复杂地质条件煤矿巷道多履带钻锚机器人运动学研究

针对复杂地质条件煤矿巷道存在的掘快支慢难题,提出一种集钻、 护、 锚于一体的多履带钻锚机器人群.依据巷道支护需求,设计钻锚机器人本体结构、 钻机布置以及支护工艺,完成钻锚机器人三维建模;基于D-H法建立钻锚机器人钻机运动学模型,分析并求解顶板钻机与侧帮钻机正运动学解和逆运动学解,仿真得到钻机可支护区域的点状云图、 末端...

Research on Kinematics of Multi-track Anchor Drilling Robot in Coal Mine Roadway with Complex Geological Conditions

Aiming at the problem of fast excavation and slow support in coal mine roadways in complex geological conditions, a multi-track drilling and anchoring robot group integrating drilling, protection and anchoring is proposed. According to the needs of roadway support, design the body structure, drilling rig layout and support technology of the anchor drilling robot, complete the three-dimensional modeling of the anchor drilling robot; establish the kinematics model of the anchor drilling robot rig based on the DH method, analyze and solve the roof drilling rig and side drilling rig Kinematics solution and inverse kinematics solution, simulation to obtain the point cloud picture of the supportable area of the rig, the end motion trajectory, etc. The results show that during the supporting operation of the top and side rigs, the interference between the rig and the robot body can be avoided, and the movement to the position to be supported can be achieved accurately and smoothly, with strong stability and reliability.