JP3009003U - Cabin support device for self-propelled punch - Google Patents

Abstract

(57) [Abstract] [Purpose] The range of movement of the drill boom 15 is expanded to improve the visibility during drilling work.
And the operator cabin 2 are prevented from colliding with each other. [Structure] In a self-propelled drilling machine 1 in which a drill boom 15 supporting a guide shell 13 carrying a rock drill 12 and an operator cabin 2 are provided on a trolley 11, the operator cabin 2 is swung, raised, and retracted. Support with a possible cabin boom 22. The drill boom 15 is provided with a detector for detecting the turning angle, the undulation angle, the tilt angle, and the swing angle, and the cabin boom 22 is provided with a detector for detecting the turning angle, the undulation angle, and the boom length, and the detection signals of the respective detectors are provided. The distance between the guide shell 13 and the drill boom 15 and the operator cabin 2 is calculated based on
Also, a control device is provided which outputs a collision avoidance signal when the distance between the drill boom 15 and the operator cabin 2 becomes a predetermined value or less.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a cabin support device for a self-propelled drilling machine.

[0002]

[Prior art]

 Generally, in a self-propelled drilling machine such as a crawler drill, the operator cabin is fixedly installed on the bogie, so the visibility during drilling work is poor, and the turning range of the drill boom is It is limited to the range that does not collide with. Therefore, in order to improve the visibility during drilling work and to expand the range of swing of the drill boom, it has been proposed to slide or rotate the operator cabin with a hydraulic actuator (actual exploitation 56- 175,220, Jitsukai 60-32,489).

[0003]

[Problems to be solved by the device]

 However, in the drilling work when the drilling position is high or when the view is obstructed by an obstacle, it is difficult to improve the visibility only by sliding or turning the operator cabin on the same plane. Further, when the operator cabin is slid or swung by the hydraulic actuator, the boom and the operator cabin may collide with each other due to an incorrect operation or malfunction, which is extremely dangerous.

The present invention solves such a problem in the self-propelled drilling machine, and it is possible to improve the visibility during drilling work by expanding the moving range of the drill boom. An object is to provide a cabin support device for a punching machine. Another object of the present invention is to provide a cabin support device for a self-propelled drilling machine capable of preventing a collision between a drill boom and an operator cabin.

[0005]

[Means for Solving the Problems]

 The present invention is a self-propelled drilling machine equipped with a drill boom supporting a guide shell equipped with a rock drill and an operator cabin on a trolley, and a cabin boom in which an operator's cabin can be swung, raised, and retracted. The construction is supported by the to increase the working range of the drill boom and improve the visibility during drilling work.

Further, by providing the cabin boom with a horizontal movement mechanism, the operator cabin can be horizontally moved at a predetermined height. In addition, the drill boom is equipped with detectors that detect the turning angle, undulation angle, tilt angle, and swing angle, and the cabin boom is equipped with detectors that detect the turning angle, undulation angle, and boom length, respectively. Calculates the distance between the guide shell / drill boom and the operator cabin based on the detection signal from the detector, and outputs a collision avoidance signal when the distance between the guide shell / drill boom and the operator cabin is less than a specified value. It is possible to prevent the collision between the guide shell and the drill boom and the operator cabin by providing the control device that operates.

[0007]

[Action]

 During drilling work, the drill boom is moved and the guide shell is positioned at the specified drilling position to start drilling. If the drill boom cannot be moved to the desired drilling position when the operator cabin is in the normal position, swing, raise, and retract the cabin boom to retract the operator cabin to a position that does not interfere with the movement of the drill boom. . When the drilling position is difficult to see from the normal operator cabin position, the cabin boom is swung, raised, and retracted to move the operator cabin to a position where the drilling position is easy to see, improving visibility and improving workability. Let If you want to keep the operator cabin height constant, activate the horizontal movement mechanism of the cabin boom to move it horizontally.

As described above, when the drill boom and the cabin boom are moved, the relative positional relationship between the guide shell and the drill boom and the operator cabin changes, so that the control device causes the drill boom to rotate, rise and fall, and tilt. The distance between the guide shell and drill boom and the operator cabin is determined based on the detection signals of the detector that detects the angle, swing angle, the swing angle of the cabin boom, the undulation angle, and the detector that detects the boom length. Calculated and output a collision avoidance signal when the distance between the guide shell and drill boom and the operator cabin is less than a specified value to stop the movement or control to avoid the safety side which is separated from each other. And prevent collisions.

