Anchoring system under the cooperative work of a double-mechanical-arm double-drill machine

Abstract

This invention belongs to the field of multi-robotic arm collaborative drilling and anchoring technology, specifically relating to an anchor bolt support system operating with two robotic arms and two drilling rigs. The system includes a first robotic arm, a second robotic arm, a first drilling rig, a second drilling rig, a material bin, a mounting base, and a control module. The mounting base is fixedly installed behind the cutting drum of the drilling and anchoring equipment. The first and second drilling rigs are arranged parallel to each other on a first side of the mounting base. The material bin is fixedly installed on a second side of the mounting base. The first and second robotic arms are arranged parallel to each other at the midpoint between the first and second sides of the mounting base. The control module is used to plan the movement trajectories of the first and second robotic arms. This invention uses robotic arms to replace manual labor, not only solving the problems of high labor intensity and high operational risks for workers, but also achieving fully automated operation of the anchor bolt support process without affecting the synchronous drilling and support process.

Description

Technical Field

[0001] This invention belongs to the field of multi-robotic arm collaborative drilling and anchoring technology, specifically relating to an anchor bolt support system under the collaborative operation of two robotic arms and two drilling rigs. Background Technology

[0002] Coal is one of my country's most important core energy sources, and most of my country's coal is located deep underground, meaning that most mining takes place in underground tunnels. Therefore, tunnel excavation is a crucial component of coal mining in my country, and the excavation speed directly determines the efficiency of coal mining. Support is paramount in tunnel excavation. Currently, bolt support accounts for over 70% of the total support used in Chinese coal mine tunnels; however, the level of automation in bolt support remains very low, with some mines not even reaching the level of automated operation, severely restricting excavation efficiency.

[0003] With the development of smart mines, the research and development of integrated tunneling and anchoring machines at home and abroad has made breakthrough progress. However, the support drilling rig on the integrated tunneling and anchoring machine still needs to be operated by professional personnel in real time. Especially when considering factors such as the safety of operators, anchoring and tunneling need to be carried out separately, which completely fails to meet the requirement of synchronous parallel operation of tunneling and anchoring.

[0004] Anchor bolt support is a complex process involving various materials. It often requires steps such as installing drill rods, drilling holes, removing drill rods, applying anchoring agent, installing a mixer, installing trays, installing anchor bolts, and mixing. Relying on manual labor is not only physically demanding but also poses significant safety hazards for personnel working in open roof areas. Summary of the Invention

[0005] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides an anchor bolt support system for coordinated operation of two robotic arms and two drilling rigs.

[0006] This invention is achieved using the following technical solution: an anchor bolt support system for coordinated operation of two robotic arms and two drilling rigs, comprising: The system comprises a first robotic arm, a second robotic arm, a first drilling rig, a second drilling rig, a material silo, a mounting base, and a control module; among which, The mounting base is fixedly installed on the rear side of the cutting drum of the excavation and anchoring equipment. The first drilling rig and the second drilling rig are arranged in parallel on the first side of the mounting base. The material bin is fixedly installed on the second side of the mounting base. The first robotic arm and the second robotic arm are arranged in parallel at the midpoint between the first side and the second side of the mounting base. The control module is used to plan the motion trajectories of the first robotic arm and the second robotic arm: A dual-arm staggered passage method based on time and space resource reservation is adopted to control the first robotic arm and the second robotic arm to perform synchronous operations; A "yielding action" planning method based on redundant degrees of freedom and small space is adopted. When the first robotic arm and the second robotic arm encounter a cross conflict, the idle robotic arm is controlled to perform a yielding action to the loaded robotic arm. A dynamic priority collision avoidance strategy based on the grab / release state is adopted, and the action priorities of the first and second robotic arms are set according to the load or no load status of the robotic arms.

[0007] Preferably, a dual-arm staggered passage method based on spatiotemporal resource reservation is adopted. When the first robotic arm and the second robotic arm are operating synchronously, a spatiotemporal resource map of the shared workspace is constructed, and key intersection areas are defined as resource nodes. A time slot reservation mechanism is adopted to allocate node occupancy time periods within future time windows to the first robotic arm and the second robotic arm. When time windows overlap, the start time of low-priority tasks is automatically fine-tuned to ensure that the time windows are connected end to end.

[0008] Preferably, a "yielding action" planning method based on redundant degrees of freedom in a small space is adopted. When the first robotic arm and the second robotic arm encounter a cross-conflict, a dynamic yielding action library is established when the idle robotic arm performs a yielding action towards the loaded robotic arm. When the idle robotic arm encounters a cross-conflict, it actively uses redundant degrees of freedom to shrink its own posture to the minimum radial envelope, folds the elbow joint and retracts the end effector, and at the same time moves slightly laterally to make way for the loaded robotic arm. The loaded robotic arm passes through with its trajectory unchanged.

