| Due to the increase of mining depth,rock burst disasters occur frequently in coal mines.The use of pressure relief drilling rig to drill and relieve pressure has become an important means of rock burst prevention and control.Spiral drill pipe and drill bit are the drilling tools of pressure relief drilling rig,and the front drill pipe and the rear drill pipe are connected through the connector.However,the drill pipe replacement device matching with the pressure relief drilling rig is still in the research and development stage,which leads to manual replacement of drill pipe,low efficiency of drill pipe replacement and great potential safety hazard.Therefore,drill changing has become an urgent need for mechanization and automation.In view of the above problems,this paper designs a self-propelled drill changing robot,which uses spiral swing cylinder and slewing bearing as the driving device of the rotary joint.According to the working conditions and workspace requirements,Solid Works is used to carry out the three-dimensional modeling of the whole structure of the drill changing robot,and ANSYS is used to do the static simulation analysis of the key structural parts to check the strength of the structural parts.Based on the designed drill changing robot,the forward and inverse kinematics equations are established by D-H method,and the kinematics model of the drill changing robot is established by MATLAB.The correctness of the forward kinematics equation is verified by simulation,and the relationship between the joint angle of the drill changing robot and the position and posture of the end actuator is obtained,which provides a theoretical basis for the automatic control of the drill changing robot The workspace of the end effector is obtained by workspace simulation.In order to improve the stability of the handling process,the trajectory planning method of quintic polynomial is used to plan the trajectory of the drill changing robot.The motion process of the drill changing robot is simulated by Adams.The position,velocity and acceleration curves of the six rotating joints in the process of drill changing are obtained.Combined with the forward kinematics equation,the change law of the end effector in Cartesian coordinate system is obtained And the change law of driving torque of each joint in the process of drilling robot movement.According to the required torque and angular velocity of each joint,the required flow of each hydraulic actuator,the required power of the system,and the estimated working pressure of the system are calculated.The hydraulic schematic diagram of the drilling robot is designed,and the appropriate proportional valve and other hydraulic components are selected.Based on the obtained parameters of the hydraulic components,the AMESim simulation model is established,and the variation law of the outlet pressure of the load sensitive pump with the load pressure is obtained In order to realize the simultaneous action of multiple hydraulic cylinders and reduce the branch flow fluctuation caused by the load change,a pressure compensation valve is added in front of each branch proportional valve,and its effect is verified by AMESim simulation;the electro-hydraulic proportional position control system of the drilling robot is designed,and the PID parameters are adjusted by trial and error method to obtain satisfactory dynamic response and control The following curve of the joint angle is obtained by taking the trajectory as the input signal.Finally,the test bench of the drill changing robot is built.The error of the end effector is measured through the repetitive experiment,and the grasping accuracy of the drill changing robot is obtained.The flow of the swing cylinder is measured by the flow sensor and recorder.The rotation speed of the drill changing process is obtained by combining with the displacement of the actuator,and the stability of the drill changing process is evaluated.This paper has 65 pictures,9 tables and 94 references. |
PDF Full Text Request