| The pain points such as long time consuming of bolt support and harsh construction environment restrict the speed and safety of roadway excavation,and are also one of the problems in realizing the automation and intelligent development of roadway excavation.Anchor bolting robot is the only way to solve the problem of bolting,its core part is automatic bolting frame.By combing the research status of automatic bolting frame at home and abroad,combined with the guidance of national policies,this paper puts forward the research topic of turret automatic bolt support technology for coal mine.It is designed to realize the integrated automatic operation of drilling-injection-bolting-nondestructive testing for bolt support in mine roadway,achieve the goal of intelligent and automation coal mine roadway heading face.The mainly research contents consist:The overall design of turret automatic bolting frame.Firstly,the related performance parameters of drilling and bolting are analyzed,and the design parameters of the drilling frame are determined based on the technology of coal seam and bolt support.Then the layout type of turret automatic bolting frame is optimized and its working range and state are introduced.Finally,the operation sequence of seven power components is planned.Structural design of turret automatic bolting frame.Firstly,the drilling(bolting)mechanism propulsion mode,injecting mechanism anchoring agent injection mode,bolt cartridge driving mode,anchoring detection mode,bolt grasping mode are analyzed to determine the design of the scheme to determine the propulsion mechanism propulsion scheme;Then the main parts are selected according to the parameters of working conditions and the size types of common parts of bolt support.Then design drilling(bolting),injection,bolt cartridge,bolt grab,bolting box mechanical structure;Finally,integrated with the design of the mechanism,the 3D model of the turret bolting frame is assembled.Analysis of dynamic and static characteristics of turret automatic bolting frame.Firstly,the dynamic characteristics of drill frame are analyzed by virtual prototype technology.Then,the static characteristics of the mechanism in the initial position,the middle position and the final position of the drilling under three dangerous working conditions are checked by ANSYS software,including: all meet the strength requirements;Finally,ANSYS software is used to conduct modal analysis of the mechanism,including: the initial position,middle position and final position of the drilling mechanism,and the bolt barn,no resonance phenomenon will occur.Experimental study on nondestructive Testing of bolting quality of turret automatic bolting frame.Firstly,based on the experimental content,the non-destructive testing platform of bolting quality was built,and the wave velocity of the test bolt is calibrated.Secondly,the influence of vibration force on the accuracy of nondestructive testing results is compared under the combination of various preload forces,bolt parameters and anchoring length.Then,the influence of vibrator mass on the accuracy of nondestructive testing results is analyzed experimentally under the combination of various preload forces,bolt parameters and anchorage length.The experimental verification of anchorage quality under the condition of optimal vibration force and vibration hammer mass shows that: when the vibration force is 20-25 N and the weight of the vibration hammer is 50 g,the accuracy of parameter detection results under each anchor protection condition meets and exceeds the national standard requirements. |
