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金属矿山 ›› 2009, Vol. 39 ›› Issue (03): 146-148+177.

• 机电与自动化 • 上一篇    下一篇

地下铲运机自动铲取最优轨迹的研究

尹朝忠,胡天友   

  1. 电子科技大学
  • 出版日期:2009-03-14 发布日期:2012-01-30

Study on the Optimal Track of Automatic Shoveling of Underground LHD

Yin Chaozhong,Hu Tianyou   

  1. University of Electronics Science and Technology of China
  • Online:2009-03-14 Published:2012-01-30

摘要: 建立了地下铲运机工作装置的机械手模型系统,通过对铲装过程中作用在机械手末端执行器——铲斗切削边缘的作用力分析及轨迹分析,找到了最小能耗铲取轨迹。但在实际工况中铲斗的运行轨迹与理想状态是有距离的。因此采用了一种智能减阻插入铲取的方法,在最小能耗轨迹的基础上尝试通过智能减阻插入铲取的方法对铲取轨迹进行寻优。通过运动学仿真,铲斗跟随优化后的轨迹进行工作,铲斗所受阻力更小,系统消耗能量更小,生产效率更高,并进一步提高了基于地下铲运机无人驾驶的智能化水平。

关键词: 地下铲运机, 减阻, 轨迹, 机械手

Abstract: The robot model system of underground LHD operating device was established and the shoveling track with the least energy was found through the analysis of the acting force and track of the cutting edge of shovel bucket-the end actuator of robot in the shoveling-loading process.However, the moving track of bucket in real conditions is a little different from that of ideal state.A method of intelligent inserting and shoveling with reduced resistance was used in an attempt to optimize the shoveling track based on the track of minimum energy.Through kinematic simulation, the bucket worked following the optimized track, resulting in reduced resistance and system energy consumption and increased production efficiency.Thus, the intelligentized level of pilotless underground LHD was further raised.

Key words: Underground LHD, Resistance reduction, Track, Robot