摘要
喷浆支护具有支护强度高、支护成本低等特点,已广泛使用于煤矿井下巷道掘进与支护中。为实现巷道喷浆支护作业全自动化,解决喷浆质量差、生产效率低等问题,设计并实现一种灵活性高的多自由度冗余喷浆机械臂。基于D-H法建立多自由度喷浆机械臂运动学模型,通过正逆运动学分析得到了多自由度机械臂的空间位姿变换矩阵,为喷浆作业自动控制奠定了基础;以受喷面的均匀度为目标,采用环境网格法建立喷浆路径规划模型,对喷浆路径规划进行研究并统计受喷面覆盖程度,分析喷浆直径、喷浆横移距离等运动参数及运动形式对喷浆效果的影响;此外,搭建了多自由度喷浆机械臂控制系统并进行了运动控制试验,以验证自动喷浆机械臂的控制性能。研究结果表明建立的运动学模型可准确描述机械臂空间运动,在运动控制试验中获得的位姿参数θ1,θ2与θ3误差较大,其余误差较小,基本满足控制性能要求;重复喷浆区域集中于喷浆路径相交位置,未喷浆区域存在于喷浆区域的外围,可采用"喷帮"方式对未喷浆区域进行补喷;喷浆直径与喷浆横移距离共同影响着喷浆区域的均匀性,喷浆运动形式从l=D运动变化到l<D/2运动,未喷浆的区域占比越来越小,重复喷浆区域占比越来越大,当喷浆横移距离为喷浆直径的1/2时,喷浆效果较好。
Shotcrete support,widely used in underground heading and supporting,has the advantages of high strength and low cost.In order to realize the fully automation of shotcrete support operation and solve the problems of poor quality and low efficiency,a full-automatic multi-DOF(degree of freedom)shotcrete manipulator with redundancy and high flexibility was designed and implemented.The space kinematics model of shotcrete manipulator was established based on D-H method and the space pose transformation matrix was obtained through the forward and inverse kinematics analysis,which lay a foundation for the automatic control.Aiming at the uniformity of the sprayed surface,the shotcrete path planning model was established using the environmental grid method to investigate the influence of the motion parameters and motion modes on the shotcrete effect.In addition,the control system of multi-DOF shotcrete manipulator was developed and the motion control laboratory experiment was carried out on the fully-automatic shotcrete manipulator platform to investigate the performance of the fully automatic shotcrete manipulator.The results show that the kinematic model can accurately describe the spatial motion of the manipulator.In the motion control experiment,the errors of the pose parametersθ1,θ2 andθ3 are large,while the other errors are small,which basically satisfy the control performance requirements.The repeated sprayed area is concentrated at the intersection of the shotcrete path,and the non-sprayed area is located at the periphery of the sprayed area.And the"spraying periphery"method can be introduced to patch up the surrounding non-shotcrete area.The uniformity of the sprayed area is affected by the diameter and the transverse distance.The increase of the shotcrete diameter and the transverse distance will reduce the repeated shotcrete area and increase the non-shotcrete area.With the motion mode of shotcrete changing from l=D motion to l<D/2 motion,the proportion of non-shotcrete area becomes smaller and the proportion of repeated shotcrete area is larger.The better shotcrete effect can be obtained under the condition that the transverse distance is 1/2 of the shotcrete diameter.
作者
刘送永
徐海乔
张德义
贾新庆
姚健
LIU Songyong;XU Haiqiao;ZHANG Deyi;JIA Xinqing;YAO Jian(School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou 221116,China;Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment,China University of Mining and Technology,Xuzhou 221008,China;Nanjing Chenguang Group Co.,Ltd.,Nanjing 210006,China)
出处
《煤炭学报》
EI
CAS
CSCD
北大核心
2020年第S02期1079-1088,共10页
Journal of China Coal Society
基金
国家自然科学基金面上资助项目(51975570)
徐州市科技支撑计划资助项目(KC19244)
关键词
喷浆支护
喷浆机械臂
运动学模型
喷浆路径规划
运动控制
shotcrete support
shotcrete manipulator
kinematic model
shotcrete path planning
motion control
作者简介
刘送永(1981—),男,河北石家庄人,教授,博士生导师,博士。E-mail:lsycumt@163.com
