CAJ | 학술논문

为研究机载锚杆钻机运动的自动控制，采用D‐H坐标系建立了七关节机载锚杆钻机的运动学正解方程；以矩形巷道为工作对象，结合掘锚联合机实际工况，提出以巷道支护高度为边界条件的分段式锚杆钻机多关节控制方法；建立不同支护高度条件下机载锚杆钻机的逆运动控制模型，得出锚杆钻机钻头的运动范围。研究结果表明：通过采用D‐H坐标法可确定锚杆钻机工作姿态；在不同巷道高度条件下，确定了锚杆钻机各关节驱动角度，获得钻头具体工作范围，实现巷道全断面内锚杆钻孔支护要求，从而可提高掘进机钻孔的工作效率，缩短钻孔位置的调整时间。研究内容为机载锚杆钻机分段式自动控制提供设计依据。
위연구궤재묘간찬궤운동적자동공제，채용D‐H좌표계건립료칠관절궤재묘간찬궤적운동학정해방정；이구형항도위공작대상，결합굴묘연합궤실제공황，제출이항도지호고도위변계조건적분단식묘간찬궤다관절공제방법；건립불동지호고도조건하궤재묘간찬궤적역운동공제모형，득출묘간찬궤찬두적운동범위。연구결과표명：통과채용D‐H좌표법가학정묘간찬궤공작자태；재불동항도고도조건하，학정료묘간찬궤각관절구동각도，획득찬두구체공작범위，실현항도전단면내묘간찬공지호요구，종이가제고굴진궤찬공적공작효솔，축단찬공위치적조정시간。연구내용위궤재묘간찬궤분단식자동공제제공설계의거。
In order to automatic control the movement of airborne anchor drilling machine ,kine‐matics equation of the seven joint of airborne anchor drilling machine was established using D‐H coordinate system .Regarding rectangular tunnels as the work object and combining with the ac‐tual w orking conditions of digging anchor machine ,a multi joint control method for sectional an‐chor drilling machine was put forward under the boundary conditions of tunnel supporting height . The inverse movement control model of airborne anchor drilling machine was established with dif‐ferent support height conditions and the motion range of anchor drilling machine bit was ob‐tained .The results showed that D‐H coordinate method could determine work attitude of the an‐chor drilling machine;the drive angle of each joint for anchor drilling machine under the condition of different tunnels height was determined and the specific working scope of the bit was obtained w hich realizing the supporting requirements of anchor drilling holes in the w hole tunnel section , improving the work efficiency of the machine auxiliary adjustment movement and shortening the adjustment time of drilling position .The research provides design basis for sectional automatic control of airborne anchor drilling machine .