Research On Structure And Dynamic Characteristics Of Drill Pipe Conveying Manipulator For Coal Mine Automatic Drilling Rig

Coal mine drilling rigs used in disaster management such as coal mine gas,water damage,and rock burst basically use manual methods for up and down drill pipes,but this method has high labor intensity and the construction environment has a certain threat to the health and life safety of the workers.In order to protect the health and life safety of rig operators,and to respond to the country’s requirements for the intelligent development of coal rig equipment,it is necessary to study the automatic conveying system of coal mine rig drill pipes.Based on the investigation of the automatic drill pipe conveying system of various drilling rigs and various manipulators,this paper designs an automatic drill pipe conveying system based on the manipulator and analyzes the dynamic characteristics of the designed manipulator.The pipe is automatically,smoothly and quickly conveyed.The main research content of the full text includes the following aspects:According to the process of manual up and down drill pipe,the automatic conveying scheme of drill pipe for coal mine rig based on compound joint manipulator is designed.Design the key components of the drill pipe transportation manipulator,including the design of clamping joints and the design of telescopic joints.According to the design results,Inventor is used to model the structure of the manipulator,and the components are optimized through the finite element analysis software.Using the Denavit-Hartenberg(D-H)matrix analysis method to analyze the kinematics of the manipulator of the drill pipe transportation,derive the position of each joint relative to the basic coordinate system,determine the movement space of the manipulator,and at the same time,through the inverse kinematics solution,it is the movement of the manipulator Control provides the basis.Analyze the positioning conditions of each joint of the manipulator to determine the positioning method of each joint.Analyze the control system of the manipulator for drill pipe transportation,take the flip joint control system as an example to study the dynamic characteristics of the manipulator,establish the flip joint control model,use MATLAB Simulink to simulate the system model,and use PID control to adjust the control system to improve control The dynamic characteristics of the system.Finally,experimental verification was carried out.By measuring the dynamic characteristics of the flip joint during actual work,and conducting the drill pipe transport experiment,the structural rationality of the designed drill pipe transport manipulator for coal mine automatic drilling rigs and the response speed and stability of the dynamic characteristics were verified.