Study And Analysis Of Rock Drilling Equipment Based On Signal Rail

High speed and high efficiency of mine tunnel excavation has important signifi-cance to the coal coalmine production, drilling borehole construction is a necessary important procedure in traditional complex driving and modern blasting driving working face. In order to meet the requirements of mechanization, automation, efficiency for mine tunnel excavation, and to better accommodate the complex coal floor and working conditions, a new type of rock drilling equipment based on signal rail (monorail drill)is studied and designed in this paper.3D model of monorail drill is established in terms of structural design, especially the structure of manipulator with multi-degree of freedom is designed in detail, ANSYS Workbench software is also used to analyse and check the strength of the key parts of manipulator, all designing and analysis process provide reference for the design of the related mechanical arm.In aspects of kinematics, the method of D-H is used to establish kinematics equation and solve the verse and inverse kinematics of manipulator. The relations between the tunnel and manipulator, the actual and effective workspace in the tunnel are also analysed based on MATLAB Robotics toolbox that establish the foundation for manipulator control.In aspects of dynamics, the manipulator dynamic properties and stability of the whole body are acquired by using ADAMS software, which included mechanical property of key cylinder in different move conditions and the stability of whole body in hanging condition, all the results set foundation for the manipulator and whole body control.In addition, the maximal stress and stress concentration and the vibration of the drill bit in50Hz impact force are acquired through dynamic stress analysis of rigid-flexible coupling manipulator. The vibration characteristics of the manipulator in35to70Hz are also obtained by harmonic response analysis that is useful to vibration control.