截割头齿座参数化定位技术研究

Research on parameterized positioning technology for pick box of cutting head

为提高掘进机截割头的设计效率、齿座定位精度和检测能力,提出了由设计模块、制造模块和检测模块组成的截割头齿座参数化定位系统。截割头参数化设计专用软件按照一定约束条件对截齿布置参数进行快速计算;根据工业机器人工作原理和齿座空间排布特点,研制了高精度齿座定位机器人系统,实现了齿座在截割头表面的快速准确定位;通过齿座定位机器人结合非接触式双目视觉测量技术,提出了齿座定位精度的数值检测方法。对掘进机截割头进行设计制造和定量检测的生产应用结果表明,截割头齿座参数化定位技术能够满足各类型截割头产品的高精度制造。

In order to improve design efficiency,positioning accuracy and detection capability of cutting head of roadheader,a parameterized positioning system of cutting head consisting of design module,manufacturing module and detection module was proposed.The special software for parameterization design of cutting head is used to calculate the parameters of picking arrangement according to certain constraints.According to the working principle of the industrial robot and characteristics of pick box in space arrangement,a high-precision pick box positioning robot system was developed,and fast and accurate positioning of the pick box on the surface of cutting head was realized.A numerical detection method for positioning accuracy of pick boxes was proposed through pick box positioning robot system combined with non-contact binocular vision measurement technology.The production and application results of the design,manufacture and quantitative inspection for cutting head of the roadheader show that parametric positioning technology for pick box of cutting head can meet high-precision parametric manufacture of various types of cutting head products.