CN103394725A - Drill carriage automatic-punching method - Google Patents

Drill carriage automatic-punching method Download PDF

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CN103394725A
CN103394725A CN2013100962331A CN201310096233A CN103394725A CN 103394725 A CN103394725 A CN 103394725A CN 2013100962331 A CN2013100962331 A CN 2013100962331A CN 201310096233 A CN201310096233 A CN 201310096233A CN 103394725 A CN103394725 A CN 103394725A
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mechanical arm
joint position
oil cylinder
position degree
realizes
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CN103394725B (en
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张付祥
刘恩福
刘文学
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Hebei University of Science and Technology
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Abstract

Provided is a drill carriage automatic-punching method. An executive component of hole drilling is a mechanical arm. The drill carriage automatic-punching method is characterized in that first, a Matlab tool and a particle swarm algorithm are used for acquiring user coordinates of a working hole which is punched by the mechanical arm, a large arm swinging oil cylinder stretches first, a whole machine rotates around a vertical rotating shaft Z0 to reach a joint position degree; a lifting oil cylinder 7 stretches to achieve tilting of the mechanical arm which reaches a joint position degree; a hydraulic motor drives a rotating part of a driving drill arm 8 to rotate after the driving drill arm 8 is decelerated by a worm and gear, rotating of the mechanical arm is achieved to reach a joint position degree; a tilting oil cylinder 9 stretches to achieve tilting of a sliding frame which then reaches a joint position degree; an angel swinging oil cylinder 10 stretches to achieve swinging of the sliding frame which then reaches a joint position degree; finally, a pushing oil cylinder 4 stretches, straight line motion of a rock drilling sliding plate 5 is achieved, and the rock drilling sliding plate 5 is in place. According to the method, the Matlab tool and the particle swarm algorithm are used for acquiring the user coordinates of the working hole, joint coordinate information of the dill carriage mechanical arm is acquired according to data information of a user punching scheme, and accordingly automatic locating of a drill carriage is achieved.

