A control method of a drill-anchor robot working arm

Abstract

The application provides a control method of a drill-anchor robot working arm, and relates to the technical field of underground roadway support in coal mines. The drill-anchor robot working arm comprises a working arm base, a lifting cylinder, a telescopic cylinder, a leveling device and a detachable standing platform. The working arm base is connected with a single-arm drill-anchor robot chassis. The first end of the telescopic cylinder is connected with the working arm base, and the second end is connected with the detachable standing platform through the leveling device. The first end of the lifting cylinder is connected with the working arm base, and the second end is connected with the telescopic cylinder. The application has compact structure and strong adaptability in underground mines. When applied to a single-arm drill-anchor robot, the application has large working range, flexible rotation, can reduce the labor intensity of operators and improve the working efficiency and safety of on-site operation.

Description

Technical Field

[0001] This invention relates to the field of underground roadway support technology in coal mines, and in particular to a control method for the working arm of a drilling and anchoring robot. Background Technology

[0002] The drilling and anchoring robot is a new type of coal roadway anchor support equipment that enables unmanned operation of roadway anchor support. Due to the narrow working environment and diverse work locations in coal mines, the drilling and anchoring robot's working arm is required to occupy little space, adapt to a wide range of multi-degree-of-freedom rotation under different working modes such as top anchor, side anchor, and ground anchor, and be flexible in relocation, automatically unfolding and folding in drilling and anchoring and walking conditions.

[0003] The existing hydraulic anchor bolt drilling rig has limited adaptability to the roadway range and small support area, making it impossible to achieve full-section support. The repositioning of the working arm relies on the operator's remote control, which is complicated, inefficient, and unsafe. During anchor bolt construction, the operator needs to manually adjust the working arm to position a row of anchor bolt holes, resulting in low work efficiency. Summary of the Invention

[0004] This invention provides a control method for the working arm of a drilling and anchoring robot, which improves the adaptability of the equipment to low-lying tunnels and the efficiency of construction operations, enhances the safety and reliability of construction operations, and reduces the labor intensity of workers.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] A drilling and anchoring robot arm includes an arm base, a lifting cylinder, a telescopic cylinder, a leveling device, and a detachable standing platform;

[0007] The working arm base is connected to the chassis of the single-arm drilling and anchoring robot;

[0008] The first end of the telescopic cylinder is connected to the base of the working arm, and the second end is connected to the detachable manned platform through a leveling device.

[0009] The first end of the lifting cylinder is connected to the base of the working arm, and the second end is connected to the telescopic cylinder.

[0010] Furthermore, the telescopic cylinder is fitted with a working arm inner sleeve;

[0011] The inner sleeve of the working arm is provided with an outer sleeve of the working arm;

[0012] The first end of the outer sleeve and the inner sleeve of the working arm are connected to the base of the working arm, and the second end is connected to the leveling device.

[0013] Furthermore, it also includes electrically controlled valves and control boxes;

[0014] The lifting cylinder and the telescopic cylinder are connected to the electric control valve, and the electric control valve is electrically connected to the control box.

[0015] Furthermore, the working arm base includes: a base, an upper vertical shaft, an upper cross shaft, a first expansion pin, a first copper sleeve, a second expansion pin, a lower cross shaft, and a second copper sleeve;

[0016] The lower cross shaft is connected to the base via a first expansion pin, and a first copper sleeve is provided on the outer sleeve of the first expansion pin;

[0017] The lower cross shaft is connected to one end of the lifting cylinder via a second expansion pin.

[0018] The upper cross shaft is connected to the base via the upper vertical shaft;

[0019] The upper cross shaft is connected to the outer sleeve of the working arm via an encoder shaft, and the encoder shaft is fitted with a second copper sleeve.

[0020] The encoder shaft is connected to the first encoder.

[0021] Furthermore, the outer sleeve of the working arm includes an outer sleeve connecting seat, a first stepped shaft, a T-key, a lifting cylinder lug seat, and an end cap;

[0022] The outer sleeve connecting seat is connected to the working arm base via the encoder shaft;

[0023] The first-step shaft is connected to one end of the telescopic cylinder;

[0024] The T-key engages with the keyway inside the inner sleeve of the working arm;

[0025] The lifting cylinder lug is fixedly connected to the outer wall of the working arm sleeve, and the lifting cylinder lug is connected to the second end of the lifting cylinder.

[0026] An end cap is provided on the second end of the outer sleeve of the working arm.

[0027] Furthermore, the inner sleeve of the working arm includes a mounting base, a second stepped shaft, and a hydraulic hose storage device;

[0028] The mounting bracket is connected to one end of the rotary reducer by screws;

[0029] The second-step shaft is connected to the other end of the telescopic cylinder;

[0030] The hydraulic hose storage device is connected to the hydraulic hose.

[0031] Furthermore, the leveling device includes a mounting plate, a swing seat, a pin, a spring pin, a third copper sleeve, a lifting mechanism, a leveling cylinder, and a swing cylinder;

[0032] The mounting plate is connected to the other end of the rotary reducer by bolts;

[0033] The swing cylinder is connected to the swing base by bolts;

[0034] The swing base is equipped with a second encoder;

[0035] The swing seat is connected to the swing cylinder;

[0036] The lifting mechanism is connected to the swing seat via a pin, and a spring pin is connected to the pin. A third copper sleeve is provided on the outer sleeve of the pin.

