CN113639688B - Rock drilling boom, rock drilling trolley and calibration method of rock drilling boom sensor - Google Patents
Rock drilling boom, rock drilling trolley and calibration method of rock drilling boom sensor Download PDFInfo
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- CN113639688B CN113639688B CN202110810660.6A CN202110810660A CN113639688B CN 113639688 B CN113639688 B CN 113639688B CN 202110810660 A CN202110810660 A CN 202110810660A CN 113639688 B CN113639688 B CN 113639688B
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- 238000005553 drilling Methods 0.000 title claims abstract description 75
- 239000011435 rock Substances 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 35
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 45
- 238000006073 displacement reaction Methods 0.000 claims description 85
- 238000010276 construction Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000007547 defect Effects 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
- 229920002430 Fibre-reinforced plastic Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000011151 fibre-reinforced plastic Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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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, which belong to the technical field of mechanical drilling, and aim 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 precision is reduced, or the calibration process is complex, the operation is difficult, and the actual 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 extending and retracting 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 sensor calibration method, when the boom sensor needs to be calibrated before the boom leaves a factory and is debugged, after the trolley is reassembled, after the sensor is replaced, after the boom is maintained and works for a period of time, the calibration is performed quickly, simply and easily, the calibration precision is high, the operation requirements of calibration personnel are low, the practical engineering application is facilitated, and the automatic positioning precision 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 sensor of the rock drilling boom, and belongs to the technical field of mechanical drilling.
Background
The drilling jumbo is a drilling device frequently used in tunnel and underground engineering construction, and mainly comprises a drilling machine, a drilling boom, a frame, a running gear, other necessary auxiliary devices and devices added according to engineering requirements. The method is developed for adapting to the requirements of large-section tunnel construction and overcoming the defect of low drilling efficiency of the hand-held rock drill, and is popularized and applied in railway tunnel and hydraulic tunnel construction. The computerized automatic rock drilling trolley has the function of computerized automatic control, is also called a rock drilling robot, and is a special mobile robot. The main task of the computerized automatic rock drilling trolley is to convey the hydraulic rock drilling machine installed at the tail end to the position required by the section through the multi-degree-of-freedom serial mechanical arm in a predesigned gesture, and the process is the automatic positioning of the mechanical arm, and in order to automatically position the mechanical arm, a sensor reflecting the movement position of the joint needs to be installed at each joint of the mechanical arm.
Therefore, before the trolley leaves the factory and is debugged, after the trolley is reassembled, after the sensor is replaced, after the arm support is maintained and after the arm support 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 has the advantages of high calibration precision requirement, simple calibration device, easy implementation of the calibration method, low operation requirement of the calibration personnel, and contribution to practical engineering application.
201710354422.2 provides a field calibration method for each joint sensor of a heavy-duty 6-degree-of-freedom mechanical arm, wherein the calibration method only carries out calibration along with the zero position and the limit position of the sensor, only carries out the designed limit angle and zero position setting, does not consider factors such as arm support assembly errors, processing errors and the like, has large calibration errors and low accuracy, and influences the positioning accuracy of the arm support;
the patent application with the application number of CN201811261687.9 provides an automatic control system and a zero setting method of an automatic operation wet spraying machine mechanical arm, a plurality of encoders are arranged on a tunnel wet spraying machine arm support, the zero positions of absolute value encoders of all joints are set, and finally the positions and angles of red light indicators are adjusted, so that after red laser passes through hollow cylinders on three arms, the calibration errors are described to be in an acceptable range, but the patent application only calibrates zero positions of sensors, and the calibration process is complex and difficult to operate, and is difficult to apply to practical engineering. [A1] A. The invention relates to a method for producing a fibre-reinforced plastic composite
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, which can calibrate the rock drilling boom sensor by detecting the position changes of a main arm, an auxiliary arm and a propelling beam through the coordinate calculation of a detection prism, thereby reducing the calibration error, simplifying the calibration process and improving the positioning accuracy of the rock drilling boom.
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, comprising a main arm hinged on an arm base, an auxiliary arm nested in the main arm and telescopic 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 a respective positioning sensor, and the auxiliary arm and the compensating beam are respectively provided with a respective telescopic displacement sensor, and the device is characterized in that a first prism and a second prism are arranged on the main arm, and a third prism is arranged on the auxiliary arm; 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;
the compensating beam is provided with a fourth prism and a fifth prism; the coordinates of the fourth prism and the fifth prism are detected, so that the propelling beam positioning sensor and the compensating beam telescopic displacement sensor can be calibrated.
Further, the main arm positioning sensor comprises a main arm pitching angle sensor and a main arm swinging angle sensor.
