一种煤矿巷道薄喷机械臂结构及末端轨迹设计方法

Design method for structure and terminal trajectory of a colliery roadway thin-spray mechanical arm

基于激光测距传感器,研发了一款应用于煤矿巷道薄喷施工支护的喷涂机械臂。该机械臂能够满足应用新型材料进行喷涂作业的各种动作和规划喷枪口运动轨迹。基于机器人理论,结合薄喷施工工艺,介绍了该机械臂的结构及末端轨迹设计方法。机械臂采用极坐标结构型,臂部安装有激光传感器进行测量数据采集,配置的控制器具有数据处理能力,可实现变截面复杂巷道内壁喷涂的定位、喷涂目标模型重建和喷涂轨迹规划功能。从激光传感器选型、机械臂结构设计及相应数学模型等方面,阐述了利用激光测距传感器实现矩形巷道截面自动扫描喷涂的流程及轨迹控制算法。根据仿真结果,验证了该机械臂的轨迹规划算法理论可行性,解决了逐点完成复杂矩形巷道内壁自动喷涂轨迹规划的问题。

Based on the laser ranging sensor,a spraying mechanical arm for thin-spray construction in colliery roadway was designed.The mechanical arm applied new-type material to achieve various action of spraying operation and planned motion trajectory of the spraying mouth.Based on the robot theory and in combination with thin-spray construction technology,the design method for the structure and the terminal trajectory of the mechanical arm were introduced.The mechanical arm adopted the polar coordinate structure and was equipped with laser ranging sensors for measurement data collection,and configured controller was capable of processing data and realized the spray positioning in inner wall of the roadway with complex cross-section,spray target remodeling and spray trajectory planning.In addition,from the aspect of model selection of laser sensor,the structural design of the mechanical arm and corresponding mathematical model,the process flow of automatic scanning and spraying toward the roadway with rectangular cross-section by laser ranging sensors and trajectory control algorithm were described.Simulation results verified the theoretical feasibility of the trajectory planning algorithm for the mechanical arm,which solved the problem of automatic spraying trajectory planning on inner wall of complex rectangular roadway.