[0009]

【Example】

 FIG. 1 is a side view of a self-propelled punching machine equipped with a cabin support device according to an embodiment of the present invention, FIG. 2 is a plan view of the self-propelled punching machine, and FIG. FIG. 4 is an explanatory diagram of the operation of the cabin boom when the operator cabin is horizontally moved, and FIGS. 5 and 6 are explanatory diagrams of a working state of the self-propelled puncher.

In the present embodiment, the self-propelled drilling machine 1 is provided with a drill boom 15 for supporting a guide shell 13 having a drilling machine 12 mounted on a carriage 11 and an operator cabin 2. The drill boom 15 is supported on a carriage 11 and is pivotally supported by a boom pedestal 16 which can be rotated by a boom rotating cylinder 17, and can be lifted by a hoisting cylinder 14.

The operator cabin 2 is pivotally supported by a tip end portion of a retractable cabin boom 22 pivotally supported by a cabin boom pedestal 21 which is rotatably supported on a carriage 11. A cabin boom hoisting cylinder 23 is provided between the cabin boom pedestal 21 and the cabin boom 22 so that the cabin boom 22 can be hoisted. In addition, interlocking horizontal holding cylinders 24, 25 are provided between the cabin boom pedestal 21 and the cabin boom 22 and between the cabin boom 22 and the operator cabin 2 to extend and retract the cabin boom hoisting cylinder 23. When the cabin boom 22 is lifted up and down, the operator cabin 2 is kept horizontal.

A swing angle detector 31, a lift angle detector 32, a tilt angle detector 33, a swing angle detector 34, and a swing of the cabin boom 22 are provided at joints of the swing, undulation, tilt, and swing of the drill boom 15. , A turning angle detector 41, a hoisting angle detector 42, and a boom length detector 43 are respectively provided on both the joints of the undulation and the extension / contraction part, and are detected by the control device 5 installed on the carriage 11. Send a signal.

In FIG. 2, the center axis of the self-propelled drilling machine 1 passing through the turning center of the boom pedestal 16 is the X axis, and the line passing through the turning center 26 of the cabin boom pedestal 21 and orthogonal to the X axis is the Y axis. In the Cartesian coordinates, the distance from the origin O to the swing center 26 of the cabin boom pedestal 21 is F, the horizontal distance from the swing center 26 of the cabin boom pedestal 21 to the undulating center 27 of the cabin boom 22 is B, and the operator cabin 2 Is W, the distance from the pivot point 28 of the operator cabin 2 to the front end is D, the horizontal distance from the turning center 26 of the cabin boom pedestal 21 to the pivot point 28 of the operator cabin 2 is E, and the turning of the cabin boom 22 is If the angle is θ ₂ , the hoisting angle of the cabin boom 22 is α ₂ , and the boom length of the cabin boom 22 is L ₂ , then E = L ₂ cos α ₂ + B, and the coordinates of the point 2R on the right side of the front end of the operator cabin 2 are X ₂ = − [(E + D) cos θ ₂ + (W / 2) sin θ ₂ ] Y ₂ = − [(E + D) sin θ ₂ − ( W / 2) cos θ ₂ + F].

The control device 5 includes a CPU 51, a memory 52, and an input / output control device 53. The distance constants B, D, F, W, and the calculation program based on the above formula are used as a memory 53 in advance. Remembered in. When the detected values θ ₂ , α ₂ , and L ₂ are sent from the turning angle detector 41, the undulation angle detector 42, and the boom length detector 43 to the control device 5, the CPU 51 moves to the right of the front end of the operator cabin 2. The coordinates X ₂ and Y ₂ of the point 2R are calculated.