Further, the first prism is arranged at the pitching hinge shaft of the main arm and the arm base, and the center of the first prism is concentrically arranged with the pitching hinge shaft; 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 center line of the main arm, and the prism face of the third prism on the auxiliary arm is equal to the prism faces of the first prism and the second prism in height.
Further, the pusher beam positioning sensor comprises a pusher beam pitching angle sensor, a pusher beam swinging angle sensor and a pusher beam rotating angle sensor.
Further, the fourth prism and the fifth prism are respectively positioned at two ends of the bottom of the compensating beam, the heights of the fourth prism and the fifth prism are equal, and the central connecting line of the fourth prism and the fifth prism is parallel to the compensating 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 axis direction of the auxiliary arm; the second speed reducer is hinged with the propulsion base, the rotating shaft of the second speed reducer is perpendicular to the rotating shaft of the first speed reducer, and the propulsion 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 drilling trolley, which comprises a drilling machine and the drilling boom according to any one of the above, wherein the drilling machine is mounted on the propelling beam.
In a third aspect, the present invention also provides a method for calibrating a sensor of a rock drilling boom, including 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 gesture 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 propelling beam, detecting the coordinates of the fourth prism and the fifth prism by using the total station, and calibrating the propelling beam positioning sensor and the compensating beam telescopic displacement sensor according to the coordinates of the fourth prism and the fifth prism.
Further, 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 tilt upwards and swing rightwards, and calculating and acquiring an elevation angle calculated value and a main arm right swing angle calculated value on the main arm according to the measured coordinates of the first prism, the second prism and the third prism without stretching the auxiliary arm; correspondingly changing the display values of the main arm pitching angle sensor and the main arm swinging angle sensor into a main arm upper elevation angle calculated value and a main arm right swinging angle calculated value, and setting the auxiliary arm telescopic sensor to zero;
driving the main arm to dip and swing left, and enabling the auxiliary arm to stretch by half, and calculating and obtaining a main arm dip angle calculated value, a main arm left swing angle calculated value and an auxiliary arm stretching displacement calculated value according to the measured coordinates of the first prism, the second prism and the third prism; correspondingly changing display values of a main arm pitching angle sensor, a main arm swinging angle sensor and an auxiliary arm telescopic sensor into a main arm depression angle calculated value, a main arm left swinging angle calculated value and an auxiliary arm telescopic displacement calculated value;
zeroing the pitching angle of the main arm, zeroing the swinging angle of the main arm, fully extending out the auxiliary arm, and calculating the zero offset of the pitching angle of the main arm, the zero offset of the swinging angle of the main arm, the calculated value of the telescopic displacement of the auxiliary arm and the displayed value offset of the telescopic displacement sensor of the auxiliary arm according to the measured coordinates of the first prism, the second prism and the third prism;
if the zero deviation of the main arm pitching angle/the zero deviation of the main arm swinging angle is not more than 5%, the calibration of the main arm pitching angle sensor/the main arm swinging angle sensor is successful; if the deviation is not more than 5%, the main arm pitching angle/main arm swinging angle is readjusted, and the main arm pitching angle sensor and the main arm swinging angle sensor are set to be zero after the deviation is not more than 5%;
if the deviation between the calculated value of the telescopic displacement of the auxiliary arm and the display value of the telescopic displacement sensor of the auxiliary arm is not more than 5%, the calibration of the displacement sensor of the auxiliary arm is successful; and if the deviation between the calculated value of the telescopic displacement of the auxiliary arm and the display value of the telescopic displacement sensor of the auxiliary arm is greater than 5%, changing the calculated value of the telescopic displacement of the auxiliary arm by the display value of the telescopic displacement sensor of the auxiliary arm.
