CN-122014205-A - Drill jumbo and control method and device thereof

CN122014205ACN 122014205 ACN122014205 ACN 122014205ACN-122014205-A

Abstract

The invention belongs to the technical field of control of drilling trolleys, and particularly relates to a drilling trolley, a control method and a control device thereof. The method comprises the steps of controlling a drilling trolley mechanical arm to drill holes according to a face hole distribution diagram, determining a target pose of the tail end of the mechanical arm and a middle point corresponding to the target hole to be drilled according to the target hole to be drilled on the face hole distribution diagram, controlling all joints of the mechanical arm to move to the middle point, controlling all joints of the mechanical arm to enable the tail end of the mechanical arm to move to the target pose to drill holes, wherein the middle point is a preset path point closest to the target hole to be drilled and selected from a preset path point set, and the preset path point set is calibrated in advance, and enabling the space distance between a large arm telescopic joint of the mechanical arm and a propelling beam to be the safe distance of all joints of the mechanical arm when the elongations of the large arm telescopic joint and the propelling beam telescopic joint respectively take different values. The invention solves the technical problem that the boom frame of the drill boom of the existing drilling jumbo is easy to collide and interfere to stop working.

Inventors

CHEN KUNJIE
XING BO
LI YIJIA
WAN HONGJUN
Sun Senzhen
WANG HAO
ZHU ZHE
Jin Zhuoheng

Assignees

中铁高新工业股份有限公司
中铁工程装备集团有限公司
中铁工程装备集团隧道设备制造有限公司

Dates

Publication Date: 20260512
Application Date: 20260210

Claims (10)

1. A method of controlling a rock drill rig, the method comprising: The drilling method comprises the steps of controlling a mechanical arm of a drill jumbo to drill according to a face hole distribution diagram, determining a target pose of the tail end of the mechanical arm and a middle point corresponding to the target hole to be drilled according to the target hole to be drilled on the face hole distribution diagram, controlling all joints of the mechanical arm to move to the middle point, and controlling all joints of the mechanical arm to move to the target pose for drilling; the middle point is a preset path point closest to a target hole site to be drilled, wherein the preset path point is selected from a preset path point set, and the preset path point set is a preset path point set, wherein the preset path point set is a preset path point set, and when the extension amounts of a large arm telescopic joint of the mechanical arm and a telescopic joint of a propelling beam respectively take different values, the space distance between the large arm and the propelling beam is the position of each joint of the mechanical arm.
2. The control method of a rock drill jumbo according to claim 1, characterized in that before controlling the rock drill jumbo mechanical arms to drill holes, drillable hole sites of each mechanical arm of the rock drill jumbo are determined according to the face hole distribution map and the current position of the rock drill jumbo, and hole sites on the face hole distribution map are allocated to each mechanical arm according to the drillable hole sites of each mechanical arm, so that the rock drill jumbo mechanical arms are controlled to drill holes according to the allocated hole sites.
3. The method of controlling a rock drill rig according to claim 2, wherein the step of allocating a hole site on the face layout to each arm comprises allocating a hole site to a drill arm having the smallest drillable position among the at least two drill arms if the hole site is a drillable hole site of the at least two drill arms.
4. A method of controlling a rock-drilling rig according to claim 2 or 3, characterized in that the allocation of a hole site on the face layout to each arm comprises allocating a hole site to a drill arm if the hole site is a drillable hole site of only one drill arm.
5. The control method of a rock drill rig according to claim 1, characterized in that the propulsion pressure, the percussion pressure and the rotation pressure of the hydraulic system during drilling are determined from the acquired propulsion speed and the revolution speed of the rock drill in connection with a predetermined mapping model means during drilling; the mapping model is obtained according to the data of the inlet pressure, the impact pressure and the rotation pressure which are acquired in advance and used by a professional operator at different propelling speeds and rotating speeds.
6. A control method of a rock-drilling rig according to claim 2, characterized in that each drill boom is drilled in a hole position sequence that reciprocates up and down during drilling.
7. A method of controlling a rock-drilling rig according to claim 6, wherein each drill boom is constructed starting from the most-edge of all allocated holes when drilling.
8. A method of controlling a rock-drilling rig according to claim 7, wherein each drill boom is constructed starting from the lower left hand hole position of all allocated hole positions when drilling.
9. A drill jumbo control apparatus comprising a processor, characterized in that the processor is adapted to execute a computer program for carrying out the steps of the drill jumbo control method according to any one of claims 1-8.
10. A drill jumbo comprising a drill jumbo controller comprising a processor, characterized in that the processor is adapted to execute a computer program for carrying out the steps of the drill jumbo control method according to any one of claims 1-8.

