Research On The Key Theories And Technologies Of Intelligent Drilling Positioning Applicated In The Rock Drift Tunneling

Intelligent drill jumbo is an extremely important production tool in the construction of roadways and tunnels when using the drilling and blasting method.At present,international companies such as Atlas and Sandvik master advanced manufacturing technology of drilling equipment and occupy a large share of China’s drilling equipment market.These companies have a long history,have mature systems,complete production catalogs,and strictly confidential academic achievements.However,after China introduced a large number of imported products,they have not exerted satisfactory results in mine construction.At present,only hydraulic drill jumbos can be produced by ourselves.The control technology proposed by some universities and research institutes has reached a very high theoretical level,and the related equipment can meet or partially meet the requirements of high-performance indicators in the laboratory or on the ground.But when they are used in coal mine drifts,most of the products have large technical obstacles,and they perform poorly in practicality.To realize the real application of the intelligent drill jumbo in the underground,overcome the obstacles of automatic positioning caused by the complex environment underground,and guarantees the excellent operability and high accuracy of the equipment during the actual drilling positioning in the coal mine rock drift.The main work of this article is as follows.(1)An intelligent planning method of the full-face hole-parameters is proposed by giving overall consideration about basic principles of blasting design and working performance of drill jumbo.(2)Aiming at the problem that the used single-arm carriage positioning method leads to the infinity solution,and the drilling error is large,put forward a new carriage positioning method of drill jumbo by two arms based on coordinates transformation theory of robot kinematics.(3)Aiming at the problem that it is difficult to further improve the positioning accuracy after reaching the level of 10 cm,first summarize the distribution of joint clearance and deflection through field tests and numerical simulations.Then use the Monte Carlo method to modify the kinematics model to improve the average positioning accuracy to the level of 5～6 cm.And they are applied in the underground industrial experiment.Methods and techniques proposed in this paper provide a complete solution for the drilling and crushing process from design to construction,solve some of the practical application problems,and get rid of the tradition that blasting technology depends on the quality of personnel,created the conditions for the full use of intelligent rock drilling equipment in underground mines.