Further, the propelling beam positioning sensor comprises a propelling beam pitching angle sensor, a propelling beam swinging angle sensor and a propelling beam rotating angle sensor;
the method for calibrating the pushing beam pitching angle sensor, the pushing beam swinging angle sensor and the compensating beam telescopic 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 positions of the auxiliary arm;
driving the propelling beam to tilt upwards and swing rightwards, and calculating and acquiring an elevation angle calculated value on the propelling beam and a right swing angle calculated value of the propelling beam according to the measured coordinates of the fourth prism and the fifth prism without stretching the compensating beam; changing the display values of a pushing beam pitching angle sensor and a pushing beam swinging angle sensor into a pushing beam upper elevation angle calculated value and a pushing beam right swinging angle calculated value, and setting the compensating beam telescopic sensor to zero;
driving the pushing beam to dive down and swing left, and enabling the compensating beam to stretch by half, and calculating and obtaining a pushing beam dive angle calculated value, a pushing beam left swing angle calculated value and a pushing beam stretch displacement calculated value according to the measured coordinates of the fourth prism and the fifth prism; correspondingly changing display values of a pushing beam pitching angle sensor, a pushing beam swinging angle sensor and a compensating beam telescopic displacement sensor into a pushing beam depression angle calculated value, a pushing beam left swing angle calculated value and a pushing beam telescopic displacement calculated value;
the pushing beam is subjected to pitching zeroing and swinging zeroing, the compensating beam extends out completely, and the zero deviation of the pitching angle of the pushing beam, the zero deviation of the swinging angle of the pushing beam, the calculated value of the telescopic displacement of the compensating beam and the displayed value deviation of the telescopic displacement sensor of the compensating beam are calculated according to the measured coordinates of the fourth prism and the fifth prism;
if the zero deviation of the pitching angle of the propelling beam/the swing zero deviation of the propelling beam is not more than 5%, the calibration of the pitching angle sensor of the propelling beam/the swing angle sensor of the propelling beam is successful; if the zero deviation of the pitching angle of the propelling beam/the swing zero deviation of the propelling beam is larger than 5%, the pitching angle of the propelling beam/the swing angle of the propelling beam are readjusted, and after the deviation is not larger than 5%, the pitching angle sensor of the propelling beam and the swing angle sensor of the propelling beam are zeroed;
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%, 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 display value of the telescopic displacement sensor of the compensating beam is more than 5%, changing the display 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 rotation angle sensor of the pushing beam 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, the telescopic zero positions of the auxiliary arm, the swinging zero position of the propelling beam and the telescopic zero position of the compensating beam, and the propelling beam is downward bent by 90 degrees;
the propelling beam is rotated right, the total station is guaranteed to observe the fourth prism and the fifth prism, and a calculated value of the right rotation angle of the propelling beam is obtained according to the coordinate calculation of the fourth prism and the fifth prism measured by the total station; changing the display value of the pushing beam rotation angle sensor into a pushing beam right rotation angle calculation value;
the push beam is left-handed, the total station is guaranteed to observe a fourth prism and a fifth prism, and a push beam left-handed angle calculated value is obtained according to the coordinates of the fourth prism and the fifth prism measured by the total station; changing the display value of the propelling beam rotation sensor into a propelling beam left-hand rotation angle calculated value;
rotating the propelling beam to zero, and calculating the actual angle deviation of the propelling beam according to the coordinates of the fourth prism and the fifth prism measured by the total station; if the actual angle deviation of the propelling beam is not more than 5%, the calibration of the propelling beam rotation angle sensor is successful; and if the actual angle deviation of the propelling beam is greater than 5%, the rotating angle of the propelling beam is readjusted, and after the actual angle deviation of the propelling beam is not greater than 5%, the propelling beam rotating sensor is set to zero.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a rock drilling arm support, a rock drilling trolley and a calibration method for a sensor of the rock drilling arm support, wherein different numbers of prisms are respectively arranged at specific positions on the arm support according to requirements, and according to a specified calibration sequence and method, the simultaneous calibration of a plurality of sensors can be realized by sequentially changing the posture of the arm support, and the method is simple and rapid and has high calibration precision. In the rock drilling arm support structure, a prism is arranged at a specific position on the arm support, the centers of two prisms of a main arm are both positioned on the central line of the main arm, the prisms of an auxiliary arm are positioned on the same side of the prism of the main arm, and the centers of the prisms are 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 connecting line of the centers of the prisms is parallel to the compensating beam; the two prism faces on the main arm are equal in height with the prism faces on the auxiliary arm, and the two prism faces at the bottom of the compensating beam are equal in height.
