CN113639688A - Rock drilling boom, rock drilling trolley and rock drilling boom sensor calibration method - Google Patents
Rock drilling boom, rock drilling trolley and rock drilling boom sensor calibration method Download PDFInfo
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- CN113639688A CN113639688A CN202110810660.6A CN202110810660A CN113639688A CN 113639688 A CN113639688 A CN 113639688A CN 202110810660 A CN202110810660 A CN 202110810660A CN 113639688 A CN113639688 A CN 113639688A
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- 238000005553 drilling Methods 0.000 title claims abstract description 68
- 239000011435 rock Substances 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 45
- 238000006073 displacement reaction Methods 0.000 claims description 85
- 238000005452 bending Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/045—Correction of measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention discloses a rock drilling boom, a rock drilling trolley and a calibration method of a rock drilling boom sensor in the technical field of mechanical drilling, and aims to solve the technical problems that in the existing calibration scheme of the rock drilling trolley mechanical arm sensor, the calibration error is large, the accuracy is low, the boom positioning accuracy is reduced, or the calibration process is complex, the operation is difficult, and the practical engineering application is difficult. A rock drilling arm support comprises a main arm hinged on an arm base, an auxiliary arm nested in the main arm and capable of stretching along the main arm, and a propelling beam connected to the tail end of the auxiliary arm through a speed reducer; according to the rock drilling boom and the calibration method for the sensor, when the boom sensor needs to be calibrated before delivery debugging of the boom, after the trolley is reassembled, after the sensor is replaced, after the boom is maintained and works for a period of time and the like, the calibration is performed quickly, simply and easily, the calibration accuracy is high, the operation requirement of a calibrator is low, the actual engineering application is facilitated, and the automatic positioning accuracy of the boom is ensured.
Description
Technical Field
The invention relates to a rock drilling boom, a rock drilling trolley and a calibration method of a rock drilling boom sensor, and belongs to the technical field of mechanical drilling.
Background
The rock drilling jumbo is rock drilling equipment frequently used in tunnel and underground engineering construction, and mainly comprises a rock drill, a drill boom, a frame, a traveling mechanism and other necessary auxiliary equipment and equipment added according to engineering requirements. The hand-held rock drill is developed for meeting the requirement of large-section tunnel construction and overcoming the defect of low drilling efficiency of the hand-held rock drill, and is popularized and applied to the construction of railway tunnels and hydraulic tunnels. The computer automatic rock drilling jumbo has a computer automatic control function, is also called a rock drilling robot, and is a special mobile robot. The computer automatic rock drilling jumbo has a main task that a hydraulic rock drill arranged at the tail end is conveyed to a position required by a section in a pre-designed posture through a multi-degree-of-freedom serial mechanical arm, the process is automatic positioning of the mechanical arm, and in order to automatically position the mechanical arm, a sensor for reflecting the movement position of a joint needs to be arranged on each joint of the mechanical arm.
Therefore, before the trolley is delivered to a factory and debugged, after the trolley is reassembled, after the sensor is replaced, after the arm support is maintained and after the trolley works for a period of time, the arm support sensor needs to be calibrated due to machining errors and installation errors, and the automatic positioning accuracy of the arm support is ensured. The method not only requires high calibration precision requirement and simple calibration device, but also requires easy implementation of the calibration method and low operation requirement of calibration personnel, and is beneficial to practical engineering application.
201710354422.2, the patent application provides a field calibration method for sensors of each joint of a heavy 6-degree-of-freedom mechanical arm, the calibration method is only calibrated along with the zero position and the limit position of the sensors, only the designed limit angle and the zero position are set, the factors such as arm support assembly errors and machining errors are not considered, the calibration error is large, the accuracy is low, and the arm support positioning accuracy is influenced;
the patent application with the application number of CN201811261687.9 provides an automatic control system and a zero setting method for a mechanical arm of an automatic operation wet spraying machine, a plurality of encoders are arranged on an arm support of the tunnel wet spraying machine, the zero position of each joint absolute value encoder is set, and finally the position and the angle of a red light indicator are adjusted, so that after red laser passes through a hollow cylinder on three arms, a calibration error is indicated to be within an acceptable range. [A1] In that respect
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a rock drilling boom, a rock drilling trolley and a calibration method of a rock drilling boom sensor.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
in a first aspect, the invention provides a rock drilling boom frame, which comprises a main arm hinged on a boom base, an auxiliary arm nested in the main arm and capable of stretching along the main arm, and a propelling beam connected to the tail end of the auxiliary arm through a speed reducer, wherein the propelling beam comprises a propelling base and a compensating beam capable of feeding along the propelling base; the main arm and the propelling beam are respectively provided with respective positioning sensors, and the auxiliary arm and the compensating beam are respectively provided with respective telescopic displacement sensors; the main arm positioning sensor and the auxiliary arm telescopic displacement sensor can be calibrated by detecting the coordinates of the first prism, the second prism and the third prism;
a fourth prism and a fifth prism are arranged on the compensation beam; through detecting the coordinates of the fourth prism and the fifth prism, the positioning sensor of the push beam and the telescopic displacement sensor of the compensating beam can be calibrated.
Further, the main arm positioning sensor comprises a main arm pitch angle sensor and a main arm swing angle sensor.
