Research and application of pipeline installation robots for underground coal mines

To reduce repeated grabbing and lifting of pipelines by personnel operating equipment during construction at the driving face, and to realize automation and intellectualization of the grabbing, lifting and installation of commonly used pipelines at the driving face, a coal mine robot for underground pipeline installation is studied in this paper. The overall scheme design of the pipeline installation vehicle is introduced, and four key technologies are elaborated in detail: precise identification and positioning technology for intelligent pipeline installation robot operation targets, kinematics modeling technology for pipeline installation manipulator, online monitoring technology for pipeline installation operation, and remote control technology on the ground. The field application in Lijiahao Coal Mine shows that the pipeline installation robot can automatically grasp pipelines with a diameter ranging from 108 mm to 500 mm, and realize AI identification and positioning of four kinds of pipelines in yellow, green, gray and blue. In addition, it can lift pipelines to a height of more than 5 m, which greatly reduces the workload of underground workers manually operating remote controllers to grab pipelines and lowers labor intensity.