[0009] Preferably, a dynamic priority collision avoidance strategy based on the grab / release state is adopted. When setting the action priority of the first and second robotic arms based on the loading or unloading status of the robotic arms, a two-factor dynamic priority algorithm of "material sensitivity + movement direction" is introduced. The robotic arm carrying material is given a higher priority than the unloading robotic arm. If both are robotic arms carrying material, the fragility of the material is compared. If the fragility is the same, the one closer to the placement point is given priority. The low-priority robotic arm performs a slight retreat or hovering to avoid collision, and the departure time of the high-priority robotic arm is predicted and started in advance.

[0010] Compared with the prior art, the beneficial effects of the present invention are: This invention provides a bolt support system with dual robotic arms and dual drilling rigs operating in a coordinated manner. The system includes a first robotic arm, a second robotic arm, a first drilling rig, a second drilling rig, a material hopper, a mounting base, and a control module. The mounting base is fixedly installed behind the cutting drum of the bolting and anchoring equipment. The first and second drilling rigs are arranged parallel to each other on a first side of the mounting base. The material hopper is fixedly installed on a second side of the mounting base. The first and second robotic arms are arranged parallel to each other at the midpoint between the first and second sides of the mounting base. The control module is used to plan the movement trajectories of the first and second robotic arms. This invention uses robotic arms to replace manual labor, which not only solves the problems of high labor intensity and high operational risks for workers, but also achieves fully automated bolt support operations without affecting the synchronous bolting and anchoring process. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart illustrating an anchor bolt support system for coordinated operation of two robotic arms and two drilling rigs, provided by the present invention.

[0013] Figure 2 This is a schematic diagram of the process of a bolt support system under the collaborative operation of two robotic arms and two drilling rigs, provided by the present invention, to perform a support task. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0016] This invention provides an embodiment: This invention provides an anchor bolt support system for coordinated operation of two robotic arms and two drilling rigs, comprising: The system comprises a first robotic arm, a second robotic arm, a first drilling rig, a second drilling rig, a material silo, a mounting base, and a control module; among which, The mounting base is fixedly installed on the rear side of the cutting drum of the excavation and anchoring equipment. The first drilling rig and the second drilling rig are arranged in parallel on the first side of the mounting base. The material bin is fixedly installed on the second side of the mounting base. The first robotic arm and the second robotic arm are arranged in parallel at the midpoint between the first side and the second side of the mounting base. The control module is used to plan the motion trajectories of the first robotic arm and the second robotic arm: A dual-arm staggered passage method based on time and space resource reservation is adopted to control the first robotic arm and the second robotic arm to perform synchronous operations; A "yielding action" planning method based on redundant degrees of freedom and small space is adopted. When the first robotic arm and the second robotic arm encounter a cross conflict, the idle robotic arm is controlled to perform a yielding action to the loaded robotic arm. A dynamic priority collision avoidance strategy based on the grab / release state is adopted, and the action priorities of the first and second robotic arms are set according to the load or no load status of the robotic arms.

[0017] Figure 1 The single-sided robotic arm drilling structure of the anchor bolt support system under the collaborative operation of dual robotic arms and dual drilling rigs of the present invention includes a first drilling rig 1 and a first robotic arm 2. The first drilling rig 1 realizes the drilling, insertion, and mixing process through the feeding and rotation of the first drill box 101. The first robotic arm 2 is used to grab, install, and disassemble materials between the material bin 3 and the first drilling rig 1. The material bin 3 stores materials such as drill rods 302, anchor bolts 304, anchoring agent injection devices 303, and agitators 301. The mounting base 4 is mainly used to install and fix the first drilling rig 1, the second robotic arm 2, and the material bin 3.

[0018] The first drilling rig 1 is equipped with a first drilling box 101, which can move linearly up and down along a track and can also rotate. The material bin 3 symmetrically stores and installs a mixer 301, drill rod 302, anchor rod 303, and anchoring agent injection device 304 from both sides towards the center. The mixer 301 and drill rod 302 are used cyclically, so there is one on each side; the cartridges in the anchoring agent injection device 303 and the anchor rod 304 are consumables, so multiple units are symmetrically installed and stored.

[0019] The steps involved in performing anchoring operations with a unilateral excavation and anchoring device include: Control the tunneling and anchoring machine to travel to the work position, the first drilling rig reaches the anchoring position, initialize the first drilling rig and the first robotic arm, after initialization the first drilling rig is retracted, and the first drill box is in the lowest position.

[0020] After the first robotic arm grabs the drill rod from the material bin and places it into the first drill box for fixation, the first robotic arm is controlled to retract. The first drill box feeds and rotates to drill a hole. After drilling is completed, the first drill box retracts to the bottom. The first robotic arm removes the drill rod from the first drill box and puts it back into the material bin, and grabs the anchoring agent injection device. The first robotic arm puts the anchoring agent injection device into the first drill box, and the first drilling machine pushes the anchoring agent injection device to the vicinity of the borehole at the top of the roadway.

