Rock drilling method, rock drilling device, and computer-readable storage medium

Abstract

The present application relates to a kind of rock drilling method, rock drilling device and computer readable storage medium, including establishing OXYZ coordinate system, and origin O (0,0,0), O1 (x1,y1,z1), O2 (x2,y2,z2) and O3 (x3,y3,z3), and determine the dynamic coordinate of O2 and O3 in OXYZ coordinate system;Wherein, dynamic coordinate does not exist OO1 The length L1 of and O1O2 The length L2 of, and the freedom degree of the first arm body, second arm body and the limiting parameter between execution and corresponding connecting piece;S2: based on the dynamic coordinate of O2 and O3 in OXYZ coordinate system, calculate S3: make perpendicular to YOZ plane, its beneficial effect is that the dynamic coordinate of O2 and O3 in OXYZ coordinate system can be directly calculated by mathematical operation, application this method, can throw away specific structure difference, without structure limit to the analysis and control of the posture of arm support, and provide the specific control method of the arm support posture of control overbreak, it is convenient to implement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rock drilling jumbo working arm, and particularly relates to a rock drilling method, a rock drilling device and a computer readable storage medium. BACKGROUND

[0002] At present, in the prior art, the structure form of the rock drilling jumbo arm is limited to a certain extent (for example, the arm is limited to a double-triangle form), and the posture analysis method used on the limited structure is not universally applicable, needs a relatively complex structure and increases the difficulty of arm control, and further leads to insufficient adaptability of the arm to the construction process. SUMMARY

[0003] (I) Technical problems to be solved

[0004] In view of the above-mentioned defects and deficiencies of the prior art, the present application provides a rock drilling method, which can analyze and control the posture of the arm without structural differences and structural limitations, and solves the technical problem of insufficient adaptability of the arm to the construction process caused by the structural limitation of the analysis method in the prior art.

[0005] (II) Technical solutions

[0006] In order to achieve the above-mentioned purpose, the main technical solutions adopted by the present application include:

[0007] In the first aspect, the present application provides a rock drilling method, comprising:

[0008] S1: establishing an OXYZ coordinate system, and an origin O (0, 0, 0), O1 (x1, y1, z1), O2 (x2, y2, z2) and O3 (x3, y3, z3), and determining the dynamic coordinates of O2 and O3 in the OXYZ coordinate system;

[0009] Wherein, the dynamic coordinates do not include the length L1 of OO1 and the length L2 of O1O2, and the limiting parameters of the degrees of freedom between the first arm body, the second arm body and the execution member and the corresponding connecting member;

[0010] S2: calculating based on the dynamic coordinates of O2 and O3 in the OXYZ coordinate system;

[0011] S3: making perpendicular to the YOZ plane;

[0012] Wherein, O (0, 0, 0) can be set as the connecting point of the first arm body and the base, O1 (x1, y1, z1) can be set as the connecting point of the second arm body and the first arm body, O2 (x2, y2, z2) can be set as the connecting point of the second arm body and the executing member, and O3 (x3, y3, z3) can be set as the executing end point of the executing member.

[0013] In the technical scheme, the dynamic coordinates of O2 and O3 in the OXYZ coordinate system can be directly calculated through mathematical operation, and the dynamic coordinates do not have the influence of the degrees of freedom of the first arm body, the second arm body and the executing member and L1 and L2, so that the method can be applied to analyze and control the posture of the arm support without structural difference and structural limitation, and a specific control method of the arm support posture for controlling overbreak and underbreak is provided, which is convenient to implement.

[0014] Specifically, the specific structural form of the arm support is not limited, the applicability is good, and the arm support can be suitable for various arm support structures, for example, can be a double-triangle form, can be a horizontal and vertical oil cylinder form, can be a reducer and oil cylinder form, etc., the included angle of each rectangular coordinate system of the arm support and structure is taken as a control parameter, the real space posture of the arm support is obtained through operation, and then the overbreak and underbreak posture is analyzed, that is, The specific parameter requirement perpendicular to the working surface greatly improves the flexibility of the arm support setting, and also makes the arm support more easily match the actual processing working condition.

[0015] Since the arm support can perform work control actions through the included angle parameter, the arm support is more easily controlled with high precision, which is beneficial to improve the tunnel construction precision and control the overbreak and underbreak amount.

[0016] In one technical scheme of the present application, the dynamic coordinates of O2 and O3 in the OXYZ coordinate system are determined, and specifically include:

[0017] S1.1: determining the static coordinates of O1, O2 and O3 in the corresponding OXYZ coordinate system, O1X1Y1Z1 coordinate system and O2X2Y2Z2 coordinate system;

[0018] S1.2: making the OXYZ coordinate system coincide with the O1X1Y1Z1 coordinate system to obtain the coordinates (x5, y5, z5) of O2 in the OXYZ coordinate system;

[0019] S1.3: making the O2X2Y2Z2 coordinate system coincide with the O1X1Y1Z1 coordinate system to determine the coordinates (x3, y3, z3) of O3 in the O1X1Y1Z1 coordinate system;

[0020] S1.4: making the O1X1Y1Z1 coordinate system coincide with the OXYZ coordinate system to obtain the coordinates (x4, y4, z4) of O3 in the OXYZ coordinate system.