Furthermore, the first prism is arranged at a pitching hinged shaft of the main arm and the arm base, and the center of the first prism and the pitching hinged shaft are arranged concentrically; the second prism is arranged at the tail end of the main arm, and the centers of the first prism and the second prism are both positioned on the central line of the main arm; the third prism is positioned on the same side of the second prism at the tail end of the main arm, the center of the third prism is positioned on the central line of the main arm, and the prism surface of the third prism on the auxiliary arm is as high as the prism surfaces of the first prism and the second prism.
Further, the feed beam positioning sensor comprises a feed beam pitch angle sensor, a feed beam swing angle sensor and a feed beam rotation angle sensor.
Furthermore, the fourth prism and the fifth prism are respectively positioned at two ends of the bottom of the compensation beam, the fourth prism and the fifth prism have the same height, and a central connecting line of the fourth prism and the fifth prism is parallel to the compensation beam.
Further, the speed reducer comprises a first speed reducer and a second speed reducer, the first speed reducer is connected with the auxiliary arm, a rotating shaft of the first speed reducer is coaxial with the auxiliary arm, and the first speed reducer can drive the propelling beam to rotate around the axial direction of the auxiliary arm; the second speed reducer is hinged to the propelling base, a rotating shaft of the second speed reducer is perpendicular to a rotating shaft of the first speed reducer, and the propelling beam can be driven to pitch around the normal direction of the auxiliary arm through the second speed reducer.
In a second aspect, the invention further provides a rock drilling jumbo, which comprises a drilling machine and the rock drilling boom, wherein the drilling machine is mounted on the push beam.
In a third aspect, the invention further provides a calibration method for the rock drilling boom sensor, which includes the following steps:
leveling the trolley, and establishing a coordinate system parallel to the central line of the trolley body by using a total station;
adjusting the posture of the main arm and the telescopic displacement of the auxiliary arm, detecting the coordinates of the first prism, the second prism and the third prism in the coordinate system by using a total station, and calibrating the main arm positioning sensor and the auxiliary arm telescopic displacement sensor according to the coordinates of the first prism, the second prism and the third prism;
and adjusting the posture of the push beam, detecting the coordinates of a fourth prism and a fifth prism by using a total station, and calibrating the push beam positioning sensor and the compensating beam telescopic displacement sensor according to the coordinates of the fourth prism and the fifth prism.
Furthermore, the main arm positioning sensor comprises a main arm pitching angle sensor and a main arm swinging angle sensor;
the method for calibrating the main arm positioning sensor and the auxiliary arm telescopic displacement sensor according to the coordinates of the first prism, the second prism and the third prism comprises the following steps:
driving the main arm to pitch upwards and swing rightwards, calculating and acquiring an elevation angle calculation value on the main arm and a right swing angle calculation value of the main arm according to the measured coordinates of the first prism, the second prism and the third prism without stretching and retracting of the auxiliary arm; correspondingly changing the display values of the main arm pitching angle sensor and the main arm swinging angle sensor into a calculated value of an elevation angle on the main arm and a calculated value of a right swing angle of the main arm, and setting the auxiliary arm telescopic sensor to be zero;
driving the main arm to bow downwards and swing left, enabling the auxiliary arm to stretch by a half, and calculating and obtaining a calculated value of a bow-down angle of the main arm, a calculated value of a swing-left angle of the main arm and a calculated value of telescopic displacement of the auxiliary arm according to the measured coordinates of the first prism, the second prism and the third prism; correspondingly changing the display values of the main arm pitch angle sensor, the main arm swing angle sensor and the auxiliary arm telescopic sensor into a main arm downward-bending angle calculation value, a main arm left-swinging angle calculation value and an auxiliary arm telescopic displacement calculation value;
the pitching angle of the main arm is reset to zero, the swinging angle of the main arm is reset to zero, the auxiliary arm is completely stretched out, and the pitching angle zero offset of the main arm, the swinging angle zero offset of the main arm, the telescopic displacement calculation value of the auxiliary arm and the display value offset of the telescopic displacement sensor of the auxiliary arm are calculated according to the measured coordinates of the first prism, the second prism and the third prism;
if the main arm pitching angle zero-position deviation/main arm swinging angle zero-position deviation is not more than 5%, successfully calibrating the main arm pitching angle sensor/main arm swinging angle sensor; if the deviation is larger than 5%, readjusting the pitching angle/the swinging angle of the main arm, recalibrating until the deviation is not larger than 5%, and then setting the pitching angle sensor and the swinging angle sensor of the main arm to zero;
if the deviation between the calculated value of the telescopic displacement of the auxiliary arm and the displayed value of the telescopic displacement sensor of the auxiliary arm is not more than 5%, the auxiliary arm displacement sensor is successfully calibrated; and if the deviation between the auxiliary arm telescopic displacement calculation value and the auxiliary arm telescopic displacement sensor display value is more than 5%, changing the auxiliary arm telescopic displacement calculation value according to the auxiliary arm telescopic displacement sensor display value.