A drill boom such as a distance L ₀ from the swing center of the boom pedestal 16 to the origin O, a horizontal distance A from the swing center of the boom pedestal 16 to the undulating center of the drill boom 15, and a boom length L ₁ of the drill boom 15. The constants on the 15th side are also stored in the memory 53, and when the detection signals from the turning angle detector 31, the levitation angle detector 32, the tilt angle detector 33, and the swing angle detector 34 are sent to the control device 5. Since the CPU 51 can also calculate the coordinates of any point on the drill boom 15 and the guide shell 13, when the distance between the guide shell 13 and the drill boom 15 and the operator cabin 2 becomes a predetermined value or less, the drill The movement is stopped by outputting a collision avoidance signal to the control valve block 54 that controls the actuators of the boom 15 and the cabin boom 22. Luke, or controls to avoid the safe side of separating from each other, that to prevent collisions.

During drilling work, as shown in FIG. 5, when the drilling position is obstructed at the normal position by an obstacle, the operator cabin 2 is moved forward and drilled as shown in FIG. When the hole position is high, the operator cabin 2 is raised to improve the visibility. When it is desired to move the operator cabin 2 at the same height, the control is switched to the horizontal movement mode by the horizontal movement switch 55. At this time, the height H of the pivot point 28 of the operator cabin 2 is H = L ₂ sin α ₂ , so that when the boom length L ₂ is changed, α ₂ = sin ⁻¹ (H / L ₂ ) The controller 5 outputs a control signal to change the undulation angle α ₂ .

FIG. 7 is a side view of another embodiment of the present invention. In this embodiment, in order to hold the operator cabin 2 in a horizontal state when the cabin boom 22 is raised and lowered, a parallel link mechanism 29 is configured by the cabin boom 22 in place of the interlocking horizontal holding cylinder. There is. Other configurations are similar to those of the embodiment of FIG.

[0018]

[Effect of device]

 As described above, according to the present invention, it is possible to improve the visibility during drilling work by expanding the moving range of the drill boom, and it is possible to perform drilling work accurately and efficiently. In addition, it is possible to prevent the collision between the drill boom and the operator cabin, ensure the safety of the operator, and reduce the damage to the equipment.

[Brief description of drawings]

FIG. 1 is a side view of a self-propelled drilling machine provided with a cabin support device according to an embodiment of the present invention.

FIG. 2 is a plan view of a self-propelled drilling machine.

FIG. 3 is a block diagram of a control device.

FIG. 4 is an explanatory diagram of the operation of the cabin boom when the operator cabin is moved horizontally.

FIG. 5 is an explanatory view of a working state of the self-propelled punch.

FIG. 6 is an explanatory view of a working state of the self-propelled punch.

FIG. 7 is a side view of a self-propelled drilling machine according to another embodiment.

[Explanation of symbols]

 1 Self-propelled drilling machine 2 Operator cabin 5 Control device 11 Truck 12 Drilling machine 13 Guide shell 14 Elevating cylinder 15 Drill boom 16 Boom pedestal 17 Boom swing cylinder 21 Cabin boom pedestal 22 Cabin boom 23 Elevating cylinder 24 Horizontal holding cylinder 25 Horizontal Holding Cylinder 31 Swing Angle Detector 32 Lifting Angle Detector 33 Tilt Angle Detector 34 Swing Angle Detector 41 Swing Angle Detector 42 Lifting Angle Detector 43 Boom Length Detector 51 CPU 52 Memory 54 Control Valve Block 55 Horizontal Move setting switch

Claims (3)

[Scope of utility model registration request] 1. A self-propelled drilling machine equipped with a drill boom supporting a guide shell equipped with a rock drill and an operator cabin on a carriage, wherein the operator cabin can be swung, raised and retracted, and extended and retracted. Cabin support device for self-propelled punches supported by. 2. The cabin supporting device for a self-propelled punching machine according to claim 1, wherein the cabin boom is provided with a horizontal movement mechanism for horizontally moving the operator cabin. 3. A drill boom is provided with a detector for detecting a turning angle, a hoisting angle, a tilt angle, and a swing angle, and a cabin boom is provided with a detector for detecting a turning angle, a hoisting angle, and a boom length. Calculates the distance between the guide shell / drill boom and the operator cabin based on the detection signal of the detector, and outputs a collision avoidance signal when the distance between the guide shell / drill boom and the operator cabin is less than a specified value. A cabin support device for a self-propelled drilling machine according to claim 1 or 2, further comprising: