机载锚杆钻机分段式控制方法研究

为研究机载锚杆钻机运动的自动控制,采用D-H坐标系建立了七关节机载锚杆钻机的运动学正解方程;以矩形巷道为工作对象,结合掘锚联合机实际工况,提出以巷道支护高度为边界条件的分段式锚杆钻机多关节控制方法;建立不同支护高度条件下机载锚杆钻机的逆运动控制模型,得出锚杆钻机钻头的运动范围.研究结果表明:通过采用D-H坐标法可确定锚杆钻机工作姿态;在不同巷道高度条件下,确定了锚杆钻机各关节驱动角度,获得钻头具体工作范围,实现巷道全断面内锚杆钻孔支护要求,从而可提高掘进机钻孔的工作效率,缩短钻孔位置的调整时间.研究内容为机载锚杆钻机分段式自动控制提供设计依据.

Research on the sectional control method of airborne jumbolter

In order to automatic control the movement of airborne anchor drilling machine, kinematics equation of the seven joint of airborne anchor drilling machine was established using D-H coordinate system. Regarding rectangular tunnels as the work object and combining with the actual working conditions of digging anchor machine, a multi joint control method for sectional anchor drilling machine was put forward under the boundary conditions of tunnel supporting height. The inverse movement control model of airborne anchor drilling machine was established with different support height conditions and the motion range of anchor drilling machine bit was obtained. The results showed that D-H coordinate method could determine work attitude of the anchor drilling machine; the drive angle of each joint for anchor drilling machine under the condition of different tunnels height was determined and the specific working scope of the bit was obtained which realizing the supporting requirements of anchor drilling holes in the whole tunnel section, improving the work efficiency of the machine auxiliary adjustment movement and shortening the adjustment time of drilling position. The research provides design basis for sectional automatic control of airborne anchor drilling machine.