Description

A kind of drill carriage automatic punching method
Technical field
The present invention relates to a kind of drilling method, especially drill carriage automatic punching method.
Background technology
In developed country, bore operation has all been completed the transition of manual punching to comprehensive mechanization punching already.In China, although drill carriage is also developing rapidly, drill carriage miscellaneous emerges in large numbers one after another, but with external fast development and high-quality, the boring of high-precision drill carriage is compared, we or relatively backward, fail to realize the automation punching, mainly have quality, the gap of precision and efficiency aspect, therefore further study and seem particularly important drill carriage.
Summary of the invention
Based on above purpose, the present invention proposes a kind of drill carriage automatic punching method, and the execution unit of boring is mechanical arm, and concrete grammar is as follows:
At first with utilizing Matlab instrument and particle cluster algorithm to obtain the user coordinates in operation hole, wherein
Figure 724009DEST_PATH_IMAGE001
Be the 1st freedom of motion, realize the swing of mechanical arm;
Figure 967908DEST_PATH_IMAGE002
Be the 2nd free degree, realize the pitching of mechanical arm;
Figure 423160DEST_PATH_IMAGE003
Be the 3rd free degree, realize the revolution of mechanical arm; Be the 4th free degree, realize the balladeur train pitching;
Figure 436564DEST_PATH_IMAGE005
Be the 5th free degree, realize that balladeur train swings;
Figure 738232DEST_PATH_IMAGE006
Be the 6th free degree, realize the movement of balladeur train.
Punching is realized by mechanical arm in the operation hole, and at first large arm swing oil cylinder is flexible, realizes the revolution of the vertical gyroaxis Z0 of whole mechanical winding, arrives the joint position degree
Figure 364386DEST_PATH_IMAGE001
The flexible pitching that realizes mechanical arm of hoist cylinder 7, arrive the joint position degree
Figure 485925DEST_PATH_IMAGE002
Fluid motor-driven, through the rotating part revolution of worm and gear deceleration rear drive drill boom 8, realizes the revolution of mechanical arm, arrives the joint position degree
Figure 918044DEST_PATH_IMAGE003
Flexible balladeur train pitching, the arrival joint position degree realized of pitching oil cylinder 9
Figure 74219DEST_PATH_IMAGE004
Pivot angle oil cylinder 10 is flexible realizes that balladeur train swings, and arrives the joint position degree Last propelling cylinder 4 is flexible, realizes the rectilinear motion of rock drilling slide plate 5, in-position
Figure 480109DEST_PATH_IMAGE006
The drilling operation in a plurality of holes can double mechanical arms moves simultaneously also can the timesharing action.
Having the operator to operate hydraulic gate 6 punches and has namely completed location and the punch operation in operation hole to prescribed depth.
Method of the present invention is owing to utilizing Matlab instrument and particle cluster algorithm to obtain the user coordinates in operation hole, realizes obtaining the joint coordinates information of drill carriage mechanical arm according to the punch data message of scheme of user, thereby realizes the automatic location of drill carriage.
Description of drawings
Fig. 1 is mechanical arm structural representation of the present invention;
Fig. 2 is mechanical arm both arms kinematics coordinate system and user coordinate system.
Specific embodiment
Figure 1 shows that the drill carriage mechanical arm, mainly comprise: propeller 1, slideway orienting device 2, compensating cylinder 3, propelling cylinder 4, rock drilling slide plate 5, hydraulic gate 6, hoist cylinder 7, drill boom 8, pitching oil cylinder 9, pivot angle oil cylinder 10.
Standing part and the vehicle body of drill boom 8 are hinged, and the rotating part of drill boom 8 and slideway orienting device 2 are hinged.Hoist cylinder 7 is arranged in the lower backside of drill boom 8, and rear side and the vehicle body of hoist cylinder 7 is hinged, the standing part of the front side of hoist cylinder 7 and drill boom 8 is hinged.Pitching oil cylinder 9 is arranged in the following front side of drill boom 8, and the rotating part of the rear side of pitching oil cylinder 9 and drill boom 8 is hinged, and front side and the slideway orienting device 2 of facing upward oil cylinder 9 are hinged.Pivot angle oil cylinder 10 is arranged in the front side of drill boom 8, and the rotating part of the rear side of pivot angle oil cylinder 10 and drill boom 8 is hinged, and the front side of pivot angle oil cylinder 10 and slideway orienting device 2 are hinged.Slideway orienting device 2 is arranged in the top of drill boom 8, and the rotating part of the rear side of slideway orienting device 2 and drill boom 8 is hinged, and the front side of the front side of slideway orienting device 2 and pivot angle oil cylinder 10 is hinged.Propeller 1 is arranged in the top of slideway orienting device 2.Top and propeller 1 that rock drilling slide plate 5 is arranged in propeller 1 form moving sets.Hydraulic gate 6 connects firmly on rock drilling slide plate 5 tops.Propelling cylinder 4 is fixed on above propeller 1, and propelling cylinder 4 connecting rods and rock drilling slide plate 5 are hinged.
