煤矿井下用自动钻机机械手伸缩关节的研究

Research on Telescopic Joint of Manipulator of Automatic Drilling Machine Used in Coal Mine

机械手是煤矿井下自动钻机的关键零部件,而伸缩关节是机械手是否平稳不颤抖的主要因素之一,同时,伸缩关节也是针对井下狭小空间而增强自动钻机适用生存空间的有力保障,首先在介绍伸缩关节结构基础上,分析了伸缩关节及其控制部对机械手的影响,然后进行了伸缩关节关键零部件的有限元分析,最后还对其进行了井下工业性试验,其结果表明:伸缩关节结构设计合理,强度可靠,工作时伸缩稳定,翻转无颤抖,机械手伸缩关节的研制成功为煤矿井下智能化开采的发展奠定了一定的基础。

Manipulator is the key component of automatic drilling machine in coal mine, and the expansion joint is one of the main factors to ensure the stability of the manipulator. At the same time,the expansion joint is also a powerful guarantee to enhance the applicable living space of automatic drilling machine for the narrow space underground. Firstly, based on the introduction of the structure of the expansion joint, analyzes the influence of the expansion joint and its control department on the manipulator, then the finite element analysis of the key parts of the expansion joint is carried out, and finally the underground industrial test is carried out. The results show that the structure design of the expansion joint is reasonable, the strength is reliable, the expansion is stable when working, and there is no shaking phenomenon when overturning, so as to lay a certain foundation for the development of underground intelligent mining.