In the method for calibrating the sensor of the rock drilling arm support, the sensor calibration is carried out according to the sequence of the pitching of the main arm, the swinging of the main arm and the telescoping of the auxiliary arm, the simultaneous calibration of the pitching of the pushing beam, the swinging of the pushing beam and the telescoping of the compensating beam, and the final calibration of the rotation of the pushing beam; when the sensor is calibrated, a specific gesture is set on the arm support where the calibrated sensor is located according to the requirement, then the sensor calibrated at this time is sequentially set with two specific gestures to measure and calculate the position of the prism, finally the sensor calibrated at this time is set with a specific gesture, and the calculated value of the prism and the display value of the sensor are compared and checked, so that the sensor is calibrated. According to the rock drilling boom and the sensor calibration method, when the boom sensor needs to be calibrated before the boom leaves a factory and is debugged, after the trolley is reassembled, after the sensor is replaced, after the boom is maintained and works for a period of time, the calibration is performed quickly, simply and easily, the calibration precision is high, the operation requirements of calibration personnel are low, the practical engineering application is facilitated, and the automatic positioning precision 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 rig structure according to a first embodiment of the present invention;
FIG. 3 is a front view of a master arm pitch calibration provided in accordance with a first embodiment of the present invention;
FIG. 4 is a top view of a primary arm swing calibration provided in accordance with one embodiment of the present invention;
FIG. 5 is a front view of a propeller pitch calibration provided in accordance with an embodiment of the present invention;
FIG. 6 is a top view of a propeller wobble calibration provided in accordance with a first embodiment of the present invention;
FIG. 7 is a front view of a rotational calibration of a propeller provided in accordance with a first embodiment of the present invention;
FIG. 8 is a side view of a rotational calibration of a propeller provided in accordance with an embodiment of the present invention;
fig. 9 is a flowchart of sensor calibration according to a third embodiment of the present invention.
In the figure: 1. an arm base; 2. a main arm; 3. an auxiliary arm; 4. a pusher 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. a pushing 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 drilling jumbo, some technical schemes calibrate along with the zero position and the limit position of a sensor, only the designed limit angle and zero position are set, the factors such as arm support assembly errors, processing errors and the like are not considered, the calibration errors are large, the accuracy is low, and the arm support positioning accuracy is affected.
Example 1
The embodiment of the invention provides a rock drilling arm support, which comprises an arm base 1, a main arm 2, an auxiliary arm 3 and a pushing beam 4, wherein the arm base 1 is connected with a rock drilling trolley body, the main arm 2 is hinged 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 in the main arm 2 and can perform telescopic actions along the main arm 2, the tail end of the auxiliary arm 3 is provided with a first speed reducer 31, the rotation axis is an auxiliary arm center line, the tail end of the first speed reducer 31 is provided with a second speed reducer 32, the rotation axis of the second speed reducer 32 is vertical to the rotation axis of the first speed reducer 31, the pushing beam 4 comprises a pushing base 41 and a compensating beam 42, and the pushing 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 installed above the pushing base 41 and can stretch out and draw back along the pushing base 41, the drilling machine 5 is located above the pushing beam 4, the first speed reducer 31 can enable the pushing beam 4 to rotate around the central line direction of the auxiliary arm 3, the second speed reducer 32 can enable the pushing beam 4 to pitch around the normal direction of the auxiliary arm 3, the main arm 2 is provided with a main arm pitching angle sensor and a main arm swinging angle sensor, the main arm pitching angle sensor and the main arm swinging 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 pushing beam rotating angle sensor, the second speed reducer 32 is provided with a pushing beam pitching angle sensor, the pushing beam rotating angle sensor, the pushing beam pitching angle sensor and the pushing beam swinging angle sensor jointly form a pushing beam positioning sensor, and the compensating beam 42 is provided with a compensating beam stretching displacement sensor.
In order to calibrate each sensor on the drilling boom by detecting the position changes of the main arm, the auxiliary arm and the pushing beam according to the coordinates of the prisms arranged on the drilling boom, a first prism 21 is arranged on the pitching hinge shaft of the main arm 2, the center of the first prism 21 is concentric with the pitching hinge 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 all positioned on the central line of the main arm 2, a third prism 33 is arranged on the auxiliary arm 3 and 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. The prism surfaces of the first prism 21 and the second prism 22 on the main arm 2 are equal to the prism surface of the third prism 33 on the auxiliary arm, a fourth prism 43 and a fifth prism 44 are arranged on the compensating beam 42, the fourth prism 43 and the fifth prism 44 are positioned at two ends of the bottom of the compensating beam 42, the fourth prism 43 and the fifth prism 44 are equal in height, and the central connecting line of the fourth prism 43 and the fifth prism 44 is parallel to the compensating beam 42.
In the structure of the rock drilling arm support, a prism is arranged at a specific position on the rock drilling arm support, and when the sensor is calibrated, the sensor calibration is carried out according to the sequence of final calibration of a main arm pitching angle sensor, a main arm swinging angle sensor and an auxiliary arm telescopic displacement sensor, wherein the propelling beam pitching angle sensor, the propelling beam swinging angle sensor and the compensating beam telescopic displacement sensor are calibrated simultaneously; when the sensor is calibrated, a specific gesture is set on the arm support where the calibrated sensor is located according to the requirement, then the sensor calibrated at this time is sequentially set with two specific gestures to measure and calculate the position of the prism, finally the sensor calibrated at this time is set with a specific gesture, and the calculated value of the prism and the display value of the sensor are compared and checked, so that the sensor is calibrated.