It is to solve joint variable corresponding to drill carriage hand expected pose that the drill carriage manipulator motion is learned the purpose of calculating, and the hand pose is 6 frees degree, needs 6 axle interlocks.Here set up drill carriage both arms kinematics coordinate system and user coordinate system as shown in Figure 2.
The drill carriage of considering research is both arms operation, and two frame for movements are basically identical, and the constant partial parameters in two mechanical arm D-H parameters is in full accord.Determine that according to the coordinate system of setting up the D-H parameter of drill carriage is as shown in table 1:
Each connecting rod of table 1 CMJ2-27 type drill carriage single armed D-H parameter
Figure 699607DEST_PATH_IMAGE007
The A matrix expression of drill carriage mechanical arm coordinate transform is
Figure 710288DEST_PATH_IMAGE008
With With Representative respectively
Figure 548297DEST_PATH_IMAGE011
With
Figure 413485DEST_PATH_IMAGE012
, after writing a Chinese character in simplified form
Figure 552342DEST_PATH_IMAGE013
，
Figure 135770DEST_PATH_IMAGE014
，
Figure 464115DEST_PATH_IMAGE015
，
Figure 183809DEST_PATH_IMAGE016
，
Figure 493568DEST_PATH_IMAGE017
，
User coordinates is tied to the A transformation matrix of mechanical arm, and wherein user coordinates is tied in the transform of left mechanical arm
Figure 680015DEST_PATH_IMAGE019
, user coordinates is tied in the transform of right mechanical arm
Figure 519795DEST_PATH_IMAGE020
,
Figure 455DEST_PATH_IMAGE021
Figure 558476DEST_PATH_IMAGE022
Directly see the position and the projection of each reference axis at user coordinate system of base coordinate system.Consider user coordinate system, set up the unified kinematical equation of mechanical arm as follows:
Figure 461578DEST_PATH_IMAGE023
Figure 155865DEST_PATH_IMAGE024
Figure 73005DEST_PATH_IMAGE025
Figure 852742DEST_PATH_IMAGE026
Figure 947103DEST_PATH_IMAGE029
Figure 226086DEST_PATH_IMAGE031
Figure 888329DEST_PATH_IMAGE033
Figure 704975DEST_PATH_IMAGE034
Figure 441987DEST_PATH_IMAGE035
Figure 965372DEST_PATH_IMAGE036
Figure 395216DEST_PATH_IMAGE037
Figure 948426DEST_PATH_IMAGE038
Inverse Kinematics Solution for this structural shape is difficult to ask for, and through making great efforts discovery, there is no analytic solutions, and main cause is by analysis: (1) structural shape is unfavorable for kinematics solution, and connecting rod all has torsional angle; (2) there is the length of connecting rod of torsion angle non-vanishing; (3) revolute joint place connecting rod spacing is non-vanishing.Wherein (1) is key factor, need to be according to the version of job task and kinematics solution requirement redesign mechanical arm, (2), (3) are secondary causes, can simplify kinematics solution, can't resolve root problem but only change these, finally solve on the basis that needs the change structure pattern to improve as far as possible and avoid (2), (3) situation to occur., if therefore wanting to ask for Inverse Kinematics Solution must take numerical method, adopt particle cluster algorithm to solve here.
The particle coding
In order to solve x, the code that the design variable that we should be correct generates is used for particle cluster algorithm.According to the characteristics of algorithm, we can directly represent parameter with real numeral.We use x={
Figure 223550DEST_PATH_IMAGE039
Expression particle current location, v=v1, v2, v3, v1, v2, v3} represent the particle present speed, the code that finally draws x is:
Figure 867021DEST_PATH_IMAGE039
 v1,v2,v3, v4,v5,v6
The particle position particle rapidity
The calculating of population adaptive value
Solve position and direction that the inverse kinematics equation is to locate the expection that a correct joint position obtains boring.In the computational process of particle cluster algorithm, each particle can obtain a position and direction, by using first motion, calculates ideal position and the direction of particle.We can utilize function norm () to calculate the distance and position of two vectors, and in Matlab, computing formula is as follows
similar_p=norm(pt-pu)/maxdistance；
With the cosine law with reference to two space vectors,
Figure 202187DEST_PATH_IMAGE040
Here we use similar_n, and similar_o and similar_a represent the particle physical location, and the relation of direction and expection obtains the Matlab expression formula as follows
similar_n=1-dot(nt,nu)/(sqrt(sum(nt.*nt))*sqrt(sum(nu.*nu)))；
similar_o=1-dot(ot,ou)/(sqrt(sum(ot.*ot))*sqrt(sum(ou.*ou)))；
similar_a=1-dot(at,au)/(sqrt(sum(at.*at))*sqrt(sum(au.*au)))；
According to above several formula, the expression formula that draws adaptive value is as follows:
fitness=c1*similar_n+c2*similar_o+c3*similar_a+c4*similar_p。
The calculation procedure of population
(1) algorithm parameter is set as size, size, quantity, weight factor w, locus and velocity space vr and xr;
(2) the relevant constant parameter of design;
(3) initialize population:, according to constraints, list equation in random particle initialized location and speed are between parameter region;
(4) calculate the adaptive value of population;
(5) initialize the position of current particle, as the value of pbest and gbest;
