Objective In the field of mine accident rescue, creating vertical rescue channels through surface drilling operations using a rescue vehicle-mounted drilling rig (RVMDR) proves the most effective. However, the limitation of the vehicle’s load capacity necessitates balancing the driving speeds and stability of the round-trip actuating mechanisms. Furthermore, establishing an optimization design and configuration system of parameters to maximize the operational capacities of these actuating mechanisms plays a key role in ensuring rescue efficiency.
Methods By establishing a multiple spatiotemporal planning model for the round-trip actuating mechanisms of the RVMDR, this study determined the value ranges and design processes of the RVMDR’s critical parameters. Following the classification and planning principles of trapezoidal or S-shaped velocity curves of multiple actuating mechanisms, this study performed the temporal and kinematic planning of these actuating mechanisms. A directional, coupled mechanical-hydraulic dynamics model was developed using the Adams and AMESim platforms. Accordingly, the dynamic characteristics of the mechanical and hydraulic drive systems were analyzed, and the parameter configuration of the drive systems and the dynamic design parameters of the RVMDR's major mechanisms were optimized. Furthermore, this study proposed a design method for global timeliness optimization that integrated timing coordination, motion control, and drive synchronization, forming a complete design closed loop for the parameters of the RVMDR's round-trip actuating mechanisms.
Results and Conclusions The results indicate that the parallel operation configuration strategy reduced the tripping-in and tripping-out times by 17.7% and 17.5%, respectively. The maximum stresses of various actuating mechanisms were concentrated at hinge points. Vibration and load impact peaked at the time of motion state transition. The dynamic iterative optimization of the parallel-action sequences of the actuating mechanisms reduced the maximum stress by 37.76% when the feed cylinder lifted the power head and by 4.66% when the tilt cylinder retracted to cause the power head to drop. The action sequence tests of round-trip actuating mechanisms using the RVMDR prototype indicate that the errors between the actual and planned action times were ≤ 5.83%, with vibration amplitude remaining within prescribed constraints. Overall, the design method for the timeliness optimization of RVMDR proposed in this study is significant for enhancing the capacity and efficiency of borehole rescue equipment.
DownLoad: