矿用钻机机械手自动上下钻杆机构的控制方法  

Control Method of Automatic Loading and Unloading Drill Pipe for Mining Rig Machine Hand

作　　者：杨燕鸽[1,2] 

机构地区：[1]中煤科工集团重庆研究院有限公司,重庆400039 [2]瓦斯灾害监控与应急技术国家重点实验室,重庆400039

出　　处：《煤矿机械》2017年第6期100-102,共3页Coal Mine Machinery

基　　金：中国煤炭科工集团有限公司科技创新基金面上项目(2017MS008)

摘　　要：为了实现煤矿井下钻机换杆过程自动化,提出了一种矿用钻机自动上下钻杆控制方法,介绍了机械手的结构和控制系统的组成,分析了电液比例控制的PID控制定位技术,用以对机械手各执行机构运动的位移及角度进行精确定位;介绍了钻杆箱存储状态自动识别技术。基于以上技术,该机械手能实现自动上下钻杆,替代人工换杆,降低了工人的劳动强度,提高了钻杆的更换速度。In order to realize the process automation of coal mine drilling rod changing, This paper gives a control method of automatic loading and unloading drill pipe for mining rig, introduces the structure and composition of the machine hand and the control system, analyses the PID technology of the electric-hydraulic pilot technology to control the motion displacement and angle of the machine hand, and introduces the automatic identification technology of drill pipe box storage status. Based on these technology, the machine hand can load and unload drill pipe automatically, replacing the manual changing rod,thereby reducing the labor intensity and improving the replacement speed of the drill pipe replacement.

关 键 词：自动上下钻杆 机械手 电液先导控制 PID 钻杆箱存储状态 自动识别 

分 类 号：TD421.2[矿业工程—矿山机电]