(6) the more position of new particle and speed;
(7) again calculate the adaptive value of particle;
(8) the more pbest of new particle and gbest;
(9) repeating step is from (6) to (8), until the iterative computation value reaches setting accuracy;
(10) obtain output parameter gbest, experimental result.
User-interface design and EXE file generated
(1) at first editor generates the M file, and, there is nest relation in a more than M file in the M file certainly;
(2) because the M file is all a pile code, be not easy to read and operation, out of joint also being not easy to revised, audit.In order to make the operator very clear, handled easily, the operation of some row of process realizes the conversion to gui interface on the basis that has the M file.The user interface that generates is not only simple and clear, and handled easily, makes the operator can very fast left-hand seat, improved operating efficiency, simple operations is as follows, the desirable pose coordinate parameters of input and hole parameter in text box, click computing, just can be at the result bar Output rusults;
(3) carry out GUI and change into .exe file step and 1. compiler is installed multiple choices can be arranged, matlab has carried a LCC, and I realize based on VC++6.0; 2. compiler is set at matlab order line input mbuild – setup, selects the c compiler of installing; 3. call compiler and input mcc-m robot.m at command window, generate robot.exe, mccExcludedFiles.log and readme.txt file; 4. generated the robot.exe file to this;
(4) operation of EXE file will make the trouble-free operation of robot.exe file, at first need to install a MCRInstaller.exe plug-in unit by name, after installation, can realize operation, double-click the robot.exe file, the input data, click and calculate, can be at the result bar Output rusults, if the requirement of input data fit, direct Output rusults; , if the input data are undesirable, export bigerror and remind input error.
At first obtain punctured data according to specific punching scheme, namely obtain the user coordinates in operation hole.Here we suppose that the pose of operation hole in user coordinate system is T, wherein the 1st classify operation hole x axle attitude, the 2nd as and classify operation hole y axle attitude, the 3rd as and classify operation hole z axle attitude, T=as
Figure 993426DEST_PATH_IMAGE041
, the data inputting interface, input form: xx=0.7071, xy=0.7071, xz=0, yx=-0.7071, yy=0.7071, yz=0, zx=0, zy=0, zz=1, px=-915.44, py=2342.25, pz=0.Obtain a result
Figure 72240DEST_PATH_IMAGE042
,
Figure 570218DEST_PATH_IMAGE043
,
Figure 341864DEST_PATH_IMAGE044
,
Figure 105552DEST_PATH_IMAGE045
,
Figure 988058DEST_PATH_IMAGE046
,
Figure 340542DEST_PATH_IMAGE047
Wherein
Figure 283090DEST_PATH_IMAGE001
Be the 1st freedom of motion, realize the swing of mechanical arm;
Figure 783341DEST_PATH_IMAGE002
Be the 2nd free degree, realize the pitching of mechanical arm; Be the 3rd free degree, realize the revolution of mechanical arm;
Figure 676528DEST_PATH_IMAGE004
Be the 4th free degree, realize the balladeur train pitching;
Figure 789977DEST_PATH_IMAGE005
Be the 5th free degree, realize that balladeur train swings;
Figure 50230DEST_PATH_IMAGE006
Be the 6th free degree, realize the movement of balladeur train.Calculate the above-mentioned joint angles in operation hole by the Matlab program after, just can control joint motions by control system and make mechanical arm arrive the punching pose.The drilling operation in a plurality of holes can double mechanical arms moves also simultaneously can the timesharing action, and key need to be carried out action planning.The motion of single mechanical arm can be realized by dual mode: a kind of is the single-degree-of-freedom sequential movements, completes punching location work totally for 6 times; Another kind is that punching location work is completed in a plurality of free degree interlocks jointly.Below in Single Mechanical arm single dof mobility mode, introduce example hole punching location implementing method.Punching is realized by left mechanical arm in the operation hole, and at first large arm swing oil cylinder is flexible, realizes the revolution of the vertical gyroaxis Z0 of whole mechanical winding, arrives joint position
Figure 274538DEST_PATH_IMAGE042
Degree; The flexible pitching that realizes mechanical arm of hoist cylinder 7, arrive joint position Degree; Fluid motor-driven, through the rotating part revolution of worm and gear deceleration rear drive drill boom 8, realizes the revolution of mechanical arm, arrives joint position
Figure 682703DEST_PATH_IMAGE044
Degree; Flexible balladeur train pitching, the arrival joint position realized of pitching oil cylinder 9
Figure 95229DEST_PATH_IMAGE045
Degree; Pivot angle oil cylinder 10 is flexible realizes that balladeur train swings, and arrives joint position
Figure 123228DEST_PATH_IMAGE046
Degree; Last propelling cylinder 4 is flexible, realizes the rectilinear motion of rock drilling slide plate 5, in-position
Figure 304811DEST_PATH_IMAGE047
Mm, the location work in the hole that just fulfils assignment to this, have the operator to operate hydraulic gate 6 and punch and namely completed location and the punch operation in operation hole to prescribed depth.

