Research On The Positioning Of The Drilling Boom Of The Pipe-roof Rig

Pipe-roof construction method is considered as the most reasonable and effective method to solve the supporting problem while constructing the tunnel nowadays. With the great development of the tunnel construction, the demand of the pipe-roof rig, which is the main operating equipment in the pipe-roof construction, is growing sharply in our nation. At present, the pipe-roof rig made in China meets the requirements of construction simply, but due to the poor efficiency and generic capability, the pipe-roof rig made in China is not quite popular in the domestic market. The quality of the pipe shed, workspace and working hours of the pipe-roof rig and other aspects are directly determined by the reliability of the drilling boom, which is the core operating mechanism of the pipe-roof rig. Accordingly there are important theoretical significances and bright future to research the kinematics of the drilling boom of the pipe-roof rig, workspace and positioning technology.Firstly, this paper analyzed the drilling boom mechanism of the pipe-roof rig. Based on the analysis, the boom kinematics equations are established, and then the workspace of the boom is solved. Furthermore, the technology of positioning the boom is discussed. The main contents include:(a) The main body of the pipe-roof rig is analyzed. Especially, the course of action of the boom positioning mechanism is introduced. Through analyzing the existing positioning method of the pipe-roof rig, the shortcomings in the process of positioning are summarized.(b) The model of the drilling boom is built by the D-H rule. As the basis of establishing joint coordinate systems, the position and orientation transformation matrix is solved between the coordinate system of the boom root and the end of the actuator.(c) Combined with kinematics equations of the drilling boom, the numerical method and simulation method are used to solve the workspace of the boom respectively. And simulation results of numerical method and simulation in MATLAB are compared.(d) On the analogy of the positioning methods of the pipe-roof rig and drill jambo, the boom positioning method that a closed-loop system is established by means of guide tubes as an auxiliary is proposed. Corresponding to each pipe roof hole the amount that boom joints needed to move and rotate is obtained.