Design Of Drilling And Fracturing Cooperative Rock Breaking System And Research On Terminal Autonomous Positioning Control

In view of the serious wear of mechanical tools,low safety of drilling and blasting method,and large amount of dust during hard rock roadway excavation work,hard rock can be effectively broken by drilling and fracturing method based on the characteristics that the tensile strength of rock is only one tenth of the compressive strength.At present,the mechanization degree of drilling and fracturing method is low in the actual operation;the positioning accuracy of the drill arm end is poor and requires manual assistance for adjustment.In response to the above issues,this article proposes an efficient,collaborative,stable and reliable drilling and fracturing collaborative rock breaking system.Based on simulation analysis and experimental verification,the design of drilling and fracturing collaborative rock breaking system structure and the autonomous positioning control of the end are studied to achieve precise end positioning and improve work efficiency.The specific research content includes:Based on the process flow of drilling and fracturing collaborative operation,the structure design of the drilling and fracturing collaborative rock breaking system is carried out,which provided the basis for the subsequent research.A virtual prototype model was established in multi-body dynamics to explore the dynamic force changes of each joint under different working conditions.In order to verify the rationality of the structure design,the rigid-strength analysis of the key components of the drilling arm is completed based on the finite element software.On the basis of the structure of the drilling boom cooperative rock breaking system,the kinematics modeling of the drilling arm was completed based on the D-H method and the relationship between the position of the end of the drilling arm and the movement of each joint was obtained.The accuracy of the model was verified in Robotics toolbox,which laid the foundation for the automatic operation.In order to solve the problem that it is difficult to select the initial points of inverse kinematics with traditional numerical method,the multi-population particle swarm and global search algorithm are used to solve the problem.The simulation results show that the overall calculation error is small,and it meets the requirements of accurate control.Quintuple B-spline curve is introduced to plan the motion trajectory of the hydraulic cylinder to reduce the impact of the mechanism during operation.Aiming at the problem that there are many factors affecting the positioning error of the drill arm end,which is difficult to effectively eliminate,a hierarchical error compensation scheme is proposed.The actual kinematics model of the drill arm is obtained by identifying geometric parameters using the least square method;Based on the cantilever beam formula,the drill arm is considered as a telescopic boom for flexible deformation calculation;Aiming at the non-geometric parameter errors of the drill arm,BP neural network regression was used to establish the positioning error prediction model.In order to further improve the prediction accuracy,the improved sparrow search algorithm was used to optimize the neural network,and the accuracy of the proposed algorithm was verified by experiments.In order to verify the effectiveness of the proposed error compensation model,a test platform for the drilling and fracturing cooperative rock breaking system was established,and the automatic control and error compensation test of the drill arm.The experimental results show that the error model can effectively correct the positioning error,and achieve autonomous positioning of the drill arm and accurate control of the drilling end.There are 70 pictures,17 tables,and 86 references in the thesis.