Further, the push beam positioning sensor comprises a push beam pitch angle sensor, a push beam swing angle sensor and a push beam rotation angle sensor;
the method for calibrating the propelling beam pitching angle sensor, the propelling beam swinging angle sensor and the compensating beam stretching displacement sensor according to the coordinates of the fourth prism and the fifth prism comprises the following steps:
keeping the pitching and swinging zero positions of the main arm and the telescopic zero position of the auxiliary arm;
driving the propulsion beam to pitch upwards and swing rightwards, enabling the compensation beam not to stretch, and calculating and obtaining an elevation angle calculated value on the propulsion beam and a propulsion beam right swing angle calculated value according to the measured coordinates of the fourth prism and the fifth prism; changing the display values of a pitching angle sensor and a swinging angle sensor of the propelling beam into a calculated value of an elevation angle on the propelling beam and a calculated value of a right swing angle of the propelling beam, and setting a telescopic sensor of the compensating beam to be zero;
driving the propulsion beam to bow and swing downwards, compensating the beam to stretch by a half, and calculating and obtaining a calculated value of the bow angle of the propulsion beam, a calculated value of the yaw angle of the propulsion beam and a calculated value of the stretching displacement of the propulsion beam according to the measured coordinates of the fourth prism and the fifth prism; correspondingly changing the display values of a pitching angle sensor of the propelling beam, a swinging angle sensor of the propelling beam and a telescopic displacement sensor of the compensating beam into a calculated value of a downward pitching angle of the propelling beam, a calculated value of a left swinging angle of the propelling beam and a calculated value of telescopic displacement of the propelling beam;
returning the pitching of the propelling beam to zero and the swinging of the propelling beam to zero, extending the compensating beam completely, and calculating the zero offset of the pitching angle of the propelling beam, the zero offset of the swinging angle of the propelling beam, the calculated value of the telescopic displacement of the compensating beam and the display value of the telescopic displacement sensor of the compensating beam according to the measured coordinates of the fourth prism and the fifth prism;
if the pitching angle zero offset/propelling beam swing zero offset of the propelling beam is not more than 5%, successfully calibrating the pitching angle sensor/propelling beam swing angle sensor of the propelling beam; if the pitching angle zero-position deviation/the propelling beam swinging zero-position deviation of the propelling beam is more than 5%, readjusting the pitching angle/the propelling beam swinging angle of the propelling beam, and resetting the pitching angle sensor and the propelling beam swinging angle sensor to zero after recalibrating until the deviation is not more than 5%;
if the deviation between the calculated value of the telescopic displacement of the compensating beam and the display value of the telescopic displacement sensor of the compensating beam is not more than 5 percent, the telescopic displacement sensor of the compensating beam is successfully calibrated; if the deviation between the calculated value of the telescopic displacement of the compensating beam and the displayed value of the telescopic displacement sensor of the compensating beam is more than 5 percent, changing the displayed value of the telescopic displacement sensor of the compensating beam into the calculated value of the telescopic displacement of the compensating beam;
the method for calibrating the propulsion beam rotation angle sensor according to the coordinates of the fourth prism and the fifth prism comprises the following steps:
keeping the pitching and swinging zero position of the main arm, the telescopic zero position of the auxiliary arm, the swinging zero position of the propelling beam, the telescopic zero position of the compensating beam and the downward pitching angle of the propelling beam of 90 degrees;
rightwards rotating the propulsion beam, ensuring that a total station can observe a fourth prism and a fifth prism, and calculating according to coordinates of the fourth prism and the fifth prism measured by the total station to obtain a calculated value of the rightwards rotating angle of the propulsion beam; changing the display value of the rotating angle sensor of the push beam into a right-handed angle calculation value of the push beam;
the push beam is rotated to the left, the total station can observe a fourth prism and a fifth prism, and a left rotation angle calculation value of the push beam is obtained through calculation according to coordinates of the fourth prism and the fifth prism measured by the total station; changing the display value of the rotating sensor of the push beam into a calculated value of the left-hand rotating angle of the push beam;
the rotation of the propulsion beam is reset to zero, and the actual angle deviation of the propulsion beam is calculated according to the coordinates of the fourth prism and the fifth prism measured by the total station; if the actual angle deviation of the push beam is not more than 5%, the calibration of the push beam rotation angle sensor is successful; and if the actual angle deviation of the propelling beam is more than 5%, readjusting the rotating angle of the propelling beam, and resetting the rotating sensor of the propelling beam to zero after recalibrating until the actual angle deviation of the propelling beam is not more than 5%.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a rock drilling boom, a rock drilling trolley and a calibration method for a rock drilling boom sensor. In the rock drilling boom structure, a prism is installed at a specific position on a boom, the centers of two prisms of a main arm are both positioned on the central line of the main arm, an auxiliary arm prism is positioned on the same side of the prism of the main arm, and the center of the prism is positioned on the central line of the main arm; two prisms on the compensating beam are positioned at two ends of the bottom of the beam, and the central connecting line of the prisms is parallel to the compensating beam; the two prism surfaces on the main arm are as high as those on the auxiliary arm, and the two prism surfaces at the bottom of the compensation beam are as high as those on the auxiliary arm.
In the rock drilling boom sensor calibration method, sensor calibration is carried out according to the sequence of simultaneous calibration of a main arm pitching sensor, a main arm swinging sensor and an auxiliary arm stretching sensor, simultaneous calibration of a propelling beam pitching sensor, a propelling beam swinging sensor and a compensating beam stretching sensor, and final calibration of propelling beam rotation; when the sensor is calibrated, a specific gesture is set on the arm support where the calibrated sensor is located according to requirements, then the sensor calibrated this time is sequentially set with two specific gestures for measurement and calculation of the prism position, finally the sensor calibrated this time is set with a specific gesture, and the calculated value of the prism and the displayed value of the sensor are compared and checked, so that the sensor is calibrated. According to the rock drilling boom and the calibration method for the sensor, when the boom sensor needs to be calibrated before delivery debugging of the boom, after the trolley is reassembled, after the sensor is replaced, after the boom is maintained and works for a period of time and the like, the calibration is performed quickly, simply and easily, the calibration accuracy is high, the operation requirement of a calibrator is low, the actual engineering application is facilitated, and the automatic positioning accuracy of the boom is ensured.
