湿喷机械臂自动化作业技术及仿真实验分析

Automatic Operation Technology and Simulation Experiment Analysis of Wet Spray Manipulator

介绍了一种适用于隧道爆破面加固处理的湿喷机械臂自动化作业技术。首先概述了湿喷机械臂自动化作业系统的主要组成和补坑作业、填充作业、扫面作业的基本流程。随后分析了湿喷机械臂作业轨迹的规划策略,并进行了湿喷机械臂自动化作业仿真实验。实验结果表明,该模型可以按照规划的轨迹准确、快速地完成补坑、填充、扫面等湿喷作业任务,达到了设计预期。

Introduces an automatic operation technology of wet spray manipulator which is suitable for reinforcement of tunnel blasting surface. The main components of the automatic operation system of the wet spray manipulator and the basic processes of pit filling, filling and surface sweeping are summarized. Then,the planning strategy of the wet spray manipulator trajectory is analyzed, and the automatic operation simulation experiment of the wet spray manipulator is carried out. The experimental results show that the model can accurately and quickly complete the wet spraying tasks such as pit filling, filling and surface sweeping according to the planned trajectory, and meet the design expectations.