Theoretical And Technical Research On Automatic Drilling Of Roadway Rock Drilling Jumbo

The rock drilling jumbo is a piece of engineering equipment that is used in the construction of roadways and tunnels using the drill and blast method,and is mainly used in underground mines,road construction and water conservancy.It is of great economic and social importance to improve the automation of rock drilling jumbo for the excavation of roadways and tunnels in China.The automatic drilling of rock drills can not only improve construction efficiency and reduce the burden of manual labour,but also increase the safety of construction.The subject of this research is the kinematics,hole sequence planning and automatic control of a certain type of rock drilling jumbo,the main research content is as follows:The three-dimensional modelling of the arm of the rock drilling jumbo is carried out by SOLIDWORKS software,on the basis of which a linkage coordinate system is established by applying the improved D-H parameter method to its structural characteristics and the positive kinematic equations of the arm are derived.For redundant degrees of freedom robotic arm inverse kinematics solution prone to multiple solutions,the inverse kinematics of the redundant-degree-of-freedom robot arm is solved by a BP(Back Propagation)neural network based on the positive solution combined with the construction conditions of the rock drilling jumbo.In MATLAB software,the kinematic model of the robot arm is built,and simulation is used to confirm the accuracy of the forward and inverse kinematic equations.The effective working space of the rock drilling jumbo is a 5 m×8 m circular tunnel section calculated by Monte Carlo method.The inverse kinematic solution is used as the foundation for the hole sequence planning investigation.According to the mathematical model of hole sequence optimisation,it is regarded as a variant of the travelling quotient problem.Based on the principle of gun hole arrangement,the 29-position hole layout scheme is designed,and the shortest stroke of the end-effector of the robotic arm and the optimisation targets are the smallest total of joint variables during the robotic arm’s drilling process,which are applied to the hole sequence design and enhanced on the basis of the conventional ant colony algorithm.The simulation results show that the hole sequencing scheme obtained with the improved ant colony algorithm effectively improves the drilling efficiency.The automatic drilling control system of the rock drilling jumbo is investigated and an experimental platform for the rock drilling jumbo is built.The predicted joint angle and hole sequence planning scheme is transmitted to the lower computer via the upper computer and the automatic drilling of the robotic arm is completed under sensor feedback control.The experiments proved the feasibility of the method and met the expected requirements.