Drawings
Fig. 1 is a front view of a rock drilling boom structure according to a first embodiment of the present invention;
fig. 2 is a top view of a rock drilling boom structure according to an embodiment of the present invention;
FIG. 3 is a front view of a master arm pitch calibration provided in accordance with one embodiment of the present invention;
FIG. 4 is a top view of a master arm swing calibration provided in accordance with an embodiment of the present invention;
FIG. 5 is a front view of a pod pitch calibration provided in accordance with an embodiment of the present invention;
FIG. 6 is a top view of a propeller oscillation calibration provided in accordance with an embodiment of the present invention;
FIG. 7 is a front view of a rotational alignment of a propeller according to an embodiment of the present invention;
FIG. 8 is a side view of a rotational alignment of a propeller according to one embodiment of the present invention;
fig. 9 is a flow chart of sensor calibration provided by the third embodiment of the present invention.
In the figure: 1. an arm base; 2. a main arm; 3. an auxiliary arm; 4. a feed beam; 5. a drilling machine; 21. a first prism; 22. a second prism; 31. a first speed reducer; 32. a second speed reducer; 33. a third prism; 41. pushing the base; 42. a compensating beam; 43. a fourth prism; 44. and a fifth prism.
Detailed Description
In the calibration scheme of the multi-degree-of-freedom arm support of the drill jumbo, some technical schemes are calibrated along with the zero position and the extreme position of a sensor, only the designed extreme angle and the zero position are set, the factors such as assembly errors and processing errors of the arm support are not considered, the calibration error is large, the accuracy is low, and the positioning accuracy of the arm support is influenced, the invention provides the drill boom which can calibrate the sensor at the drill boom by calculating the position change of a main arm, an auxiliary arm and a push beam through detecting the coordinates of a prism arranged at the drill boom, solves the technical problems that the calibration error is large, the accuracy is low, the positioning accuracy of the arm support is reduced, or the calibration process is complex and the operation is difficult, and the actual engineering application is difficult in the calibration scheme of the mechanical arm sensor of the existing drill jumbo, is further described by combining the attached drawings, and the following embodiments are only used for more clearly explaining the technical scheme of the invention, and should not be taken as limiting the scope of the invention.
Example one
The embodiment of the invention provides a rock drilling boom frame, which comprises a boom base 1, a main boom 2, an auxiliary boom 3 and a propelling beam 4, wherein the boom base 1 is connected with a rock drilling trolley body, the main boom 2 is hinged and installed on the boom base 1, the main boom 2 can perform pitching and swinging actions based on the boom base 1, the auxiliary boom 3 is embedded in the main boom 2 and can perform telescopic actions along the main boom 2, a first speed reducer 31 is arranged at the tail end of the auxiliary boom 3, a rotating axis is the center line of the auxiliary boom, a second speed reducer 32 is arranged at the tail end of the first speed reducer 31, the rotating axis of the second speed reducer 32 is vertical to the rotating axis of the first speed reducer 31, the propelling beam 4 comprises a propelling base 41 and a compensating beam 42, and the propelling base 41 is hinged with the second speed reducer 32 through a hinged shaft and can swing along the hinged shaft; the compensating beam 42 is arranged above the propelling base 41 and can stretch along the propelling base 41, the drilling machine 5 is positioned above the propelling beam 4, the first speed reducer 31 can enable the propelling beam 4 to rotate around the central line direction of the auxiliary arm 3, the second speed reducer 32 can enable the propelling beam 4 to pitch around the normal line direction of the auxiliary arm 3, the main arm 2 is provided with a main arm pitch angle sensor and a main arm swing angle sensor, the main arm pitch angle sensor and the main arm swing angle sensor jointly form a main arm positioning sensor, the auxiliary arm 3 is provided with an auxiliary arm stretching displacement sensor, the first speed reducer 31 is provided with a propelling beam rotating angle sensor, the second speed reducer 32 is provided with a propelling beam pitch angle sensor, the propelling beam 4 is provided with a propelling beam swing angle sensor, the propelling beam rotating angle sensor, the propelling beam pitch angle sensor and the propelling beam swing angle sensor jointly form a propelling beam positioning sensor, the compensation beam 42 is provided with a compensation beam telescopic displacement sensor.
In order to realize the purpose of calculating the position changes of the main arm, the auxiliary arm and the propelling beam by detecting the coordinates of the prism arranged at the rock drilling arm support to calibrate each sensor on the rock drilling arm support, a first prism 21 is arranged at the pitching hinging shaft of the main arm 2, the center of the first prism 21 is concentric with the pitching hinging shaft, a second prism 22 is arranged at the tail end of the main arm 2, the centers of the first prism 21 and the second prism 22 are both positioned on the central line of the main arm 2, a third prism 33 is arranged on the auxiliary arm 3 and is positioned on the same side of the second prism 22 at the tail end of the main arm 2, and the center of the third prism 33 is positioned on the central line of the main arm 2. Prism surfaces of the first prism 21 and the second prism 22 on the main arm 2 are equal in height with a prism surface of the third prism 33 on the auxiliary arm, a fourth prism 43 and a fifth prism 44 are arranged on the compensation beam 42, the fourth prism 43 and the fifth prism 44 are positioned at two ends of the bottom of the compensation beam 42, the fourth prism 43 and the fifth prism 44 are equal in height, and a central connecting line of the fourth prism 43 and the fifth prism 44 is parallel to the compensation beam 42.
