煤矿井下用远程控制钻机双夹持器的研制  

Development of Double Gripper for Remote Control Drilling Rig in Coal Mine

作　　者：刘超[1] 刘霞[1] 吕晋军 Liu Chao;Liu Xia;Lyu Jinjun(Xinxiang Vocational and Technical College,Xinxiang 453000,China;Chongqing Research Institute,China CoalTechnology and Engineering Group,Chongqing 400039,China)

机构地区：[1]新乡职业技术学院,河南新乡453000 [2]中煤科工集团重庆研究院有限公司,重庆400039

出　　处：《煤矿机械》2019年第4期103-105,共3页Coal Mine Machinery

摘　　要：双夹持器是远控防突钻机自动拆卸钻杆的核心部件,在分析夹紧机构运动学和摆动机构运动学基础上,应用有限元法分析了双夹持器关键件的强度,并做了相关的工业性实验,其结果表明:所研制的双夹持器,结构合理,运动可靠,满足了远控防突自动钻机的施工需要,为进一步无人化自动钻机钻孔机器人的研制奠定了一定的工程应用基础。Double gripper is the core part of automatic dismantling drill pipe of remote control outburst-proof drilling rig. Based on the analysis of the kinematics of clamping mechanism and swing mechanism, the strength of key parts of double gripper was analyzed by finite element method, and relevant industrial experiments were carried out. The results show that the double gripper is reasonable in structure. The movement is reliable, which meets the construction needs of remote control outburst prevention automatic drilling rig, and lays a certain engineering application foundation for the further development of unmanned automatic drilling rig drilling robot.

关 键 词：双夹持器 仿真技术 钻孔机器人 

分 类 号：TD712.63[矿业工程—矿井通风与安全]