The Key Technology Research On Tunnel Rock Drilling Robot’ Boom

With the high-speed development of railway, highway, water resources and hydropower engineering in our country, it will face a large number of tunnel excavation construction. The requirement of drilling accuracy, working efficiency, construction safety, working conditions also increasing.As an important construction machinery during drilling and blasting method in tunnel excavation, tunnel drilling robot can greatly improve the positional accuracy of blast hole, raise drilling rate, guarantee construction safety and other issues. In this paper, we regard the boom of a foreign tunnel drilling robot as main study object, to do systematically analyze and simulation.Kinematics analysis. Rely on the three-dimensional model, using Denavit-Hartenberg method to establish a coordinate system at each joint. According to the knowledge of robot kinematics to calculate the coordinate transformation matrix between adjacent member, and then calculate transformation matrix between drilling arm end coordinates system and base coordinate system. Compile a solving program and running in calculation software, obtained tunnel drilling robot’s boom workspace under ideal condition. Explore inverse transformation method in tunnel drilling robot’s boom kinematics inverse solution.Statics analysis. Prior to the analysis of the boom’s three-dimensional model were some necessary simplification, save the assembly simplified model and then introduce into finite element analysis software to analysis statics problem. Obtained boom’s stress nephogram and strain nephogram among six working condition,which could provide data for the strength check of boom.Modal analysis. Obtained boom’s preceding 12 modes natural frequency and vibration mode by using the method of dynamic finite element analysis.the most severe deformation case happen on eighth modes and ninth modes.during construction process we should try to avoid working in eighth and ninth modes, so as not to generate resonance phenomenon and breaking the structural strength of the boom.Finally, analyze boom’s harmonic response analysis on the basis of model analysis. In several working conditions, solving amplitude-frequency response curve about end face of drill rod and top face of inner boom. Obtained boom resonance amplitude, frequency and main vibration mode, which provided theory and data to analyze dynamic characteristics and design optimization of the boom.A integrated use of modeling,calculation and analysis software during the study of the boom, which reflects the superiority of modern design methods.the paper provide some reference value for the tunnel drilling robot research and design optimization.