In the rock drilling boom structure, a prism is installed at a specific position on a rock drilling boom, and during sensor calibration, the sensors are calibrated simultaneously according to the main arm pitch angle sensor, the main arm swing angle sensor and the auxiliary arm telescopic displacement sensor, the push beam pitch angle sensor, the push beam swing angle sensor and the compensation beam telescopic displacement sensor, and the sensor calibration is carried out in the last calibration sequence of the push beam rotation angle sensor; when the sensor is calibrated, a specific gesture is set on the arm support where the calibrated sensor is located according to requirements, then the sensor calibrated this time is sequentially set with two specific gestures for measurement and calculation of the prism position, finally the sensor calibrated this time is set with a specific gesture, and the calculated value of the prism and the displayed value of the sensor are compared and checked, so that the sensor is calibrated.
Example two
The embodiment two of the invention provides a rock drilling trolley, which comprises a drilling machine and a rock drilling arm support, wherein the rock drilling arm support comprises an arm base 1, a main arm 2, an auxiliary arm 3 and a propelling beam 4, the arm base 1 is connected with a trolley body of the rock drilling trolley, the main arm 2 is hinged and installed on the arm base 1, the main arm 2 can perform pitching and swinging actions based on the arm base 1, the auxiliary arm 3 is nested inside the main arm 2 and can perform telescopic actions along the main arm 2, a first speed reducer 31 is arranged at the tail end of the auxiliary arm 3, a rotating axis is a central line of the auxiliary arm, a second speed reducer 32 is arranged at the tail end of the first speed reducer 31, a rotating shaft of the second speed reducer 32 is vertical to a rotating shaft of the first speed reducer 31, the propelling beam 4 comprises a propelling base 41 and a compensating beam 42, and the propelling base 41 is hinged with the second speed reducer 32 through a hinge shaft and can swing along the hinge shaft; the compensating beam 42 is arranged above the propelling base 41 and can stretch along the propelling base 41, the drilling machine 5 is positioned above the propelling beam 4, the first speed reducer 31 can enable the propelling beam 4 to rotate around the central line direction of the auxiliary arm 3, the second speed reducer 32 can enable the propelling beam 4 to pitch around the normal line direction of the auxiliary arm 3, the main arm 2 is provided with a main arm pitch angle sensor and a main arm swing angle sensor, the main arm pitch angle sensor and the main arm swing angle sensor jointly form a main arm positioning sensor, the auxiliary arm 3 is provided with an auxiliary arm stretching displacement sensor, the first speed reducer 31 is provided with a propelling beam rotating angle sensor, the second speed reducer 32 is provided with a propelling beam pitch angle sensor, the propelling beam 4 is provided with a propelling beam swing angle sensor, the propelling beam rotating angle sensor, the propelling beam pitch angle sensor and the propelling beam swing angle sensor jointly form a propelling beam positioning sensor, the compensation beam 42 is provided with a compensation beam telescopic displacement sensor. The drilling machine is arranged on the propelling beam.
EXAMPLE III
The third embodiment of the invention provides a sensor calibration method, which is applied to the rock drilling boom, wherein a trolley is leveled before a sensor is calibrated, a total station is utilized to establish a coordinate system parallel to the central line of a vehicle body, a main arm pitching angle sensor, a main arm swinging angle sensor and an auxiliary arm telescopic displacement sensor are calibrated simultaneously, a push beam pitching angle sensor, a push beam swinging angle sensor and a compensation beam telescopic displacement sensor are calibrated simultaneously, and finally the sensor calibration is carried out in the sequence of push beam rotation angle sensor calibration.
When the main arm pitching angle sensor, the main arm swinging angle sensor and the auxiliary arm telescopic displacement sensor are calibrated simultaneously, the method is divided into three steps. Firstly, measuring the coordinates of a first prism 21, a second prism 22 and a third prism 33 on the auxiliary arm 3 on the main arm 2 by using a total station under the state that the main arm 2 is at an upward elevation angle alpha and a right swing angle beta and the auxiliary arm 3 is not telescopic, calculating the upward elevation angle alpha and the right swing angle beta of the main arm 2, changing the display angle values of a main arm pitch angle sensor and a main arm swing angle sensor into the upward elevation angle and the right swing angle, and setting a telescopic displacement sensor of the auxiliary arm to zero; secondly, the main arm 2 is bent downwards by a certain angle and swung leftwards by a certain angle, the auxiliary arm 3 stretches by about a half, the coordinates of a first prism 21, a second prism 22 and a third prism 33 on the main arm 2 and the auxiliary arm 3 are measured by using a total station under the posture, the bent downwards and swung leftwards angles and the stretching distance of the auxiliary arm 3 of the main arm 2 are calculated, and then the display values of a main arm pitch angle sensor, a main arm swing angle sensor and an auxiliary arm stretching displacement sensor are changed into the bent downwards and swung leftwards angles and the stretching distance; and thirdly, returning the pitching and the swinging of the main arm 2 to zero according to the display value of the sensor, completely extending and retracting the auxiliary arm 3, measuring the coordinates of the first prism 21, the second prism 22 and the third prism 33 on the main arm 2 and the auxiliary arm 3 by using a total station under the posture, and calculating the pitching and swinging zero position deviation of the main arm 2, the stretching distance of the auxiliary arm 3 and the registration deviation of the sensor. If the angle deviation is not more than 5 percent, successfully calibrating, if the angle deviation is more than 5 percent, finely adjusting the angle of the main arm 2, measuring again until the deviation is not more than 5 percent, and then setting the main arm pitching angle sensor and the main arm swinging angle sensor to be zero; if the displacement deviation of the auxiliary arm 3 is not more than 5 percent, successfully calibrating, and if the displacement deviation is more than 5 percent, setting the auxiliary arm telescopic displacement sensor value as the calculated displacement value.
