本文關(guān)鍵詞： 雙臂掘進(jìn)鉆車 運(yùn)動(dòng)學(xué)分析 工作空間分析 逆運(yùn)動(dòng)學(xué) 碰撞干涉檢測　出處：《河北科技大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：在我國統(tǒng)配煤礦和新井建設(shè)中,每年有大量的巖石巷道開拓與掘進(jìn)工作,掘進(jìn)裝備的自動(dòng)化程度已成為制約煤礦提高生產(chǎn)能力的主要因素。當(dāng)今礦業(yè)研究的熱點(diǎn)和難點(diǎn)是具有智能化與自主操作的井下自動(dòng)化鑿巖設(shè)備。其中,保證鉆車能夠在具有多個(gè)拐角的巷道中間快速行進(jìn)且不碰觸到墻面,并能進(jìn)行精確實(shí)時(shí)的定位和導(dǎo)航,實(shí)現(xiàn)自動(dòng)化鉆孔,是礦業(yè)研究的一個(gè)重要方向。因此,對(duì)掘進(jìn)鉆車的自動(dòng)化鉆孔方法進(jìn)行研究具有非常重要的現(xiàn)實(shí)意義。本文針對(duì)石家莊煤礦機(jī)械有限公司的CMJ2-27型雙臂液壓式鉆車的鉆臂進(jìn)行結(jié)構(gòu)改進(jìn)和工作特點(diǎn)分析,先后建立了鉆車?yán)硐胛蛔撕蛯?shí)際位姿的運(yùn)動(dòng)學(xué)模型。采用Denavit-Hartenberg(D-H)法建立正向運(yùn)動(dòng)學(xué)方程,推導(dǎo)出運(yùn)動(dòng)學(xué)正解表達(dá)式。結(jié)合蒙特卡洛法,采用Matlab工具,對(duì)鉆車進(jìn)行工作空間分析,得到單臂作業(yè)和雙臂協(xié)同作業(yè)的工作空間,并得出了實(shí)際工作時(shí)鉆車到斷面的最佳距離為1010mm。根據(jù)正解模型,采用分離變量法實(shí)現(xiàn)運(yùn)動(dòng)學(xué)逆解運(yùn)算,能夠根據(jù)機(jī)身位姿使鉆臂快速準(zhǔn)確的找到正確孔位,實(shí)現(xiàn)了考慮鉆車實(shí)際位姿的鉆車運(yùn)動(dòng)學(xué)逆解的求取。采用三維仿真軟件UG建立雙臂掘進(jìn)鉆車鉆臂的三維實(shí)體模型,按照運(yùn)動(dòng)學(xué)方程求得的正解和逆解表達(dá)式,對(duì)正解和逆解的一致性進(jìn)行仿真驗(yàn)證。根據(jù)鉆車鉆臂的結(jié)構(gòu)特點(diǎn)研究鉆車產(chǎn)生干涉的規(guī)律以及鉆臂的碰撞干涉檢測方法,完成了雙臂作業(yè)防干涉鉆孔規(guī)劃、單臂運(yùn)動(dòng)關(guān)節(jié)防干涉鉆孔規(guī)劃以及鉆臂與巷道之間的避碰處理。通過對(duì)鉆車鉆臂進(jìn)行運(yùn)動(dòng)學(xué)分析,實(shí)現(xiàn)了已知作業(yè)點(diǎn)后數(shù)字控制鉆臂按照優(yōu)化路徑自動(dòng)準(zhǔn)確定位,為實(shí)現(xiàn)鉆車的自動(dòng)化鉆孔提供技術(shù)支持,為全數(shù)字雙臂掘進(jìn)鉆車的實(shí)用化奠定了技術(shù)基礎(chǔ)。
[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.
【學(xué)位授予單位】：河北科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TD632

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