[0037] One end of the leveling cylinder is connected to the swing seat, and the other end is connected to the lifting mechanism;

[0038] The lifting mechanism is connected to the detachable standing platform.

[0039] Secondly, a control method for a drilling and anchoring robot arm, the control method comprising:

[0040] The sensor acquires the coordinates of the end point of the working arm;

[0041] Based on the given location of the construction target point, the control system calculates the deviation between the coordinates of the target point and the end point.

[0042] Based on the deviation, the motion trajectory and pose of the working arm are obtained by using the inverse kinematics solution of the working arm.

[0043] Based on the movement trajectory and position of the working arm, the target extension and retraction of the piston rod is obtained through a sensor system.

[0044] Based on the target extension and retraction of the piston rod, the electrical control module controls the flow rate from the hydraulic pump station to the cylinder assembly;

[0045] By controlling the flow rate of the hydraulic cylinder assembly, the working arm is driven to perform primary positioning;

[0046] After the primary positioning is completed, the working arm performs secondary fine-tuning positioning. When the end point of the working arm reaches the target point, the working arm ends the posture adjustment.

[0047] Furthermore, based on the target extension / retraction amount of the piston rod, the electrical control module controls the flow rate from the hydraulic pump station to the cylinder assembly, including:

[0048] The target extension and retraction of the piston rod is obtained by the built-in sensor of the hydraulic cylinder, and the target flow rate of hydraulic oil in each hydraulic cylinder is derived based on the target extension and retraction.

[0049] The valve opening of the solenoid valve changes according to the magnitude of the input current. By obtaining the valve opening of different solenoid valves, the actual flow of the hydraulic cylinder is controlled to drive the working arm to reach the target point.

[0050] Furthermore, the control method also includes:

[0051] It receives one-click unfolding or one-click folding signals and collects data from the first and second encoders in real time. The telescopic cylinder has a built-in displacement sensor. When the sensor feeds back displacement data S=0, the folding requirement is met. Otherwise, the telescopic cylinder continues to retract until the displacement S=0.

[0052] The solenoid valve is controlled to open and close and to open. The extension and retraction of the piston rods of the lifting cylinder and the leveling cylinder are controlled in sequence. The extension and retraction are converted into the angles recorded by the first encoder and the second encoder. When the data recorded by the encoder meets the corresponding threshold triggering conditions, the cylinders are activated in sequence to drive the multi-joint working arm to fold or unfold with one click.

[0053] The above-described solution of the present invention has at least the following beneficial effects:

[0054] The above-mentioned solution of the present invention has a small working arm space occupation, strong downhole adaptability, large working range, and flexible rotation. It can realize 360° rotating drilling, swinging and telescopic adjustment, and can meet the different posture requirements of the automatic drill frame in walking state and drilling anchor state.

[0055] The working arm can achieve two levels of precise positioning. The first level is achieved by lifting, swinging left and right, extending and rotating the working arm to achieve precise positioning. The second level is achieved by swinging left and right, folding forward and backward and lifting vertically through the leveling device to achieve fine-tuning positioning. The operator can remotely drive the working arm to accurately position the anchor bolt within the line of sight using a remote control. The positioning accuracy is good and the operation efficiency is high. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of the working arm of the drilling and anchoring robot provided in an embodiment of the present invention;

[0057] Figure 2 This is a schematic diagram of the one-click folding state of the drilling and anchoring robot working arm provided in an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram of the working arm base structure of the drilling and anchoring robot working arm provided in an embodiment of the present invention;

[0059] Figure 4 This is a schematic diagram of the inner and outer sleeve structures of the working arm of the drilling and anchoring robot provided in an embodiment of the present invention;

[0060] Figure 5 This is a schematic diagram of the leveling device structure of the drilling and anchoring robot working arm provided in an embodiment of the present invention;

[0061] Figure 6 This is a schematic diagram illustrating the working principle of the drilling and anchoring robot arm provided in an embodiment of the present invention;

[0062] Figure 7This is a flowchart of the control method for the working arm of the drilling and anchoring robot provided in an embodiment of the present invention;

[0063] Figure 8 This is a flowchart of the one-click folding state control of the drilling and anchoring robot working arm provided in an embodiment of the present invention.

