| Full hydraulic drilling jumbo is a kind of modern mining and drilling equipment which integrates mechanical,hydraulic and electrical system.It is widely used in mine,roadway,tunnel and underground construction.The equipment not only greatly reduces the physical consumption of the construction personnel,improves the drilling efficiency,improves the construction conditions,but also greatly improves the automation level of the operation.The equipment not only greatly reduces the physical consumption of the construction personnel,improves the drilling efficiency,improves the construction conditions,but also greatly improves the automation level of the operation.As the core part of the full hydraulic drill jumbo,the performance of the drill arm directly affects the drilling effect of the jumbo.The jumbo realizes positioning and drilling by the movement of the drill arm.Therefore,in order to improve the construction efficiency,stability and safety of the jumbo,it is necessary to conduct a comprehensive study on the kinematics and dynamic analysis of the drill arm.In order to overcome the shortcomings of the existing rock drilling jumbo in the construction of small tunnels,a full hydraulic drilling jumbo with compact structure is designed,which can realize the mechanized excavation of small tunnels,and a three-dimensional virtual model is established.On the basis of simplifying the mechanism of the drill arm of the rock drilling jumbo,the forward / inverse model of its position and the forward / inverse model of its velocity are established by using the classical exponential product method,and the mapping of position and velocity between the operation space and the joint space is realized.Through the comparison of numerical simulation and virtual simulation,the correctness of the established kinematics model is verified.In addition,combined with the forward model of the drill arm of the jumbo,the reachable workspace is calculated by Monte Carlo algorithm,and the rationality of the drill arm design is preliminarily verified.On the basis of kinematic analysis,the rigid body dynamic model of the drill arm of the full hydraulic rock drilling jumbo is established by using Newton Euler method and virtual work principle.The model can quickly solve the driving force / torque required by the hydraulic cylinder under a given trajectory,which is convenient for the verification and design of the hydraulic system.The accuracy of the dynamic model is verified by the comparison of numerical simulation and virtual simulation.Because the dynamic model is difficult to solve the force and reaction of each joint,a virtual prototype model is built based on ADAMS.The velocity,acceleration and force curves of each cylinder under three dangerous working conditions are analyzed.The correlation curves of the cylinder can provide reference for cylinder selection and driving source optimization,and the stress conditions of each key point can provide data reference for the finite element analysis of components.Based on ANSYS finite element analysis software,the statics of the boom is studied,and the stress cloud diagram and displacement deformation diagram are obtained,which verify the rationality of the overall structure strength.In addition,the modal analysis of the main components is carried out to obtain the natural frequency and mode pattern diagram,which verifies the stability and safety of the impact load,and provides scientific support for the structural optimization and efficient work of the drill arm.The experimental prototype of full hydraulic drilling jumbo is built,and the control system of drilling arm is built with PLC as the control core.According to the results of kinematics theory analysis and combined with the action information feedback from the sensor,the human-machine interaction interface is built to realize the automatic control of the full hydraulic drilling trolley and the real-time display of key information.Finally,the performance of the drill arm is verified by the actual drilling test. |
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