煤矿用智能钻车机械手设计及模态分析  

Design and Modal Analysis of Manipulator for Intelligent Drill Vehicle in Coal Mine

作　　者：唐敏 Tang Min(Chongqing Research Institute,China Coal Technology and Engineering Group,Chongqing 400039,China;State Key Laboratory of Gas Disaster Detecting,Preventing and Emergency Controlling,Chongqing 400037,China)

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400037

出　　处：《煤矿机械》2022年第2期73-75,共3页Coal Mine Machinery

基　　金：天地科技股份有限公司科技创新创业资金专项项目(2020-TD-ZD014)。

摘　　要：机械手作为煤矿用智能钻车的关键部件之一,其性能直接影响钻车的打钻效率。机械手的振动会对机械手的位置精度产生不可忽略的影响。通过对机械手进行设计研究,确定采用四关节机械手配合敞开式钻杆箱,实现智能钻车的自动化上下钻杆。运用有限元分析软件对机械手进行了模态分析,得出了机械手的6阶固有频率和振型,得到了在不同频率下机械手的抗振性。分析结果可为机械手结构设计合理改进、增加机械手的刚度和稳定性,以及机械手的进一步动态优化提供理论基础。As one of the key components of the intelligent drill vehicle for coal mine, the performance of the manipulator directly affects the drilling efficiency of the drill vehicle. The vibration of the manipulator will have a non-negligible effect on the position accuracy of the manipulator. Through the design and study of the manipulator, it was determined that the four-joint manipulator was used with the open drill rod box to realize the automatic loading and unloading drill rods of the intelligent drill vehicle. The modal analysis of the manipulator was carried out by using finite element analysis software,and the 6-order natural frequency and mode of the manipulator were obtained. The vibration resistance of the manipulator at different frequencies was obtained. The analysis results can provide a theoretical basis for reasonable improvement of the structure design of the manipulator, increasing the stiffness and stability of the manipulator and the further dynamic optimization of the manipulator.

关 键 词：智能钻车 机械手 设计 模态分析 

分 类 号：TD41[矿业工程—矿山机电] TP241[自动化与计算机技术—检测技术与自动化装置]