掘进机截割头齿座的机器人自动定位技术  

Automatic Positioning Technology of Pick Holder by Special Robot forCutting Head of Roadheader

作　　者：张梦奇 闫献国[1] 秦国强 王学成 ZHANG Meng-qi;YAN Xian-guo;QIN Guo-qiang;WANG Xue-cheng(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China;Mechanical and Electronic Engineering Department,Shanxi Institute of Energy,Jinzhong 030600,China;Shanxi Tiandi Coal Mining Machinery Co.,Ltd.,Taiyuan 030006,China)

机构地区：[1]太原科技大学机械工程学院,太原030024 [2]山西能源学院机电工程系,晋中030600 [3]山西天地煤机装备有限公司,太原030006

出　　处：《科学技术与工程》2020年第17期6796-6805,共10页Science Technology and Engineering

基　　金：国家自然科学基金(51675363);山西能源学院自然科学资助项目(ZY-2017004);天地科技股份有限公司科技创新创业基金(2018-TD-MS050)。

摘　　要：为提高悬臂式掘进机截割头上截齿的定位精度,改进截割头制造质量,根据截齿在截割头表面的排列形式,分析齿尖的定位方法和截齿空间姿态的确定过程,提出并研制一种基于截割头设计方法的齿座定位专用机器人系统,介绍了将截齿定位设计坐标系转换为专用机器人制造坐标系的方法。通过控制串联式机器人手部关节的旋转与回转台的翻转,实现了截齿空间姿态设计参数与制造参数的统一;通过重力自定位原理,实现了齿座相对机器人手部的自动精确定位,有效降低了机器人调试过程的复杂性。此外,通过模拟机器人自动制造过程,分析了不同制造工艺路线对截割头齿座定位工作效率的影响。研究结果表明,采用机器人自动定位技术能有效提高截割头齿座定位精度,合理的制造工艺路线能有效提高截割头制造效率。In order to improve the positioning accuracy of picks on cutting head of boom type roadheader and the manufacturing quality of cutting head,the pick tip positioning method and pick attitude determining process on cutting head were analyzed.A special robot system for pick holder positioning based on cutting head design method was proposed and developed,and the method of converting pick arrangement coordinate system to the special robot coordinate system was introduced.The unification of design parameters and manufacturing parameters of picks was realized by rotating tandem hand joint of robot and flipping of turntable.And automatic precise positioning of pick holder relative to the robot hand was realized through the gravity self-positioning principle,which could reduce the complexity of debugging process for the special robot.In addition,the influence of different manufacturing process routes on positioning efficiency of pick holders was analyzed by simulating automatic manufacturing process of the special robot.The results show that the robot automatic positioning technology can effectively improve positioning accuracy of cutting head,and the reasonable manufacturing process route can effectively improve the efficiency of cutting head manufacturing.

关 键 词：掘进机 截割头 截齿空间位姿 专用机器人 制造工艺 

分 类 号：TD421[矿业工程—矿山机电]