煤矿安全2024，Vol.55Issue(6)：223-227,5.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
Abstract
Aiming at the problems of movement space and layout of coal mine drilling robot host,pole arm and pole bin,the kin-ematic 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.关键词
煤矿钻孔机器人/双机协同加杆/加杆机械臂/机械臂运动空间/蒙特卡洛法Key words
coal mine drilling robot/dual machine collaborative adding drill pipes/rod manipulator arm/manipulator arm motion space/Monte Carlo method分类
矿业与冶金引用本文复制引用
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):223-227,5.基金项目
中煤科工西安研究院(集团)有限公司顶层设计资助项目(2020XAYDC01-2) （集团）
