Design Of Virtual Prototype Of Double-Arm Anchor Drilling Rig And Key Technology Research

Based on the development of domestic and foreign anchor drill rigs and the actual needs of coal mine roadways in China,the overall design of the two-arm anchor drill rig is determined;the rock breaking resistance and the machine power are calculated,and the rotary drill and Model of the motor,and specific design of the crawler chassis,working platform,temporary support,drill arm device,etc.;the three-dimensional model of the dual-arm drill carriage was established using PROE,and the stability analysis was performed to determine the overall drill carriage.Center of mass position and maximum climbing angle.Secondly,by analyzing the working characteristics of the two-arm drill carriage,the kinematics model of the drilling arm under ideal working conditions is established,and the D-H method is used to establish the positive kinematics equation of the drilling arm,and the expression of the posture of the drilling arm is derived.Combined with MATLAB to draw the ideal working space for left and right drill arms.The inverse kinematics expression of the drilling arm was solved by algebraic method;the consistency of forward and inverse kinematics of the drilling arm was simulated and verified by MATLAB robot tool.Then,a one-sided crawler model of the anchor drill truck was created through PROE,and the ADAMS tool was used to simulate the running conditions of the chassis to obtain the change law of the track chassis motion parameters and the contact force of the track shoes.At the same time,the dynamic analysis of the virtual prototype model of the drill arm is performed to simulate the actual working conditions of the drill arm,check whether there is a “dead point” problem during the movement process,and obtain the curve of the movement of the drill arm cylinder and the hinge point force over time.The design of the arm oil cylinder and ANSYS structural analysis provide the basis.According to the simulation animation of the boom,the boom trajectory is generated,the actual operating range of the two-arm drill carriage is calculated,and the rationality of the boom design is verified.Finally,according to the principle of equivalent simplification,ADAMS was used to re-establish the parameterized model of the drill arm,and the key hinge points of the lifting mechanism and the deflection mechanism were optimized and designed according to the actual motion parameters of the drill arm.Within a reasonable range,the drill arm was further optimized performance.Through the design of the two-arm anchor drill rig in this paper,it provides a reference for the design and development of coal mine machinery of the same type.