基于液压控制的煤矿水仓清理机器人异物自动抓取方法  

Foreign Object Automatic Grasping Method for Coal Mine Sump Cleaning Robot Based on Hydraulic Control

作　　者：殷雷 Yin Lei(China Coal Research Institute,Beijing 100013,China;Coal Mine Emergenc Risk Avoidance Technology and Equipment Engineering Research Center,Beijing 100013,China;Beijing Mine Safety Engineering Technology Research Center,Beijing 100013,China)

机构地区：[1]煤炭科学技术研究院有限公司,北京100013 [2]煤矿应急避险技术装备工程研究中心,北京100013 [3]北京市煤矿安全工程技术研究中心,北京100013

出　　处：《煤矿机械》2023年第11期143-147,共5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(2022-2-TD-ZD001)。

摘　　要：煤矿水仓的复杂环境会影响清理机器人对异物的识别精度,导致清理机器人的异物抓取效果不佳。为了提升整体异物抓取性能,提出了基于液压控制的煤矿水仓清理机器人异物自动抓取方法。通过对煤矿水仓异物的测定及清理机器人数学模型的构建,实现清理机器人的动力学分析,为清理机器人的异物自动抓取提供了理论数据基础;依据分析结果规划出清理机器人在直角坐标空间内的轨迹路径,完成了清理机器人抓取路径的规划;利用构建的液压控制模型对机器人异物抓取实行控制,以此实现煤矿水仓清理机器人异物自动抓取。通过实验验证了该方法的实时性和有效性。The complex environment of the coal mine sump will affect the recognition accuracy of the cleaning robot for foreign objects,resulting in poor foreign object grasping effect of the cleaning robot.In order to improve the overall foreign object grasping performance,an foreign object automatic grasping method of the coal mine sump cleaning robot based on hydraulic control was proposed.Through the measurement of foreign object in the coal mine sump and the construction of the mathematical model of the cleaning robot,the dynamic analysis of the cleaning robot was realized,which provides a theoretical data basis for the automatic grabbing of foreign object by the cleaning robot.According to the analysis results,the trajectory path of the cleaning robot in the rectangular coordinate space was planned,and the grasp path planning of the cleaning robot was completed.The hydraulic control model was used to control the robot foreign object grabbing,so as to realize the automatic grabbing of foreign object by the coal mine sump cleaning robot.Through the experiment,it is verified that this method has real-time performance and effectiveness.

关 键 词：液压控制模型 煤矿水仓 清理机器人 异物抓取 轨迹路径规划 

分 类 号：TD74[矿业工程—矿井通风与安全]