多轴机械运动臂姿态检测系统设计  

Design of Attitude Detection System for Multi-axis Mechanical Moving Arm

作　　者：康永玲 Kang Yongling(CCTEG Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;Shanxi Tiandi Coal Mining Machinery Co.,Ltd.,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]山西天地煤机装备有限公司,太原030006 [3]煤矿采掘机械装备国家工程实验室,太原030006

出　　处：《煤矿机械》2025年第2期1-3,共3页Coal Mine Machinery

基　　金：山西省重点研发计划项目(202202020101005);山西天地煤机装备有限公司科技重大项目(M2023-ZD12)。

摘　　要：针对目前掘进机多轴机械运动臂姿态精确检测常用方法存在的安装困难、结构复杂、维护成本高等问题,设计了一种经济、可靠、适用于煤矿掘进机多轴机械运动臂的姿态检测系统。该系统通过在掘进机截割运动臂上安装防爆动态倾角传感器实现截割头俯仰角的测量,在回转机架上设计特定的可靠结构安装防爆角度传感器及定位器等组合方式实现截割头偏航角的测量,并对俯仰角、偏航角及截割臂长度进行解算,实时获取到截割头相对机身的精确姿态信息。现场应用表明,该检测系统结构简单、安装便捷、维护成本低、环境适应性强、性能稳定。In view of the problems of installation difficulty,complex structure and high maintenance cost in the common methods of accurate attitude detection of the multi-axis mechanical moving arm of current roadheader,an economical and reliable attitude detection system suitable for the multi-axis mechanical moving arm of the coal mine roadheader was designed.The system realizes the measurement of the pitch angle of the cutting head by installing an explosion-proof dynamic inclination angle sensor on the cutting arm of the roadheader,designs a specific reliable structure on the rotary frame,installs explosion-proof angle sensor and positioner to realize the measurement of the yaw angle of the cutting head,calculates the pitch angle,yaw angle and the length of the cutting arm,and obtains the accurate attitude information of the cutting head relative to the fuselage in real time.The field application shows that this detection system has simple structure,convenient installation,low maintenance cost,strong environmental adaptability and stable performance.

关 键 词：掘进机 截割臂 姿态 倾角传感器 角度传感器 

分 类 号：TD421.5[矿业工程—矿山机电] TD632