Precise Control Research On The Automatic Changing Pipe Mechanism Of Multifunction Drill Machine

Multi-Function drilling machine is current widely used in the domestic mine andtunnel construction. It has become a favorite machine because of its multi-function and theextensive use. But with many advantages, there are also some shortcomings. In somerespect, the degree of automatic is not enough, especially in the process of changing pipe.It totally need manpower to complete, it reduced the efficient and increased the cost. Theuser required the progress in this aspect, so it can achieve a higher degree of automatic andshorten the time limit for the project. So this article focus on the mechanisim and theautomatic research in the process of changing pipe. It is really important for the project.Based on the research of the resent drilling machine, the author innovated anddesigned a set of ancillary equipment-automatic changing pipe mechanism. It can bematched with the drilling machine, make the process of changing pipe automatically andhigh efficiency. The whole research progress contains following steps: (1)Planning thefeed trajectory: According the primary and the last position, plan the middle trajectory. Inthe process of changing pipe, the tolerance must be kept , it can ensure the pipe be awayfrom other mechanism in the process. (2)The design of the mechanism and hydraulicsystem: According the need of trajectory, choose a suitable measure to accomplish. In thisarticle, we choose two swing cylinders with two rods and two clampings to meet therequirements. On the one hand, the swing cylinder is easy to control. On the other hand, itsaved the space. The hydraulic system is further designed based on the normal system, itsaved the cost. (3) Inverse calculation: according the robot theory、the trajectory andmechanism, calculate the time-angle curve of the two swing cylinder. (4)The controlsystem: adopt the AMEsim system model, choose PID and Fuzzy PID controllers inMatlab/Simulink, adjust the parameters, combined simulate with two software. Comparethe result with the planned trajectory, decide the control methord.From the simulation result, we can see that the automatic changing mechanism canpreciously changing pipe according the planned trajectory. So the changing pipe can becomplished automatically. It saved manpower and improved efficiency.