Example two
The second embodiment of the invention provides a rock drilling trolley, which comprises a drilling machine and further comprises 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 rock drilling trolley body, the main arm 2 is hinged 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 in the main arm 2 and can perform telescoping actions along the main arm 2, the tail end of the auxiliary arm 3 is provided with a first speed reducer 31, the rotation axis is an auxiliary arm center line, the tail end of the first speed reducer 31 is provided with a second speed reducer 32, the rotation axis of the second speed reducer 32 is perpendicular to the rotation 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 hinge shaft and can swing along the hinge shaft; the compensating beam 42 is installed above the pushing base 41 and can stretch out and draw back along the pushing base 41, the drilling machine 5 is located above the pushing beam 4, the first speed reducer 31 can enable the pushing beam 4 to rotate around the central line direction of the auxiliary arm 3, the second speed reducer 32 can enable the pushing beam 4 to pitch around the normal direction of the auxiliary arm 3, the main arm 2 is provided with a main arm pitching angle sensor and a main arm swinging angle sensor, the main arm pitching angle sensor and the main arm swinging 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 pushing beam rotating angle sensor, the second speed reducer 32 is provided with a pushing beam pitching angle sensor, the pushing beam rotating angle sensor, the pushing beam pitching angle sensor and the pushing beam swinging angle sensor jointly form a pushing beam positioning sensor, and the compensating beam 42 is provided with a compensating beam stretching 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 arm support, wherein a trolley is leveled before a sensor is calibrated, a coordinate system parallel to the central line of the trolley body is established by using a total station, and the sensor calibration is performed according to the sequence of calibration of a main arm pitching angle sensor, a main arm swinging angle sensor and an auxiliary arm telescopic displacement sensor, and the sensor calibration of a propelling beam pitching angle sensor, a propelling beam swinging angle sensor and a compensating beam telescopic displacement sensor.
When the main arm pitching angle sensor, the main arm swinging angle sensor and the auxiliary arm telescopic displacement sensor are calibrated simultaneously, the three steps are divided. Firstly, the elevation angle alpha and the right swing angle beta on the main arm 2 are firstly calculated, the auxiliary arm 3 does not stretch, 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 are measured by using a total station under the gesture, the upward angle alpha and the right swing angle beta of the main arm 2 are calculated, then the display angle values of a main arm pitching angle sensor and a main arm swinging angle sensor are changed into the upward angle and the right swing angle, and the auxiliary arm stretching displacement sensor is set to zero; secondly, the main arm 2 is downward bent by a certain angle and is swung leftwards by a certain angle, the auxiliary arm 3 stretches and contracts by about half, 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 are measured by a total station under the gesture, the downward bending, left swinging angle and stretching distance of the auxiliary arm 3 of the main arm 2 are calculated, and then the display values of a main arm pitching angle sensor, a main arm swinging angle sensor and an auxiliary arm stretching displacement sensor are changed into the downward bending, left swinging angle and stretching distance; and thirdly, resetting the pitching and swinging of the main arm 2 to zero according to the sensor display values, fully 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 auxiliary arm 3 on the main arm 2 by using a total station under the posture, and calculating the pitching and swinging zero deviation of the main arm 2 and the extension and retraction distance of the auxiliary arm 3 and the sensor display deviation. If the angle deviation is not more than 5% and the calibration is successful, the angle of the main arm 2 is finely adjusted if the angle deviation is more than 5%, and the main arm pitching angle sensor and the main arm swinging angle sensor are set to zero after the angle deviation is not more than 5% again; if the displacement deviation of the auxiliary arm 3 is not more than 5% and the calibration is successful, setting the telescopic displacement sensor value of the auxiliary arm as the calculated displacement value if the displacement deviation is more than 5%.
