JP3447143B2 - Deflection angle detection mechanism for the slide part of the telescopic boom - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drilling device such as a tunnel jumbo for automatically positioning and displaying a position of a guide shell on which a rock drill is mounted. The present invention relates to a mechanism for detecting a bending angle of a slide portion of a telescopic boom to be supported. [0002] In drilling work such as tunnel excavation,
In order to save labor and labor, a drilling device that automatically positions a telescopic boom that supports a guide shell on which a rock drill is mounted by using a computer has been used (Japanese Patent Publication No. 61-53515). reference). In such a drilling device, the amount of movement of a movable portion such as a joint or a slide portion of a guide shell or a telescopic boom is detected, and a required amount of movement to a target position is calculated based on the detected data to calculate each movable amount. It controls the operation of some actuators. However, since the members constituting the telescopic boom are long and bend or rattle, when positioning by automatic control, the amount of operation of the movable parts such as the joints and slides of the telescopic boom is detected. Even if the required movement amount to the target position is calculated based on the detection data and the operation of the actuator of each movable part is controlled, the actual drilling position and the drilling direction are different from the target. As a result, the tunnel cross section is often smaller than the design cross section. In order to reduce this error, the amount of deflection or backlash is corrected in advance on a computer control program, but the amount of deflection or backlash is not always constant. Because it tends to increase over time,
Even if the amount of deflection or backlash is corrected in advance in the program, it is necessary to correct it immediately. However, it is troublesome and time-consuming to correct the correction value on the program and feed back while using the drilling device, and it is extremely difficult to always make an appropriate correction at the drilling work site. Therefore, the drilling device is often used without correction, which has been a major cause of the positioning error of the drilling device. Therefore, a detector for detecting an operation amount of a movable portion around a boom of a telescopic boom that supports a guide shell on which a rock drill is mounted, and a target position based on detection data from the detector during drilling. And a control device for calculating the required travel distance up to and controlling the operation of the actuator of the movable part, a tilt detector is provided at the tip of the telescopic boom or at the guide shell, and the control device has a Correction means is provided for comparing the expected tilt value calculated based on the detection data from the detector with the actual tilt value detected by the tilt detector, and controlling the operation of the actuator of the movable part so as to correct the error. A boom deflection correction mechanism for a drilling device has been proposed (see Japanese Utility Model Laid-Open No. 6-4193). [0006] The boom deflection correcting mechanism performs a correction based on detection data of an inclination detector provided on a distal end portion of a telescopic boom or a guide shell. If the telescopic boom is bent over its entire length, if it is locally bent, and if the state of bending of the telescopic boom is different, even if the tilt angle detected by the tilt detector is the same, Since the position error of the guide shell is different, sufficient accuracy may not be obtained by such correction by the correction mechanism. In general, in a telescopic boom of a drilling device, as shown in FIG. 7, a base end boom 1 to which a hydraulic cylinder 18 for elevating is mounted has a large diameter and a high rigidity, and hardly bends. , The tip boom 5 serving as a sliding portion,
Because of its small diameter and low rigidity, the deflection is large, and it is in this portion that an error due to backlash occurs. Therefore, in order to perform more accurate correction, it is desirable to detect the bending angle θ including the backlash of the sliding portion of the telescopic boom 15 and perform the correction based on this angle. According to the present invention, in a drilling device such as a tunnel jumbo for automatically positioning and indicating a position of a guide shell on which a rock drill is mounted, a deflection angle including a play of a sliding portion of a telescopic boom is directly detected. This can increase the accuracy of the position correction of the guide shell, prevent narrowing of the tunnel excavation cross section, reduce additional work for cross section correction, reduce cost and improve excavation efficiency It is an object of the present invention to provide a mechanism for detecting a deflection angle of a slide portion of a telescopic boom. In order to solve the above-mentioned problems, a flexure angle detecting mechanism for a slide portion of a telescopic boom according to the present invention comprises: a telescopic boom for supporting a guide shell on which a rock drill is mounted; In a drilling device including a detector for detecting an operation amount of a movable portion around a boom, and a control device for automatically positioning and displaying a position of a guide shell based on detection data from the detector at the time of drilling. A detection rod holding device is provided at the distal end of the base end boom of the telescopic boom so as to be vertically rotatable, and the distal end of the detection rod held slidably by the detection rod holding device is the tip of the distal end boom of the telescopic boom. A pivot angle detector pivotally attached to the portion and detecting the pivot angle of the detection rod holding device on the pivot axis of the detection rod holding device is provided. In the drilling operation, the guide shell is positioned by moving the boom. At this time, the detector around the telescopic boom and the rotation angle detector send the detected data to the control device. send. The control device calculates the required amount of movement of the telescopic boom to the target position based on the detected data, and controls the operation of the actuator of each movable part. When the telescopic boom is bent or rattled, the turning angle detector detects the deflection angle including the backlash of the sliding part of the telescopic boom. Based on the detected data, the control device controls the sliding of the telescopic boom. The position error of the guide shell caused by the bending angle of the portion is obtained, and the operation of the actuator of the movable portion of the telescopic boom is controlled so as to correct the error based on the error data. FIG. 1 is a side view of a telescopic boom, FIG. 2 is an explanatory view showing a state in which a flexure angle detecting mechanism of a slide portion according to an embodiment of the present invention is shortened, and FIG. FIG. 4 is a side view of a detection rod holding device, FIG. 5 is a cross-sectional view taken along line AA of FIG. 4, and FIG. 6 is an automatic positioning of a guide shell. FIG. 2 is a block diagram illustrating a configuration of a control device. In the present embodiment, a boom base 13 is pivotally mounted on a base 12 of a bogie 11 of a boring device by a turning shaft 14.
