基于机器人化掘支锚联合机组的折叠式钻车钻臂工作空间分析  

Analysis of drill boom work space of folding drill carriage based on roboticized excavation-support-bolting combined unit

作　　者：郝雪弟[1] 纪伟亮 景新平 李瑞[1] 张中平 程继杰 管建 吴淼[1] Hao Xuedi;Ji Weiliang;Jing Xinping;Li Rui;Zhang Zhongping;Cheng Jijie;Guan Jian;Wu Miao(School of Mechanical Electronic g〉 Information Engineering,China University of Mining and Technology,Beijing,Haidian,Beijing 100083,China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京市海淀区100083

出　　处：《中国煤炭》2018年第9期64-70,共7页China Coal

基　　金：国家重点基础研究发展计划(973)基金资助项目(2014CB046306)

摘　　要：针对现有掘进工艺仍然存在掘支比例失衡和掘进效率低下导致的掘进工作面安全事故频发等问题,提出了机器人化掘支锚联合机组及工艺,介绍了该机组的组成和工作原理,阐述了该机组中折叠式钻车钻臂的结构及运动学建模,并对该折叠式钻车钻臂的工作空间进行了详细的分析。通过对钻车钻臂关节参数进行反解,验证了该折叠式钻车钻臂能够满足实际工作的位置和姿态要求,为实现井下少人、无人化掘进作业奠定了基础。Aiming at frequent accidents at driving face caused by unbalance excavation-support proportion and low-efficiency tunneling process nowadays,a roboticized excavation-support-anchor bolting combined unit and its technology were proposed,structural composition and operation principle of the unit were introduced,and drill boom＇s structure and kinematical modelling of folding drill carriage in the combined unit was elaborated,drill boom work space of folding drill carriage was also analyzed in detail.Through the inverse solution of drill boom joint parameters,the drill boom of the folding drill carriage was verified to meet the requirement of actual operation location and posture,which laid a foundation for the realization of few worker even autonomous roadway excavation.

关 键 词：掘支锚联合机组 折叠式钻车钻臂 工作空间 掘进工艺 

分 类 号：TD421.5[矿业工程—矿山机电]