钻锚机器人定位性能试验台设计与研究

Design and Research on Positioning Performance Test Bench of Drilling Anchor Robot

为满足锚杆支护自动化中钻锚机器人工作大臂的定位精度要求、提高设备在井下使用可靠性,设计了一种钻锚机器人工作大臂定位性能试验台。该试验台主要包括模拟巷道、大臂定位系统、模拟钻架、视觉识别系统和液压伺服系统,能够实现对钻锚机器人动作平顺性、孔位识别、精确定位等关键技术和性能的测试,为解决锚杆支护自动化“卡脖子”技术问题获得重要基础数据,有利于加快煤矿巷道锚杆支护的智能化、无人化建设。

In order to meet the requirements of the positioning accuracy of the working arm of the drilling anchor robot in the automation of anchor support,and improve the reliability of the equipment in underground use,a positioning performance test bench for the working arm of the drilling anchor robot has been designed.This test bench mainly includes the simulated roadway,arm positioning system,simulated drilling frame,visual recognition system and hydraulic servo system.It can achieve testing of key technologies and performance such as smooth movement,hole position recognition,and precise positioning of drilling anchor robot.It provides important basic data to solve the problem of"bottleneck"technology in the automation of anchor support and is conducive to accelerating the intelligent and unmanned construction of anchor support in coal mine roadway.