Design and Workspace Analysis of Drilling Arm of Mining Anchor Drilling Robot

Abstract

Bolt support is the main way of underground roadway support in coal mines in China. At present, there are some problems in domestic coal mines, such as low efficiency and poor safety. In view of the above problems, a structural scheme of omni-directional multi angle automatic roof bolter is designed. Firstly, based on the D-H method, the kinematics model of the drill arm structure of the anchor drilling robot to the roof and side of the working environment is established, and the space analysis of the four drill arms is carried out; At the same time, due to the design of the drill arm of the anchor drilling robot, the left and right drill arms of the equipment extend, rotate and work at the same time. Combined with the MATLAB kinematics model, the experiment is carried out to simulate the spatial position of the end of the drill arm of the anchor drilling robot. At the same time, the research results show that the robot can quickly replace the anchor drilling arm and ensure the quality of all-round anchor drilling, and the robot can meet the requirements of all-round support.