A conceptual scale model of mobile drilling robot

摘要

Purpose This paper aims to propose a conceptual scale model of mobile drilling robot according to the actual drilling rig and working conditions to improve the safety and automation of drilling in tunnel construction and coal mining applications. Design/methodology/approach A couple of pinion and rack serves as the support mechanism driven by a motor with low rotation speed at high power, and these components are assembled in the center of the robot to tightly fasten the whole body together. The drilling rod and the sleeve are connected through a hole with screw thread so that the rod feeds and rotates simultaneously along with the sleeve. The robot model is automatically controlled by a single-chip microcomputer, and the anti-disturbance circuit is designed as well. A five-step rule obstacle avoidance method is proposed to ensure safe and reliable movement. Findings The results of simulation experiments on drilling operation do indicate that the mechanism and control method are feasible and effective. Research limitations/implications The robot is nearly complete but indeed remains only an experimental machine. Originality/value The design of the mechanism structure for the conceptual robot is novelty. The method of five-step rule obstacle avoidance can improve reliability of obstacle avoidance according to the experimental results, which can meet the requirements of complex working conditions underground coal mine.