[0021] In the technical scheme, after the static coordinates of O1, O2 and O3 in the corresponding OXYZ coordinate system, O1X1Y1Z1 coordinate system and O2X2Y2Z2 coordinate system are determined, the OXYZ coordinate system and the O1X1Y1Z1 coordinate system are made to coincide through coordinate transformation of the OXYZ coordinate system, the O2X2Y2Z2 coordinate system and the O1X1Y1Z1 coordinate system, O2(x5, y5, z5) can be obtained, the coordinate is the real dynamic coordinate of O2 in the OXYZ coordinate system, the O2X2Y2Z2 coordinate system and the O1X1Y1Z1 coordinate system are made to coincide, O3(x3, y3, z3) can be obtained, the coordinate is the dynamic coordinate of O3 in the O1X1Y1Z1 coordinate system, and then the O1X1Y1Z1 coordinate system and the OXYZ coordinate system are made to coincide, O3(x4, y4, z4) can be obtained, the coordinate is the real dynamic coordinate of O3 in the OXYZ coordinate system.

[0022] Since the dynamic coordinates of O2 and O3 in the original coordinate system OXYZ can be calculated, the vector ; meanwhile, two coordinate systems are constructed based on the first arm body and the second arm body, and the position parameters of the breaking device can be obtained only through rotation and translation of the two coordinate systems, the calculation amount is low, the calculation is convenient, the applicability is good, can be suitable for various arm structures, and can be suitable for various rock drilling devices, such as breaking hammers and rock drills.

[0023] In one technical scheme of the present application, in the O1X1Y1Z1 coordinate system, O1Z1 is along the OO1 direction, O1X1 is perpendicular to OO1, and O1X1 is in a plane formed by OO1 and the projection of O1X1 on the OXY plane;

[0024] In the O2X2Y2Z2 coordinate system, O2Z2 is along the O1O2 direction, O2X2 is perpendicular to O1O2, and O2X2 is in a plane formed by O1O2 and the projection of O2X2 on the O1X1Y1 plane;

[0025] The coordinates of O1, O2 and O3 in the corresponding OXYZ coordinate system, O1X1Y1Z1 coordinate system and O2X2Y2Z2 coordinate system are determined, and specifically include:

[0026] O1 ,

[0027] O2 ,

[0028] O3 ;

[0029] Wherein, alpha is set as the included angle between the first arm body and the projection of the first arm body in XOY plane, beta is set as the included angle between the projection of the first arm body in XOY plane and OX ray, alpha1 is set as the included angle between the second arm body and the projection of the second arm body in X1O1Y1 plane, beta1 is set as the included angle between the projection of the second arm body in X1O1Y1 plane and O1X1 ray, alpha2 is set as the included angle between the actuator and the projection of the actuator in X2O2Y2 plane, and beta2 is set as the included angle between the projection of the actuator in X2O2Y2 plane and O2X2 ray.

[0030] In the technical scheme, the specific positions of O1, O2 and O3 in the corresponding coordinate systems can be obtained through Pythagorean theorem operation.

[0031] In one technical scheme of the present application, the step of making the OXYZ coordinate system coincide with the O1X1Y1Z1 coordinate system specifically comprises:

[0032] S1.2.1: rotating the coordinate system OXYZ around the OY axis first , then rotating around the OZ axis , and then translating .

[0033] The step of making the O2X2Y2Z2 coordinate system coincide with the O1X1Y1Z1 coordinate system specifically comprises:

[0034] S1.3.1: rotating the coordinate system O1X1Y1Z1 around the O1Y1 axis first , then rotating around the O1Z1 axis , and then translating .

[0035] The step of making the O2X2Y2Z2 coordinate system coincide with the O1X1Y1Z1 coordinate system specifically comprises:

[0036] S1.4.1 rotating the coordinate system OXYZ around the OY axis first , then rotating around the OZ axis , and then translating .

[0037] In the technical scheme, through the above transformation operation, the coincidence requirement of the corresponding coordinate system and the corresponding coordinate system can be met, and then the specific positions of O2 and O3 in the OXYZ coordinate system can be conveniently obtained. Two coordinate systems are constructed based on the first arm body and the second arm body, and the position parameters of the breaking device can be obtained only by rotating and translating the two coordinate systems, which is low in calculation amount, convenient in calculation, good in applicability, suitable for various arm frame structures, and suitable for various rock drilling devices, such as breaking hammer and rock drill.

[0038] Specifically, since the specific positions of O2 and O3 in the OXYZ coordinate system are obtained,

[0039]

[0040] In one technical solution of the present application, the condition that the YOZ plane is perpendicular to the OXYZ coordinate system is met by Specifically, y4-y5=0 and z4-z5=0 are met.

[0041] In this technical solution, by the specific values of y4-y5 and z4-z5, the conditions that In the tilt condition in the OXYZ coordinate system, by limiting y4-y5=0 and z4-z5=0, the execution member can be kept in a state perpendicular to the working face. The parameters obtained by the application operation can make the execution member keep the state perpendicular to the working face.

[0042] Specifically, because Therefore, by limiting The execution member can be kept in a state perpendicular to the working face. The YOZ plane is perpendicular.

[0043] At the same time, through the above operation, it can be seen that there is no limiting parameter about L1, L2, and the degrees of freedom between the first arm body, the second arm body, and the execution member and the corresponding connecting member in the above two equations, so the corresponding arm support only needs to meet that each angle meets the above formula, so as to guarantee that the execution member is always perpendicular to the working face, and the flexibility of setting is greater, and the arm support is more easily controlled accurately, thereby improving the construction accuracy of the tunnel and reducing the over-processing amount.

[0044] Furthermore, when the rock drilling operation is performed on the non-peripheral position of the working face, the axis of the breaking device does not need to be strictly perpendicular to the working face, and only needs to meet the above equation G, which is convenient to operate and has good flexibility.