Claims (2)

1. drill carriage automatic punching method, the execution unit of boring is mechanical arm, it is characterized in that adopting following method: at first with utilizing Matlab instrument and particle cluster algorithm to obtain the user coordinates in operation hole, wherein
Figure 452675DEST_PATH_IMAGE001
Be the 1st freedom of motion, realize the swing of mechanical arm;
Figure 352498DEST_PATH_IMAGE002
Be the 2nd free degree, realize the pitching of mechanical arm; Be the 3rd free degree, realize the revolution of mechanical arm;
Figure 282593DEST_PATH_IMAGE004
Be the 4th free degree, realize the balladeur train pitching;
Figure 643168DEST_PATH_IMAGE005
Be the 5th free degree, realize that balladeur train swings;
Figure 30287DEST_PATH_IMAGE006
Be the 6th free degree, realize the movement of balladeur train; Punching is realized by mechanical arm in the operation hole, and at first large arm swing oil cylinder is flexible, realizes the revolution of the vertical gyroaxis Z0 of whole mechanical winding, arrives the joint position degree
Figure 213137DEST_PATH_IMAGE001
The flexible pitching that realizes mechanical arm of hoist cylinder 7, arrive the joint position degree
Figure 103733DEST_PATH_IMAGE002
Fluid motor-driven, through the rotating part revolution of worm and gear deceleration rear drive drill boom 8, realizes the revolution of mechanical arm, arrives the joint position degree
Figure 900788DEST_PATH_IMAGE003
Flexible balladeur train pitching, the arrival joint position degree realized of pitching oil cylinder 9 Pivot angle oil cylinder 10 is flexible realizes that balladeur train swings, and arrives the joint position degree
Figure 745433DEST_PATH_IMAGE005
Last propelling cylinder 4 is flexible, realizes the rectilinear motion of rock drilling slide plate 5, in-position
2. drilling method according to claim 1 is characterized in that: the drilling operation in a plurality of holes adopts double mechanical arms to move simultaneously or the timesharing action.
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CN103984230A (en) * 2014-05-09 2014-08-13 大连大学 Zero-disturbance optimization control method for base of space manipulator
CN106914885A (en) * 2017-04-20 2017-07-04 中铁西南科学研究院有限公司 A kind of existing railway Tunnel Water Leakage renovates manipulator
CN109736717A (en) * 2019-03-07 2019-05-10 厦门森那美信昌机器工程有限公司 A kind of excavation drilling machine freedom degree regulating device
CN113858202A (en) * 2021-09-29 2021-12-31 中铁工程装备集团有限公司 Inverse solution analysis method, device, equipment and medium for anchor rod trolley drill arm
CN113894790A (en) * 2021-11-04 2022-01-07 洛阳银杏科技有限公司 Rock drilling robot drill boom motion control method based on tail end attitude constraint
CN117108265A (en) * 2023-10-25 2023-11-24 张家口宣化华泰矿冶机械有限公司 Automatic positioning method and device for drilling, industrial control screen and mining trolley

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103984230A (en) * 2014-05-09 2014-08-13 大连大学 Zero-disturbance optimization control method for base of space manipulator
CN106914885A (en) * 2017-04-20 2017-07-04 中铁西南科学研究院有限公司 A kind of existing railway Tunnel Water Leakage renovates manipulator
CN109736717A (en) * 2019-03-07 2019-05-10 厦门森那美信昌机器工程有限公司 A kind of excavation drilling machine freedom degree regulating device
CN113858202A (en) * 2021-09-29 2021-12-31 中铁工程装备集团有限公司 Inverse solution analysis method, device, equipment and medium for anchor rod trolley drill arm
CN113894790A (en) * 2021-11-04 2022-01-07 洛阳银杏科技有限公司 Rock drilling robot drill boom motion control method based on tail end attitude constraint
CN117108265A (en) * 2023-10-25 2023-11-24 张家口宣化华泰矿冶机械有限公司 Automatic positioning method and device for drilling, industrial control screen and mining trolley
CN117108265B (en) * 2023-10-25 2024-01-26 张家口宣化华泰矿冶机械有限公司 Automatic positioning method and device for drilling, industrial control screen and mining trolley

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