Research On Key Technologies Of Automatic Location Drilling For Rock Drilling Jumbo

Rock drilling trolley is an important engineering equipment for tunnel excavation and underground roadway mining,aiming at hard rock tunnels and roadways.Full-computer rock drilling trolley can improve drilling efficiency,achieve accurate drilling,reduce costs,reduce the operating requirements of workers,and improve the working environment of workers and reduce the labor intensity of workers.For this reason,this paper takes ZYJ90 drilling rig as the research object,combines kinematics theory and TSP mathematical model,aiming at realizing drilling rig's automatic positioning,and makes a detailed study on the kinematics model,inverse kinematics solution and hole sequence planning of drilling rig arm.Based on the ZYJ90 drilling rig,the kinematics model of the drilling arm is established by D-H method and kinematics analysis is carried out.The forward kinematics solution of the drilling arm is derived,and the position and attitude matrix of the end effector of the drilling arm relative to the base coordinates is obtained.Based on the forward kinematics solution,the effective workspace of the drill arm is 3.5 m high and 4 m wide by Monte Carlo method,and the optimum working distance is 4.6 m from the first joint of the trolley drill arm to the drilling surface.Based on RBF neural network algorithm,the inverse kinematics model of drill arm is trained,and the inverse kinematics results are predicted.The maximum error of prediction results is 0.6%,and the maximum hole position error of simulation results is 32 mm.It proves that RBF neural network algorithm can accurately solve the inverse kinematics of drill arm,and the inverse kinematics results meet the engineering needs.Based on ant colony algorithm,pore sequence planning is studied.The mathematical model of drilling sequence planning is established by taking the sum of the driving distance of the end effector and the rotation angle of each joint as the optimization objective.The ant colony algorithm is used to optimize the drilling sequence,and two drilling sequence schemes are obtained.Through the comparison of experiments,it is found that the optimal drilling sequence planning scheme can be solved by taking the sum of the rotation angles of each joint as the optimization objective,and the drilling sequence can be effectively improved.Hole efficiency.Based on ZYJ90 rock drilling trolley,through the connection of Kingview,the data of PLC and MATLAB are transmitted to each other,and the inverse solutions and hole sequence schemes of each joint calculated in MATLAB are fed back to the PLC to control the automatic positioning drilling of drilling arm.The experimental results show that the method is reliable and feasible.