[0045] The second aspect of the present application provides a rock drilling device, which comprises a processor, and the processor implements the rock drilling method in any of the above technical solutions when executing a program, so that the rock drilling device in the present technical solution comprises all the beneficial effects of the rock drilling method in any of the above technical solutions, and details are not described here to avoid repetition.

[0046] In one technical solution of the present application, the rock drilling device further comprises a base body, a first arm body, a second arm body, and an execution member which are sequentially movably installed; the first arm body is arranged to be able to swing around OY and OZ, the second arm body is arranged to be able to rotate around O1X1, swing around O1Y1, and stretch along O1X1, and the execution member is arranged to be able to rotate around O2Z2.

[0047] In the technical scheme, the rock drilling device further comprises a base body, a first arm body, a second arm body and an execution member which are sequentially movably installed, and the components can be provided with the following degrees of freedom: the first arm body is arranged to be able to swing around OY and OZ, the second arm body is arranged to be able to rotate around O1X1, swing around O1Y1 and stretch and contract along O1X1, and the execution member is arranged to be able to rotate around O2Z2.

[0048] Specifically, the connection form between the first arm body and the base body can be swing connection, that is, it can swing up and down and swing forward and backward, and the connection forms between the first arm body and the second arm body and between the second arm body and the execution member can all be hinged connection.

[0049] The connection mode is one of the devices satisfying the rock drilling method, and the implementation form of the rock drilling device that can be satisfied should be within the protection scope of the application.

[0050] More specifically, a set of values satisfying the above equations are given, wherein α=45°, β=30°, α1=45°, β1=0°, α2=120°, β2=90°, and the execution member is perpendicular to the working face at this time.

[0051] In one technical scheme of the application, the rock drilling device further comprises:

[0052] A pitch seat and two yaw seats, the pitch seat and the two yaw seats are hinged to the base body along the OZ direction, and the two yaw seats are located on one side of the pitch seat along the OZ direction;

[0053] Two first stretchable driving members, one end of each of the two first stretchable driving members is correspondingly hinged to one of the two yaw seats along the front-rear direction, and one end of each of the two first stretchable driving members is correspondingly hinged to the first arm body along the front-rear direction;

[0054] A second stretchable driving member, two ends of the second stretchable driving member are correspondingly hinged to the first arm body and the second arm body along the front-rear direction, and the first arm body is hinged to the second arm body along O1Y1;

[0055] The second arm body comprises an inner arm body and an outer arm body which are slidably connected along O1X1, one of the inner arm body and the outer arm body is hinged to the first arm body and the second stretchable driving member, and the rock drilling device further comprises a third stretchable driving member, two ends of the third stretchable driving member are connected to the inner arm body and the outer arm body respectively;

[0056] The rock drilling device further comprises a rotation driving member, the second arm body comprises a broken part, and the rotation driving member is arranged at the broken part and can drive one side of the second arm body to rotate relative to the other side of the second arm body around O1X1;

[0057] The rock drilling device further comprises a fourth telescopic driving member, the executing member is hinged to the second arm body along O2Y2, and two ends of the fourth telescopic driving member are hinged to the second arm body and the executing member along the direction of O2Y2.

[0058] In the technical scheme, the pitch seat and the two yaw seats can be arranged in a triangular shape on the base body, i.e., the yaw seat is at the top, the two yaw seats are at the bottom, the pitch seat is used to connect the second telescopic driving member, and the second telescopic driving member can drive the second arm body to swing up and down relative to the first arm body when the second telescopic driving member is telescoped; the two yaw seats are correspondingly connected to the two first telescopic driving members, and the first telescopic driving members can drive the first arm body to swing front and back or up and down when the first telescopic driving members are telescoped, specifically, the two first telescopic driving members can be simultaneously elongated or simultaneously shortened, so that the first arm body can swing up and down relative to the base body, and if the two first telescopic driving members are not synchronously elongated, even if one is elongated and the other is shortened, the first arm body can yaw front and back relative to the base body; the second arm body can be telescoped under the driving of the third telescopic driving member, so that the executing member can be more easily contacted with the working face under the condition that the base body does not move; the rotating driving member is used to drive part of the second arm body to rotate, so as to drive the executing member to rotate, thereby increasing the construction range of the executing member and improving the flexibility of the executing member; and the fourth driving member is a swing driving member of the executing member, and by limiting the telescopic length of the fourth driving member and combining the regulation and control of the first telescopic driving member and the second driving member, the executing member can be always kept in a state of being perpendicular to the working face.

[0059] Meanwhile, in the rock drilling device, the number of parts is small, the degrees of freedom of the parts are less related and coupled, and the parts are independent, so that the rock drilling device has greater flexibility.

[0060] In addition, the corresponding telescopic driving members can be liquid-controlled or electrically-controlled driving members, and can be driven by the controller, so that the executing device can easily reach the specified construction position.

[0061] The rotary driving member on the second arm body can be a speed reducer, and the speed reducer is additionally connected with a motor, the fourth telescopic driving member is used to adjust the extension angle of the executing member, and under the common action of the rotary driving member, the executing member can be adjusted at any angle in a polar coordinate mode, so that the theoretical zero overbreak and underbreak can be realized, and the construction time and cost are greatly reduced.

[0062] In one technical scheme of the present application, the executing member can be a breaking hammer or a rock drill.

[0063] In the technical scheme, the executing member can be a breaking hammer or a rock drill, and the corresponding breaking hammer or rock drill can be detachably connected with the second arm body, so that the rock drilling device can be applied to various construction requirements by replacing the breaking hammer or rock drill, and the applicability is improved.

[0064] The third aspect of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed to realize the rock drilling method in any of the above technical solutions, so that the computer readable storage medium in the present application has all the beneficial effects of the rock drilling method in any of the above technical solutions, and details are not repeated here.

