Geotechnical engineering machine and working arm control method thereof

Abstract

The invention provides geotechnical engineering machinery and a working arm control method thereof. The geotechnical engineering machine comprises: a vehicle body; the working arm has a plurality of degrees of freedom of motion relative to the vehicle body; the vehicle body position and posture detection system is configured to obtain vehicle body real-time position and posture information used for reflecting the real-time position and posture of the vehicle body in the operation space of the geotechnical engineering machine; the working arm pose detection system is configured to obtain working arm real-time pose information used for reflecting the real-time position and pose of the working arm relative to the vehicle body; the posture adjusting system comprises a control device and a driving device, and the control device is configured to adjust the posture of the working arm according to target posture information used for reflecting the position and posture needed by the working arm to execute operation on the construction operation face, the vehicle body real-time posture information and the working arm real-time posture information; and a control signal used for adjusting the position and posture of the working arm is sent to the driving device, and the driving device is configured to drive the working arm to move according to the control signal so that the working arm can reach the target posture.

Description

technical field [0001] The present disclosure relates to the field of construction machinery, in particular to a geotechnical engineering machinery and a method for controlling a working arm thereof. Background technique [0002] Rock drilling jumbo is one of the main equipments for drilling and blasting rocks. It has the advantages of flexible transition and efficient operation, and is widely used in the drilling and blasting construction of railway tunnels and highway tunnels. In drilling and blasting construction, in order to obtain the best blasting effect, it is necessary to locate the blast hole on the face of the tunnel. According to the related technology known by the inventor, during engineering construction, the position and posture of the mechanical arm are mainly adjusted manually. This adjustment method is highly dependent on the experience of the operator, and it is difficult to ensure high-precision control of the drilling position. Because the mechanical arm ...

AI Technical Summary

Problems solved by technology

According to the related technology known by the inventor, during engineering construction, the position and posture of the mechanical arm are mainly adjusted manually. This adjustment method is highly dependent on the experience of the operator, and it is difficult to ensure high-precision control of the drilling position. Because the mechanical arm There are many degrees of freedom, and each positioning before drilling requires the operator to adjust the mechanical arm several times, which is inefficient; and because of the large number of blast holes on a section, the accumulation of position errors of multiple holes will cause the drilling result to differ from the design value. Larger deviations will eventually lead to poor tunnel blasting effects, and often need to repair the blasting section, which greatly increases the construction cost

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