Research On Mechanical Characteristics Of Drilling Unit Of Integrated Drilling And Assembling Machine

With the rapid development of the coal industry,in order to realize the rapid excavation of coal mine rock tunnels,the Integrated Drilling and Assembling Machine has become the main equipment of the current drilling and blasting method.Among them,the drilling unit is used as the drilling mechanism and anchoring mechanism of the Integrated Drilling and Assembling Machine,is one of the most critical parts in the working process.Its speed,accuracy and smoothness are essential for construction.However,the current research on the mechanical properties of the drilling unit is still insufficient.In order to improve the construction efficiency,stability and safety of the drilling unit,this paper studies the kinematics and dynamics of the drilling unit in the process of positioning and rock drilling.And through the structural statics analysis and modal analysis of the drilling unit,the bearing capacity of the structure is verified,The specific research work is as follows:First of all,starting from the operating environment of Integrated Drilling and Assembling Machine,analyze the characteristics of the operating environment of the drilling and assembler and the factors affecting the safety of the operation.Propose a drilling unit for a drilling and assembly machine.According to the structural composition and movement characteristics of the drilling unit,the static load is applied to the finite element analysis of the built drilling unit model.The results show that the force of the drilling unit is reasonable,which can provide a model basis for the subsequent research and analysis.Then,using the mechanical arm kinematics theory,the D-H method is used to analyze the forward and inverse kinematics of the drilling unit,and the correctness of the solution of the forward and inverse kinematics solutions is verified through MATLAB and ADAMS.Numerical method and Robotics Toolbox in MATLAB are used to solve the working space of the drilling unit.After analysis,it is found that the reachable working space of the drilling unit fully meets the requirements of the working conditions.Through the analysis of several commonly used interpolation methods in the joint space and Cartesian space of the mechanical structure,it is concluded that the joint space trajectory planning of the drilling unit should preferentially adopt the fifth-order polynomial interpolation trajectory planning,and the Cartesian space adopts linear interpolation and circular arc compensation.Trajectory planning to complete the trajectory planning simulation of the drilling unit.Then,using the mechanical arm dynamics theory,the Newton-Euler method is used to derive the dynamic equation of the drilling unit,and the dynamic model of the drilling unit is established.Through the virtual prototype technology,the dynamic analysis of five different working conditions of the drilling unit is completed,the dynamic performance parameters of the drilling unit during positioning and rock drilling are obtained,and the force load of each key hinge point is obtained,which is the drilling Finite element analysis of key components provides load information.Finally,a finite element model of the drilling unit is established,and the load information obtained from the dynamic analysis is applied to the stress points of the key components of the drilling unit.Perform structural static analysis and modal analysis on the telescopic arm of the drilling unit,and perform structural static analysis on other key components.Through structural static analysis,the stress and displacement cloud diagrams of the key parts of the drilling unit are obtained,and the strength of the key parts of the drilling unit under the most dangerous working conditions is up to the standard;The natural frequency and vibration mode characteristics of the telescopic boom are obtained from the modal analysis,and it is concluded that the telescopic boom will not resonate during the drilling process.The results provide the basis for drilling unit effectively prevents resonance during the drilling work,and providing a reference structure for the following improvement and optimization.