Automatic Positioning Method of Drilling Rig

Abstract

The invention discloses an automatic positioning method for a tunneling drill wagon and is suitable for positioning of a drill rod when the mine tunneling drill wagon drills. The automatic positioning method includes: arranging six degrees of freedom and eight key points on a drill arm according to the drill wagon, and building a three-dimensional-space global coordinate system of a roadway and a three-dimensional-space local coordinate system taking a hinging point of the drill arm and a shaft sleeve of a machine body as a local coordinate original point; enabling the drill wagon to be in a Z-axis direction of the global coordinate system, determining a drilling position on a roadway tunneling work face, using an iterative search method and a gradual return method to solve parameter values of the six degrees of freedom of the drill arm, calculating spatial coordinate values of the eight key points, determining final posture of the drill arm, and aligning the drill rod to the drilling position for drilling. The automatic positioning method is quick and accurate in calculation and completely suitable for automatic positioning of the drill wagon for drilling.

Description

technical field [0001] The invention relates to a positioning method for multi-joint and multi-degree-of-freedom equipment, in particular to an automatic positioning method when a drilling rig drills a hole. Background technique [0002] In the mining process, the tunneling drill truck is generally used to drill holes, and then the explosives are buried for blasting. The working part of the current tunneling drilling rig is to articulate the drilling arm on the walking body. The drilling arm is divided into a left drilling arm and a right drilling arm. Both the left and right drilling arms are connected to the operating platform of the drilling rig through bushings. The main components of the drill boom include bushings, drill boom frames, branch pipes, brackets, directional slides, carriages and drill rods. The oil cylinder that rotates the boom horizontally and the oil cylinder that makes the drill boom tilt, and the drill boom itself can be stretched; the carriage is als...

AI Technical Summary

Problems solved by technology

In this way, the blast holes made by manual operation generally have a large error, which will lead to poor roadway forming quality after blasting

At the same time, the labor intensity of the operator is very high

If the current tunneling drilling rig is transformed into an automatic control method capable of automatically finding holes and positioning, the current positioning method of multi-joint and multi-degree-of-freedom equipment has complex procedures, long program operation time, and high requirements for computer operation speed, which makes it impossible to apply to mines. In the upper roadway project, since the drilling rig itself is also moving, the calculation results of the current positioning method have a large error

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