[0065] In this technical solution, the rock drilling method can not only be applied to the rock drilling device for controlling the attitude of the rock drilling device, but also be applied to the design stage to design the corresponding rock drilling device by using one set of parameters of the rock drilling method.

[0066] (Three) beneficial effects

[0067] The beneficial effects of the present application are that the rock drilling method, the rock drilling device and the computer readable storage medium can directly calculate the dynamic coordinates of O2 and O3 in the OXYZ coordinate system through mathematical operation, and the dynamic coordinates do not have the influence of the degrees of freedom of the first arm body, the second arm body and the actuator and L1 and L2, so that the method can be applied to analyze and control the attitude of the boom without structural differences and structural limitations, and a specific control method for controlling the overbreak and underbreak attitude of the boom is provided, which is convenient to implement.

[0068] The present application does not limit the specific structural form of the boom, which can be in the form of double triangle, horizontal and vertical oil cylinder, reducer and oil cylinder, etc., and the included angle between each rectangular coordinate system of the boom and the structure is used as the control parameter, and the real space attitude of the boom is obtained through operation, and the overbreak and underbreak attitude is analyzed, that is, The specific parameter requirement perpendicular to the working surface greatly improves the flexibility of the boom setting, and also makes the boom more easily match the actual processing working condition.

[0069] Because the boom can perform work control actions through the included angle parameters, the boom is more easily controlled with high precision, which is beneficial to improve the tunnel construction precision and control the amount of overbreak and underbreak. BRIEF DESCRIPTION OF DRAWINGS

[0070] Figure 1 is a structural schematic diagram of the rock drilling device of the present application;

[0071] Figure 2 is a structural schematic diagram of the rock drilling device of the present application;

[0072] Figure 3 is a structural schematic diagram of the rock drilling device of the present application;

[0073] Figure 4 is a structural schematic diagram of the rock drilling device of the present application;

[0074] Figure 5 Fig. 2 is a second diagrammatic view of the rock drilling rig of the present application;

[0075] Figure 6 Fig. 3 is a third diagrammatic view of the rock drilling rig of the present application;

[0076] Figure 7 Fig. 4 is a fourth diagrammatic view of the rock drilling rig of the present application;

[0077] Figure 8 Fig. 5 is a fifth diagrammatic view of the rock drilling rig of the present application;

[0078] Figure 9 Fig. 6 is a sixth diagrammatic view of the rock drilling rig of the present application;

[0079] Figure 10 Fig. 7 is a seventh diagrammatic view of the rock drilling rig of the present application.

[0080]

BRIEF DESCRIPTION OF DRAWINGS

[0081] 1: first arm body;

[0082] 2: second arm body;

[0083] 21: inner arm body;

[0084] 22: outer arm body;

[0085] 3: actuator;

[0086] 4: base body;

[0087] 5: pitch seat;

[0088] 6: yaw seat;

[0089] 7: first telescopic drive;

[0090] 8: second telescopic drive;

[0091] 9: third telescopic drive;

[0092] 10: rotation drive;

[0093] 11: fourth telescopic drive;

[0094] I: face. DETAILED DESCRIPTION

[0095] In order to better explain the present application, and to facilitate understanding, the following will be described in conjunction with the accompanying drawings, in which: Figures 1-10 The present application will be described in detail below with reference to specific embodiments. In this context, the terms "upper", "lower", and the like refer to the orientation of the figures. Figure 1

[0096] Example 1:​

[0097] Referring Figures 1-10 , the embodiment of the present application provides a rock drilling method, comprising:

[0098] As Figures 4 to 6 ,

[0099] S1: establishing an OXYZ coordinate system, and origin O (0, 0, 0), O1 (x1, y1, z1), O2 (x2, y2, z2) and O3 (x3, y3, z3), and determining the dynamic coordinates of O2 and O3 in the OXYZ coordinate system;

[0100] As Figures 7-10 , the length L1 of OO1 and the length L2 of O1O2 do not exist in the dynamic coordinates, and the limiting parameters of the freedom degrees between the first arm body 1, the first arm body 1 and the implement 3 and the corresponding connecting members;

[0101] S2: based on the dynamic coordinates of O2 and O3 in the OXYZ coordinate system, calculating ;

[0102] S3: making perpendicular to the YOZ plane;

[0103] As Figures 1-3 , O (0, 0, 0) can be set as the connecting point of the first arm body 1 and the base body 4, O1 (x1, y1, z1) can be set as the connecting point of the first arm body 1 and the first arm body 1, O2 (x2, y2, z2) can be set as the connecting point of the first arm body 1 and the implement 3, and O3 (x3, y3, z3) can be set as the execution end point of the implement 3.

[0104] In the embodiment, the dynamic coordinates of O2 and O3 in the OXYZ coordinate system can be directly calculated through mathematical operation, and the influence of the freedom degrees of the first arm body 1, the first arm body 1 and the implement 3 and L1 and L2 does not exist in the dynamic coordinates, so that the application of the method can analyze and control the posture of the arm support without structural difference and structural limitation, and provide a specific control method of the arm support posture for controlling overbreak and underbreak, which is convenient to implement.

[0105] Specifically, the present application does not limit the specific structural form of the arm support, has good applicability, can be suitable for various arm support structures, for example, can be in the form of double triangles, can be in the form of horizontal and vertical oil cylinders, can be in the form of a speed reducer and an oil cylinder, etc., and the included angle of each rectangular coordinate system of the arm support and the structure is taken as a control parameter, the real space posture of the arm support is obtained through operation, and then the overbreak and underbreak posture is analyzed, that is, perpendicular to the specific parameter requirement of the working face I, which greatly improves the flexibility of the arm support setting, and also makes the arm support more easily match the actual processing working condition.

