双臂掘进钻车自动化钻孔方法研究

发布时间：2018-03-01 09:17

本文关键词： 双臂掘进钻车运动学分析工作空间分析逆运动学碰撞干涉检测　出处：《河北科技大学》2015年硕士论文　论文类型：学位论文

【摘要】：在我国统配煤矿和新井建设中,每年有大量的岩石巷道开拓与掘进工作,掘进装备的自动化程度已成为制约煤矿提高生产能力的主要因素。当今矿业研究的热点和难点是具有智能化与自主操作的井下自动化凿岩设备。其中,保证钻车能够在具有多个拐角的巷道中间快速行进且不碰触到墙面,并能进行精确实时的定位和导航,实现自动化钻孔,是矿业研究的一个重要方向。因此,对掘进钻车的自动化钻孔方法进行研究具有非常重要的现实意义。本文针对石家庄煤矿机械有限公司的CMJ2-27型双臂液压式钻车的钻臂进行结构改进和工作特点分析,先后建立了钻车理想位姿和实际位姿的运动学模型。采用Denavit-Hartenberg(D-H)法建立正向运动学方程,推导出运动学正解表达式。结合蒙特卡洛法,采用Matlab工具,对钻车进行工作空间分析,得到单臂作业和双臂协同作业的工作空间,并得出了实际工作时钻车到断面的最佳距离为1010mm。根据正解模型,采用分离变量法实现运动学逆解运算,能够根据机身位姿使钻臂快速准确的找到正确孔位,实现了考虑钻车实际位姿的钻车运动学逆解的求取。采用三维仿真软件UG建立双臂掘进钻车钻臂的三维实体模型,按照运动学方程求得的正解和逆解表达式,对正解和逆解的一致性进行仿真验证。根据钻车钻臂的结构特点研究钻车产生干涉的规律以及钻臂的碰撞干涉检测方法,完成了双臂作业防干涉钻孔规划、单臂运动关节防干涉钻孔规划以及钻臂与巷道之间的避碰处理。通过对钻车钻臂进行运动学分析,实现了已知作业点后数字控制钻臂按照优化路径自动准确定位,为实现钻车的自动化钻孔提供技术支持,为全数字双臂掘进钻车的实用化奠定了技术基础。
[Abstract]:In the construction of coal mines and new wells in China, a large number of rock roadways are developed and excavated every year. The automation degree of tunneling equipment has become the main factor restricting the coal mine to improve its production capacity. Nowadays, the hot and difficult point of mining research is the underground automatic drilling equipment with intelligent and independent operation. It is an important direction of mining research to ensure that drilling rigs can move quickly in the middle of laneway with multiple corners without touching the wall, and can locate and navigate accurately and in real time and realize automatic drilling. It is of great practical significance to study the automatic drilling method of driving rig. This paper analyzes the structure improvement and working characteristics of CMJ2-27 double-arm hydraulic drilling rig of Shijiazhuang Coal Mine Machinery Co., Ltd. The kinematics models of ideal pose and actual pose of drill rig are established successively. The forward kinematics equation is established by Denavit-Hartenberg D-H) method, and the expression of forward kinematics solution is derived. The workspace analysis of drill rig is carried out by using Monte Carlo method and Matlab tool. The workspace of single-arm operation and double-arm cooperative operation is obtained, and the optimum distance from drill rig to section is 1010mm. according to the positive solution model, the inverse kinematics solution is realized by using the method of separating variables. According to the position and pose of the fuselage, the drill arm can find the correct hole position quickly and accurately, and the inverse kinematics solution of the drilling vehicle considering the actual position and pose of the drill car can be obtained. The three-dimensional solid model of the drilling arm of the double-arm drilling vehicle is established by using the three-dimensional simulation software UG. According to the expressions of forward and inverse solutions obtained from kinematics equations, the consistency of forward and inverse solutions is simulated and verified. According to the structural characteristics of drill arm, the rules of drill vehicle interference and the collision interference detection method of drill arm are studied. The anti-interference drilling planning of dual-arm operation, the anti-interference drilling planning of single-arm motion joint and the collision avoidance between the drill arm and the roadway are completed. The kinematics analysis of the drill arm is carried out. The digital control arm is located automatically and accurately according to the optimized path after known operating points. It provides technical support for the automatic drilling of drilling vehicle and lays a technical foundation for the practical application of full-digital double-arm drilling rig.
【学位授予单位】：河北科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD632

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