Research and Application of Hydraulic Manipulator for Automatic Loading and Unloading of Drilling Pipes
In the process of rock drilling with a large diameter deep hole drilling rig,loading and unloading drill pipes are a very important link.Traditional drilling rigs mainly rely on manual labor for loading and unloading pipes,which is labor-in-tensive,poses high safety risks,and has low operational efficiency.This article proposes an efficient and stable hydraulic manip-ulator for automatic handling of drill pipes,which can achieve automatic grasping,transportation,and placement of drill pipes,improve operational efficiency,reduce labor costs,and enhance operational safety.Through the analysis of the process of auto-matically loading and unloading drill pipes,the functional requirements and motion characteristics of the robotic arm were clari-fied.The overall structure of the robotic arm was designed,including key components such as the slide table,joint arm,and gripper.Optimization and simulation analysis were carried out,and a five degree of freedom hydraulic robotic arm design meth-od based on dual spool electro-hydraulic digital valve control technology was proposed,effectively verifying the feasibility of the method.Production practice has shown that the designed hydraulic robotic arm has good grasping performance,motion perform-ance,and stability.It can accurately and quickly grasp,transport,and place drill pipes,and can meet the needs of automatic connection and unloading of drill pipes for large diameter deep hole drilling operations.This robotic arm has a wide range of ap-plication prospects in large-diameter deep hole rock drilling operations,especially in achieving automation,intelligence,and e-ven unmanned mining in underground mines with mining processes such as open-pit mining in the downward drilling stage,which is of great practical significance.
automatic loading and unloading drill pipehydraulic robotic armperformance analysislarge diameter deep hole drilling rigelectro-hydraulic digital valves
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