Research on the Dynamic Characteristics of a Gas Purification Pipeline Robot in Goafs

Gas monitoring and dust control in coal mine goafs are critical for ensuring safe and efficient production. To address the challenges posed by dust accumulation from mechanized mining and ventilation systems, this study designs a spiral-driven gas purification pipeline robot integrating a wet dust removal mechanism. The robot features a modular structure, including a spiral drive, a plugging and extraction system, and a wet dust removal unit, to enhance pipeline adaptability and dust removal performance. Dynamic modeling reveals that the robot’s speed increases with the deflection angle of the driving wheel, with optimal performance observed at a 45° angle. The analysis of the rolling friction, medium resistance, and deflection angle indicates that reducing the angle improves the obstacle-crossing ability. Numerical simulations of gas migration in the goaf identify a high dust concentration at the air outlet and show that flow velocity significantly affects dust removal efficiency. Simulation and prototype testing confirm stable robot operation at deflection angles of between 30° and 90° and effective crossing of 5 mm barriers. Optimal dust removal is achieved with a 5 m/s flow velocity, 0.6 MPa water mist pressure, and 400 mm chord grid spacing, providing both theoretical and practical guidance for gas monitoring and dust control in coal mine goafs.