| Aiming at the problems of complex geological conditions,limited space,low automation of tunneling equipment,and low tunneling efficiency in coal mine tunnels,a new crawler-type gantry drilling and anchoring robot is proposed,which can be combined with traditional tunneling machines or tunneling robots to form anchors.The system is designed to solve the difficult problem of roadway support in complex geological conditions.(1)According to the demand of coal mines with complex geological conditions,the existing excavation technology and roadway support parameters,the overall plan of the crawler gantry drilling and anchoring robot is proposed,and the coordinated operation mode of the drilling and anchoring robot and the roadheader is given.The technology of the anchor digging system can realize timely support and efficient anchor digging.(2)Designed the overall plan of a full-face four-drilling rig,double-track walking mechanism,distributed hydraulic pump station,modular variable-size drilling and anchoring robot,and modeling the body;using ANSYS to perform finite element analysis on key components,Verified the stability and reliability of the structure.(3)Designed a multi-degree-of-freedom short drilling rig,and performed kinematics and dynamics analysis on it.Using the Monte Carlo random number method,the workingspace of the robot was obtained,and it was verified that the working space of the anchor drilling robot rig can meet the requirements of the roadway section Drilling anchor operation requirements.(4)According to the road surface working conditions of complex geological conditions,combined with the allowable grounding pressure of the roadway,the crawler of the robot walking part was researched and designed.Through the analysis of the maximum grounding pressure under different road conditions,the crawler-indentation-crawler was calculated.The driving force under the model verifies the reliability of the designed crawler.(5)According to the structural characteristics and operating conditions of the crawler gantry drilling and anchor robot,the distributed hydraulic system was designed,the model of the hydraulic system was established,and the hydraulic circuit was optimized to meet the power requirements of the system,and the hydraulic system was simulated by AMESim software.,Verified the stability of the system.The prototype of the crawler gantry drilling and anchoring robot has been successfully trial-produced.The ground debugging results show that:the whole machine is reasonable in design,complete in functions,stable in performance,and flexible.It can be organically combined with the roadheader to form a new type of anchor digging system to ensure the timeliness and support of the support.The high efficiency of drilling and anchoring effectively solves the difficult problem of tunnel excavation in coal mines with complex geological conditions. |
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