The Research Of Computer Numerical Control Drilling Jumbo

With the large-scale domestic construction of the coal mines and tunnels, the enterprises have a strong demand for drilling jumbo, and the competition is more and more fierce between the producers. After research on the market, it is found that only by improving the quality and efficiency of the drilling jumbo can the enterprise stand out in the competition.After researching the mechanical structure and working process of the whole hydraulic drilling jumbo, many problems are found when the drilling jumbo works. As the drilling jumbo is operated by manual work, it is difficult to locate it accurately.What’s more, the tunnel is dark, so it takes a long time for the worker to operate the equipment and find the position of the holes accurately. Because some holes have a certain inclination angle, it is not easy for the workers to operate the arms to reach the accurate position and orientation. As a result, over-excavation may happen after blasting, so the cross-section usually needs secondary blasting. To solve these problems, the equipment is needed to be transformed to a CNC drilling jumbo. The algorithm of the arms movement is studied through the robot kinematic theory, the rotation angle of five joints and the stroke of a hydraulic cylinder in each arm is calculated, so that the arm can find the location of the hole accurately and reach the right position and orientation. The arms of the CNC drilling jumbo move at the same time, so interference problems may occur. The the arm kinematics, hydraulic system and control system of the drilling jumbo is studied in this article mainly by doing the following work.The 3D software UG6.0 is used to reassemble the mechanical structure of the drilling jumbo, and the kinematic model of the arms is established. The workload and work holes of the arms are assigned reasonably, the drilling order of the holes is maped up and the arms movement is simulated by using UG6.0 motion simulation module. By contrasting the different distances between the simulation results of the drilling jumbo and the cross-section, the general interference law is obtained; the interference problem is solved theoretically and in motion simulation.The original hydraulic system is improved by using proportional valve to control the direction and flow of the hydraulic system, and the manual valve is replaced by the solenoid valve to meet the requirement of computer control.A research is made on the function of the CNC drilling jumbo and the master-slave control structure is brought up, the master PC is mainly for calculating, the slave PLC is responsible for the detection and control. The electrical control system of the CNC drilling jumbo is designed and the major electrical components are selected as well.