Description

Drill jumbo and control method and device thereof Technical Field The invention belongs to the technical field of control of drilling trolleys, and particularly relates to a drilling trolley, a control method and a control device thereof. Background The drilling jumbo is excavation equipment constructed by adopting a drilling and blasting method and is widely applied to various roadways and tunnels. At present, the boom of the drilling trolley is mainly controlled manually, is influenced by experience of operators, is difficult to ensure in boom control accuracy and operation time, and has poor blasting consistency. In recent years, along with development of technology and convergence among disciplines, some intelligent control technologies of drill booms of a drill jumbo appear, such as grant bulletin number CN109113572B, and the patent grant bulletin text of chinese invention with grant bulletin date 2019.07.30 discloses a control method for a drill jumbo and a drill jumbo, which determine a current position to be drilled according to a pre-led drilling distribution design diagram, control a mechanical arm device to convey a drilling execution device to the current position to be drilled, and send drilling control information to corresponding equipment in the drilling execution device in real time according to the type of the hole to be drilled so as to automatically control the drilling execution device to execute multi-stage drilling operations including collar hole undershoot, stop punching, rollback and flushing by utilizing the drilling control information. The drilling trolley comprises a drilling execution device, a mechanical arm device and a drilling trolley control system for controlling the drilling execution device and the mechanical arm device to respectively carry out conveying and drilling operations according to the method. Although the method can realize the automatic control of the drill boom in theory, the boom is easy to collide and interfere to stop working in actual operation, and a multi-boom cooperative working mechanism is not provided. Disclosure of Invention The invention aims to provide a drill jumbo and a control method and device thereof, which are used for solving the technical problem that a drill boom arm frame of the drill jumbo is easy to collide and interfere to stop working in the prior art. In order to solve the technical problems, the technical scheme of the control method of the drill jumbo provided by the invention is that the control method of the drill jumbo comprises the following steps: The drilling method comprises the steps of controlling a mechanical arm of a drill jumbo to drill according to a face hole distribution diagram, determining a target pose of the tail end of the mechanical arm and a middle point corresponding to the target hole to be drilled according to the target hole to be drilled on the face hole distribution diagram, controlling all joints of the mechanical arm to move to the middle point, and controlling all joints of the mechanical arm to move to the target pose for drilling; the middle point is a preset path point closest to a target hole site to be drilled, wherein the preset path point is selected from a preset path point set, and the preset path point set is a preset path point set, wherein the preset path point set is a preset path point set, and when the extension amounts of a large arm telescopic joint of the mechanical arm and a telescopic joint of a propelling beam respectively take different values, the space distance between the large arm and the propelling beam is the position of each joint of the mechanical arm. The middle point is a preset path point corresponding to the preset position closest to the target hole site to be drilled, and the preset path point is the position of each joint of the mechanical arm, wherein the spatial distance between the mechanical arm and the propelling beam is a safe distance when the elongation of the telescopic joint of the mechanical arm and the elongation of the telescopic joint of the propelling beam respectively take different values. The technical scheme has the advantages that in the formal drilling process, through coarse positioning (to a middle turning point) and fine positioning (to a final hole site) two-stage positioning, as each preset path point is set under the condition of meeting a safety distance, the collision interference between a large arm of a drill boom and a propelling beam is greatly avoided in the coarse positioning process, an initial iteration value (namely the middle turning point) given by the coarse positioning basically meets no collision and is near a target pose, the accurate joint angle value of the target pose is obtained through iteration according to the initial value, the risk of the interference of the drill boom is extremely low, and fine positioning is completed through fine tuning after the coarse positioning. Coarse positioning differs from fine po