[0106] Also, since the arm support can perform the working control action through the included angle parameter, the arm support is easier to obtain high-precision control, which is conducive to improving the tunnel construction precision and further controlling the overbreak and underbreak amount.

[0107] In the embodiment, the dynamic coordinates of O2 and O3 in the OXYZ coordinate system are determined, specifically including:

[0108] S1.1: determining the static coordinates of O1, O2 and O3 in the corresponding OXYZ coordinate system, O1X1Y1Z1 coordinate system and O2X2Y2Z2 coordinate system;

[0109] S1.2: making the OXYZ coordinate system coincide with the O1X1Y1Z1 coordinate system to obtain the coordinates (x5, y5, z5) of O2 in the OXYZ coordinate system;

[0110] S1.3: making the O2X2Y2Z2 coordinate system coincide with the O1X1Y1Z1 coordinate system to determine the coordinates (x3, y3, z3) of O3 in the O1X1Y1Z1 coordinate system;

[0111] S1.4: making the O1X1Y1Z1 coordinate system coincide with the OXYZ coordinate system to obtain the coordinates (x4, y4, z4) of O3 in the OXYZ coordinate system.

[0112] In the embodiment, after the static coordinates of O1, O2 and O3 in the corresponding OXYZ coordinate system, O1X1Y1Z1 coordinate system and O2X2Y2Z2 coordinate system are determined, the OXYZ coordinate system is made to coincide with the O1X1Y1Z1 coordinate system through coordinate transformation of the OXYZ coordinate system, O2X2Y2Z2 coordinate system and O1X1Y1Z1 coordinate system, so as to obtain O2 (x5, y5, z5), which is the real dynamic coordinate of O2 in the OXYZ coordinate system. The O2X2Y2Z2 coordinate system is made to coincide with the O1X1Y1Z1 coordinate system, so as to obtain O3 (x3, y3, z3), which is the dynamic coordinate of O3 in the O1X1Y1Z1 coordinate system. Then, the O1X1Y1Z1 coordinate system is made to coincide with the OXYZ coordinate system to obtain O3 (x4, y4, z4), which is the real dynamic coordinate of O3 in the OXYZ coordinate system.

[0113] Since the dynamic coordinates of O2 and O3 in the original coordinate system OXYZ can be calculated, the vector can be obtained. Meanwhile, two coordinate systems are constructed with the first arm body 1 and the first arm body 1 as the reference, and the position parameters of the breaking device can be obtained only by rotation and translation of the two coordinate systems, which is low in calculation amount, convenient to calculate, good in applicability, suitable for various arm support structures, and suitable for various rock drilling devices, such as breaking hammers and rock drills.

[0114] In the embodiment, in the O1X1Y1Z1 coordinate system, O1Z1 is along the OO1 direction, O1X1 is perpendicular to OO1, and O1X1 is in the plane formed by OO1 and its projection in the OXY plane, and O1Y1 can be determined by the right-hand rule;

[0115] In the O2X2Y2Z2 coordinate system, O2Z2 is along the O1O2 direction, O2X2 is perpendicular to O1O2, and O2X2 is in the plane formed by O1O2 and its projection in the O1X1Y1 plane, and O2Y2 can be determined by the right-hand rule;

[0116] The coordinates of O1, O2 and O3 in the corresponding OXYZ coordinate system, O1X1Y1Z1 coordinate system and O2X2Y2Z2 coordinate system are determined, specifically including:

[0117] O1 ,

[0118] O2 ,

[0119] O3 ;

[0120] Wherein, α is set as the included angle between the first arm body 1 and the projection of the first arm body 1 in the XOY plane, β is set as the included angle between the projection of the first arm body 1 in the XOY plane and the OX ray, α1 is set as the included angle between the second arm body 2 and the projection of the second arm body 2 in the X1O1Y1 plane, β1 is set as the included angle between the projection of the second arm body 2 in the X1O1Y1 plane and the O1X1 ray, α2 is set as the included angle between the execution member 3 and the projection of the execution member 3 in the X2O2Y2 plane, and β2 is set as the included angle between the projection of the execution member 3 in the X2O2Y2 plane and the O2X2 ray.

[0121] In the embodiment, the specific positions of O1, O2 and O3 in the corresponding coordinate system can be obtained by the Pythagorean theorem.

[0122] In the embodiment, the step of making the OXYZ coordinate system coincide with the O1X1Y1Z1 coordinate system specifically includes:

[0123] S1.2.1: rotating the coordinate system OXYZ around the OY axis first , then rotating around the OZ axis , and then translating ;

[0124] The step of making the O2X2Y2Z2 coordinate system coincide with the O1X1Y1Z1 coordinate system specifically includes:

[0125] S1.3.1: rotating the coordinate system O1X1Y1Z1 around the O1Y1 axis first , then rotating around the O1Z1 axis and then translating ;

[0126] The step of coinciding the O2X2Y2Z2 coordinate system with the O1X1Y1Z1 coordinate system specifically comprises:

[0127] S1.4.1. rotating the OXYZ coordinate system around the OY axis , and then rotating around the OZ axis , and then translating .

[0128] In the embodiment, the coincidence requirement of the corresponding coordinate system and the corresponding coordinate system can be met through the above transformation operation, and the specific positions of O2 and O3 in the OXYZ coordinate system are conveniently obtained. The two coordinate systems are constructed based on the first arm body 1 and the first arm body 1, and the position parameters of the breaking device can be obtained only by rotating and translating the two coordinate systems. The calculation is low, convenient, and suitable for various arm structures and various rock drilling devices, such as breaking hammers and rock drills.