[0064] 1. Arm base; 2. Lifting cylinder; 3. Arm outer sleeve; 4. Telescopic cylinder; 5. Arm inner sleeve; 6. Rotary reducer; 7. Leveling device; 8. Detachable personnel platform; 20. First encoder; 21. Second encoder; 11. Base; 12. Upper vertical shaft; 13. Upper cross shaft; 14. First expansion pin; 15. First copper sleeve; 16. Second expansion pin; 17. Lower cross shaft; 18. Second copper sleeve ; 31. Outer sleeve connecting seat; 32. First step shaft; 33. T-key; 34. Lifting cylinder ear seat; 35. End cover; 51. Mounting seat; 52. Second step shaft; 53. Hydraulic hose storage device; 71. Mounting plate; 72. Swing seat; 73. Pin; 74. Spring pin; 75. Third copper sleeve; 76. Lifting mechanism; 77. Leveling cylinder; 78. Swing cylinder; 201. Encoder shaft; 531. Hydraulic hose. Detailed Implementation

[0065] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0066] like Figures 1 to 5 As shown, an embodiment of the present invention proposes a drilling and anchoring robot working arm, including a working arm base 1, a lifting cylinder 2, a telescopic cylinder 4, a leveling device 7, and a detachable standing platform 8;

[0067] The working arm base 1 is connected to the chassis of the single-arm drilling and anchoring robot;

[0068] The first end of the telescopic cylinder 4 is connected to the working arm base 1, and the second end is connected to the detachable standing platform 8 through the leveling device 7.

[0069] The first end of the lifting cylinder 2 is connected to the working arm base 1, and the second end is connected to the telescopic cylinder 4.

[0070] In this embodiment of the invention, the working arm base 1 is fixed to the chassis of the single-arm drilling and anchoring robot by several bolts, so that the working arm can maintain balance and stability during movement; the lifting cylinder 2 realizes the vertical movement of the working arm by controlling the lifting and lowering movement of the cylinder, so that it can work at different heights; the telescopic cylinder 4 realizes the horizontal extension and retraction of the working arm by controlling the telescopic movement of the cylinder, so that the working arm can work within different ranges; the leveling device 7 can swing the working arm up and down by several angles, thereby realizing one-click folding and unfolding; during the operation of the working arm, the operator can stand on the detachable manned platform 8 to operate, and adjust the position of the working arm by adjusting the lifting cylinder 2, the telescopic cylinder 4, and the leveling device 7; there are two lifting cylinders 2, one end of which is hinged to the working arm base 1, and the other end is hinged to the lifting cylinder lug 34. The working arm is driven by the linkage of the two lifting cylinders to complete the lifting and lowering and left and right swinging by several angles. When the two lifting cylinders lift and lower at the same time, the working arm swings up and down. When the two lifting cylinders extend and retract at the same time, the working arm swings left and right.

[0071] like Figures 1 to 5 As shown, the telescopic cylinder 4 is fitted with a working arm inner sleeve 5.

[0072] The inner sleeve 5 of the working arm is covered with an outer sleeve 3 of the working arm;

[0073] The first end of the outer sleeve 3 and the inner sleeve 5 of the working arm are connected to the working arm base 1, and the second end is connected to the leveling device 7.

[0074] In this embodiment of the invention, the telescopic cylinder 4 is installed inside the inner sleeve 5 and the outer sleeve 3 of the working arm, allowing the inner sleeve 5 to extend and retract along the outer sleeve 3. One end of the outer sleeve 3 is hinged to the working arm base 1, and the other end is connected to the inner sleeve 5 via the telescopic cylinder 4. The outer sleeve 3 is a circular sleeve, which is easy to process and has high positioning accuracy. One end of the inner sleeve 5 is connected to the outer sleeve 3 via the telescopic cylinder 4. When the telescopic cylinder 4 extends, the inner sleeve 5 extends; when the telescopic cylinder 4 retracts, the inner sleeve 5 retracts. By installing the inner sleeve 5 and the outer sleeve 3 on the telescopic cylinder 4, the structural strength and stability of the working arm can be increased, enabling it to withstand greater working loads and external forces.

[0075] like Figures 1 to 5 As shown, the drilling and anchoring robot's working arm also includes an electric control valve and a control box; the lifting cylinder 2 and the telescopic cylinder 4 are connected to the electric control valve, and the electric control valve is electrically connected to the control box.

[0076] In this embodiment of the invention, an electrically controlled valve is used to control the movement of the lifting cylinder 2 and the telescopic cylinder 4. It controls the lifting and telescopic movement of the working arm by adjusting the hydraulic flow and pressure in the hydraulic system. The electrically controlled valve is electrically connected to the control box, which receives operating commands and then controls the hydraulic system. The control box receives commands from the operator and transmits them to the electrically controlled valve, thereby controlling the movement of the lifting and telescopic cylinders. Through the cooperation of the electrically controlled valve and the control box, the operator can control the movement of the lifting and telescopic cylinders using control buttons or commands, achieving flexible lifting and telescopic movement of the working arm to adapt to different height and range of work requirements. The electrically controlled valve can adjust the flow and pressure of the hydraulic system according to the operator's commands, thereby achieving precise control of the working arm, enabling it to accurately stop at the required position and improving the accuracy and efficiency of the operation. The control box is equipped with a human-machine interface, allowing the operator to intuitively control the movement of the working arm through control buttons and a display screen, and monitor the status of the working arm in real time, improving the convenience and safety of operation and reducing the possibility of human error.

[0077] The boom control system includes a hydraulic pump station, an electrical control module, a boom, cylinder assemblies, and a multi-sensor system. The boom is used to achieve the target position of the automatic drilling frame, the cylinder assembly is connected to the boom as an actuator and drives the boom to move, and the hydraulic pump station provides the power source for the cylinder assembly.

