摘要：机器人智能化系统是煤矿未来发展的重要方向，多轴液压机械臂系统可以用于井下管路、支架、防爆装备等重物的搬运、抓举作业，能够有效提升矿井建设维护过程的工作效率、安全性和智能化水平，而相关控制系统的研究较少，本文以井下多轴液压机械臂作为研究对象，选用基于Cortex-A9架构的i.MX6Q四核心芯片作为主处理器，完成了多轴机械臂相关控制电路、通信接口电路以及外围辅助电路等硬件设计；根据多轴机械臂动作控制需求，完成了基于Linux嵌入式操作系统的内核架构移植，实现了控制系统通信处理、传感信号处理、动作控制、动作反馈、I/O控制以及程序升级接口等应用软件；本文研制的井下多轴机械臂控制系统能够实现井下多轴机械臂抓取、举升、码放和旋转等动作，填补了国内相关方面研究的空缺，有助于提升煤矿的智能化水平。
关键词：煤矿智能化；多轴机械臂；控制系统；嵌入式；Linux操作系统
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.
 

煤矿智能化；多轴机械臂；控制系统；嵌入式；Linux操作系统