Design of Shotcrete Robotic Arm for Underground Coal Mine Roadway
CAO Minxing
Abstract：Addressing the issues of low efficiency and inconsistent quality in traditional manual operations for shotcrete support in coal mine roadway,a composite motion mode featuring uniform lateral displacement superimposed with periodic rotation was proposed through composite trajectory planning,structural optimization,and simulation verification.Combined with vertical spray gun posture control(spraying distance of 0.8～1.2 m),the material rebound rate was reduced to within±6 mm.A multi-segment layered spraying strategy was adopted to achieve full coverage spraying on the side walls and vault.The robotic arm utilizes a multi-degree-of-freedom hydraulic drive system and a retractable protective device.Key components were verified through finite element analysis:the maximum von Mises stress of the spray gun's circle-drawing mechanism was 4.46％(37.22 MPa)of the material's yield strength,with a safety factor of 22.4,the maximum stress of the telescopic arm was 78.81 MPa,and the deformation was 1.104 nun,meeting the ISO 13849 standard.Based on experimental analysis of the working space,the robotic arm has a maximum working radius of 3 m,with the positioning error of the telescopic arm stabilized at±6 mm,exhibiting good dynamic characteristics.This effectively addresses issues such as poor adaptability to small tunnels and high rebound rates caused by sudden trajectory changes.
Keywords：roadwayshotcrete robotic armyield strengthfinite element
Publication Date：2025-12-31
Online Publishing Date：2026-01-29(First online date of this platform, not the publication date of the document)
Pages：5( 30-34 )