摘要
随着煤炭智能化综采工作面的快速发展,对发展相对滞后的掘进智能化提出了更高的要求,然而由于掘进作业受限于空间狭小、工艺复杂、顶板垮落风险大等特殊条件,传统的掘进机和锚杆机等装备对作业人员依赖程度高,不能实现掘支无人化。在掘锚护环节,针对传统两轴作业方式在灵活性和智能化方面无法满足快速掘进需求,基于逆运动学理论对掘锚一体化作业进行了系统性研究。首先,在掘锚一体化作业方面,提出了一种基于EBZ230悬臂式掘进机,由锚钻平台和小臂机器人协同作业的掘锚机器人群的整体架构,达到替代人工作业的目的,实现掘进和锚护作业的一体化;其次,通过锚钻平台对小臂机器人末端位置约束,构建操作小臂机器人的逆运行学方程,提出了在准确达到钻孔所需末端位姿的同时避开空间范围内障碍物的方法,利用生成的小臂机器人各关节在空间内无碰撞的运动路径,验证了小臂机器人末端位姿的准确程度和重复定位的精确程度;最后,在机器人群协同作业方面,给出了小臂机器人回收、伸展姿态的空间位置关系、小臂机器人控制策略以及各关节作业范围,验证了六轴式小臂机器人与掘锚各工序协同作业的可行性。与传统掘进和锚护单体装备相比,掘锚一体化机器人具有自动化程度高、作业精度高和适应性强等特点,是无人掘进作业的重要发展方向。
With the rapid development of intelligent mechanized coal mining face,some higher requirements are needed for the relatively backward intelligent heading technology.However,due to the special conditions such as narrow space,complex technology and high risk of roof falling,the traditional roadheader and bolt machine are highly dependent on the operators and cannot realize the unmanned heading operation.In the process of excavation and bolting,the traditional two-axis operation mode cannot meet the needs of rapid excavation in terms of flexibility and intelligence.Based on the theory of inverse kinematics,the integrated operation of excavation and bolting is systematically investigated in this study.Firstly,in the aspect of driving anchor integration operation,an overall structure of driving anchor robot based on the EBZ230 cantilever roadheader is proposed,which is coordinated by anchor drilling platform and small arm robot,to replace manual operation,and realize the integration of driving and anchoring operation.Secondly,through the constraint of anchor drilling platform at the end position of small arm robot,the operating small arm robot is constructed based on the inverse kinematics equation,and a method is proposed to avoid the obstacles in the space while accurately achieving the end pose required by drilling.The collision free motion path of each joint in the space is generated to verify the accuracy of the end pose and the accuracy of repeated positioning.Finally,in the aspect of robot crowd cooperative operation,the space position relationship of the recovery and extension posture of the small arm robot is given.The operation range of each joint,the cooperative control strategy of the group and the overall layout of the anchor digging robot are provided.Also,the feasibility of the cooperative operation of each process and the integrated design of the anchor digging is verified.Compared with the traditional excavation and anchor protection single equipment,the excavation and anchor integration robot has the characteristics of high degree of automation,high operation precision and strong adaptability,which is an important development direction of unmanned excavation.
作者
宋国栋
魏立科
马宏伟
付霁野
刘希梁
SONG Guodong;WEI Like;MA Hongwei;FU Jiye;LIU Xiliang(Information Research Institute of the Ministry of Emergency Management,Beijing 100029,China;School of Mechanical Engineerine,Xi’an University of Science and Technology,Xi’an 710054,China;Siasun Robot&Automation Co.,Ltd.,Shenyang 110000,China)
出处
《煤炭学报》
EI
CAS
CSCD
北大核心
2021年第S02期1114-1123,共10页
Journal of China Coal Society
基金
国家自然科学基金青年科学基金资助项目(52004243)
关键词
掘锚一体
机器人
路径规划
逆运动学
协同控制
excavation anchor integration
robot
path planning
inverse kinematics
coordinated control