[0078] like Figures 1 to 5 As shown, the working arm base 1 includes a base 11, an upper vertical shaft 12, an upper cross shaft 13, a first expansion pin 14, a first copper sleeve 15, a second expansion pin 16, a lower cross shaft 17, and a second copper sleeve 18. The lower cross shaft 17 is connected to the base 11 via the first expansion pin 14, and the first expansion pin 14 is fitted with the first copper sleeve 15. The lower cross shaft 17 is connected to one end of the lifting cylinder 2 via the second expansion pin 16. The upper cross shaft 13 is connected to the base 11 via the upper vertical shaft 12. The upper cross shaft 13 is connected to the working arm outer sleeve 3 via an encoder shaft 201, and the encoder shaft 201 is fitted with the second copper sleeve 18. The encoder shaft 201 is connected to a first encoder 20.

[0079] In this embodiment of the invention, the working arm base 1 includes components such as a base 11, an upper vertical shaft 12, and an upper cross shaft 13, which are interconnected to provide stable support and connection, enabling the working arm to maintain balance and stability during movement. The lower cross shaft 17 is connected to the base 11 via a first expansion pin 14 and to one end of the lifting cylinder 2 via a second expansion pin 16, enabling vertical movement of the working arm. By controlling the extension and retraction of the lifting cylinder 2, the working arm can operate at different heights. The upper cross shaft 13 is connected to the base 11 via the upper vertical shaft 12 and to the working arm outer sleeve 3 via an encoder shaft 201. The encoder shaft 201 is also provided with a first encoder... The encoder 20 enables the horizontal extension and retraction of the working arm. By controlling the extension and retraction of the outer sleeve of the working arm, the working arm can operate within different ranges, and the position is detected and fed back by the first encoder. The first copper sleeve 15 and the second copper sleeve 18 are inlaid with lubricating material to lubricate the rotating shaft and prevent damage to the rotating shaft. When the two lifting cylinders 2 extend and retract simultaneously, the working arm swings around the upper cross shaft 13 by a certain angle, realizing the up and down swing of the working arm. When one of the two lifting cylinders 2 extends and the other retracts, the lower cross shaft 17 rotates around the first expansion pin shaft 14, thereby driving the upper cross shaft 13 to rotate around the upper vertical shaft 12 by a certain angle, realizing the left and right swing of the working arm.

[0080] like Figures 1 to 5 As shown, the outer sleeve 3 of the working arm includes an outer sleeve connecting seat 31, a first stepped shaft 32, a T-key 33, a lifting cylinder ear seat 34, and an end cap 35; the outer sleeve connecting seat 31 is connected to the working arm base 1 through an encoder shaft 201; the first stepped shaft 32 is connected to one end of the telescopic cylinder 4; the T-key 33 is engaged with the keyway in the inner sleeve 5 of the working arm; the lifting cylinder ear seat 34 is fixedly connected to the outer wall of the outer sleeve 3 of the working arm, and the lifting cylinder ear seat 34 is connected to the second end of the lifting cylinder 2; the end cap 35 is placed on the second end of the outer sleeve 3 of the working arm.

[0081] In this embodiment of the invention, the outer sleeve connecting seat 31 is connected to the working arm base 1 via the encoder shaft 201 to ensure stable connection and support of the working arm outer sleeve 3; the first stepped shaft 32 is connected to one end of the telescopic cylinder 4, and by controlling the telescopic movement of the telescopic cylinder 4, the horizontal extension and retraction of the working arm can be realized to adapt to different range of operation requirements; the T-key 33 engages with the keyway in the inner sleeve 5 of the working arm to provide axial positioning of the working arm, ensuring a stable connection between the inner sleeve 5 and the outer sleeve 3 of the working arm, and playing a positioning and anti-rotation role; the lifting cylinder ear seat 34 is fixedly connected to the outer wall of the outer sleeve 3 of the working arm, and is also connected to the second end of the lifting cylinder 2 to ensure that the lifting cylinder can stably support the vertical movement of the working arm; the end cover 35 is placed on the second end of the outer sleeve 3 of the working arm to prevent dust, mud and water, protect the inner and outer sleeves, and prevent damage; when the two lifting cylinders 2 are linked, the working arm can swing up and down and left and right.

[0082] like Figures 1 to 5 As shown, the inner sleeve 5 of the working arm includes a mounting base 51, a second stepped shaft 52, and a hydraulic hose storage device 53; the mounting base 51 is connected to one end of the rotary reducer 6 by screws; the second stepped shaft 52 is connected to the other end of the telescopic cylinder 4; the hydraulic hose storage device 53 is connected to the hydraulic hose 531.

