锚杆台车工作臂设计及作业空间分析与验证  

Working Arm Design and Working Space Analysis and Verification of Tunnel Anchor Rig

作　　者：毋焱磊 陈鑫鑫 石安政 王三峰 Wu Yanlei;Chen Xinxin;Shi Anzheng;Wang Sanfeng(Equipment Branch of China Railway Tunnel Bureau Group Co.,Ltd.,Luoyang,Henan 471009,China;Chendu Metro Operation Co.,Ltd.,Chendu 610081,China)

机构地区：[1]中铁隧道局集团有限公司设备分公司,河南洛阳471009 [2]成都地铁运营有限公司,成都610081

出　　处：《机电工程技术》2023年第4期275-280,308,共7页Mechanical & Electrical Engineering Technology

摘　　要：为解决隧道锚杆施作效率低、风险高等问题,设计了一种新型的锚杆台车工作臂,以满足隧道锚杆机械化快速施作的需求。采用钻臂加三工位的组合结构设计,可在隧道内一次定位后实现钻孔、注浆和锚护一体化作业。为求解和验证工作臂的作业空间,基于改进D-H法建立工作臂数学模型,并利用Matlab机器人工具箱Robotic Toolbox,结合蒙特卡洛法求出工作臂的作业空间点云图和其作业空间参数,并对作业空间边界优化和空间包络,以直观的三维空间曲面图显示出其作业空间。最后,建立隧道断面函数和其三维曲面模型与锚杆台车工作臂作业空间点云包络图,在Matlab中进行联合仿真。仿真结果表明锚杆台车工作臂结构设计和作业空间参数满足隧道断面锚杆施作要求,为同类型的设计和作业空间的求解验证提供了一种可行性方案。To solve the problems of low efficiency and high risk in the construction of tunnel bolts,a new type of work arm for the anchor carriage was designed to meet the needs of mechanized and rapid construction of tunnel bolts.The working arm of the anchor jumbo could realize the integrated operation of drilling,grouting and anchoring after one positioning in the tunnel by adopting the combined structure design of drill arm and three stations.On this basis,in order to solve and verify the working space of the working arm,the mathematical model of the working arm was established based on the improved D-H method,and the point cloud map of the working space of the working arm and its working space parameters were calculated using the Matlab robot toolbox Robotic Toolbox combined with the Monte Carlo method,and the working space boundary was optimized and the space envelope was displayed with an intuitive three-dimensional space surface map.Finally,the tunnel section function and its 3D surface model and the point cloud envelope of the working space of the anchor jumbo arm were established for joint simulation in Matlab.The simulation results show that the structural design and working space parameters of the working arm of the rockbolt trolley meet the requirements for the construction of the tunnel section rockbolt,and provide a feasible scheme for the structural design of the working arm of the rockbolt trolley and the solution and verification of the working space.

关 键 词：锚杆台车工作臂 改进D-H法 作业空间 MATLAB仿真 隧道断面 

分 类 号：TH123[机械工程—机械设计及理论]