摘要：機器人智能化系統是煤礦未來發展的重要方向，多軸液壓機械臂系統可以用于井下管路、支架、防爆裝備等重物的搬運、抓舉作業，能夠有效提升礦井建設維護過程的工作效率、安全性和智能化水平，而相關控制系統的研究較少，本文以井下多軸液壓機械臂作為研究對象，選用基于Cortex-A9架構的i.MX6Q四核心芯片作為主處理器，完成了多軸機械臂相關控制電路、通信接口電路以及外圍輔助電路等硬件設計；根據多軸機械臂動作控制需求，完成了基于Linux嵌入式操作系統的內核架構移植，實現了控制系統通信處理、傳感信號處理、動作控制、動作反饋、I/O控制以及程序升級接口等應用軟件；本文研制的井下多軸機械臂控制系統能夠實現井下多軸機械臂抓取、舉升、碼放和旋轉等動作，填補了國內相關方面研究的空缺，有助于提升煤礦的智能化水平。
關鍵詞：煤礦智能化；多軸機械臂；控制系統；嵌入式；Linux操作系統
Robot intelligent system is an important direction for the future development of coal mine. Multi axis hydraulic manipulator system can be used for the handling and grabbing of underground pipelines, supports, explosion-proof equipment and other heavy objects, and can effectively improve the work efficiency, safety and intelligent level in the process of mine construction and maintenance. However, there is little research on relevant control systems, This paper takes the underground multi axis hydraulic manipulator as the research object, selects the i.mx6q four core chip based on cortex-a9 architecture as the main processor, and completes the hardware design of the multi axis manipulator, such as related control circuit, communication interface circuit and peripheral auxiliary circuit; According to the motion control requirements of multi axis manipulator, the kernel architecture transplantation based on Linux embedded operating system is completed, and the application software such as communication processing, sensing signal processing, motion control, motion feedback, I / O control and program upgrade interface of control system are realized; The underground multi axis manipulator control system developed in this paper can realize the actions of underground multi axis manipulator, such as grasping, lifting, stacking and rotation, fill the vacancy of domestic research, and help to improve the intelligent level of coal mine.
 

煤礦智能化；多軸機械臂；控制系統；嵌入式；Linux操作系統