When the propelling beam pitching angle sensor, the propelling beam swinging angle sensor and the compensating beam telescopic displacement sensor are calibrated simultaneously, the main arm pitching angle sensor and the main arm swinging angle sensor are kept to be positioned at zero positions, and the auxiliary arm telescopic displacement sensor is positioned at zero positions and is calibrated in three steps. Firstly, tilting the propelling beam 4 upwards by a certain angle and swinging the propelling beam to the right by a certain angle, wherein the compensating beam 42 does not stretch, coordinates of a fourth prism 43 and a fifth prism 44 on the propelling beam 4 are measured by a total station under the gesture, the tilting angle gamma and the swinging angle delta of the propelling beam 4 are calculated, then the displaying angle values of a propelling beam pitching angle sensor and a propelling beam swinging angle sensor on the propelling beam 4 are changed into the tilting angle gamma and the swinging angle delta, and the compensating beam stretching displacement sensor is set to zero; secondly, the pushing beam 4 is pushed down by a certain angle and is swung left by a certain angle, the compensating beam 42 stretches and contracts by about half, the coordinates of the fourth prism 43 and the fifth prism 44 on the pushing beam 4 are measured by a total station under the gesture, the stretching distances of the pushing beam 4, the pushing beam swinging angle and the compensating beam 42 are calculated, and then the display values of the pushing beam pitching angle sensor, the pushing beam swinging angle sensor and the compensating beam stretching displacement sensor of the pushing beam 4 are changed into the pushing down angle, the left swinging angle and the stretching distances; thirdly, the pitching zero position and the swinging zero position of the propelling beam 4 are reset according to the display values of the sensors, the compensating beam 42 stretches out and draws back completely, the coordinates of the fourth prism 43 and the fifth prism 44 on the propelling beam 4 are measured by using a total station in the posture, and the pitching zero position deviation and the swinging zero position deviation of the propelling beam 4 and the stretching distance and the sensor display deviation of the compensating beam 42 are calculated. If the angle deviation is not more than 5% and the calibration is successful, if the angle deviation is more than 5%, the angle of the propelling beam 4 is finely adjusted, and the pitching angle sensor and the swinging angle sensor of the propelling beam are set to zero after the deviation is not more than 5% again; if the compensation beam 42 displacement deviation is not more than 5% of the calibration success, the compensation beam telescopic displacement sensor value is set as the calculated displacement value if the compensation beam telescopic displacement sensor value is more than 5%.
When the rotation angle sensor of the propelling beam is calibrated, the pitching and swinging zero position of the main arm 2 is kept, the telescopic zero position of the auxiliary arm 3 is kept, the swinging and compensating beam 42 of the propelling beam 4 is telescopic zero position, and the propelling beam 4 is downwards bent for 90 degrees, and the calibration is performed in three steps. Firstly, the pushing beam 4 is rotated to a right angle in the gesture, the fourth prism 43 and the fifth prism 44 on the pushing beam 4 can be observed, the coordinates of the fourth prism 43 and the fifth prism 44 on the pushing beam 4 are measured by using a total station in the gesture, the right-hand angle of the pushing beam 4 is calculated, and then the display angle value of the pushing beam rotation angle sensor is changed into the right-hand angle; secondly, the pushing beam 4 is left-handed by a certain angle, the fourth prism 43 and the fifth prism 44 on the pushing beam 4 can be observed, the coordinates of the fourth prism 43 and the fifth prism 44 on the pushing beam 4 are measured by using a total station in the posture, the left-handed angle of the pushing beam 4 is calculated, and then the display value of the pushing beam rotation angle sensor is changed into the angle. And thirdly, rotating the pushing beam 4 to zero according to the display value of the pushing beam rotation angle sensor, measuring the coordinates of a fourth prism 43 and a fifth prism 44 on the pushing beam 4 by using a total station under the gesture, and calculating the actual angle of the pushing beam 4. If the angle deviation is not more than 5% and the calibration is successful, the rotation angle of the propelling beam 4 is finely adjusted if the angle deviation is more than 5%, and the propelling beam rotation angle sensor is set to zero after the angle deviation is measured again until the angle deviation is not more than 5%.
The invention provides a rock drilling boom, a rock drilling trolley and a sensor calibration method of the rock drilling boom, and the rock drilling boom and sensor calibration method described by the technical scheme can be used for calibrating the sensor of the boom quickly, simply and easily when the sensor of the boom is required to be calibrated for a period of time before the boom leaves a factory and is debugged, after the trolley is reassembled, after the sensor is replaced, after the boom is maintained and works, and the like, and the calibration precision is high, the operation requirement of a calibrator is low, the practical engineering application is facilitated, and the automatic positioning precision of the boom is ensured.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (8)
1. The rock drilling arm support comprises a main arm hinged to an arm base, an auxiliary arm nested in the main arm and capable of extending and contracting 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 a respective positioning sensor, and the auxiliary arm and the compensating beam are respectively provided with a respective telescopic displacement sensor, and the device is characterized in that a first prism and a second prism are arranged on the main arm, and a third prism is arranged on the auxiliary arm; 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;
the compensating beam is provided with a fourth prism and a fifth prism; the coordinates of the fourth prism and the fifth prism are detected, so that the propelling beam positioning sensor and the compensating beam telescopic displacement sensor can be calibrated;
the propelling beam positioning sensor comprises a propelling beam pitching angle sensor, a propelling beam swinging angle sensor and a propelling beam rotating angle sensor;
the fourth prism and the fifth prism are respectively positioned at two ends of the bottom of the compensating beam, and the central connecting lines of the fourth prism and the fifth prism are equal in height and parallel to the compensating beam.