[0083] In this embodiment of the invention, the mounting base 51 is connected to one end of the rotary reducer 6 by screws, providing mounting support for the inner sleeve 5 of the working arm, and can be firmly connected to the rotary reducer; the second step shaft 52 is connected to the other end of the telescopic cylinder 4, and by controlling the telescopic movement of the telescopic cylinder 4, the horizontal extension and retraction of the working arm can be realized to adapt to different range of operation requirements; the hydraulic hose storage device 53 is located inside the inner sleeve 5 of the working arm, and is used to store and protect the hydraulic hose; it can ensure that the hydraulic hose is neatly stored, avoid it from being damaged or entangled by external objects, and improve the reliability and safety of the working arm; the rotary reducer 6 realizes 360-degree rotation of the working arm, which can cover the needs of full-section top anchor, side anchor and ground anchor support; when the telescopic cylinder 4 extends and retracts, the inner sleeve 5 of the working arm extends and retracts along the outer sleeve 3 of the working arm, thereby driving the extension and retraction of the working arm to achieve positioning, which is simple to install and convenient to maintain.

[0084] like Figures 1 to 5 As shown, the leveling device 7 includes a mounting plate 71, a swing seat 72, a pin 73, a spring pin 74, a third copper sleeve 75, a lifting mechanism 76, a leveling cylinder 77, and a swing cylinder 78. The mounting plate 71 is connected to the other end of the rotary reducer 6 by bolts. The swing cylinder 78 is connected to the swing seat 72 by bolts. A second encoder 21 is provided on the swing seat 72. The swing seat 72 is connected to the swing cylinder 78. The lifting mechanism 76 is connected to the swing seat 72 by a pin 73, and the spring pin 74 is connected to the pin 73. The pin 73 is fitted with a third copper sleeve 75. One end of the leveling cylinder 77 is connected to the swing seat 72, and the other end is connected to the lifting mechanism 76. The lifting mechanism 76 is connected to the detachable standing platform 8.

[0085] In this embodiment of the invention, the leveling device 7 is connected to the other end of the rotary reducer 6 via the mounting plate 71, enabling the leveling function of the working arm. By adjusting the extension and retraction movements of the leveling cylinder 77 and the swing cylinder 78, as well as the lifting and lowering movements of the lifting mechanism 76, the working arm is balanced on uneven ground, maintaining a horizontal posture. The swing cylinder 78 is connected to the swing seat 72 via bolts. By controlling the extension and retraction movements of the swing cylinder, the swing movement of the working arm is achieved, allowing the working arm to rotate in the horizontal direction to adapt to uneven ground. The work requires the same angle of operation; the swing seat 72 is equipped with a second encoder 21, which is used to detect and provide feedback on the swing angle of the working arm, providing accurate position information for easy control and operation of the working arm; the lifting mechanism 76 is connected to the swing seat 72 through the pin 73, the spring pin 74 is connected to the pin 73, and the pin is fitted with a third copper sleeve 75; one end of the leveling cylinder 77 is connected to the swing seat 72, and the other end is connected to the lifting mechanism 76; when the leveling cylinder 77 is working, the pin 73 can rotate around the third copper sleeve 75 by a certain angle to realize the folding of the working arm.

[0086] like Figure 6 As shown, a control method for a drilling and anchoring robot arm includes:

[0087] Step 11: The sensor acquires the coordinates of the end point of the working arm;

[0088] Step 12: Based on the given location of the construction target point, the control system calculates the deviation between the coordinates of the target point and the end point.

[0089] Step 13: Based on the deviation, use the inverse kinematics of the working arm to obtain the motion trajectory and pose of the working arm;

[0090] Step 14: Based on the movement trajectory and position of the working arm, obtain the target extension and retraction of the piston rod through the sensor system;

[0091] Step 15: Based on the target extension / retraction amount of the piston rod, the electrical control module controls the flow rate from the hydraulic pump station to the cylinder assembly;

[0092] Step 16: By controlling the flow rate of the hydraulic cylinder assembly, the working arm is driven to perform primary precise positioning; after the primary precise positioning is completed, the working arm performs secondary fine-tuning positioning; when the end point of the working arm reaches the target point, the working arm ends the posture adjustment.

[0093] In this embodiment of the invention, the robot uses sensors mounted on its working arm to determine the current spatial coordinates of the end effector (also known as the end effector or tool center point). These sensors may be position sensors, angle sensors, or other devices capable of accurately measuring the position of the working arm. Once the actual coordinates of the end effector are obtained, the control system compares these data with the preset construction target point position. By calculating the difference or deviation between the two, the system can determine the direction and distance the working arm needs to move. Inverse kinematics is a computational process that, based on the desired end effector position and orientation (i.e., the target point position and orientation), deduces how the robot joints should move. In this step, the control system uses inverse kinematics algorithms to determine the angles and velocities of each joint of the working arm in order to move the end effector to the target position. After determining the motion trajectory and orientation of the working arm, the system needs to know how much the piston rod needs to extend or shorten in order for the working arm to move along the predetermined trajectory. This step uses a sensor system to obtain the target extension or retraction of the piston rod, ensuring that the working arm can accurately move to the target position. The electrical control module adjusts the hydraulic oil flow rate output by the hydraulic pump station based on the calculated target extension or retraction of the piston rod. By adjusting the hydraulic oil flow in the cylinders, the boom can be controlled to perform a large-scale initial positioning. This is the first stage of precise positioning, aimed at quickly moving the boom close to the target position. After the first stage of positioning, the boom undergoes more precise adjustments, known as the second stage of fine-tuning positioning. This step involves smaller movements and adjustments to ensure that the boom's end effector accurately reaches the target position. Finally, when the sensors detect that the boom's end effector has reached or is very close to the target point, the control system stops adjusting the boom's posture. This marks the completion of the positioning process, at which point the boom is ready for the next operation, such as drilling or anchoring.