When the pitching angle sensor of the propelling beam, the swinging angle sensor of the propelling beam and the telescopic displacement sensor of the compensating beam are calibrated simultaneously, the pitching angle sensor of the main arm and the swinging angle sensor of the main arm are kept at zero positions, and the telescopic displacement sensor of the auxiliary arm is kept at the zero position. Firstly, the push beam 4 tilts upwards for a certain angle and swings right for a certain angle, the compensation beam 42 does not stretch, the coordinates of a fourth prism 43 and a fifth prism 44 on the push beam 4 are measured by a total station under the posture, the upward tilt angle gamma and the right tilt angle delta of the push beam 4 are calculated, then the display angle values of a push beam pitch angle sensor and a push beam swing angle sensor on the push beam 4 are changed into the upward tilt angle gamma and the right tilt angle delta, and a compensation beam stretching displacement sensor is set to be zero; secondly, the propulsion beam 4 is bent downwards by a certain angle and swung leftwards by a certain angle, the compensation beam 42 stretches by about a half, the coordinates of a fourth prism 43 and a fifth prism 44 on the propulsion beam 4 are measured by a total station under the posture, the bending and swinging angles of the propulsion beam 4 and the stretching distance of the compensation beam 42 are calculated, and then the display values of a propulsion beam pitch angle sensor, a propulsion beam swing angle sensor and a compensation beam stretching displacement sensor of the propulsion beam 4 are changed into the bending and swinging angles and the stretching distance; thirdly, returning the pitching and the swinging of the push beam 4 to zero according to the display value of the sensor, completely extending and retracting the compensation beam 42, measuring the coordinates of a fourth prism 43 and a fifth prism 44 on the push beam 4 by using a total station under the posture, and calculating the pitching and the swinging zero offset of the push beam 4, the stretching distance of the compensation beam 42 and the sensor display offset. If the angle deviation is not more than 5 percent, successfully calibrating, if the angle deviation is more than 5 percent, finely adjusting the angle of the propelling beam 4, measuring again until the deviation is not more than 5 percent, and then setting the pitching angle sensor and the swinging angle sensor of the propelling beam to be zero; if the displacement deviation of the compensating beam 42 is not more than 5 percent of successful calibration, and if the displacement deviation is more than 5 percent, the value of the compensating beam expansion displacement sensor is set as the calculated displacement value.
When the sensor of the rotation angle of the propelling beam is calibrated, the pitching and swinging zero position of the main arm 2, the stretching zero position of the auxiliary arm 3, the swinging zero position of the propelling beam 4 and the stretching zero position of the compensating beam 42 are kept, the propelling beam 4 is pitched down by 90 degrees, and the calibration is carried out in three steps. Firstly, the propulsion beam 4 rotates rightwards for a certain angle in the posture, the fourth prism 43 and the fifth prism 44 on the propulsion beam 4 can be observed, the coordinates of the fourth prism 43 and the fifth prism 44 on the propulsion beam 4 are measured by a total station in the posture, the right rotation angle of the propulsion beam 4 is calculated, and then the displayed angle value of the rotation angle sensor of the propulsion beam is changed into the right rotation angle; and secondly, rotating the propulsion beam 4 to the left for a certain angle and ensuring that the fourth prism 43 and the fifth prism 44 on the propulsion beam 4 can be observed, measuring the coordinates of the fourth prism 43 and the fifth prism 44 on the propulsion beam 4 by using a total station under the posture, calculating the left rotation angle of the propulsion beam 4, and then changing the display value of the propulsion beam rotation angle sensor into the angle. And thirdly, rotating the propulsion beam 4 to zero according to the display value of the rotation angle sensor of the propulsion beam, measuring the coordinates of a fourth prism 43 and a fifth prism 44 on the propulsion beam 4 by using a total station under the posture, and calculating the actual angle of the propulsion beam 4. If the angle deviation is not more than 5 percent, successfully calibrating, if the angle deviation is more than 5 percent, finely adjusting the rotating angle of the pushing beam 4, and measuring again until the deviation is not more than 5 percent, and then setting the rotating angle sensor of the pushing beam to be zero.
