Study On An Automated Drilling Method Of A 2-Arm Drill Rig

In Chinese coal mines and the construction of new wells, there is a lot of rock roadway exploration and excavation work every year. The degree of the automation of the equipment excavation has become a major factor restricting the improvement of coal production capacity. The hotspot and difficulty of mining research is the hole drilling automatic equipments which possess intelligent and autonomous operation. Among them, it’s an important direction in research of mining to make sure that a drill rig can move fast in the roadway possessing multiple corners without touching the wall, and also can realize accurate real-time positioning, navigation and automated drilling. Therefore, studying the automated drilling method of the drill rig has a very important practical significance.Based on the structural improvements and analysis of working characteristics of the arms of the 2-arm drill rig of the CMJ2-27 of Shijiazhuang Coal Mining Machinery, the ideal position and orientation and the actual position and orientation of the drill kinematics model were established. By using the Denavit-Hartenberg(D-H) method, the kinematics equations were established and the expression positive kinematics solutions were deduced. By using the method of monte carlo and Matlab to analyze the working space of drill rig, the 3-dimensional figure and 2-dimensional figure of single arm operation and the arms collaborative working space were got, and the best distance between the cross section and the car when actual work was solved 1010 mm. Based on the model of the positive solution, the inverse kinematics solutions were acquired by using the separation of variables method, which enabled the arms quickly and accurately find the right hole position according to the position and orientation of the car, the expressions of the inverse kinematics equation solution considering the actual position and orientation were derived. By using the 3-dimensional modeling software UG, the 3-dimensional solid model of the drill rig was established, and the consistency of positive solutions to the inverse solution was verified in accordance with the solution expression. Based on the structural and working characteristics of the drill arms, the rules of producing the interference and the collision detection methods were researched. The work of the anti-interference operation program of two arms and the movement joints of one arm, and the collision avoidance processing between the arms and the roadway were finished.By the kinematics analysis of the arms of the 2-arm drilling rig, the automatic accurate position of digital control the arms in accordance with the optimal path after knowing the operating point was achieved. These provided a technical support for achieving the automated drilling of the drill rig and laid a technical foundation for the practical application of the digital 2-arm drilling rig.