[0129] Specifically, since the specific positions of O2 and O3 in the OXYZ coordinate system are obtained,

[0130]

[0131] In the embodiment, the O2X2Y2Z2 coordinate system is coincided with the O1X1Y1Z1 coordinate system. is perpendicular to the YOZ plane, specifically comprising: making y4-y5=0 and z4-z5=0.

[0132] In the embodiment, the specific values of y4-y5 and z4-z5 can limit the inclination of O2X2Y2Z2 in the OXYZ coordinate system. By limiting y4-y5=0 and z4-z5=0, O2X2Y2Z2 can be made perpendicular to the YOZ plane, i.e., perpendicular to the working face I. The parameters obtained by the operation can make the executing member 3 maintain the state of being perpendicular to the working face I.

[0133] Specifically, since , by limiting , the O2X2Y2Z2 coordinate system can be made perpendicular to the YOZ plane.

[0134] At the same time, it can be known from the above operation that there are no limiting parameters about L1, L2, and the degrees of freedom between the first arm body 1, the first arm body 1, and the executing member 3 and the corresponding connecting members in the above two equations, so the corresponding arm support only needs to satisfy that each angle meets the above formula, which can ensure that the executing member 3 is always perpendicular to the working face I, and thus the flexibility of the setting is greater, and the arm support is more easily controlled accurately, thereby improving the construction accuracy of the tunnel and reducing the over-processing amount.

[0135] And, when the rock drilling operation is performed on the non-peripheral position of the working face I, the axis of the breaking device does not need to be strictly perpendicular to the working face I, and only needs to ensure that the above equation G is met, which is convenient for operation and good in flexibility.

[0136] Embodiment 2:

[0137] The embodiment of the present application provides a rock drilling device, and the rock drilling device comprises a processor, and the processor implements the rock drilling method in any of the above technical solutions when executing a program, so that the rock drilling device in the present technical solution comprises all the beneficial effects of the rock drilling method in any of the above technical solutions, and details are not described here to avoid repetition.

[0138] Embodiment 3:

[0139] With reference to Figures 1-3 , the embodiment of the present application further has the following technical solutions in addition to all the technical solutions of embodiment 2:

[0140] The rock drilling device further comprises a base body 4, a first arm body 1, a second arm body 2 and an execution member 3 which are sequentially movably installed; wherein the first arm body 1 is arranged to be able to swing around OY and OZ, the second arm body 2 is arranged to be able to rotate around O1X1, swing around O1Y1 and stretch along O1X1, and the execution member 3 is arranged to be able to rotate around O2Z2.

[0141] In the embodiment, the rock drilling device further comprises a base body 4, a first arm body 1, a second arm body 2 and an execution member 3 which are sequentially movably installed, and the above components can be arranged to have the following degrees of freedom: the first arm body 1 is arranged to be able to swing around OY and OZ, the second arm body 2 is arranged to be able to rotate around O1X1, swing around O1Y1 and stretch along O1X1, and the execution member 3 is arranged to be able to rotate around O2Z2.

[0142] Specifically, the connection form between the first arm body 1 and the base body 4 can be arranged as swing connection, that is, it can swing up and down and swing forward and backward, and the connection forms between the first arm body 1 and the second arm body 2 and between the second arm body 2 and the execution member 3 can all be arranged as hinged connection.

[0143] This connection mode is one of the devices that can meet the application of the rock drilling method, and the implementation form of the rock drilling device that can meet it should all be within the protection scope of the present application.

[0144] More specifically, a set of values that meet the above equation is given here, wherein α=45°, β=30°, α1=45°, β1=0°, α2=120°, β2=90°, and at this time the execution member 3 is perpendicular to the working face I.

[0145] Embodiment 4:

[0146] Referring to Figures 1-3 In addition to the technical solutions of the embodiment 3, the embodiments of the present application further have the following technical solutions:

[0147] The rock drilling device further comprises:

[0148] The pitch seat 5 and the two yaw seats 6 are hinged to the base body 4 along the OZ direction, and the two yaw seats 6 are located on one side of the pitch seat 5 along the OZ direction;

[0149] The two first telescopic driving members 7 are respectively hinged to the two yaw seats 6 along the front-back direction at one end, and are respectively hinged to the first arm body 1 along the front-back direction at the other end;

[0150] The second telescopic driving member 8 is hinged to the first arm body 1 and the second arm body 2 along the front-back direction at both ends, and the first arm body 1 and the second arm body 2 are hinged along O1Y1;

[0151] The second arm body 2 comprises an inner arm body 21 and an outer arm body 22 which are connected along the O1X1 direction, one of the inner arm body 21 and the outer arm body 22 is hinged to the first arm body 1 and the second telescopic driving member 8, and the rock drilling device further comprises a third telescopic driving member 9, both ends of the third telescopic driving member 9 are connected to the inner arm body 21 and the outer arm body 22 respectively;

[0152] The rock drilling device further comprises a rotating driving member 10, the second arm body 2 comprises a disconnection part, the rotating driving member 10 is arranged at the disconnection part and can drive one side of the second arm body 2 to rotate relative to the other side of the second arm body 2 around the O1X1 direction;

[0153] The rock drilling device further comprises a fourth telescopic driving member 11, the executing member 3 is hinged to the second arm body 2 along O2Y2, and both ends of the fourth telescopic driving member 11 are hinged to the second arm body 2 and the executing member 3 along the O2Y2 direction.