The base end of a telescopic boom 15 composed of a base end boom 1 and a front end boom 5 is pivotally connected to the boom base 13 by an elevating shaft 16. The telescopic boom 15 has a telescopic hydraulic cylinder 2 incorporated therein, and the distal boom 5 is mounted so as to slide with respect to the base end boom 1 by the expansion and contraction of the telescopic hydraulic cylinder 2. Is composed. A turning hydraulic cylinder 17 is provided between the base 12 and the boom base 13, and an elevating hydraulic cylinder 18 is provided between the base end boom 1 of the telescopic boom 15 and the boom base 13. 15 is capable of turning and lowering. A tilt arm 19 is pivotally connected to the distal end of the distal end boom 5 of the telescopic boom 15 by a tilt arm shaft 20.
1 is provided to enable tilting. Tilt arm 19
, A swing arm 22 is pivotally mounted on a swing arm shaft 23, and a swing hydraulic cylinder (not shown) is provided between the swing arm 22 and the tilt arm 19 so that the swing arm 22 can swing. A guide rotary 24 is provided on the swing arm 22 so that the swing arm 22 can rotate about a rotary shaft 25. A guide mounting 26 is supported on the guide rotary 24 by a mount shaft 27, and a guide shell (not shown) is slidably supported by the guide mounting 26. A rock drill (not shown) is mounted on the guide shell, and can be moved in the front-rear direction by a feed cylinder (not shown) to drill a rock face. The amount of operation of each of the movable parts of the turning shaft 14, the elevation shaft 16, the tilt arm shaft 20, the swing arm shaft 23, the rotary shaft 25, and the sliding part of the telescopic boom 15 of the drilling device is detected. Angle detector 4 for
0, an elevation angle detector 41, a tilt angle detector 42, a swing angle detector 43, a rotary angle detector 44, and an expansion / contraction detector 45 are provided. At the distal end of the base boom 1 of the telescopic boom 15, a detection rod holding device 3 is provided. The detection rod holding device 3 includes a rotation shaft 32 pivotally mounted on a bearing 31 fixed to the base end boom 1 and a holding member 33 supported by the rotation shaft 32 so as to be vertically rotatable. I have.
The holding member 33 is cylindrical and includes a linear bearing 34 for holding and sliding the detection rod 4 inside and a dust wiper 35 for dust prevention. The detection rod 4 slidably held by the detection rod holding device 3 has sufficient bending strength and straightness, and its distal end is pivotally connected to the distal end of the distal end boom 5 of the telescopic boom 15 by a pin 36. Is being worn. A rotation angle detector 46 for detecting the rotation angle of the detection rod holding device 3 is mounted on the axis of the rotation shaft 32 of the detection rod holding device 3 via a coupling 37. . A rotary encoder is used as the rotation angle detector 46, and the rotation angle detector 46 includes a cover 38.
Protected. FIG. 6 is a block diagram illustrating a configuration of the automatic positioning control device for the guide shell in the present embodiment. Swing angle detector 40, elevation angle detector 41, tilt angle detector 42, swing angle detector 43, rotary angle detector 44, expansion / contraction detector 45, and rotation angle detector 4
6 is a control device 50 including a storage unit 48 and an operation unit 49.
And a hydraulic cylinder control valve 51 for turning, a hydraulic cylinder control valve 52 for raising and lowering, and a hydraulic cylinder control valve for tilt for operating actuators of respective movable parts around the telescopic boom 15 from the control device 50. Control signals are output to a hydraulic cylinder control valve for swing 53, a hydraulic motor control valve for rotary 55, and a hydraulic cylinder control valve for expansion and contraction 56. In drilling work, the carriage 11 is set near the face and the positioning operation of the guide shell is performed. At this time, the rotation angle detector 40, the elevation angle detector 41, the tilt angle detector 42, the swing angle detector 43, the rotary angle detector 44, and the expansion / contraction detector 45 provided on each movable portion around the telescopic boom 15 The detection data is sent to the control device 50. The control device 50 calculates the target position based on the detected data and the target position data stored in the storage unit 48 in advance.
