针对煤矿巷道掘进过程中锚索支护自动化水平低、作业人员劳动强度大、井下空间受限等问题，在本团队所研发的钻锚机器人的基础上提出一套智能化锚索支护系统方案，将锚索支护流程分解为物料抓取、锚索输送与锚索紧固三阶段，通过机械臂、锚索输送装置与锚杆钻机协同作业，实现锚索智能安装。

根据锚索输送安装的功能需求，提出一种煤矿巷道掘进智能锚索支护系统；针对井下作业空间受限的问题，对锚索支护系统中各部分的位置关系进行分析，以机械臂输送锚索时锚索曲率最小及锚索悬空长度最小为指标建立目标函数，利用多目标粒子群算法求解得到系统最优空间布局。

基于锚索支护工艺，设计了一种圆盘式的锚索库，确定了接触力的主要影响因素，通过响应面回归实验分析了各因素对接触力的影响权重，最终得到锚索库最优结构参数；提出一种“输送弯道+滚轮”组合锚索输送结构，建立了锚索参数、锚索弯曲弹性力和弯管参数关系之间的力学模型，实现柔性锚索输送功能；设计了基于连杆机构的锚索夹持装置，具有一对分离式输送通道，可在锚索紧固阶段中实现锚索的校直并与锚杆钻机协同完成锚索的紧固任务。

研究分析了输送锚索及物料（药卷、锁具、托盘）的系统功能需求，建立了机械臂运动学模型，对机械臂的工作空间的分析表明末端执行器能够覆盖所有任务所在的空间位置；采用数值方法对机械臂的逆运动学进行求解，对关键路径点上的8组独立解进行组合，以关节最短行程为准则，得到了最优逆解组合；针对机械臂输送药卷、锁具和锚索三种情况，利用直线插补和三次多项式方法进行了机械臂关节轨迹规划，仿真结果验证了轨迹规划的有效性和机械臂的运动平稳性。

采用拉格朗日方法建立了机械臂的动力学方程，通过虚功原理将锚索的时变负载与接触阻力转化为广义力，得到了变负载的机械臂动力学模型；基于绝对节点坐标法(ANCF)建立了锚索的动力学模型；基于RecurDyn软件搭建了锚索支护系统的虚拟样机模型，通过刚柔耦合分析方法完成了机械臂、输送装置、钻机、锚索的协同作业仿真，精确复现了机械臂对锚索抽取与输送装置对锚索输送两阶段的动态仿真。仿真结果表明，机械臂抽取锚索的角度和速度均对关节力矩产生显著影响。综合考虑抽取过程的效率和关节力矩波动得到了的抽取过程的最优参数组合，从而改善了关节力矩负载和抽取力波动幅值。输送滚轮的线速度与锚索速度之差较小，验证了计算结果的准确性。

本研究针对煤矿巷道锚索支护自动化难题，创新提出集成机械臂、锚索库与输送装置的智能支护系统；通过空间布局优化与结构创新设计，实现柔性锚索高效输送；基于刚柔耦合动力学建模与虚拟仿真验证了支护系统的可行性与可靠性。研究成果为井下锚索输送系统开发与输送装置结构改进的提供了理论依据。

Aiming at the problems of low automation level of anchor cable support, high labor intensity of operators and limited underground space in the process of coal mine roadway excavation, a set of intelligent anchor cable support system scheme is proposed on the basis of the drilling and anchoring robot developed by our team. The anchor cable support process is decomposed into three stages : material transportation, anchor cable transportation and anchor cable fastening. The precise installation of anchor cable is realized by the cooperative operation of mechanical arm, anchor cable conveying device and bolt drilling rig.

Propose a coal mine tunnel excavation anchor support system based on the functional requirements of anchor cable transportation and installation; In response to the problem of limited underground working space, the position relationship of each part in the anchor support system is analyzed. The objective function is established based on the minimum curvature of the anchor cable and the minimum hanging length of the anchor cable when the mechanical arm transports the anchor cable. The multi-objective particle swarm algorithm is used to solve the optimal spatial layout of the system.

According to the anchor cable support technology, a disc-type anchor cable library was designed. The main influencing factors of contact force were determined by theoretical analysis. The influence weight of each factor on contact force was analyzed by response surface regression experiment. Finally, the optimal structural parameters of anchor cable library were obtained. A combined anchor cable conveying structure of ' conveying bend + roller ' is proposed. The mechanical model between the parameters of anchor cable, the bending elastic force of anchor cable and the parameters of bend pipe is established. Combined with the design of movable slide rail, the flexible anchor cable conveying function is realized. The anchor cable clamping device based on the link mechanism is designed, which has a pair of separate conveying channels, which can realize the straightening of the anchor cable in the anchor cable fastening stage and cooperate with the anchor rig to complete the anchor cable fastening task.

According to the requirements of conveying anchor cable and materials (cartridge, lock, tray) the kinematics model of the manipulator is established. The analysis of the workspace of the manipulator shows that the end effector can cover the spatial position of all tasks. The numerical method is used to solve the inverse kinematics of the manipulator. Eight groups of independent solutions on the critical path points are combined. The optimal inverse solution combination is obtained by comparison with the shortest joint stroke as the criterion. Aiming at the three cases of conveying cartridge, lock and anchor cable, the trajectory planning of manipulator joint is carried out by using linear interpolation and cubic polynomial method. The simulation results verify the effectiveness of trajectory planning and the motion stability of manipulator.

The dynamic equation of the robotic arm was established using the Lagrangian method, and the time-varying load and contact resistance of the anchor cable were converted into generalized forces through the principle of virtual work, resulting in a dynamic model of the robotic arm with variable loads; A dynamic model of the anchor cable was established based on the Absolute Node Coordinate Method (ANCF); A virtual prototype model of the anchor support system was built based on RecurDyn software, and the collaborative operation simulation of the robotic arm, conveying device, drilling rig, and anchor cable was completed through the rigid flexible coupling analysis method. The dynamic simulation of the two stages of anchor cable extraction by the robotic arm and anchor cable transportation by the conveying device was accurately reproduced.The simulation results show that the angle and speed of the manipulator to extract the anchor cable have a significant impact on the joint torque. Considering the efficiency of the extraction process and the fluctuation of the joint torque, the optimal parameter combination of the extraction process is obtained, which improves the joint torque load and the fluctuation amplitude of the extraction force. The difference between the linear speed of the conveying roller and the speed of the anchor cable is small, and there is almost no slippage, which verifies the accuracy of the calculation results.

This study aims to address the automation challenges of anchor cable support in coal mine tunnels, and innovatively proposes an intelligent support system that integrates mechanical arms, anchor cable warehouses, and conveying devices; By optimizing spatial layout and innovating structural design, efficient transportation of flexible anchor cables can be achieved; The feasibility and reliability of the support system were verified through rigid flexible coupling dynamics modeling and virtual simulation. The research results provide a theoretical basis for the development of underground anchor cable conveying systems and the improvement of conveying device structures.

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