党健,田宏亮,姚亚峰. 煤矿钻孔机器人双机协同加杆运动空间分析及应用[J]. 煤矿安全,2024,55(6):223−227. doi: 10.13347/j.cnki.mkaq.20230829
    引用本文: 党健,田宏亮,姚亚峰. 煤矿钻孔机器人双机协同加杆运动空间分析及应用[J]. 煤矿安全,2024,55(6):223−227. doi: 10.13347/j.cnki.mkaq.20230829
    DANG Jian, TIAN Hongliang, YAO Yafeng. Space analysis and application of double machine cooperative adding drill pipes for coal mine drilling robot[J]. Safety in Coal Mines, 2024, 55(6): 223−227. doi: 10.13347/j.cnki.mkaq.20230829
    Citation: DANG Jian, TIAN Hongliang, YAO Yafeng. Space analysis and application of double machine cooperative adding drill pipes for coal mine drilling robot[J]. Safety in Coal Mines, 2024, 55(6): 223−227. doi: 10.13347/j.cnki.mkaq.20230829

    煤矿钻孔机器人双机协同加杆运动空间分析及应用

    Space analysis and application of double machine cooperative adding drill pipes for coal mine drilling robot

    • 摘要: 针对煤矿钻孔机器人主机、加杆机械臂与杆仓的运动空间及布局问题,通过分析煤矿钻孔机器人的结构特点,建立了加杆机械臂和主机的运动学模型,求得其基坐标系与末端坐标之间位姿变换矩阵、关节变量与末端位姿关系式;构建了协同加杆运动的空间集合,采用蒙特卡洛法对运动空间求解,得到了加杆机械臂末端和主机钻杆中心点的运动散点图;以加杆机械臂的运动空间范围为基准,确定了主机和杆仓的位置设计范围分别为−1.87~−0.80 m和0.35~2.06 m。试验结果表明:该煤矿钻孔机器人布局合理,操作灵活,加杆机械臂可将杆仓中的全部钻杆准确放置于主机上的回转器与夹持器之间。

       

      Abstract: Aiming at the problems of movement space and layout of coal mine drilling robot host, pole arm and pole bin, the kinematic model of the mine drilling robot is established by analyzing the structural principle of the mine drilling robot, and the pose transformation matrix between the base coordinate system and the end coordinate and the relation between the joint variable and the end pose are obtained. The space set of the joint rod motion is constructed, and the motion space is solved by Monte Carlo method, and the motion scatter diagram of the end of the rod manipulator arm and the center point of the main drill pipe is obtained. Based on the movement space range of the manipulator arm and combined with the design requirements, the design ranges of the main engine and the lever bin are determined to be (−1.87, -0.80) m and (0.35, 2.06) m, respectively. The experiment shows that the coal mine drilling robot has reasonable layout and flexible operation, and the rod adding robot arm can accurately place all the drill rods in the rod bin between the rotary device and the gripper on the main engine.

       

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