2. A rock drilling boom according to claim 1, characterized in that the main arm positioning sensor comprises a main arm pitch angle sensor and a main arm roll angle sensor.
3. A rock drilling boom according to claim 2, wherein the first prism is mounted at the pitch hinge axis of the main arm and the arm base, and the centre 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 center line of the main arm, and the prism face of the third prism on the auxiliary arm is equal to the prism faces of the first prism and the second prism in height.
4. A rock drilling boom according to claim 1, characterized in that the speed reducer comprises a first speed reducer and a second speed reducer, the first speed reducer is connected with the auxiliary arm, the rotation 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 with the propulsion base, the rotating shaft of the second speed reducer is perpendicular to the rotating shaft of the first speed reducer, and the propulsion beam can be driven to pitch around the normal direction of the auxiliary arm through the second speed reducer.
5. A drill rig comprising a drilling machine, further comprising a rock boom according to any one of claims 1 to 4, the drilling machine being mounted on the feed beam.
6. The method for calibrating the rock drilling arm support sensor is characterized by comprising the following steps of:
leveling the trolley, and establishing a coordinate system parallel to the central line of the trolley body by using a total station;
adjusting the gesture 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;
adjusting the posture of the propelling beam, detecting the coordinates of a fourth prism and a fifth prism by using a total station, and calibrating a propelling beam positioning sensor and a compensating beam telescopic displacement sensor according to the coordinates of the fourth prism and the fifth prism;
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 according to the coordinates of the first prism and the second prism comprises the following steps:
driving the main arm to tilt upwards and swing rightwards, and calculating and acquiring an elevation angle calculated value on the main arm and a right swing angle calculated value of the main arm according to the measured coordinates of the first prism and the second prism; correspondingly changing the display values of the main arm pitching angle sensor and the main arm swinging angle sensor into a main arm upper elevation angle calculated value and a main arm right swinging angle calculated value;
driving the main arm to pitch downwards and swing leftwards, and calculating and acquiring a main arm pitch angle calculated value and a main arm left swing angle calculated value according to the measured coordinates of the first prism and the second prism; correspondingly changing a main arm pitching angle sensor and a main arm swinging angle sensor into a main arm pitching angle calculated value and a main arm left swinging angle calculated value;
zeroing the main arm pitching angle and zeroing the main arm swinging angle, and calculating the zero offset of the main arm pitching angle and the zero offset of the main arm swinging angle according to the measured coordinates of the first prism and the second prism;
if the zero deviation of the main arm pitching angle/the zero deviation of the main arm swinging angle is not more than 5%, the calibration of the main arm pitching angle sensor/the main arm swinging angle sensor is successful; and if the deviation is not more than 5%, the main arm pitching angle/main arm swinging angle is readjusted, and the main arm pitching angle sensor and the main arm swinging angle sensor are set to be zero after the deviation is not more than 5%.
7. The method for calibrating a sensor of a rock drilling boom according to claim 6, wherein the method for calibrating the telescopic displacement sensor of the auxiliary boom according to coordinates of the second prism and the third prism comprises:
the auxiliary arm does not stretch, and the auxiliary arm stretch sensor is set to zero;
the auxiliary arm stretches by half, and a calculated value of the stretching displacement of the auxiliary arm is obtained according to the measured coordinates of the second prism and the third prism; correspondingly changing the display value of the auxiliary arm telescopic sensor into an auxiliary arm telescopic displacement calculated value;
the auxiliary arm is fully stretched out, and deviation between the calculated value of the stretching displacement of the auxiliary arm and the display value of the stretching displacement sensor of the auxiliary arm is calculated according to the measured coordinates of the second prism and the third prism;
if the deviation between the calculated value of the telescopic displacement of the auxiliary arm and the display value of the telescopic displacement sensor of the auxiliary arm is not more than 5%, the calibration of the displacement sensor of the auxiliary arm is successful; and if the deviation between the calculated value of the telescopic displacement of the auxiliary arm and the display value of the telescopic displacement sensor of the auxiliary arm is greater than 5%, changing the calculated value of the telescopic displacement of the auxiliary arm by the display value of the telescopic displacement sensor of the auxiliary arm.
