Path planning of drilling arm of hydraulic bolt drilling rig
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摘要: 液压锚杆钻车作业时，需准确控制钻架钻头在工作空间中的朝向及其与巷道壁面之间的角度、距离等，对钻臂调整能力有极高要求。目前对液压锚杆钻车自动定位及自主路径规划的研究较少。针对上述问题，提出一种液压锚杆钻车钻臂路径规划方法。以CMM2−36型矿用液压锚杆钻车整机工作参数和钻臂结构为基础构建钻臂三维模型，在Matlab平台进行仿真模拟。采用连续路径规划方案，针对基于三次多项式插值法的钻臂关节角规划方法不能保证钻臂在始末位置的加速度为0的问题，采过五次多项式插值法对钻臂关节角进行规划。以巷道顶板为例，在顶板上设置32个钻孔定位点，设计了3种路径规划方案并进行对比分析，得出“工”字形路线距离最短，轨迹最合理。结合运动学理论构建D−H坐标系，对钻臂进行正逆运动学求解，采用蒙特卡罗法求解了液压锚杆钻车钻臂理论最大工作空间，以保证钻臂不会与巷道发生碰撞，从而保证工作安全性。仿真结果表明：在满足掘进巷道支护要求的前提下，液压锚杆钻车钻臂末端钻架能够实现自动定位及自主路径规划，且钻臂不会与巷道发生碰撞，能够保证工作安全性。Abstract: When the hydraulic bolt drilling rig is working, it is necessary to accurately control the orientation of the drilling bit in the working space and the angle and distance between the drilling bit and the roadway wall. It has very high requirements for the adjustment capability of the drilling arm. At present, there is little research on automatic positioning and autonomous path planning of hydraulic bolt drilling rig. In order to solve the above problems, a path planning method for the drilling arm of hydraulic bolt drilling rig is proposed. Based on the working parameters of the CMM2-36 mine hydraulic bolt drilling rig and the structure of the drilling arm, the 3D model of the drilling arm is built and simulated on the Matlab platform. The continuous path planning scheme is adopted. The joint angle planning method of the drilling arm based on the cubic polynomial interpolation method cannot guarantee the acceleration of the drilling arm at the beginning and end positions to be 0. In order to solve the above problems, the fifth polynomial interpolation method is adopted to plan the joint angle of the drilling arm. Taking the roadway roof as an example, 32 drilling positioning points are set on the roof. Three path planning schemes are designed and compared. It is concluded that the "工"-shaped path has the shortest distance and the most reasonable trajectory. The D-H coordinate system is constructed based on kinematics theory. The forward and inverse kinematics of the drilling arm is solved. The theoretical maximum workspace of the drilling arm of the hydraulic bolt drilling rig is solved by the Monte Carlo method. Therefore, the drilling arm will not collide with the roadway and the safety of the work is ensured. The simulation results show that on the premise of meeting the requirements of roadway support, the end drill frame of the drilling arm of the hydraulic bolt drilling rig can realize automatic positioning and independent path planning. And the drilljing arm will not collide with the roadway, which can ensure work safety.
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Key words:
- hydraulic bolt drilling rig /
- drilling arm /
- workspace /
- path planning /
- borehole positioning /
- Monte Carlo method
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图 2 液压锚杆钻车钻臂三维模型
1−钻臂摆动油缸；2−钻臂升降油缸；3−钻臂升降补偿油缸；4−钻臂方筒伸缩机构；5−钻臂前后翻转机构；6−钻臂上下翻转机构。
Figure 2. Three-dimensional model of drilling arm of hydraulic bolt drilling rig
图 12 左钻臂末端钻架在XOZ平面内的运动轨迹
Figure 12. Movement track of drilling cramp at the end of the left drilling arm in the XOZ plane
图 13 左钻臂末端钻架在XOY平面内的运动轨迹
Figure 13. Movement track of drilling cramp at the end of the left drilling arm in XOY plane
图 14 左钻臂末端钻架位移
Figure 14. Displacement of drilling cramp at the end of the left drilling arm
表 1 左钻臂改进D−H参数
Table 1. Improved D-H parameters of left drilling arm
连杆i 关节角θi 连杆转角αi-1 连杆长度ai-1 连杆偏距di 1 θ1 0 a0 d1 2 θ2 −π/2 a1 0 3 θ3 0 a2 0 4 0 −π/2 0 d4 5 θ5 0 0 d5 6 θ6 −π/2 0 0 7 0 π/2 a6 d7 
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