Design Of Working Arm And Analysis Of Working Characteristics Of Machine-Mounted Anchor Drilling Rig For Coal Mine

China is a large coal country,but there are generally poor production conditions in coal mines,so it is necessary to use alternate methods of digging and anchor protection,and its comprehensive excavation operation methods mainly include cantilever digging and single anchor drill rig matching operation,continuous coal mining machine and anchor drill truck matching operation,and three kinds of fast digging operation with one anchor digging machine,of which one anchor digging machine is an inevitable way to realize centralized,mechanized,efficient and high-yield coal mine production.The trend of development.The foreign anchor digging machine has more mature technology and degree of automation,but it is less adaptable to China’s underground coal tunnel.Based on China’s own coal mine production conditions and the existing mature technology of EBZ200 roadheading machine,the design and characteristics of the working arm of the anchor drilling machine are analyzed.A 3D model of the overall structure of the work arm of the airborne anchor rod drilling rig was created through Solid Works according to the basic requirements of the program,and a basic introduction of the structure and working principle of the work arm as a whole and each component was made.The kinematic positive equations of the working arm of the airborne anchor rod drilling rig were solved by the improved D-H method,and the correctness of the kinematic positive equations was verified by using the Matlab Toolbox robotics toolbox.The kinematic positive solution equation and Monte Carlo method were used to solve the working space range of the work arm,and the kinematic inverse solution equation was inverse solved according to the kinematic positive solution equation,and the inverse solution equation was verified numerically.ANSYS Workbench software was used to conduct finite element static analysis,determine three limit working conditions according to the actual working conditions,and conduct static analysis on the overall structure of the working arm under each limit working condition to obtain the maximum stress and deformation results of the overall structure of the working arm,and verify the static stress strength of the overall structure of the working arm.According to the results of the overall structural analysis,the static analysis of the key load-bearing parts of the working arm was carried out separately,and the rationality of the analysis results was verified by the mesh irrelevance test.The modal analysis of the overall structure of the working arm under each limit working condition is carried out using ANSYS Workbench software to obtain the first6 orders of the intrinsic frequencies and the maximum deformation at the corresponding frequencies to verify the resonance of the rated working frequency and the intrinsic frequency.Based on the modal analysis results,harmonic response analysis is performed according to the rated working frequency to obtain the stress and strain response amplitudes in the X,Y and Z directions and the maximum response stress and deformation at the rated working frequency.The response stress is added to the static stress at the location of the maximum stress response to verify the structural strength at that location.Figure [58] Table [17] Reference [103]...