8. A method of calibrating a rock drilling boom sensor according to claim 6 or 7, wherein said feed beam positioning sensor comprises a feed beam pitch angle sensor, a feed beam roll angle sensor and a feed beam rotation angle sensor;
the method for calibrating the pushing beam pitching angle sensor, the pushing beam swinging angle sensor and the compensating beam telescopic 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 positions of the auxiliary arm;
driving the propelling beam to tilt upwards and swing rightwards, and calculating and acquiring an elevation angle calculated value on the propelling beam and a right swing angle calculated value of the propelling beam according to the measured coordinates of the fourth prism and the fifth prism without stretching the compensating beam; changing the display values of a pushing beam pitching angle sensor and a pushing beam swinging angle sensor into a pushing beam upper elevation angle calculated value and a pushing beam right swinging angle calculated value, and setting the compensating beam telescopic sensor to zero;
driving the pushing beam to dive down and swing left, and enabling the compensating beam to stretch by half, and calculating and obtaining a pushing beam dive angle calculated value, a pushing beam left swing angle calculated value and a pushing beam stretch displacement calculated value according to the measured coordinates of the fourth prism and the fifth prism; correspondingly changing display values of a pushing beam pitching angle sensor, a pushing beam swinging angle sensor and a compensating beam telescopic displacement sensor into a pushing beam depression angle calculated value, a pushing beam left swing angle calculated value and a pushing beam telescopic displacement calculated value;
the pushing beam is subjected to pitching zeroing and swinging zeroing, the compensating beam extends out completely, and the zero deviation of the pitching angle of the pushing beam, the zero deviation of the swinging angle of the pushing beam, the calculated value of the telescopic displacement of the compensating beam and the displayed value deviation of the telescopic displacement sensor of the compensating beam are calculated according to the measured coordinates of the fourth prism and the fifth prism;
if the zero deviation of the pitching angle of the propelling beam/the swing zero deviation of the propelling beam is not more than 5%, the calibration of the pitching angle sensor of the propelling beam/the swing angle sensor of the propelling beam is successful; if the zero deviation of the pitching angle of the propelling beam/the swing zero deviation of the propelling beam is larger than 5%, the pitching angle of the propelling beam/the swing angle of the propelling beam are readjusted, and after the deviation is not larger than 5%, the pitching angle sensor of the propelling beam and the swing angle sensor of the propelling beam are zeroed;
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%, 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 display value of the telescopic displacement sensor of the compensating beam is more than 5%, changing the display 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 rotation angle sensor of the pushing beam 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, the telescopic zero positions of the auxiliary arm, the swinging zero position of the propelling beam and the telescopic zero position of the compensating beam, and the propelling beam is downward bent by 90 degrees;
the propelling beam is rotated right, the total station is guaranteed to observe the fourth prism and the fifth prism, and a calculated value of the right rotation angle of the propelling beam is obtained according to the coordinate calculation of the fourth prism and the fifth prism measured by the total station; changing the display value of the pushing beam rotation angle sensor into a pushing beam right rotation angle calculation value;
the push beam is left-handed, the total station is guaranteed to observe a fourth prism and a fifth prism, and a push beam left-handed angle calculated value is obtained according to the coordinates of the fourth prism and the fifth prism measured by the total station; changing the display value of the propelling beam rotation sensor into a propelling beam left-hand rotation angle calculated value;
rotating the propelling beam to zero, and calculating the actual angle deviation of the propelling beam according to the coordinates of the fourth prism and the fifth prism measured by the total station; if the actual angle deviation of the propelling beam is not more than 5%, the calibration of the propelling beam rotation angle sensor is successful; and if the actual angle deviation of the propelling beam is greater than 5%, the rotating angle of the propelling beam is readjusted, and after the actual angle deviation of the propelling beam is not greater than 5%, the propelling beam rotating sensor is set to zero.
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| CN114111700B (en) * | 2021-11-23 | 2023-07-04 | 江苏徐工工程机械研究院有限公司 | Measuring device, engineering machine, measuring method and controller |
| CN114109246B (en) * | 2021-11-29 | 2024-02-02 | 江苏徐工工程机械研究院有限公司 | Geotechnical engineering machine and working arm control method thereof |
| CN114135224B (en) * | 2021-11-30 | 2024-02-02 | 江苏徐工工程机械研究院有限公司 | Geotechnical engineering machine and working arm deflection compensation method thereof |
| CN114320149A (en) * | 2021-12-30 | 2022-04-12 | 江苏徐工工程机械研究院有限公司 | Rock drilling apparatus and method |
| CN114800621B (en) * | 2022-06-24 | 2022-09-16 | 张家口宣化华泰矿冶机械有限公司 | Zero calibration system and method for mechanical arm angle sensor and full-computer trolley |
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