[0021] After completing the task of spraying the injection cartridge, the first drill box retracts, the first robotic arm disassembles the anchoring agent spraying device, puts it back into the material bin, and grabs the anchor rod. The first robotic arm installs the anchor rod on the first drill box. After the first drill box rises and inserts the anchor rod into the borehole, the first drill box retracts to the bottom. The first robotic arm then grabs the agitator from the material bin and installs it in the first drill box.

[0022] The first drilling rig completes the mixing and anchoring pre-tightening tasks, and the first robotic arm disassembles the mixer and puts it back into the material bin, completing the entire anchor bolt support process.

[0023] To save support time, the first robotic arm retrieves the agitator from the material hopper while the first drill box rises to insert the anchor bolt into the borehole. When the first drill rig inserts the anchor bolt into the borehole and retracts the first drill box to the bottom, the first robotic arm has completed its task of retrieving the agitator and places it into the first drill box.

[0024] like Figure 2 As shown, due to limited working space, in order to avoid interference between the left and right robotic arms and prevent obstacles, the optimal working path is planned as follows: When the first drill box in the first drilling rig retracts to the waiting position, the robotic arm of the first robotic arm is located near the first drill box; at this time, the second drill box in the second drilling rig has left the waiting position, and both the second drilling rig and the second drill box are in the feeding state, while the second robotic arm reaches the vicinity of the right side of the material hopper. When the second drill box retracts to the waiting position, the robotic arm of the second robotic arm reaches the position of the second drill box; at this time, the first drill box in the first drilling rig has left the waiting position and is in the feeding state, while the robotic arm of the first robotic arm reaches the left side of the material hopper.

[0025] Specifically, upon receiving the task to begin support operations, the system initializes the first and second drilling rigs and the first robotic arm, while the second robotic arm stands ready. The first robotic arm grips the drill rod and installs it onto the first drilling rig. The system then controls the first drill box to begin drilling. After drilling is complete, the first robotic arm controls the removal of the drill rod and its return to the material hopper. The first robotic arm then grabs the anchoring agent injection device and installs it onto the first drilling rig. After filling the borehole with anchoring agent, the system controls the removal of the anchoring agent injection device and its return to the material hopper. Finally, the first robotic arm grabs the anchor rod and installs it onto the first drilling rig. The drilling rig pushes the anchor bolt into the borehole. The first robotic arm grabs the agitator, installs it onto the anchor bolt, and controls the agitator to agitate the anchoring agent on the anchor bolt. After agitation is complete, the first robotic arm returns the agitator to the material hopper. Once the first drilling rig and the first robotic arm have completed the current support process, it is determined whether the support task is finished. If the support task is not finished, the first drilling rig and the first robotic arm are put into standby mode, and the second robotic arm is initialized to perform the next support process according to the first robotic arm's procedure. The first and second robotic arms cycle through the task until the support task is completed.

[0026] The collaborative operation of the two robotic arms is controlled by the control module. The control module uses algorithms such as a staggered passage method based on spatiotemporal resource reservation, a "letting the move" planning method based on redundant degrees of freedom in a small space, and a dynamic priority collision avoidance strategy based on the grasp / release state to complete the path planning and motion trajectory planning of the two robotic arms.

[0027] A dual-arm staggered passage method based on spatiotemporal resource reservation is adopted. When the first and second robotic arms are operating synchronously, a spatiotemporal resource map of the shared workspace is constructed, and key intersection areas are defined as resource nodes. A time slot reservation mechanism is adopted to allocate node occupancy time periods within future time windows to the first and second robotic arms. When time windows overlap, the start time of low-priority tasks is automatically fine-tuned to ensure that the time windows are connected end to end.

[0028] The dual-arm staggered passage method based on time and space resource reservation can solve the problems of decreased efficiency or even deadlock caused by frequent collision detection due to path intersection when two robotic arms are not working synchronously in a small space.

[0029] A "yielding action" planning method based on redundant degrees of freedom in a small space is adopted. When the first robotic arm and the second robotic arm encounter a cross-conflict, a dynamic yielding action library is established when the idle robotic arm performs a yielding action towards the loaded robotic arm. When the idle robotic arm encounters a cross-conflict, it actively uses redundant degrees of freedom to shrink its own posture to the minimum radial envelope, folds the elbow joint and retracts the end effector, and moves laterally slightly to make way for the loaded robotic arm. The loaded robotic arm passes through with its trajectory unchanged.

[0030] The "make-move" planning method based on redundant degrees of freedom in small spaces can solve the problem that traditional stop-and-wait solutions waste time and have no detour space when loaded arms and unloaded arms meet in narrow passages.