The rock drilling boom and the calibration method of the sensor described in the technical scheme can calibrate the boom sensor quickly, simply and easily when the boom needs to be calibrated before factory debugging, after the trolley is reassembled, after the sensor is replaced, after the boom is maintained and works for a period of time and the like, the calibration is high in calibration precision and low in operation requirement of a calibrator, the calibration is beneficial to practical engineering application, and the automatic positioning precision of the boom is ensured.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A rock drilling arm support comprises a main arm hinged to an arm base, an auxiliary arm nested in the main arm and capable of stretching along the main arm, and a propelling beam connected to the tail end of the auxiliary arm through a speed reducer, wherein the propelling beam comprises a propelling base and a compensating beam capable of feeding along the propelling base; the main arm and the propelling beam are respectively provided with respective positioning sensors, and the auxiliary arm and the compensating beam are respectively provided with respective telescopic displacement sensors; the main arm positioning sensor and the auxiliary arm telescopic displacement sensor can be calibrated by detecting the coordinates of the first prism, the second prism and the third prism;
a fourth prism and a fifth prism are arranged on the compensation beam; through detecting the coordinates of the fourth prism and the fifth prism, the positioning sensor of the push beam and the telescopic displacement sensor of the compensating beam can be calibrated.
2. A rock drilling boom as claimed in claim 1, wherein the main arm position sensor comprises a main arm pitch angle sensor and a main arm roll angle sensor.
3. A rock drilling boom according to claim 2, characterized in that the first prism is mounted at a pitch hinge axis of the main boom and the boom base, and the center of the first prism is arranged concentrically with the pitch hinge axis; the second prism is arranged at the tail end of the main arm, and the centers of the first prism and the second prism are both positioned on the central line of the main arm; the third prism is positioned on the same side of the second prism at the tail end of the main arm, the center of the third prism is positioned on the central line of the main arm, and the prism surface of the third prism on the auxiliary arm is as high as the prism surfaces of the first prism and the second prism.
4. A rock drilling boom according to claim 1, characterized in that the feed beam positioning sensor comprises a feed beam pitch angle sensor, a feed beam roll angle sensor and a feed beam rotation angle sensor.
5. A rock drilling boom according to claim 4, characterized in that the fourth prism and the fifth prism are respectively located at two ends of the bottom of the compensating beam, the fourth prism and the fifth prism are equal in height, and a central connecting line of the fourth prism and the fifth prism is parallel to the compensating beam.
6. The rock drilling boom according to claim 1, wherein the speed reducer comprises a first speed reducer and a second speed reducer, the first speed reducer is connected with the auxiliary arm, a rotating shaft of the first speed reducer is coaxial with the auxiliary arm, and the first speed reducer can drive the propelling beam to rotate around the axis direction of the auxiliary arm; the second speed reducer is hinged to the propelling base, a rotating shaft of the second speed reducer is perpendicular to a rotating shaft of the first speed reducer, and the propelling beam can be driven to pitch around the normal direction of the auxiliary arm through the second speed reducer.
7. A rock drilling rig comprising a drilling rig, characterized by further comprising a rock drilling boom according to any one of claims 1 to 6, the drilling rig being mounted on the feed beam.
8. A rock drilling boom sensor calibration method is characterized by comprising the following steps:
leveling the trolley, and establishing a coordinate system parallel to the central line of the trolley body by using a total station;
adjusting the posture of the main arm and the telescopic displacement of the auxiliary arm, detecting the coordinates of the first prism, the second prism and the third prism in the coordinate system by using a total station, and calibrating the main arm positioning sensor and the auxiliary arm telescopic displacement sensor according to the coordinates of the first prism, the second prism and the third prism;
and adjusting the posture of the push beam, detecting the coordinates of a fourth prism and a fifth prism by using a total station, and calibrating the push beam positioning sensor and the compensating beam telescopic displacement sensor according to the coordinates of the fourth prism and the fifth prism.
9. A rock arm boom sensor calibration method as recited in claim 8, wherein the boom positioning sensor comprises a boom pitch angle sensor and a boom yaw angle sensor;
the method for calibrating the main arm positioning sensor and the auxiliary arm telescopic displacement sensor according to the coordinates of the first prism, the second prism and the third prism comprises the following steps:
driving the main arm to pitch upwards and swing rightwards, calculating and acquiring an elevation angle calculation value on the main arm and a right swing angle calculation value of the main arm according to the measured coordinates of the first prism, the second prism and the third prism without stretching and retracting of the auxiliary arm; correspondingly changing the display values of the main arm pitching angle sensor and the main arm swinging angle sensor into a calculated value of an elevation angle on the main arm and a calculated value of a right swing angle of the main arm, and setting the auxiliary arm telescopic sensor to be zero;
driving the main arm to bow downwards and swing left, enabling the auxiliary arm to stretch by a half, and calculating and obtaining a calculated value of a bow-down angle of the main arm, a calculated value of a swing-left angle of the main arm and a calculated value of telescopic displacement of the auxiliary arm according to the measured coordinates of the first prism, the second prism and the third prism; correspondingly changing the display values of the main arm pitch angle sensor, the main arm swing angle sensor and the auxiliary arm telescopic sensor into a main arm downward-bending angle calculation value, a main arm left-swinging angle calculation value and an auxiliary arm telescopic displacement calculation value;
the pitching angle of the main arm is reset to zero, the swinging angle of the main arm is reset to zero, the auxiliary arm is completely stretched out, and the pitching angle zero offset of the main arm, the swinging angle zero offset of the main arm, the telescopic displacement calculation value of the auxiliary arm and the display value offset of the telescopic displacement sensor of the auxiliary arm are calculated according to the measured coordinates of the first prism, the second prism and the third prism;
if the main arm pitching angle zero-position deviation/main arm swinging angle zero-position deviation is not more than 5%, successfully calibrating the main arm pitching angle sensor/main arm swinging angle sensor; if the deviation is larger than 5%, readjusting the pitching angle/the swinging angle of the main arm, recalibrating until the deviation is not larger than 5%, and then setting the pitching angle sensor and the swinging angle sensor of the main arm to zero;
if the deviation between the calculated value of the telescopic displacement of the auxiliary arm and the displayed value of the telescopic displacement sensor of the auxiliary arm is not more than 5%, the auxiliary arm displacement sensor is successfully calibrated; and if the deviation between the auxiliary arm telescopic displacement calculation value and the auxiliary arm telescopic displacement sensor display value is more than 5%, changing the auxiliary arm telescopic displacement calculation value according to the auxiliary arm telescopic displacement sensor display value.
