Kinematics analysis method for drilling arm of drill jumbo based on coordinate fixed denavit- hartenberg (CFDH) method

A technology of kinematics analysis and rock drilling rig, which is applied in drilling equipment and methods, geometric CAD, earthwork drilling and mining, etc. It can solve the problems of analysis and establishment of the drill arm model inconsistent with the entity, and the inability to perform local joint positions, etc. Achieve the effects of establishing intuitive and accurate, improving accuracy and operability, and saving analysis time

Inactive Publication Date: 2018-04-06
XIAN TECHNOLOGICAL UNIV
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Problems solved by technology

[0004] This application provides a method for analyzing the kinematics of the drill arm of the rock drilling rig based on the CFDH method, which solves the problem that the existing D-H analysis method cannot model all joint connecting rods, the established drill arm model is inconsistent with the entity, and the local joint position cannot be determined. Analysis and other issues

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  • Kinematics analysis method for drilling arm of drill jumbo based on coordinate fixed denavit- hartenberg (CFDH) method
  • Kinematics analysis method for drilling arm of drill jumbo based on coordinate fixed denavit- hartenberg (CFDH) method
  • Kinematics analysis method for drilling arm of drill jumbo based on coordinate fixed denavit- hartenberg (CFDH) method

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[0035] The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments have used associated similar element numbers. In the following embodiments, many details are described so that the present application can be better understood. However, those skilled in the art will readily recognize that some of the features may be omitted under different circumstances, or may be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application from being overwhelmed by excessive description, and for those skilled in the art, these are described in detail. The relevant operations are not necessary, and they can fully understand the relevant operations according to the descriptions in the specification and g...

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Abstract

The invention relates to a kinematics analysis method for a drilling arm of a drill jumbo based on a coordinate fixed denavit- hartenberg (CFDH) method. The method includes the steps of firstly determining link parameters including dimension parameters of linkages and relation parameters of adjacent linkages, wherein the dimension parameters include link length and link torsional angle, and the relation parameters include link distance and joint rotation angle; simplifying the drilling arm into a structure of a multi-joint robot; by setting each rod piece coordinate system of the drilling arm,determining a coordinate conversion matrix of adjacent rod pieces, and applying the CFDH method to establish a kinematics equation of the drilling arm of the drill jumbo; and finally drawing an effective working space of the drilling arm of the drill jumbo in a MATLAB according to the established kinematics equation. According to the method, the problem that it is difficult to determine a coordinate system in drilling arm research is solved, and the establishment of a coordinate system group is intuitive and accurate, which provides an effective means for the kinematics analysis of the drilling arm of the drill jumbo.

Description

technical field [0001] The invention relates to the field of kinematics analysis of construction machinery, in particular to a kinematics analysis method of a drill arm of a rock drilling rig based on a CFDH method. Background technique [0002] Full hydraulic rock drilling rig is a large-scale rock drilling equipment integrating machinery, electricity and hydraulic pressure. It is an important tool for drilling and blasting construction in mines, tunnels and underground projects. Chassis etc. The full hydraulic rock drilling rig can not only greatly reduce the physical labor of workers, improve the construction operation conditions, and improve the efficiency of drilling operations, but also it is easier to achieve high efficiency and automation in the actual construction process. Most of the hydraulic rock drilling equipment currently used in my country is imported from abroad, and most of them are expensive. If you design your own hydraulic rock drilling rig, the cost w...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50E21B7/02
CPCE21B7/025G06F30/17G06F30/20
Inventor 丁锋刘聪韩帅
Owner XIAN TECHNOLOGICAL UNIV
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