Mining robotic complex with adaptive control software (mrcacs)

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Authors:

T.E.Ermekov, Dr. Sc. (Tech.), Prof., Eurasian National University named after Lev Gumilev, Astana, the Republic of Kazakhstan

T.K.Issabek, Dr. Sc. (Tech.), Prof., Karaganda State Technical University, Karaganda, the Republic of Kazakhstan

E.T.Issabekov, Cand. Sc. (Tech.), Assoc. Prof., Karaganda State Technical University, Karaganda, the Republic of Kazakhstan

Abstract:

Purpose. Creating a mining robot complex with adaptive control (MRAPCS) intended for coal extraction from local, off-balance reserves of coal seams (pillars for different purposes), as well as for the development of coal seams occurring in complex geological conditions, with the length of the longwall up to 45–60 m. The complex can be used for selective mining while mining shallow, inclined coal seams with hard-structural framework, as the EFM-4NА able to conduct the layering selective mining.

Methodology. When doing research on a new type of coal mining complexes, a complex method was used that includes scientific generalization, analysis of practice data and prior industrial research, design and development, experimental studies, mine and bench studies, simulation, etc.

Findings. The design has been selected and improved; the complex components including the excavation manipulators have been substantiated and investigated. The block diagram of the subsystems regulated by executive body while selecting the method of cutting has been developed, the issues of designing a model of elements of microcontroller process control systems have been observed, namely, the control system of robotic platform of excavation manipulator moving. The development of technical documentation, prototyping and production tests of the complex in one of the mines of Karaganda have been specified, which are expected to conduct research of processes and methods of destruction of hard rock, taking into account the dynamics of the interaction of the environment and the elastic properties of the links.

Originality. An innovative way of coal cutting in the longwall, which provides a reduction in energy intensity of the formation of cutting up to 10 times over an existing shearer, is offered. The total capacity of electric paddle excavation is about 50 kW.

Practical value. Introduction of the technology of coal mining with minimal presence of workers through the use of adaptive management software; reduction of energy intensity of destruction of mineral by the cutter machine and metal consumption of the coal mining complex and excavation manipulator by 2–3 times compared to existing narrow cutting shearers. The introduction of robotic technology systems will improve the efficiency of interaction between the human operator and the diagnostic system of the cleaning robot technology sector and minimize the risk for workers in underground coal mining. It becomes possible to reactivate and develop technological reserves of mineral deposits under complex geological conditions.

References/Список літератури

1. Ermekov, T.E., Baimukhametov, S.K., Issabek, T.K. and Issabekov, E.T., 2015. Nauchno-prakticheskoie resheniie i obosnovaniie parametrov na sozdaniie i osvoieniie proizvodsnva gornogo ochistnogo robototekhnologicheskogo kompleksa [Scientific and practical solution and substantiation of parameters for the creation and development of production of mining robotic technology complex]. Karaganda: KSTU.

 

Научно-практическое решение и обоснование параметров на создание и освоение производства горного очистного робототехнологического комплекса: монография / Ермеков Т.Е., Баймухаметов С.К., Исабек Т.К., Исабеков Е.Т. – Караганда: Изд-во КарГТУ, 2015. – 187 с.

2. Arpabekov, M.I., 2010. Adaptive control software of the robotic complex. St. Petersburg State Polytechnical University Journal, Vol. 2 (97), p. 97

Арпабеков М.И. Адаптивно-программное управление роботизированного комплекса / Арпабеков М.И. // Научно-технические ведомости СПбГПУ: Информатика. Телекоммуникации. Управление. – СПб., 2010. – Вып. 2(97). – 97 с.

3. Sholanov, K.S., 2008. Analysis of the structure of mechanisms and manipulators with zero transformation parameters. News of Engineering Academy, No. 2(28), pp. 56–61.

Шоланов К.С. Анализ строения механизмов и манипуляторов с применением нулевых параметров преобразования / К.С.Шоланов. // Вести инженерной академии. – 2008. – № 2(28). – С. 56–61.

4. Kenzhin, B.M., Atanov, S.K. and Tuleuov J.C., 2014. Mining robotic technological complex. Application for grant of a patent for the invention of RK. Reg. No. 2014/0432.1

Заявление о выдаче патента РК на изобретение. Горный очистной робототехнологический комплекс. / Кенжин Б.М., Атанов С.К., Тулеуов Ж.К. и др. – № 2014/0432.1; заявл. 04.04.14.

5. Ermekov, T.E., Issabek, T.K., Kamarov, R.K. and Issabekov, E.T., 2014. Gornyie i stroitelnyie robototekhnologicheskiie kompleksy [Mining and construction robotic technological systems]. Karaganda: KSTU.

Горные и строительные робототехнологические комплексы / Ермеков Т.Е., Исабек Т.К., Камаров Р.К., Исабеков Е.Т. – Караганда: КарГТУ, 2014. – 298 с.

6. Sholanov, K.S., 2010. Research on speed of motion of a mining crown of an excavation manipulator. Bulletin of the Kazakh National Technical University. K.I.Satpayev, No. 1(77), pp. 100–105.

Шоланов К.С. Исследование скорости движения отбойной коронки выемочного манипулятора / К.С.Шоланов // Вестник Казахского национального технического университета им. К.И.Сатпаева. 2010. – №1(77). – С. 100–105.

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