[0094] In another preferred embodiment of the present invention, the control system uses an inverse kinematics algorithm to determine the angles and velocities of each joint of the working arm in order to move the end effector to the target position, specifically including:

[0095] The desired position and orientation of the end effector are determined by the location of the construction target point, including the coordinates (x, y, z) in three-dimensional space and orientation information (such as rotation angle or direction).

[0096] Establishing a kinematic model of the robot specifically includes: measuring or acquiring geometric parameters such as link lengths and joint offsets, which describe the relative positions and relationships between the robot's links; determining kinematic constraints such as rotation range and speed limits for each joint; using the Denavit-Hartenberg (DH) parameter method to establish the robot's kinematic model, which assigns a coordinate system to each link and describes the pose relationships between adjacent links using a 4×4 transformation matrix; determining DH parameters, including link length (a), link twist angle (α), joint offset (d), and joint angle (θ), which are used to construct the transformation matrix; based on the DH parameters, constructing a transformation matrix from the link coordinate system to the next link coordinate system for each link; and multiplying these transformation matrices sequentially to obtain the transformation matrix of the robot's end effector relative to the base coordinate system.

[0097] The solution is obtained through an iterative approximation method, specifically including: setting an initial guess value for the robot's joint angles; defining an error function to quantify the difference between the actual and expected positions of the robot's end effector at the current joint angle; this error function can be Euclidean distance, angle difference, or other suitable indicators for measuring position and posture differences; using numerical optimization methods (such as gradient descent, Newton's method, etc.) to iteratively adjust the joint angles to minimize the error function; in each iteration, calculating the end effector position based on the current joint angle and evaluating the error function; updating the joint angle values ​​based on the gradient or second derivative information of the error function to reduce the error; ensuring that the joint angles meet the robot's kinematic constraints during the iteration process, such as the joint rotation range and speed limits; if the joint angles violate the constraints during the iteration process, making corresponding adjustments or penalties; setting a convergence threshold; when the error function is less than this threshold, the iteration is considered to have converged and the iteration stops; if the number of iterations reaches a preset maximum value and the error function has not yet converged, the initial guess value or the parameters of the optimization method need to be readjusted. By solving the inverse kinematics equations, a set of joint angle values ​​can be obtained, which will enable the robot's end effector to achieve the desired position and orientation.

[0098] like Figure 7 As shown, based on the target extension / retraction amount of the piston rod, the electrical control module controls the flow rate from the hydraulic pump station to the cylinder assembly, including:

[0099] The target extension and retraction of the piston rod is obtained by the built-in sensor of the hydraulic cylinder, and the target flow rate of hydraulic oil in each hydraulic cylinder is derived based on the target extension and retraction.

[0100] The valve opening of the solenoid valve changes according to the magnitude of the input current. By obtaining the valve opening of different solenoid valves, the actual flow of the hydraulic cylinder is controlled to drive the working arm to reach the target point.

[0101] In this embodiment of the invention, the target extension / retraction amount of the piston rod, i.e., the target extension / retraction length of the hydraulic cylinder, is obtained through a sensor built into the hydraulic cylinder. Based on the target extension / retraction amount and the geometric parameters of the hydraulic cylinder, the target flow rate of hydraulic oil required to achieve the target extension / retraction amount of the piston rod is derived. The valve opening of the solenoid valve is adjusted according to the change in the target flow rate. The solenoid valve is a key device for controlling the flow rate of the hydraulic cylinder, and the flow rate of the hydraulic oil is controlled by adjusting the valve opening. The actual flow rate of the hydraulic cylinder is controlled according to the valve opening of different solenoid valves. By adjusting the valve opening of the solenoid valve, the flow rate of the hydraulic oil is precisely controlled, thereby controlling the extension / retraction speed and force of the hydraulic cylinder. By precisely controlling the flow rate of the hydraulic cylinder, the movement of the working arm reaches the target posture. By adjusting the extension / retraction speed and force of the hydraulic cylinder, the accurate positioning and control of the working arm is achieved to reach the predetermined target posture. When the end point of the working arm reaches the target point, the predetermined target posture is reached, and the working arm ends the posture adjustment. At this time, the control method stops the adjustment, the working arm remains in the target posture, and the work task is completed.

[0102] like Figure 8 As shown, a control method for a drilling and anchoring robot arm further includes:

[0103] It receives one-click unfolding or one-click folding signals and collects data from the first and second encoders in real time.

[0104] Displacement data S is obtained by a displacement sensor built into the telescopic cylinder;

[0105] Determine if the displacement data S is equal to 0. If it is equal to 0, the folding requirement is met; otherwise, the telescopic cylinder continues to retract until the displacement S = 0.

