Design And Research Of The Small Drilling And Supporting Robot For Experiment System

The dissertation is based on the "physical simulation experiment system of dynamic disaster in deep tunnel / tunnel".The system aims to study the causes and mechanism of the dynamic disaster in rock by applying pressure on the rock model to simulate the actual rock stress,and to carry out drilling support and detection on the basis of the excavation.The drilling support robot studied in this paper is a necessary part of the whole simulation test system.Based on the requirements of the main project,a robot is designed to complete the drilling and supporting tasks of the supporting link.It is expected that it can complete the drilling and supporting tasks in a narrow space according to different materials and drilling support index requirements.At the same time,the robot is required to have certain positioning accuracy and stability.Firstly,through the review and study of relevant data at home and abroad,the paper has learned the current situation of bolt drilling machine and bolt support technology and summarized and analyzed the related robots.Through the form of scaling,it provides a design reference for the design of small drilling support robot in this paper;combined with the technical requirements of drilling bolt technology and physical simulation test system,the paper selects and selects and analyzes the current situation of bolt drilling machine and bolt support technology The preliminary drilling parameters are calculated and the main structure of the drilling support robot is designed: mainly including axial travel mechanism,radial rotation mechanism,drilling mechanism,support mechanism and other main mechanisms;and the static analysis is carried out to ensure the mechanism meets the requirements;meanwhile,the main shaft is optimized to reduce the overall quality and the minimum end deflection is obtained The best solution of.Secondly,according to the actual situation,the working process of the supporting robot is elaborated and the most time-saving procedure is formulated.At the same time,the forward and reverse kinematics analysis of the robot is carried out according to the D-H method,which provides the basis for the subsequent formulation of control strategy;the modal analysis of the spindle and drill bit is carried out to ensure that there is no resonance in the robot operation engineering.Thirdly,the driving system is developed,the selection and calculation of the relevant driving motor is carried out,and the matching relationship between the bit speed and feed quantity is deduced to ensure the robot can keep stable during drilling,the match between the upper computer and the lower machine,etc.to realize the remote control and monitoring of the robot.Finally,the experiment is carried out with the drilling support robot as the main equipment,mainly for different materials,including axial walking experiment,radial rotation experiment,drilling and support experiment,etc.,which mainly verifies the accuracy and stability of the robot axial feed and radial rotation,the accuracy and stability of the drill bit during drilling,etc.;the stability is completed in the completion of the stability After the precision test,the robot can complete the expected drilling and supporting tasks according to the requirements by drilling and supporting experiments on different materials,that is,the robot can complete the drilling and supporting tasks required by the supporting link of the test system.