小型侧壁钻孔机器人钻孔质量控制方法

Drilling quality control method of small sidewall drilling robot

小型侧壁钻孔机器人在深部巷道/隧道动力灾害物理模拟试验系统中得到了具体应用。由于岩石空洞外径小而细长的有限条件,使得侧壁钻孔非常困难。本文为了提高其钻孔的质量,针对岩孔侧壁钻孔过程中的质量影响与控制进行研究。采用了力学建模与实验验证的方法,得到了振动、横向进给位移、侧向进给速度是关键影响因素结论。建立了振动力学模型和速度匹配方程,应用在实际机器人的设计和控制系统中,并研制了小型侧壁钻孔机器人,完成其钻孔质量测试实验。测试结果表明:钻孔质量可以很好得到控制,能够满足实际岩孔参数Φ6×90+0.5 mm要求。

In physical simulation test systems of deep tunnel dynamic disasters,small sidewall drilling robots are applied for drilling.However,owing to the small and slender outer diameter of the rock cavity,the sidewall drilling is very difficult,especially for the quality control of the drilling.In this paper,through mechanical modeling and experimental methods,the factors influencing quality control in the hole drilling process are studied,and the key influencing factors are derived as vibration,lateral feed displacement,and lateral feed rate.Therefore,the vibration mechanics model and the speed matching equation are established and used in the actual design and control system of the robot.Based on the theoretical calculation,we develop a small sidewall drilling robot and perform a drilling quality test.The calculation test results show that the drilling quality can be well controlled and it meets the actual parameters rock cavity is Φ6×90+0.5 mm.