[0031] A dynamic priority collision avoidance strategy based on the grab / release state is adopted. Based on the loading or unloading status of the robotic arms, when setting the action priorities of the first and second robotic arms, a two-factor dynamic priority algorithm of "material sensitivity + movement direction" is introduced. The robotic arm carrying materials is given higher priority than the unloading robotic arm. If both are loaded robotic arms carrying materials, the fragility of the materials is compared. If the fragility is the same, the one closer to the placement point is given priority. The low-priority robotic arm performs a slight retreat or hovering to avoid collision, and the departure time of the high-priority robotic arm is predicted and started in advance.

[0032] The dynamic priority collision avoidance strategy based on the grab / release status can solve the problem of low efficiency caused by one arm grabbing materials and the other arm placing materials when the operations are asynchronous.

[0033] This invention provides a bolt support system with dual robotic arms and dual drilling rigs operating in a coordinated manner. The system includes a first robotic arm, a second robotic arm, a first drilling rig, a second drilling rig, a material hopper, a mounting base, and a control module. The mounting base is fixedly installed behind the cutting drum of the bolting and anchoring equipment. The first and second drilling rigs are arranged parallel to each other on a first side of the mounting base. The material hopper is fixedly installed on a second side of the mounting base. The first and second robotic arms are arranged parallel to each other at the midpoint between the first and second sides of the mounting base. The control module is used to plan the movement trajectories of the first and second robotic arms. This invention uses robotic arms to replace manual labor, which not only solves the problems of high labor intensity and high operational risks for workers, but also achieves fully automated bolt support operations without affecting the synchronous bolting and anchoring process.

[0034] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A bolt support system for coordinated operation of two robotic arms and two drilling rigs, characterized in that, include: The system comprises a first robotic arm, a second robotic arm, a first drilling rig, a second drilling rig, a material silo, a mounting base, and a control module; among which, The mounting base is fixedly installed on the rear side of the cutting drum of the excavation and anchoring equipment. The first drilling rig and the second drilling rig are arranged in parallel on the first side of the mounting base. The material bin is fixedly installed on the second side of the mounting base. The first robotic arm and the second robotic arm are arranged in parallel at the midpoint between the first side and the second side of the mounting base. The control module is used to plan the motion trajectories of the first robotic arm and the second robotic arm: A dual-arm staggered passage method based on time and space resource reservation is adopted to control the first robotic arm and the second robotic arm to perform synchronous operations; A "yielding action" planning method based on redundant degrees of freedom and small space is adopted. When the first robotic arm and the second robotic arm encounter a cross conflict, the idle robotic arm is controlled to perform a yielding action to the loaded robotic arm. A dynamic priority collision avoidance strategy based on the grab / release state is adopted, and the action priorities of the first and second robotic arms are set according to the load or no load status of the robotic arms.

2. The anchor bolt support system under the cooperative operation of two robotic arms and two drilling rigs according to claim 1, characterized in that, A dual-arm staggered passage method based on spatiotemporal resource reservation is adopted. When the first and second robotic arms are operating synchronously, a spatiotemporal resource map of the shared workspace is constructed, and key intersection areas are defined as resource nodes. A time slot reservation mechanism is adopted to allocate node occupancy time periods within future time windows to the first and second robotic arms. When time windows overlap, the start time of low-priority tasks is automatically fine-tuned to ensure that the time windows are connected end to end.

3. The anchor bolt support system under the cooperative operation of two robotic arms and two drilling rigs according to claim 1, characterized in that, A "yielding action" planning method based on redundant degrees of freedom in a small space is adopted. When the first robotic arm and the second robotic arm encounter a cross-conflict, a dynamic yielding action library is established when the idle robotic arm performs a yielding action towards the loaded robotic arm. When the idle robotic arm encounters a cross-conflict, it actively uses redundant degrees of freedom to shrink its own posture to the minimum radial envelope, folds the elbow joint and retracts the end effector, and moves laterally slightly to make way for the loaded robotic arm. The loaded robotic arm passes through with its trajectory unchanged.

4. The anchor bolt support system under the cooperative operation of two robotic arms and two drilling rigs according to claim 1, characterized in that, A dynamic priority collision avoidance strategy based on the grab / release state is adopted. Based on the loading or unloading status of the robotic arms, when setting the action priorities of the first and second robotic arms, a two-factor dynamic priority algorithm of "material sensitivity + movement direction" is introduced. The robotic arm carrying materials is given higher priority than the unloading robotic arm. If both are robotic arms carrying materials, the fragility of the materials is compared. If the fragility is the same, the one closer to the placement point is given priority. The low-priority robotic arm performs a slight retreat or hovering to avoid collision, and the departure time of the high-priority robotic arm is predicted and started in advance.

Images