煤矿井下钻杆自动加卸系统研究与展望OA

As an important means for gas control,water hazard prevention and geological condition evaluation,underground drilling plays a vital role in modern coal mine production.With the exploitation of coal resources extending to deeper areas and complex geological conditions,and the accelerated development of intelligent coal mine construction,the demand for automation of drilling equipment is increasing.Among them,the automatic pipe handling technology is a key technology that needs to be urgently de-veloped in the automation of drilling equipment.Aiming at the problems of low efficiency,high labor intensity and high safety risks in drill pipe handling during underground coal mine drilling,the advantages and disadvantages of existing drill pipe handling sys-tems are discussed and analyzed.Based on the analysis of system functional requirements and underground operating environment,an integrated automatic drill pipe handling system based on an electro-hydraulically driven six-axis manipulator is proposed to achieve safe and efficient operation,improve equipment durability,adapt to complex working conditions and enhance environmental perception.The research mainly includes:overall layout and key structure design,mechanical design of the electro-hydraulically driven six-axis manipulator,trajectory planning algorithm and cooperative control technology of the manipulator.The proposed scheme has remarkable features such as large end load,compact structure,high adaptability,flexible layout and flexible matching with multi-specification drilling tools.It can improve drill pipe handling efficiency,reduce labor intensity and eliminate potential safety hazards caused by manual operation.Combined with the development trends of modern mechanical transmission,automatic control and multi-sensor fusion technology,the key research directions of drill pipe handling systems in underground coal mines are prospected,including multi-machine cooperative control,underground test and calibration,operation scene modeling and path plan-ning algorithm,and multi-sensor fusion perception.