[0106] The on / off state and valve opening of the solenoid valve are controlled according to the control algorithm.

[0107] The control algorithm controls the extension and retraction of the piston rods of the lifting cylinder and the leveling cylinder, and converts this extension and retraction into angles recorded by the first encoder and the second encoder, and feeds them back to the system.

[0108] When the encoder records that the threshold triggering condition is met, the control algorithm controls the movement of the hydraulic cylinders in sequence.

[0109] In this embodiment of the invention, by receiving a one-click unfolding or one-click folding signal and collecting data from the first and second encoders in real time, the angle and position of the working arm can be monitored in real time. Displacement data S is obtained through the displacement sensor built into the telescopic cylinder, and it is determined whether the displacement data S equals 0, indicating whether the telescopic cylinder has reached the required displacement. If the displacement data S equals 0, it means the telescopic cylinder has folded to the correct position, meeting the folding requirement. If the displacement data S does not equal 0, it means the telescopic cylinder has not fully folded and needs to continue retracting until the displacement S = 0. The on / off state and valve opening of the solenoid valve are controlled according to the control algorithm, which controls the extension and retraction speed and force of the cylinder, enabling it to fold or unfold smoothly. The extension and retraction amount of the piston rods of the lifting cylinder and leveling cylinder are controlled according to the control algorithm, and this extension and retraction amount is converted into the angle recorded by the first and second encoders and fed back to the system, enabling control of the working arm's height and balance. When the encoder records meet the threshold triggering condition, the control algorithm sequentially controls the cylinder's action, enabling the unfolding or folding of the working arm.

[0110] The working arm can be folded and unfolded with one click; the working arm is equipped with a first encoder 20 and a second encoder 21, which convert the extension and retraction of the piston rods of the lifting cylinder 2 and the leveling cylinder 77 into the angle measured by the encoder.

[0111] The first encoder 20 and the second encoder 21 installed on the working arm are used to measure the swing angle of the working arm and the swing angle of the leveling device, and feed the real-time data back to the control system. The control system compares the real-time data with the threshold, and makes a judgment and path planning based on the current position and posture information, and controls the action sequence of the lifting cylinder 2 and the leveling cylinder 77 in sequence to complete the one-click folding and one-click unfolding.

[0112] The working arm has multiple degrees of freedom to achieve the target position for drilling; the first-level precise positioning includes the up and down lifting and left and right swinging of the outer sleeve and the extension and retraction of the inner sleeve; the second-level fine-tuning positioning includes rotation, left and right swinging and forward and backward folding.

[0113] The secondary positioning system of the working arm consists of a lifting cylinder 2, a telescopic cylinder 4, a rotary reducer 6, a leveling cylinder 77, and a swing cylinder 78. The automatic drill frame is mounted at the front end of the working arm. The lifting cylinder 2 pushes the working arm to swing up and down and left and right around the upper cross shaft 13. The telescopic cylinder 4 is arranged inside the outer sleeve 3 and the inner sleeve 5 of the working arm, driving the inner sleeve 5 to telescopically move, thereby pushing the automatic drill frame to move back and forth. The above actions achieve primary precise positioning. When there are steel beams and steel mesh at the target hole, a leveling device is required for secondary fine-tuning positioning. The rotary reducer 6 is arranged at the front end of the inner sleeve 5 of the working arm, which can drive the automatic drill frame to rotate 360 ​​degrees. The leveling cylinder 77 and the swing cylinder 78 are arranged below the leveling device. The leveling cylinder 77 drives the automatic drill frame to swing around the pin shaft 73, and the swing cylinder 78 drives the automatic drill frame to swing around the swing cylinder axis, thereby enabling the target hole to avoid steel beams and steel mesh, improving the drilling and anchoring success rate.

