Lightweight Design And Vibration Characteristic Analysis Of Hydraulic Drilling Jumbo’s Boom

Hydraulic tunnel drill jumbo is a modern drilling equipment, which can support multiple jackdrills simultaneously,it will replace the traditional hand-held jackdill because of its high efficiency, good pore forming quality and the comfortable and safe working environment.In order to position quickly and accurately, the boom must be lightweight and flexible. What’s more, the boom must keep stable under the action of drilling impact recoil force.To solve the above two problems, the structure of drill boom is modified using method integrated of theory analysis, numerical simulation and experiment.The main research contents list as follows:Firstly, according to kinetic theory of robotics establishes the kinetic equations of drill boom and analyzes the workspace of jumbo by using Matlab with numerical solution and graphic method.Secondly, boom’s virtual prototype is established with ADAMS. Positioning process of typical posture is simulated and the hinge point location is modified. Finite element model of back boom and extension boom is built by ANSYS and stress distribution in each typical posture. And the lightweight process is conducted and the above basis.Thirdly, the rigid-flexible coupling virtual prototype of boom is established. Forced vibration frequency domain analysis showed that the inherent frequency is11.6Hz,which is far from excitation frequency5OHz, soresonance of boom will not occur. Drill impact recoil force is calculated with experience formula and loaded to end of jackrod. Pusher’s amplitude is got by time domain simulation.The structure of vibration-reduction-rubber is optimized with the minimum pusher’s amplitude as the goal to greatly suppressethe vibration of the pusher.Lastly, in order to check the correctness of virtual prototype of drill boom, experiment of boom lifting is conducted. And the result shows that the virtual prototype is reliable.Paper studies dynamic performance optimization for hydraulic drill jumbo arm and provides a certain theoretical and technical foundation. It can be used for reference to domestic hydraulic jumbo related industries.