Research On Drilling And Positioning System Technology Of Hydraulic Rock Drilling Trolley

As critical rock drilling equipment in the tunnel excavation process,using this equipment can dramatically improve the working conditions of workers and raise their efficiency.However,there are also some problems,for example,the inaccurate positioning of the drilling arm and how to make the drill arm move smoothly and fast.For this reason,the paper will do some research and discussion,mainly including the kinematics of the drilling arm,the hole sequence planning research,and the control system of the drilling arm,as follows:(1)In the research of the drill arm kinematics,the paper first establishes the corresponding kinematic equation using the DH modeling method to acquire the relationship between the end position of the drill arm and various joint variables.Then,with the aid of the BP neural network,the inverse solution computes the predicted result of every joint variation of the drill arm,and the position error is checked by the kinematic positive equations.Finally,with the help of MATLAB software and a method of Monte Carlo calculates the efficient working space covered by the drill arm and gives the visual result.(2)First of all,the research of hole sequence planning analyzes and discusses the classification and design principle of the gun holes,resulting in a 36-hole gun hole coordinate diagram.Then,the pore order optimization target is determined,and the ant colony intelligent optimization algorithm is applied to the route planning.Moreover,the calculation methods of volatilization factor and heuristic function in the ant colony algorithm are improved.Finally,a comparison is made between the drill arm’s moving distance when using an optimization algorithm and a non-optimization algorithm.The results demonstrate that the moving distance of the drilling arm can be reduced after using the optimization algorithm.At the same time,it becomes apparent that the improved ant colony algorithm exhibits better performance,primarily in two aspects.First,the distance traveled by the drill arm is shortened.Second,the number of iterations is reduced.(3)In the study of control systems,the paper mainly engaged in the overall framework design,software and hardware design,interface display,and control algorithm design.In the part of position control algorithm design,the control principle and the implementation process of the traditional PID and the fuzzy PID controllers are examined in detail,and a Simulink simulation experiment is constructed for both.The data indicate that the fuzzy PID controller exhibits a better control effect on dynamic response.In the end,the experimental verification of the research content is conducted,including drilling positioning experiments,hole sequence planning experiments,and position control experiments.The data demonstrate that each section meets the anticipated results.The improved ant colony algorithm achieves path planning,which reduces the distance traveled by the drill arm to some extent and enhances the algorithm’s optimization performance.Meanwhile,the fuzzy PID control algorithm is employed for position control of the multi-joint drilling arm of the rock drilling trolley,achieving a better control effect.