[0154] In the embodiment, the pitch seat 5 and the two yaw seats 6 can be arranged in a triangular shape on the base body 4, that is, the yaw seat 6 is on the top, the two yaw seats 6 are on the bottom, and the pitch seat 5 is used to connect the second telescopic driving member 8, which can drive the second arm body 2 to swing up and down relative to the first arm body 1 when the second telescopic driving member 8 is telescoped; the two yaw seats 6 are correspondingly connected with the two first telescopic driving members 7, which can drive the first arm body 1 to swing forward and backward or up and down when the first telescopic driving members 7 are telescoped, specifically, the two first telescopic driving members 7 can be simultaneously elongated or simultaneously shortened, so that the first arm body 1 can swing up and down relative to the base body 4, and if the two first telescopic driving members 7 are not synchronously elongated, even if one is elongated and the other is shortened, the first arm body 1 can swing forward and backward relative to the base body 4; the second arm body 2 can be telescoped under the drive of the third telescopic driving member 9, so that the execution member 3 can be more easily contacted with the working face I under the premise that the base body 4 does not move; the rotary driving member 10 is used to drive part of the second arm body 2 to rotate, so as to drive the execution member 3 to rotate, thereby increasing the construction range of the execution member 3 and improving the flexibility thereof; and the fourth driving member is a swing driving member of the execution member 3, which can ensure that the execution member 3 is always in a state of being perpendicular to the working face I by limiting the telescopic length of the fourth driving member and cooperating with the regulation and control of the first telescopic driving member 7 and the second driving member.

[0155] Meanwhile, the rock drilling device has fewer parts, low correlation and coupling of the degrees of freedom of the parts, and good independence, which is beneficial to obtain greater flexibility of the rock drilling device.

[0156] Moreover, the corresponding telescopic driving member can be a hydraulic control or electric control driving member, which can be controlled by the controller to easily reach the specified construction position.

[0157] The rotary driving member on the second arm body 2 can be a speed reducer, which is additionally connected with a motor, and the fourth telescopic driving member 11 is used to adjust the extension angle of the execution member 3, so that the execution member 3 can be adjusted at any angle in a polar coordinate mode under the common action of the rotary driving member, thereby facilitating the realization of theoretical zero overbreak and underbreak, and greatly reducing the construction time and cost.

[0158] Embodiment 5:

[0159] The embodiments of the present application further have the following technical solutions in addition to all the technical solutions of any one of the above embodiments.

[0160] The execution member 3 can be a breaking hammer or a rock drill.

[0161] In the embodiment, the execution member 3 can be a breaking hammer or a rock drill, and the corresponding breaking hammer or rock drill can be detachably connected with the second arm body 2, so that the rock drilling device can be applied to various construction requirements by replacing the breaking hammer or rock drill, thereby improving the applicability.

[0162] Embodiment 6:

[0163] The embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed to realize the rock drilling method in the embodiment 1, so that the computer readable storage medium in the technical solution has all beneficial effects of the rock drilling method in any one of the technical solutions, and details are not described here to avoid repetition.

[0164] In the embodiment, the rock drilling method can be applied not only to the rock drilling device for controlling the posture of the rock drilling device, but also to the design stage, and one set of parameters of the rock drilling method is used to design the corresponding rock drilling device.

[0165] It can be understood that the embodiments 1-6 can be freely combined to form other embodiments of the present application, except for the contradictory parts.

[0166] In the description of the present application, it should be understood that the terms "first", "second" are only used for descriptive purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0167] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0168] In the present application, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature is "on", "above" and "on" the second feature, which can be directly above or obliquely above the first feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature is "under", "below" and "under" the second feature, which can be directly below or obliquely below the first feature, or only indicates that the horizontal height of the first feature is lower than that of the second feature.

[0169] The term "comprising" or any other similar word is intended to encompass the inclusion of one or more steps, features, or elements but not to the exclusion of any other steps, features, or elements. The term "comprising" therefore indicates that the inclusion of one or more steps, features, or elements is not a requirement and that other steps, features, or elements can also be included.

[0170] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without deviating from the principles of the present application, and the technical solutions after these changes or replacements will all fall within the protection scope of the present application.

Claims

1. A method of rock drilling, characterized by: Comprise: S1: Establish OXYZ coordinate system, and the origin O (0, 0, 0), O1 (x1, y1, z1), O2 (x2, y2, z2) and O3 (x3, y3, z3), and determine the dynamic coordinates of O2 and O3 in the OXYZ coordinate system; Wherein, the dynamic coordinates do not exist the length L1 of OO1 and the length L2 of O1O2, and the limiting parameters of the freedom degrees between the first arm body (1), the second arm body (2) and the connecting member corresponding to the execution member (3); S2: based on the dynamic coordinates of the O2 and O3 in the OXYZ coordinate system, calculating S3: causing perpendicular to the YOZ plane; Wherein, O (0, 0, 0) can be set as the connecting point of the first arm body (1) and the base body (4), O1 (x1, y1, z1) can be set as the connecting point of the second arm body (2) and the first arm body (1), O2 (x2, y2, z2) can be set as the connecting point of the second arm body (2) and the execution member (3), and O3 (x3, y3, z3) can be set as the execution end point of the execution member (3); The determination of the dynamic coordinates of O2 and O3 in the OXYZ coordinate system specifically comprises: S1.1: determine the static coordinates of O1, O2 and O3 in the corresponding OXYZ coordinate system, O1X1Y1Z1 coordinate system and O2X2Y2Z2 coordinate system; S1.2: make the OXYZ coordinate system coincide with the O1X1Y1Z1 coordinate system, to obtain the coordinates (x5, y5, z5) of O2 in the OXYZ coordinate system; S1.3: make the O2X2Y2Z2 coordinate system coincide with the O1X1Y1Z1 coordinate system, to determine the coordinates (x3, y3, z3) of O3 in the O1X1Y1Z1 coordinate system; S1.4: make the O1X1Y1Z1 coordinate system coincide with the OXYZ coordinate system, to obtain the coordinates (x4, y4, z4) of O3 in the OXYZ coordinate system.