[0114] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for a drilling and anchoring robot arm, characterized in that, The control method includes: The sensor acquires the coordinates of the end point of the working arm; Based on the given location of the construction target point, the control system calculates the deviation between the coordinates of the target point and the end point. Based on the deviation, the motion trajectory and pose of the working arm are obtained by using the inverse kinematics solution of the working arm. Based on the movement trajectory and position of the working arm, the target extension and retraction of the piston rod is obtained through a sensor system. Based on the target extension and retraction of the piston rod, the electrical control module controls the flow rate from the hydraulic pump station to the cylinder assembly; By controlling the flow rate of the hydraulic cylinder assembly, the working arm is driven to perform primary positioning; After the first-level positioning is completed, the working arm performs the second-level fine-tuning positioning. When the end point of the working arm reaches the target point, the working arm ends the posture adjustment. The first level is achieved by the working arm lifting, swinging left and right, extending and rotating to achieve fine positioning. The second level is achieved by the leveling device swinging left and right, folding forward and backward, and lifting vertically to achieve fine-tuning positioning. The control method relies on a drilling and anchoring robot working arm, which includes a working arm base (1), two lifting cylinders (2), a telescopic cylinder (4), a leveling device (7), and a detachable standing platform (8). The working arm base (1) is connected to the chassis of the single-arm drilling and anchoring robot; The first end of the telescopic cylinder (4) is connected to the working arm base (1), and the second end is connected to the detachable standing platform (8) through the leveling device (7); The first end of the lifting cylinder (2) is connected to the working arm base (1), and the second end is connected to the telescopic cylinder (4); the telescopic cylinder (4) is covered with a working arm inner sleeve (5); the drilling and anchoring robot working arm also includes an electric control valve and a control box; the lifting cylinder (2) and the telescopic cylinder (4) are connected to the electric control valve, and the electric control valve is electrically connected to the control box; the working arm inner sleeve (5) includes a mounting base (51), and the mounting base (51) is connected to one end of the rotary reducer (6) by screws; The working arm base (1) includes: base (11), upper vertical shaft (12), upper cross shaft (13), first expansion pin (14), first copper sleeve (15), second expansion pin (16), lower cross shaft (17), and second copper sleeve (18). The lower cross shaft (17) is connected to the base (11) through the first expansion pin (14), and the first expansion pin (14) is fitted with a first copper sleeve (15). The lower cross shaft (17) is connected to one end of the lifting cylinder (2) via the second expansion pin (16); The upper cross shaft (13) is connected to the base (11) via the upper vertical shaft (12); The upper cross shaft (13) is connected to the outer sleeve (3) of the working arm via the encoder shaft (201), and the encoder shaft (201) is fitted with a second copper sleeve (18); the encoder shaft (201) is connected to a first encoder (20). The leveling device (7) includes a mounting plate (71), a swing seat (72), a pin (73), a spring pin (74), a third copper sleeve (75), a lifting mechanism (76), a leveling cylinder (77), and a swing cylinder (78). The mounting plate (71) is connected to the other end of the rotary reducer (6) by bolts; The swing cylinder (78) is connected to the swing seat (72) by bolts; A second encoder (21) is provided on the swing seat (72); The swing seat (72) is connected to the swing cylinder (78); The lifting mechanism (76) is connected to the swing seat (72) via a pin (73), and a spring pin (74) is connected to the pin (73). A third copper sleeve (75) is provided on the outer sleeve of the pin (73). One end of the leveling cylinder (77) is connected to the swing seat (72), and the other end is connected to the lifting mechanism (76); The lifting mechanism (76) is connected to the detachable standing platform (8).

2. The control method for the drilling and anchoring robot arm according to claim 1, characterized in that, The inner sleeve (5) of the working arm is covered with an outer sleeve (3) of the working arm; The first end of the outer sleeve (3) and the inner sleeve (5) of the working arm are connected to the base (1) of the working arm, and the second end is connected to the leveling device (7).

3. The control method for the drilling and anchoring robot arm according to claim 2, characterized in that, The working arm outer sleeve (3) includes an outer sleeve connecting seat (31), a first stepped shaft (32), a T-key (33), a lifting cylinder ear seat (34), and an end cap (35); The outer sleeve connecting seat (31) is connected to the working arm base (1) via the encoder shaft (201); The first stepped shaft (32) is connected to one end of the telescopic cylinder (4); The T-key (33) engages with the keyway inside the inner sleeve (5) of the working arm; The lifting cylinder ear seat (34) is fixedly connected to the outer wall of the working arm outer sleeve (3), and the lifting cylinder ear seat (34) is connected to the second end of the lifting cylinder (2); An end cap (35) is placed over the second end of the outer sleeve (3) of the working arm.

4. The control method for the drilling and anchoring robot arm according to claim 3, characterized in that, The inner sleeve (5) of the working arm includes a mounting base (51), a second stepped shaft (52), and a hydraulic hose storage device (53); The mounting base (51) is connected to one end of the rotary reducer (6) by screws; The second-step shaft (52) is connected to the other end of the telescopic cylinder (4); The hydraulic hose storage device (53) is connected to the hydraulic hose (531).

5. The control method for the working arm of the drilling and anchoring robot according to claim 1, characterized in that, Based on the target extension / retraction of the piston rod, the electrical control module controls the flow rate from the hydraulic pump station to the cylinder assembly, including: The target extension and retraction of the piston rod is obtained by the built-in sensor of the hydraulic cylinder, and the target flow rate of hydraulic oil in each hydraulic cylinder is derived based on the target extension and retraction. The valve opening of the solenoid valve changes according to the magnitude of the input current. By obtaining the valve opening of different solenoid valves, the actual flow of the hydraulic cylinder is controlled to drive the working arm to reach the target point.

6. The control method for the working arm of the drilling and anchoring robot according to claim 1, characterized in that, The control method further includes: It receives one-click unfolding or one-click folding signals and collects data from the first and second encoders in real time. The telescopic cylinder has a built-in displacement sensor. When the sensor feeds back displacement data S=0, the folding requirement is met. Otherwise, the telescopic cylinder continues to retract until the displacement S=0. The solenoid valve is controlled to open and close and to open. The extension and retraction of the piston rods of the lifting cylinder and the leveling cylinder are controlled in sequence. The extension and retraction are converted into the angles recorded by the first encoder and the second encoder. When the data recorded by the encoder meets the corresponding threshold triggering conditions, the cylinders are activated in sequence to drive the multi-joint working arm to fold or unfold with one click.

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