关键词: 钻锚机器人, 机器人群, 钻机, 运动学分析, 轨迹规划

Abstract: Aiming at the problem of fast excavation and slow support in coal mine roadways in complex geological conditions, a multi-track drilling and anchoring robot group integrating drilling, protection and anchoring is proposed. According to the needs of roadway support, design the body structure, drilling rig layout and support technology of the anchor drilling robot, complete the three-dimensional modeling of the anchor drilling robot; establish the kinematics model of the anchor drilling robot rig based on the DH method, analyze and solve the roof drilling rig and side drilling rig Kinematics solution and inverse kinematics solution, simulation to obtain the point cloud picture of the supportable area of the rig, the end motion trajectory, etc. The results show that during the supporting operation of the top and side rigs, the interference between the rig and the robot body can be avoided, and the movement to the position to be supported can be achieved accurately and smoothly, with strong stability and reliability.