自动接卸钻杆液压机械手研发与应用  

Research and Application of Hydraulic Manipulator for Automatic Loading and Unloading of Drilling Pipes

作　　者：颜武刚 王毅 代建龙 王锋 未崴 尹千才 YAN Wugang;WANG Yi;DAI Jianlong;WANG Feng;WEI Wei;YIN Qiancai(Hunan Chuangyuan High-tech Machinery Co.,Ltd.,Changsha 410205,China)

机构地区：[1]湖南创远高新机械有限责任公司,湖南长沙410205

出　　处：《金属矿山》2024年第11期158-166,共9页Metal Mine

基　　金：“十四五”国家重点研发计划项目(编号:2023YFC2907405)。

摘　　要：在大直径深孔钻机凿岩作业过程中,钻杆联接与拆卸是一个非常重要的环节,传统钻机的接卸杆以人工为主,劳动强度大、安全风险高、作业效率低。设计了一种高效、稳定的自动接卸钻杆液压机械手,以实现钻杆的自动抓取、转运和放置,提高作业效率,降低人力成本,增强作业安全性。通过对自动接卸钻杆过程的分析,明确了机械手的功能需求和运动特点,设计了机械手的整体结构,包括滑台、关节臂和夹爪等关键部件,并进行了优化和仿真分析,提出了基于双阀芯电液数字阀控制技术的5自由度液压机械手设计方法,有效验证了该方法的可行性。生产实践表明:所设计的液压机械手具有良好的抓取性能、运动性能和稳定性,可准确、快速地抓取、转运和放置钻杆,能够满足大直径深孔钻机凿岩作业自动接卸钻杆的需求。该机械手在大直径深孔凿岩作业中具有广泛的应用前景,尤其对以下向凿岩阶段空场采矿法等采矿工艺为主的地下矿山实现自动化、智能化乃至无人化开采具有重要现实意义。In the process of rock drilling with a large diameter deep hole drilling rig,loading and unloading drill pipes are a very important link.Traditional drilling rigs mainly rely on manual labor for loading and unloading pipes,which is labor-intensive,poses high safety risks,and has low operational efficiency.This article proposes an efficient and stable hydraulic manipulator for automatic handling of drill pipes,which can achieve automatic grasping,transportation,and placement of drill pipes,improve operational efficiency,reduce labor costs,and enhance operational safety.Through the analysis of the process of automatically loading and unloading drill pipes,the functional requirements and motion characteristics of the robotic arm were clarified.The overall structure of the robotic arm was designed,including key components such as the slide table,joint arm,and gripper.Optimization and simulation analysis were carried out,and a five degree of freedom hydraulic robotic arm design method based on dual spool electro-hydraulic digital valve control technology was proposed,effectively verifying the feasibility of the method.Production practice has shown that the designed hydraulic robotic arm has good grasping performance,motion performance,and stability.It can accurately and quickly grasp,transport,and place drill pipes,and can meet the needs of automatic connection and unloading of drill pipes for large diameter deep hole drilling operations.This robotic arm has a wide range of application prospects in large-diameter deep hole rock drilling operations,especially in achieving automation,intelligence,and even unmanned mining in underground mines with mining processes such as open-pit mining in the downward drilling stage,which is of great practical significance.

关 键 词：自动接卸钻杆 液压机械手 性能分析 大直径深孔钻机 电液数字阀 

分 类 号：TD421[矿业工程—矿山机电]