Design And Research Of Crawler Type Automatic Rod Changing Hydraulic Drill

Underground drilling construction in coal mines is the most direct and effective means for supporting mine tunnels,controlling gas,and preventing rock burst.As an extremely important drilling machine in coal mines,the automation level of hydraulic anchor rod drilling machines largely determines the efficiency and safety of anchor rod support.With the continuous deepening of research on anchor rod drilling machines,there has been significant improvement in their functionality and adaptability,but there is still room for improvement in the rod changing mechanism and structural layout.At present,there is an urgent need to develop a hydraulic anchor drilling rig with high automation,reasonable structural design,convenient movement,and reasonable and efficient control strategy.This drilling rig can improve the rod changing speed,achieve high drilling efficiency,and achieve adaptive drilling,greatly improve the efficiency of coal mine anchor support,and ensure the safety of coal mine workers.It has very important practical research significance.In response to the current problems of unreasonable layout,slow rod changing speed,and simple control strategy of hydraulic anchor rod drilling machines in mines,this article conducts design and research on the structural design,key parameters,mechanical characteristics of the drilling vehicle,and adaptive control strategy for drilling of tracked automatic rod changing hydraulic drilling vehicles.Through the calculation and research of the drilling parameters and key parameters of the automatic rod changing mechanism of the tracked automatic rod changing hydraulic drilling vehicle,the design theory and method of the key components of the automatic rod changing drilling vehicle are proposed,and the rationality of the design of the drilling vehicle is analyzed through simulation.The research content carried out in this article is as follows:Firstly,the research status of drilling machinery such as rock bolt drills in coal mine tunnels was analyzed,and the working principle of tracked automatic rod changing hydraulic drilling vehicles was studied.The design theory and methods of rock bolt drills and their automatic rod changing mechanisms were summarized,and the research content and technical route of this thesis were proposed.Studied the working environment and overall design principles of hydraulic drilling vehicles,studied and designed the overall plan and key components of tracked automatic rod changing hydraulic drilling vehicles,including track walking mechanism,positioning hydraulic arm,top bearing mechanism,automatic rod changing mechanism,and hydraulic anchor rod drilling machine.Based on the overall requirements of the hydraulic anchor drilling rig and the working principle scheme of the automatic rod changing mechanism,calculate the key parameters of the hydraulic anchor drilling rig and the drill pipe library.According to the actual working environment in coal mine tunnels,the hydraulic drilling truck adopts full hydraulic drive,the walking mechanism adopts a tracked walking mechanism,the posture is adjusted using a positioning hydraulic arm,and the drilling system adopts a hydraulic cylinder chain multiple feed mechanism and a sliding drilling frame.On this basis,the hydraulic system of the tracked automatic rod changing hydraulic drilling vehicle was designed,and the hydraulic components were calculated and selected.Based on the finite element analysis theory,the statics analysis and modal analysis of the key components of the roof bolter drill frame and drill pipe library of the hydraulic drill truck were carried out by using the ANSYS Workbench software.Through statics analysis,the stress distribution nephogram and the total deformation displacement nephogram of the key mechanism of the roof bolter drill frame and drill pipe store are obtained,which proves that the strength and stiffness of the drill frame meet the design requirements.Through modal analysis,the first six natural frequencies and vibration mode diagrams of the drill frame and drill pipe library were obtained.The analysis results showed that the natural frequencies of the drill frame and drill pipe library were both greater than the working frequency,proving that resonance would not cause production accidents during the drilling process.Through finite element analysis of the key structure of the drilling truck,it can be concluded that the design of the drilling frame and the drill pipe library meet the design requirements.Based on the finite element analysis of the key structure of the drill truck,the rigid body dynamics and kinematics of the crawler type automatic hydraulic drill truck are analyzed.On the basis of not affecting the analysis results,simplify the threedimensional model of the hydraulic drill truck,import the model of the hydraulic drill truck into ADAMS,simplify the model reasonably,constrain and drive it,and add time functions to obtain a virtual prototype.Through simulation,obtain the motion curves of each working mechanism of the hydraulic drill truck.Through motion analysis of the drill truck structure,it has been proven that each structure of the drill truck will not interfere during the movement process,and the movement is stable,able to complete the expected movement.The design of the drill truck structure is reasonable.The AMESim software was used to simulate and analyze the drilling control circuit of the tracked automatic rod changing hydraulic drilling vehicle,and relevant research was conducted on the adaptive fuzzy PID control of the drilling position of the power head of the hydraulic anchor rod drilling machine.The traditional PID controller has a simple structure and good stability and robustness,but its disadvantage is that when the engineering system is running,all control parameters of the PID controller cannot be changed and cannot cope with strong time-varying and transient conditions.Therefore,this article uses traditional PID control algorithms as the control group,and designs an adaptive fuzzy PID controller to achieve real-time adjustment of tuning parameters.Based on the design parameters of the drilling rig,the parameters of the simulation system were set,and a simulation study was conducted on the propulsion circuit of the power head.A joint simulation model for the propulsion position of the hydraulic anchor rod drill was constructed using AMESim and MATLAB/Simulink,and the joint simulation and analysis were completed using Simulink and AMESim.The results showed that the adaptive fuzzy PID control algorithm can more accurately control the drilling position compared to traditional PID control,The tracking error of fuzzy PID control is less than 50% of that of traditional PID control,and it has stronger adaptability and dynamic performance under time-varying conditions.This article takes the tracked automatic rod changing hydraulic drilling vehicle as the research object,and focuses on the automatic rod changing and efficient adaptive control of the hydraulic anchor rod drilling machine.The key parameters of the anchor rod drilling machine are calculated,the key working mechanism of the drilling vehicle is designed,and the performance analysis of the entire machine,anchor rod drilling frame,and key components of the drill rod library is conducted.The adaptive control of the drilling position of the anchor rod drilling machine is also studied,This provides a theoretical reference for the development of automatic rod replacement and adaptive control of hydraulic anchor rod drilling machines.