Research And Design Of The Bolt Pushing Robot For Tunnel Support

With the technological level promotion of the capital construction in china,more and more roadway engineering projects are implemented.However,dynamic disasters headed by rock burst are a serious threat for the safety of construction,so,it is necessary to develop the bolt support equipment to ensure construction safety.This paper is originated from the major scientific instrument development project of the National Natural Science Foundation of China:Physical simulation test system of dynamic disaster in deep roadway and tunnel,No.51427803.This system simulates the real natural dynamic disasters,the whole process includes rock loading,roadway excavation,bolt support and quality testing,which has important application value and theoretical significance to further reveal the formation mechanism and law of roadway and tunnel rock burst or other dynamic disasters.The bolt pushing robot studied in this paper is the necessary equipment in the whole simulation test system,which aims to complete the bolt installation task in the bolt support link.Firstly,this paper introduces the classification of bolts used in engineering practice at home and abroad and the development process of bolt support technology,and then leads to the research status of bolt support technology.By comparing the research status of anchorage technology at home and abroad,and referring to the latest roof bolter in China,and combining the actual working conditions and technical requirements of the system,then finished the general design of the bolt pushing robot.The general design mainly includes the design of positioning mechanism,supporting mechanism and clamping mechanism,the formulation of driving scheme,and the selection calculation of related driving motor.Secondly,this paper describes the robot motion process,builds the structural model and kinematic equation of the bolt pushing robot and analyzes forward and inverse kinematics problems,these provide the basis for the follow-up robot control strategy.The results of static analysis for spindle and manipulator show that the stiffness and strength of the mechanical structure meet the design requirements.The modal analysis proves that the vibration of the motor will not affect the clamping stability of manipulator,and the simulation results are consistent with the theoretical results.Thirdly,according to the kinematic equation and the design structure,the motion control strategy of the bolt pushing robot is formulated in this paper,including the overall control strategy,the choice of communication mode between upper computer and lower computer,and motor control strategy,etc.Motor control includes stepping motor control and steering gear control.In the control part of the stepping motor,the S-curve transfer function is established,after that,traditional PID control and fuzzy PID control are simulated in MATLAB Simulink by the transfer function,fuzzy PID control is selected after comparison.In the control part of the steering gear,positional PID is used to control the speed.The upper computer control system is programmed based on Lab VIEW and the lower computer control system is programmed based on STM32,they cooperate with each other and lay a foundation for robot control.Finally,the field experiments of the bolt pushing robot are carried out.The experiment mainly includes wireless communication experiment,position accuracy of main body walking and spindle rotation experiment,manipulator clamping experiment,verification experiment of motor control effect,and integrated experiment.The experimental results show that: the bolt pushing robot designed in this paper can push the bolt into the anchor hole,it meets design requirements.