10. A rock boom sensor calibration method according to claim 8 or 9, characterized in that said feed beam positioning sensors comprise a feed beam pitch angle sensor, a feed beam swing angle sensor and a feed beam rotation angle sensor;
the method for calibrating the propelling beam pitching angle sensor, the propelling beam swinging angle sensor and the compensating beam stretching displacement sensor according to the coordinates of the fourth prism and the fifth prism comprises the following steps:
keeping the pitching and swinging zero positions of the main arm and the telescopic zero position of the auxiliary arm;
driving the propulsion beam to pitch upwards and swing rightwards, enabling the compensation beam not to stretch, and calculating and obtaining an elevation angle calculated value on the propulsion beam and a propulsion beam right swing angle calculated value according to the measured coordinates of the fourth prism and the fifth prism; changing the display values of a pitching angle sensor and a swinging angle sensor of the propelling beam into a calculated value of an elevation angle on the propelling beam and a calculated value of a right swing angle of the propelling beam, and setting a telescopic sensor of the compensating beam to be zero;
driving the propulsion beam to bow and swing downwards, compensating the beam to stretch by a half, and calculating and obtaining a calculated value of the bow angle of the propulsion beam, a calculated value of the yaw angle of the propulsion beam and a calculated value of the stretching displacement of the propulsion beam according to the measured coordinates of the fourth prism and the fifth prism; correspondingly changing the display values of a pitching angle sensor of the propelling beam, a swinging angle sensor of the propelling beam and a telescopic displacement sensor of the compensating beam into a calculated value of a downward pitching angle of the propelling beam, a calculated value of a left swinging angle of the propelling beam and a calculated value of telescopic displacement of the propelling beam;
returning the pitching of the propelling beam to zero and the swinging of the propelling beam to zero, extending the compensating beam completely, and calculating the zero offset of the pitching angle of the propelling beam, the zero offset of the swinging angle of the propelling beam, the calculated value of the telescopic displacement of the compensating beam and the display value of the telescopic displacement sensor of the compensating beam according to the measured coordinates of the fourth prism and the fifth prism;
if the pitching angle zero offset/propelling beam swing zero offset of the propelling beam is not more than 5%, successfully calibrating the pitching angle sensor/propelling beam swing angle sensor of the propelling beam; if the pitching angle zero-position deviation/the propelling beam swinging zero-position deviation of the propelling beam is more than 5%, readjusting the pitching angle/the propelling beam swinging angle of the propelling beam, and resetting the pitching angle sensor and the propelling beam swinging angle sensor to zero after recalibrating until the deviation is not more than 5%;
if the deviation between the calculated value of the telescopic displacement of the compensating beam and the display value of the telescopic displacement sensor of the compensating beam is not more than 5 percent, the telescopic displacement sensor of the compensating beam is successfully calibrated; if the deviation between the calculated value of the telescopic displacement of the compensating beam and the displayed value of the telescopic displacement sensor of the compensating beam is more than 5 percent, changing the displayed value of the telescopic displacement sensor of the compensating beam into the calculated value of the telescopic displacement of the compensating beam;
the method for calibrating the propulsion beam rotation angle sensor according to the coordinates of the fourth prism and the fifth prism comprises the following steps:
keeping the pitching and swinging zero position of the main arm, the telescopic zero position of the auxiliary arm, the swinging zero position of the propelling beam, the telescopic zero position of the compensating beam and the downward pitching angle of the propelling beam of 90 degrees;
rightwards rotating the propulsion beam, ensuring that a total station can observe a fourth prism and a fifth prism, and calculating according to coordinates of the fourth prism and the fifth prism measured by the total station to obtain a calculated value of the rightwards rotating angle of the propulsion beam; changing the display value of the rotating angle sensor of the push beam into a right-handed angle calculation value of the push beam;
the push beam is rotated to the left, the total station can observe a fourth prism and a fifth prism, and a left rotation angle calculation value of the push beam is obtained through calculation according to coordinates of the fourth prism and the fifth prism measured by the total station; changing the display value of the rotating sensor of the push beam into a calculated value of the left-hand rotating angle of the push beam;
the rotation of the propulsion beam is reset to zero, and the actual angle deviation of the propulsion beam is calculated according to the coordinates of the fourth prism and the fifth prism measured by the total station; if the actual angle deviation of the push beam is not more than 5%, the calibration of the push beam rotation angle sensor is successful; and if the actual angle deviation of the propelling beam is more than 5%, readjusting the rotating angle of the propelling beam, and resetting the rotating sensor of the propelling beam to zero after recalibrating until the actual angle deviation of the propelling beam is not more than 5%.
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