Research On Trajectory Planning And Control Method Of Drill Pipe Assembling And Discharge Robot

With the continuous development and popularization of industrial robot technology,industrial robot technology is being used more and more widely in various industries.Combining industrial robot technology with drilling equipment in the field of coal mine drilling,it can complete the task of automatic drill pipe assembling and discharge with precise,small vibration and adapting to the downhole environment.It has the advantages of high repeatability,high efficiency and adaptability of industrial robots.In this paper,the drill pipe assembling and discharge process and working steps of underground tunnel automatic drilling rig were analyzed.The kinematics modeling,dynamic modeling,the trajectory optimization of the optimal impact,and the construction of the control system and the software design was studied.The main research contents include:(1)According to the working characteristics and work flow of the drill pipe assembling and discharge of mine tunnel rig,the working characteristics and functional requirements of the drill pipe assembling and discharge robot were analyzed.Based on this,the design of the drill pipe assembling and discharge robot system was completed,The mechanical structure,the drive mode and the determination of the control system were determined.(2)Taking the drill pipe assembling and discharge robot as the research object,link coordinate system,D-H method parameters,kinematics positive solution,kinematic inverse solutionthe carried out.The dynamic model of the drill pipe assembling and discharge robot is established by Lagrangian method,which provides the basis for the torque constraint and objective function construction in the subsequent optimal impact optimization.(3)For the working requirements of the drill pipe assembling and discharge robot to precisely match the rig's power head during the completion of the drill pipe loading process,it is necessary to minimize the impact generated during the movement of the drill pipe assembling and discharge robot and ensure the trajectory meet requirements in the joint space and the Cartesian space.According to the requirements,the trajectory planning is carried out by using 5 non-uniform B-spline curves in Cartesian space,and the cam curve planning of 5 non-uniform B-splines is performed in the joint space to ensure the drill assembling and discharge robot in Cartesian space.The end trajectory meets the requirements,which makes the joint motion speed,acceleration and jerk are smooth.The improved artificial bee colony algorithm is used to optimize the optimal impact,which minimizes the impact of joint motion and ensures the smoothness and accuracy of the drill pipe assembling and discharge.(4)Aiming at the trajectory planning algorithm proposed and the accuracy and real-time requirements of motion control.The GUC-T series motion controller was used to build the drill assembling and discharge robot control system.The Otostudio was used as the development platform.The design of the control system of the drill pipe assembling and discharge robot.Finally,the experimental platform of the drill pipe assembling and discharge robot was built,and the drill pipe loading and unloading experiment of the robot was carried out to verify the feasibility of the proposed method.