College of Mechanical Engineering, Xi’an University of Science and Technology
Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring
College of Electrical and Control Engineering, Xi’an University of Science and Technology

针对掘进机在直墙拱形巷道掘进过程中存在定位难、截割效率低、成形质量差等问题,提出一种短横轴截割机器人及其自动成形控制方法。首先设计了串联式短横轴截割机器人结构,构建了短横轴截割机器人运动学模型,建立了截割臂升降油缸、滑移油缸及回转油缸伸缩量与截割头末端位姿的数学关系,提出了短横轴截割机器人直墙拱形巷道自动成形控制方法;其次研究分析了短横轴截割机器人截割头包络空间与直墙半圆拱形巷道空间耦合关系,确定了截割过程中截割轨迹关键点位置,提出了基于截割轨迹关键点的“弓”型截割轨迹规划方法;然后根据建立的短横轴截割机器人运动学模型,求解截割头在跟踪截割轨迹的过程中运动控制量和截割、修帮、扫底3个任务各个关节控制时序;最后以模糊PID为例,建立了短横轴截割机器人自动成形控制方法,利用Adams软件对短横轴截割机器人进行截割运动仿真试验。结果表明:利用“弓”型截割轨迹规划方法能够完成直墙拱形巷道的截割轨迹规划,控制截割头对截割轨道进行跟踪控制,实现了直墙拱形巷道断面的自动成形截割,截割成形的巷道最大欠挖量为48mm,最大超挖量为21mm,满足煤矿巷道成形质量要求。研究得出短横轴截割机器人可在沿巷道中线不左右移机的情况下,高效率、高质量地完成直墙拱形巷道断面自动成形截割任务。

A short horizontal axis cutting robot and its automatic forming control method are proposed to address the problems of difficult positioning, low cutting efficiency, and poor forming quality of tunne- ling machines during the excavation process of straight wall arched tunnels. Firstly, a series type short horizontal axis cutting robot structure was designed, and a kinematic model of the short horizontal axis cutting robot was constructed. The mathematical relationship between the extension and contraction of the cutting arm lifting oil cylinder, sliding oil cylinder, and rotary oil cylinder and the cutting head pos- ture was established, and an automatic forming control method for straight wall arched tunnels of the short horizontal axis cutting robot was proposed; Secondly, the coupling relationship between the enve- lope space of the short horizontal axis cutting robot’ s cutting head and the space of the straight wall semi-circular arch roadway was studied and analyzed. The key points of the cutting trajectory during the cutting process were determined, and a “ bow” shaped cutting trajectory planning method based on the key points of the cutting trajectory was proposed; Thirdly, based on the established kinematic model of the short horizontal axis cutting robot, solve the motion control variables of the cutting head during the tracking and cutting trajectory process, as well as the control timing of each joint in the three tasks of cutting, trimming, and bottom sweeping; Finally, taking fuzzy PID as an example, a control method for automatic forming and cutting of a short horizontal axis cutting robot was established, and the cutting motion simulation experiment of the short horizontal axis cutting robot was conducted using Adams soft- ware. The results show that the “ bow” shaped cutting trajectory planning method can complete the cut- ting trajectory planning of straight wall arched tunnels. Control the cutting head to track and control the cutting trajectory, the automatic forming cutting of the straight wall arched tunnel section is achieved. The maximum under excavation amount of the completed tunnel is 48 mm, and the maximum over exca- vation amount is 21 mm, which meets the quality requirements of coal mine tunnel forming. The study found that the short horizontal axis cutting robot can efficiently and high-quality complete the automatic forming and cutting task of straight wall arched tunnel section without moving the machine left and right along the centerline of the tunnel.

国家自然科学基金项目(51975468);国家重点研发计划项目(2023YFC2907603);陕西省自然科学基础研究计划项目(2023-JC-YB-331)第一作者:马宏伟,男,陕西兴平人,教授,博士生导师,E-mail:mahw@xust.edu.cn

马宏伟,王赛赛,王川伟,等.短横轴截割机器人直墙拱形巷道自动成形控制方法[J].西安科技大学学报,2024,44(3):418-429.

MA Hongwei, WANG Saisai, WANG Chuanwei, et al. Automatic forming control method of straight-wall arched roadway for shorttransverse axis cutting robot[ J] . Journal of Xi’an University of Science and Technology, 2024, 44( 3) : 418-429.