煤矿巷道开槽机械臂控制策略开发及仿真分析  

Control Strategy Development and Simulation Analysis of Operation Manipulator on Coal Mine Roadway Slotting Machine

作　　者：焦宏章 JIAO Hongzhang(China Coal Technology and Engineering Group Taiyuan Research Institute,Taiyuan 030006,China;China National Engineering Laboratory for Coal Mining Machinery,Taiyuan 030006,China)

机构地区：[1]中国煤炭科工集团太原研究院有限公司,太原030006 [2]煤矿采掘机械装备国家工程实验室,太原030006

出　　处：《煤炭技术》2023年第8期200-202,共3页Coal Technology

基　　金：国家重点研发计划(2022YFB4703604);中央引导地方科技发展资金项目(YDZJSX2022C036);山西省专利转化专项计划项目(202305002)。

摘　　要：针对现有开槽装备的技术不足,提出一种大折展比开槽机械臂构型,完成其结构设计,该机械臂最大作业高度为4280 mm,最大作业深度为2706 mm,最大作业宽度为4212.5 mm,针对矩形巷道,基于栅格法,开发了机械臂智能控制策略,在宽度5000 mm,高度4000 mm的巷道条件下,对控制策略仿真分析可得,顶板开槽过程中轨迹最大偏差为22 mm,侧帮开槽过程中轨迹最大偏差为53 mm,底板开槽过程中轨迹最大偏差为53 mm,满足巷道施工需求。Aim at the technical deficiency of existing slotting machine,a large span ratio manipulator configuration is proposed,and complete its structural design.The maximum working height is 4280 mm,the maximum operating depth is 2706 mm,the maximum operating width is 4212.5 mm.For rectangular roadway,based on point by point lookup table method,the intelligent control strategy of manipulator is developed,under the condition of 5000 mm width and 4000 mm height of roadway,through the simulation analysis of the control strategy,the maximum deviation of the track in the process of roof slotting is 22 mm,the maximum deviation of the track in the process of side slotting is 53 mm,the maximum deviation of the track in the process of bottom slotting is 53 mm,meet the requirements of roadway construction.

关 键 词：开槽 开槽机 机械臂 控制策略 采空区 

分 类 号：TD421[矿业工程—矿山机电]