Dynamic Analysis And Simulation Study Of Fully Hydraulic Drilling Jumbo Arm

The full hydraulic drilling jumbo is a modernized rock drilling equipment which integrates mechanical,hydraulic and electrical techniques,and it is a significant device used in the construction of mine,tunnel and underground engineering by drilling and blasting method.Fully hydraulic drilling jumbo can not only greatly reduce manpower,improve drilling efficiency and construction conditions,but also achieve high efficiency and automation easier in actual construction process.The drilling arm is the core part of drilling jumbo,and its function is like the "arm" of drilling jumbo.Only through the movement of each joint of drilling arm,the drilling jumbo can complete the positioning and drilling.Therefore,in order to improve the efficiency,stability and safety of the hydraulic drilling jumbo,it is imperative to study the drilling arm.The specific study work of this article is as follows:(1)On the basis of deep study about the structure and composition of the drilling arm.According to the design size of a full hydraulic drilling jumbo arm,the three-dimensional model of this drill arm is established by using Pro/E,which lays the foundation for the analysis and study.(2)Combining the kinematic theory of the robot research and the kinematic analysis of the drilling arm,the coordinate system fixed on the entity improved method of D-H(Denavit-Hartenberg)that is CFDH(coordinate fixed Denavit-Hartenberg)method is presented.The CFDH method is utilized in establishing the kinematics equation of drilling arm,and the effective working space of the drill arm is solved through the MATLAB.The kinematic study of the drilling arm is conducive to comprehend the relationship among the position,direction and the displacement of each joint(3)The drilling arm model is leading-in the ADAMS,and the virtual prototype of drill arm is established after correlation process.The dynamic simulation analysis of three dangerous conditions of drilling arm is carried out,and the speed,acceleration,force and the reaming curve of each joint are plotted.The dynamic performance of the drill arm is obtained and the load information is provided for the finite element analysis.(4)The structural statics analysis and modal analysis of drill arm are operated in ANSYS Workbench.The structural statics analysis verified the strength of the core components of drilling arm in dangerous conditions,and the equivalent stress and total deformation of components are intuitively drawn.On the basis of structural statics analysis,the modal analysis of the drilling arm is done.The frequency and total deformation of the core components of drilling arm are obtained.The stability and safety of drilling arm is verified in vibration load,which is the basis for the effective avoids resonance in the future.According to the analysis results and the actual construction problems,the optimized design of boom holder and advancing beam is made to improve the reliability and stability of drilling arm.