基于路径规划的大容量钻杆自动输送系统研究

针对现有煤矿钻机钻杆自动输送系统容量小，需要人工频繁补充钻杆的问题，开发了大容量钻杆自动输送系统。以钻杆一般输送路径规划和多列多层钻杆起点归一化方法为基础，结合ZYWL全方位自动钻机总体结构方案，利用钻杆箱侧下方的空间，设计了升降输送路径方案，降低了钻机整体高度。基于路径方案设计了钻杆箱、转运器、主机械手和副机械手等执行机构，并根据具体结构对输送路径进行了适应性调整，避免了输送装置与钻机主机结构发生运动干涉。理论验算与样机试验表明，大容量钻杆自动输送系统路径设置合理，可准确实现钻杆的自动输送。

Research on automatic conveying system of large-capacity drill pipe based on path planning

In order to solve the problem that the capacity of automatic conveying system of the existing drill pipe and drill rig is insufficient and manual replenishment of drill pipe is required frequently,an automatic conveying system of large-capacity drill pipe is developed.The lifting conveyor path plan combined with the overall structural design of ZYWL multidirectional automatic drill rig designed based on the general conveying path plan and the starting point normalization method for the multi-row and multi-layer pipes.This plan is helpful to reduce the height of the drill rig because of using the space below the side of the drill pipe box.Operating mechanisms are designed,including the drill pipe box,the transferring device,the main and the deputy manipulator.According to the mechanism structural plan,the conveying path is adjusted adaptively to avoid structure and moving interference between the conveying system and the drill rig.It is verified by both the theoretical calculation and the model machine test that the pipe conveying path of automatic conveying system of large-capacity drill pipe is set properly and the drill pipe can be delivered automatically and accurately.