2. The rock drilling method according to claim 1, wherein: In the O1X1Y1Z1 coordinate system, O1Z1 is along the OO1 direction, O1X1 is perpendicular to OO1, and O1X1 is in the plane formed by OO1 and its projection on the OXY plane; In the O2X2Y2Z2 coordinate system, O2Z2 is along the O1O2 direction, O2X2 is perpendicular to O1O2, and O2X2 is in the plane formed by O1O2 and its projection on the O1X1Y1 plane; The determination of the coordinates of O1, O2 and O3 in the corresponding OXYZ coordinate system, O1X1Y1Z1 coordinate system and O2X2Y2Z2 coordinate system specifically comprises: O1 (x, y, z) = (L1·cosαcosβ, L1·cosαsinβ, L1·sinα), O2 (x1, y1, z1) = (L2·cosα1cosβ1, L2·cosα1sinβ1, L2·sinα1), O3 (x2, y2, z2) = (L3·cosα2cosβ2, L3·cosα2sinβ2, L3·sinα2). Wherein, α is set as the included angle between the first arm body (1) and the projection of the first arm body (1) in XOY plane, β is set as the included angle between the projection of the first arm body (1) in XOY plane and OX ray, α1 is set as the included angle between the second arm body (2) and the projection of the second arm body (2) in X1O1Y1 plane, β1 is set as the included angle between the projection of the second arm body (2) in X1O1Y1 plane and O1X1 ray, α2 is set as the included angle between the execution member (3) and the projection of the execution member (3) in X2O2Y2 plane, β2 is set as the included angle between the projection of the execution member (3) in X2O2Y2 plane and O2X2 ray.

3. The rock drilling method according to claim 2, characterized in that: The step of making the OXYZ coordinate system coincide with the O1X1Y1Z1 coordinate system specifically comprises: S1.2.1 : Rotating the coordinate system OXYZ first around the Oy axis (270° + a) then around the Oz axis (360° - β) and then translating The step of making the O2X2Y2Z2 coordinate system coincide with the O1X1Y1Z1 coordinate system specifically comprises: S1.3.1: Rotate coordinate system O1X1Y1Z1 about O1Y1 axis (270° + α1), then about O1Z1 axis β1, and then translate The step of making the O2X2Y2Z2 coordinate system coincide with the O1X1Y1Z1 coordinate system specifically comprises: S1.4.1 rotate the OXYZ coordinate system first about the OY axis (270° + a), then about the OZ axis (360° - β), and then translate 4. A method of drilling according to claim 3, characterised in that: The making perpendicular to the YOZ plane, specifically comprising: making y4-y5=0, and z4-z5=0, that is, making sinβsinαcosβ1sinα1L3*cosα2*cosβ2+sinβsinαsinβ1L3*cosα2*sinβ2+sinβsinαcosβ1cosα1L3*sinα2-cosβsinβ1sinα1L3*cosα2*cosβ2+cosβcosβ1L3*cosα2*sinβ2-cosβsinβ1cosα1L3*sinα2-sinβcosαcosα1L3*cosα2*cosβ2+sinβcosαsinα1L3*sinα2=0 (G) -cosαcosβ1sinα1L3*cosα2*cosβ2-cosαsinβ1L3*cosα2*sinβ2-cosαcosβ1cosα1L3*sinα2-sinαcosα1L3*cosα2*cosβ2+sinαsinα1L3*sinα2=0 (H).

5. A rock drilling device comprising a processor, characterized by: The processor executes the program to implement the rock drilling method according to any one of claims 1 to 4.

6. A rock drilling device according to claim 5, characterized in that: The base body (4), the first arm body (1), the second arm body (2) and the execution member (3) are sequentially movably installed; Wherein, the first arm body (1) is arranged to be able to swing around OY and OZ, the second arm body (2) is arranged to be able to rotate around O1X1, swing around O1Y1 direction and stretch along O1X1 direction, and the execution member (3) is arranged to be able to rotate around O2Z2.

7. The rock drilling device according to claim 6, characterized in that: The rock drilling device further comprises: The rock drilling device further comprises: The rock drilling device further comprises: The rock drilling device further comprises: The rock drilling device further comprises: The second arm body (2) comprises an inner arm body (21) and an outer arm body (22) slidably connected along O1X1 direction, one of the inner arm body (21) and the outer arm body (22) is hingedly connected with the first arm body (1) and the second stretchable driving member (8), and the rock drilling device further comprises a third stretchable driving member (9) having two ends respectively connected with the inner arm body (21) and the outer arm body (22). The rock drilling device further comprises a rotating driving member (10), the second arm body (2) comprises a disconnection part, and the rotating driving member (10) is arranged at the disconnection part and can drive one side of the second arm body (2) to rotate relative to the other side of the second arm body (2) around the O1X1 direction; The rock drilling device further comprises a fourth telescopic driving member (11), the execution member (3) is hinged to the second arm body (2) along the O2Y2 direction, and two ends of the fourth telescopic driving member (11) are hinged to the second arm body (2) and the execution member (3) along the O2Y2 direction.

8. A rock drilling device as claimed in claim 7, characterized in that: The execution member (3) can be provided as a breaking hammer or a rock drill.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed to implement the rock drilling method as claimed in any one of claims 1 to 4.

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