| The issue of this paper is derived from the major scientific instrument research project of the National Natural Science Foundation of China: Physical simulation test system of deep roadway or tunnel dynamic disaster.Based on the research and matching of similar materials,this test simulates the whole process of geological model's loading,excavation,retaining and rockburst.It is of great value in theory and application to further reveal the formation mechanism and rule of deep roadway,tunnel rockburst and other dynamic disasters.The drilling robot of rock hole side wall designed and researched in this issue is the main equipment for providing bolt installation holes for retaining in the simulation test system,which plays a key role in rock reinforcement.Firstly,this paper introduces the research status of jumbolter applied in engineering at home and abroad.By comparing the driving forms and operation modes of jumbolter meanwhile combining with the requirement of simulation test system,the overall design of rock hole side wall drilling robot has been carried out.It mainly includes the calculation and selection of the feeding mechanism,supporting mechanism,spindle and driving motor of each joint.Secondly,the forward and inverse kinematics analysis of the robot has been carried out after simplifying the structure.The reachable workspace of the end-effector has been obtained,which verifies that the movement process of the drill bit meets the technical requirement.The selection of feed rate and drilling speed has tight connection with the stability of drilling process.So the matching relationship between radial feed motor and drill motor speed has been theoretically deduced.Static analysis of the spindle of thin-walled cylindrical shell has been carried out to verify the deformation of the spindle at different feeding positions.In order to avoid resonance,the transfer matrix method,based on Love shell theory and verified by Ansys Workbench,has been used to analyze the inherent characteristics of the spindle.The modal analysis and critical speed calculation of long-span screw used in axial feed have been carried out,and the optimization scheme has been given at the same time.For slight bit,the modal analysis with pre-stressing force has been carried out to verify that its strength and stiffness meet the design requirement.Thirdly,the control system of the drilling robot has been designed and the hardware of the controller,sensor,human-computer interface and communication mode has been selected.The speed control of DC motor,open-loop and closed-loop control of stepper motor has been performed for different motors.Based on the traditional PID algorithm,the fuzzy PID algorithm has been adopted and the simulation analysis has been carried out.The causes of the positioning error in the feed process have been analyzed.The upper computer interface has been designed the MCGS configuration software.Finally,field experiments have been carried out on the prototype of rock hole side wall drilling robot.The feeding process experiment verifies that the positioning accuracy of the drilling robot meets the application requirement.Stability experiment and drilling function experiment prove that the drilling process is stable.The spindle amplitude is small and no resonance occurred.The hole diameter and depth meet the technical requirement.The three experiments prove that the drilling robot can locate accurately and complete the drilling smoothly in the specified position according to the requirement. |
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