Design And Research Of Small Soft Rock Drilling Robot

With the advancement of science and technology,relevant research in the field of robotics continues to deepen,especially in the field of special robots.As an important part of this field,small soft rock drilling robots have important application value in dangerous,narrow and other complex environments.Small drilling robots have the characteristics of small size,light weight,and low energy consumption.Under certain conditions,they can assist staff to complete drilling tasks in soft rock formations,and assist scientific researchers to carry out research work such as resource exploration and environmental detection.Based on the in-depth analysis of the research status of domestic and foreign underground excavation robots and pipeline robots,this thesis conducts research on small soft rock drilling robot systems.Combining the advantages of the current underground excavation robot and pipeline robot structure design,a small soft rock drilling robot is proposed.The robot has the characteristics of compact structure,good portability,and uncomplicated control system.The main research content of this thesis is as follows:(1)The overall scheme of the small soft rock drilling robot system.First,in order to realize the crawling and drilling of small drilling robots in soft rock,the functional requirements and performance indicators that the drilling robot system needs to meet are drawn up;then,according to the functions that the robot system must have,the drilling,support,and The driving,walking,and slag discharge schemes provide a basis for subsequent research.(2)Design and simulation analysis of small soft rock drilling robot drill bit.First,based on the drilling mechanism of the drill bit,analyze the damage of soft rock under the double action of the axial drilling pressure and axial shear force of the drill bit,and the impact on the drilling speed;then the existing PDC(Polycrystalline Diamond Compact)The structural parameters of the drill bit are optimized and designed;finally,the axial pressure required for the drill bit to press into the soft rock is analyzed,and the simulation software is used to optimize the drilling parameters and determine the combination of axial pressure and drill bit speed.The research results show that the drilling failure process is mainly divided into three stages: surface failure,fatigue failure and volume failure;the geometric parameters of the cutter and the drilling parameters have a major impact on the drilling speed;the back rake angle and the roll angle of the cutter are both The drilling effect is the best at 15°;the best effect is when the axial pressure is greater than 100 N and the drill speed is greater than 400r/min.(3)Design and mechanical analysis of small soft rock drilling robot.First,starting from the motion principle of the robot,theoretically analyze and calculate the force of the drilling robot as a whole and the main mechanism;then carry out the design research of the key structure according to the proposed design plan of the drilling robot,and discuss the application of the small soft rock drilling robot The adaptability of the support mechanism in different drilling diameters;finally,a virtual prototype model of a small soft rock drilling robot is established,and through kinematics simulation analysis,it is verified whether the selected motor output force and the contact force between the support mechanism and the inner wall of the hole are consistent with the theoretical calculation unanimous.The research results show that the structure design of the small soft rock drilling robot is reasonable,and its performance meets the design requirements through dynamic simulation verification.(4)Experimental research on small soft rock drilling robots.First,based on the previous research content,a small soft rock drilling robot experimental prototype was developed,then a drilling robot test bench was built,and relevant performance experiments were carried out.Finally,the stability and actual drilling effect of the drilling robot during peristaltic drilling were investigated.verify.The research results show that the prototype of the drilling robot can realize creep drilling in soft rock,which verifies the design of the small soft rock drilling robot.This thesis has 75 figures,25 tables and 85 references.