Space analysis and application of double machine cooperative adding drill pipes for coal mine drilling robot

Abstract

Aiming at the problems of movement space and layout of coal mine drilling robot host, pole arm and pole bin, the kinematic model of the mine drilling robot is established by analyzing the structural principle of the mine drilling robot, and the pose transformation matrix between the base coordinate system and the end coordinate and the relation between the joint variable and the end pose are obtained. The space set of the joint rod motion is constructed, and the motion space is solved by Monte Carlo method, and the motion scatter diagram of the end of the rod manipulator arm and the center point of the main drill pipe is obtained. Based on the movement space range of the manipulator arm and combined with the design requirements, the design ranges of the main engine and the lever bin are determined to be （−1.87, -0.80） m and （0.35, 2.06） m, respectively. The experiment shows that the coal mine drilling robot has reasonable layout and flexible operation, and the rod adding robot arm can accurately place all the drill rods in the rod bin between the rotary device and the gripper on the main engine.

Keywords

• coal mine drilling robot
• dual machine collaborative adding drill pipes
• rod manipulator arm
• manipulator arm motion space
• monte carlo method