V”型18518918296.30
    2“梯”型20918616588.70
    “V”型17919619197.45
    3“梯”型25719516886.15
    “V”型18918216490.12
    4“梯”型23918916788.36
    “V”型17618717493.04
    下载: 导出CSV
  • [1] 刘强. 煤炭洗选发展中存在的问题和对策[J]. 中小企业管理与科技,2017(36):163-164.

    LIU Qiang. Problems and countermeasures in the development of coal washing[J]. Management & Technology of SME,2017(36):163-164.
    [2] 刘学雷. 我国选煤技术发展现状及趋势分析[J]. 选煤技术,2018,46(6):12-15. doi: 10.16447/j.cnki.cpt.2018.06.003

    LIU Xuelei. Status quo and developing trend of China's coal preparation technology[J]. Coal Preparation Technology,2018,46(6):12-15. doi: 10.16447/j.cnki.cpt.2018.06.003
    [3] 陆军. 煤矸石发电是扩大煤矸石综合利用的有效途径[J]. 中国煤炭,2001,27(7):36-37,42. doi: 10.3969/j.issn.1006-530X.2001.07.013

    LU Jun. Low grade coal fired power generation:an effective way to large scale comprehensive utilization of low grade coal[J]. China Coal,2001,27(7):36-37,42. doi: 10.3969/j.issn.1006-530X.2001.07.013
    [4] 张信龙,唐利刚,张瑞文,等. 常村煤矿井下煤矸石分选工艺设计[J]. 煤炭技术,2015,34(1):323-324. doi: 10.13301/j.cnki.ct.2015.01.113

    ZHANG Xinlong,TANG Ligang,ZHANG Ruiwen,et al. Design of underground coal-gangue separation process of Changcun Coal Mine[J]. Coal Technology,2015,34(1):323-324. doi: 10.13301/j.cnki.ct.2015.01.113
    [5] 王国法,杜毅博. 智慧煤矿与智能化开采技术的发展方向[J]. 煤炭科学技术,2019,47(1):1-10. doi: 10.13199/j.cnki.cst.2019.01.001

    WANG Guofa,DU Yibo. Development direction of intelligent coal mine and intelligent mining technology[J]. Coal Science and Technology,2019,47(1):1-10. doi: 10.13199/j.cnki.cst.2019.01.001
    [6] 庞义辉,王国法,任怀伟. 智慧煤矿主体架构设计与系统平台建设关键技术[J]. 煤炭科学技术,2019,47(3):35-42. doi: 10.13199/j.cnki.cst.2019.03.005

    PANG Yihui,WANG Guofa,REN Huaiwei. Main structure design of intelligent coal mine and key technology of system platform construction[J]. Coal Science and Technology,2019,47(3):35-42. doi: 10.13199/j.cnki.cst.2019.03.005
    [7] 商德勇,章林,牛艳奇,等. 煤矸分拣机器人设计与关键技术分析[J]. 煤炭科学技术,2022,50(3):232-238. doi: 10.13199/j.cnki.cst.ZN20-040

    SHANG Deyong,ZHANG Lin,NIU Yanqi,et al. Design and key technology analysis of coal-gangue sorting robot[J]. Coal Science and Technology,2022,50(3):232-238. doi: 10.13199/j.cnki.cst.ZN20-040
    [8] 朱子祺,李创业,代伟. 基于G−RRT*算法的煤矸石分拣机器人路径规划[J]. 工矿自动化,2022,48(3):55-62.

    ZHU Ziqi,LI Chuangye,DAI Wei. Path planning of coal gangue sorting robot based on G-RRT* algorithm[J]. Journal of Mine Automation,2022,48(3):55-62.
    [9] 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
    [10] 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
    [11] 曹现刚,李宁,王鹏,等. 基于比例导引法的机械臂拣矸过程轨迹规划方法研究[J]. 煤炭工程,2019,51(5):154-158.

    CAO Xiangang,LI Ning,WANG Peng,et al. Research and simulation on priority and path planning of manipulator gangue picking[J]. Coal Engineering,2019,51(5):154-158.
    [12] 曹现刚,刘思颖,王鹏,等. 面向煤矸分拣机器人的煤矸识别定位系统研究[J]. 煤炭科学技术,2022,50(1):237-246.

    CAO Xiangang,LIU Siying,WANG Peng,et al. Research on coal gangue identification and positioning system based on coal-gangue sorting robot[J]. Coal Science and Technology,2022,50(1):237-246.
    [13] 马宏伟,孙那新,张烨,等. 煤矸石分拣机器人动态目标稳定抓取轨迹规划[J]. 工矿自动化,2022,48(4):20-30. doi: 10.13272/j.issn.1671-251x.2021110050

    MA Hongwei,SUN Naxin,ZHANG Ye,et al. Track planning of coal gangue sorting robot for dynamic target stable grasping[J]. Journal of Mine Automation,2022,48(4):20-30. doi: 10.13272/j.issn.1671-251x.2021110050
    [14] 王鹏,曹现刚,马宏伟,等. 基于余弦定理−PID的煤矸石分拣机器人动态目标稳准抓取算法[J]. 煤炭学报,2020,45(12):4240-4247. doi: 10.13225/j.cnki.jccs.2019.1565

    WANG Peng,CAO Xiangang,MA Hongwei,et al. Dynamic target steady and accurate grasping algorithm of gangue sorting robot based on cosine theorem-PID[J]. Journal of China Coal Society,2020,45(12):4240-4247. doi: 10.13225/j.cnki.jccs.2019.1565
    [15] 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
    [16] 江洪,宋勇,隋国成,等. 智能选矸机器人系统的研究与应用[J]. 选煤技术,2020,48(4):81-87. doi: 10.16447/j.cnki.cpt.2020.04.019

    JIANG Hong,SONG Yong,SUI Guocheng,et al. Study and application of the intelligent robotic gangue picking system[J]. Coal Preparation Technology,2020,48(4):81-87. doi: 10.16447/j.cnki.cpt.2020.04.019
    [17] 李奇松. 选矸机械手结构设计与研究[D]. 唐山: 华北理工大学, 2021.

    LI Qisong. The structural design and research of the gangue separator manipulator[D]. Tangshan: North China University of Science and Technology, 2021.
    [18] 王铮,戴坚锋,钱振宇,等. 面向传送带作业系统的机器人目标跟踪与抓取策略研究[J]. 计算机测量与控制,2016,24(11):85-90. doi: 10.16526/j.cnki.11-4762/tp.2016.11.025

    WANG Zheng,DAI Jianfeng,QIAN Zhenyu,et al. Conveyor belt operating system-oriented robot target tracking and grasping strategy research[J]. Computer Measurement & Control,2016,24(11):85-90. doi: 10.16526/j.cnki.11-4762/tp.2016.11.025
    [19] 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
  • 加载中
图(8) / 表(1)
计量
  • 文章访问数:  97
  • HTML全文浏览量:  8
  • PDF下载量:  27
  • 被引次数: 0
出版历程
  • 收稿日期:  2022-04-26
  • 修回日期:  2022-08-03
  • 网络出版日期:  2022-07-18

目录

    /

    返回文章
    返回