The operation unit 49 calculates the required movement amount to the target position, and operates the hydraulic cylinder control valve 51 for turning, the hydraulic cylinder control valve 52 for raising and lowering, and the hydraulic pressure for tilt for operating the actuators of each movable part around the telescopic boom 15. Cylinder control valve 5
3. A control signal is output to the swing hydraulic cylinder control valve 54, the rotary hydraulic motor control valve 55, and the telescopic hydraulic cylinder control valve 56 to operate the telescopic boom 15 and move the guide shell to a target position. The telescopic boom 15 has a high rigidity in the shortened state and a small moment due to the load of the guide shell, so that it hardly bends. Since the rigidity is small and the sliding part has backlash,
The bending becomes large at the portion. Therefore, when the positioning operation of the guide shell to the target position is completed, the telescopic boom 1
When the extension 5 is in the extended state, the distal end boom 5 supposed to be at the target position indicated by the broken line in FIG. 7 is actually inclined downward as indicated by the solid line. At this time, a pin 3 is attached to the tip of the tip boom 5.
The detection rod 4 whose tip is pivotally attached at 6 moves from a position parallel to the base end boom 1 shown in FIG. 2 to the front as the tip boom 5 extends, as shown in FIG. It is inclined downward with the bending of the boom 5. Since the detection rod holding device 3 is rotated counterclockwise in the drawing by the inclination of the detection rod 4, the bending angle θ including the backlash of the end boom 5 is detected by the rotation angle detector 46. Therefore, the control device 50 uses the deflection angle θ detected from the rotation angle detector 46 as error data, and outputs a control signal to the hydraulic cylinder control valve 52 for elevation to correct the error based on the error data. Then, the guide shell is moved to the target position. As described above, the mechanism for detecting the deflection angle of the slide portion of the telescopic boom according to the present invention can be used for a tunnel jumbo or the like for automatically positioning and displaying the position of a guide shell on which a rock drill is mounted. In the drilling device, by directly detecting the deflection angle including the backlash of the sliding part of the telescopic boom, the accuracy of the position correction of the guide shell can be improved, and the cross section correction by preventing the narrowing of the tunnel excavation cross section Reduce additional work for. Therefore, excavation efficiency can be improved and excavation costs can be reduced.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of a telescopic boom. FIG. 2 is an explanatory diagram illustrating a state in which a telescopic boom is shortened in a bending angle detection mechanism of a slide portion according to an embodiment of the present invention. FIG. 3 is an explanatory diagram showing a state in which a telescopic boom of a bending angle detection mechanism of a slide portion is extended. FIG. 4 is a side view of the detection rod holding device. FIG. 5 is a sectional view taken along line AA of FIG. 4; FIG. 6 is a block diagram showing a configuration of a guide shell automatic positioning control device. FIG. 7 is an explanatory view showing a state of bending of a tip boom. DESCRIPTION OF SYMBOLS 1 Base end boom 2 Telescopic hydraulic cylinder 3 Detecting rod holding device 4 Detecting rod 5 End boom 11 Cart 12 Base 13 Boom base 14 Rotating shaft 15 Telescopic boom 16 Elevation shaft 19 Tilt arm 20 Tilt arm shaft 22 Swing arm 23 Swing arm shaft 24 Guide rotary 25 Guide rotary shaft 26 Guide mounting 31 Bearing 32 Rotating shaft 33 Holding member 34 Linear bearing 40 Turning angle detector 41 Elevation angle detector 42 Tilt angle detector 43 Swing angle detector 44 Rotary angle detector 45 Expansion / contraction detector 46 Rotation angle detector 48 Storage unit 49 Operation unit 50 Control device

Claims (1)

(57) [Claims 1] A telescopic boom for supporting a guide shell on which a rock drill is mounted, a detector for detecting an operation amount of a movable portion around the boom of the telescopic boom, A control device for automatically positioning or displaying the position of the guide shell based on the detection data from the detector at the time of drilling, wherein a detection rod holding device is provided at a distal end portion of a base end boom of the telescopic boom. The detection rod is provided so as to be vertically rotatable, and the tip of the detection rod slidably held by the detection rod holding device is pivotally attached to the tip of the tip boom of the telescopic boom, on the rotation axis of the detection rod holding device. A bending angle detecting mechanism for a slide portion of a telescopic boom, comprising a turning angle detector for detecting a turning angle of the detection rod holding device.