JP3488905B2 - Hydraulic rock drill controller - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for controlling the operation of a hydraulic rock drill used for, for example, drilling a pilot hole for blasting in rock. Things. 2. Description of the Related Art Hydraulic rock drills having a hydraulic hitting device, a rotating device, and a feed device are widely used as rock drills for drilling rock or the like. In this type of rock drill, a drill rod is connected to a shank rod attached to the tip of the main body, and the shank rod is hit with a piston provided in a cylinder cavity to apply a hit to the tip of the drill rod. Drill with the attached lock bit. During drilling, the drilling rod is rotated by a rotating device provided in the main body, and a drill having a predetermined depth is drilled while the drilling machine is advanced by the feed device. [0003] The rock mass to be drilled is generally not homogeneous and has cracks, clay layers, contaminants, cavities, etc.
When drilling under certain drilling conditions, the hole bends,
Stop rotation, jamming (drilling rod will not come off)
Accidents often occur. Therefore, in order to avoid such an accident, the operator of the rock drill conventionally adjusted the impact, rotation, and thrust mainly by intuition while observing the rock quality, the state of the bedrock, and the like. [0004] However, in the conventional method in which drilling is performed by intuition, skill is required for an operator, and the drilling state must be carefully observed at all times. There was a problem that the fatigue of the person was large. Therefore, an object of the present invention is to provide a drilling device that can automatically cope with a change in rock quality or the like in the drilling well. [0005] In order to solve the above problems, the present invention has the following configuration. That is, the control device for the hydraulic rock drill according to the present invention includes an electromagnetic proportional flow pressure control valve for supplying hydraulic pressure to the hitting device of the rock drill, an electromagnetic proportional directional flow control valve for supplying hydraulic pressure to the rotating device, and , An electromagnetic proportional directional flow control valve that supplies oil pressure to the feed device, a sensor that detects the oil pressure of the striking device, the rotating device and the feed device and outputs each as an electric signal, and detects the feed speed of the feed device Sensors that output as electric signals and a program controller that controls each of the control valves based on the electric signals from these sensors are provided, and when the rotary pressure falls below a constant pressure during the operation of the rock drill by the program controller, With the impact pressure control that increases the impact pressure and reduces the impact pressure when the feed speed becomes faster than the constant speed Rotation pressure is characterized by conducting the feed pressure and speed controls to reduce the feed rate Once rises from pressure, and a rotational speed control rotation pressure increases the rotational speed When rises from pressure. According to the present invention having the above construction, the signals from the respective sensors are taken into the program controller, and the control signals are output from the controller to the control valves of the respective electromagnetic proportional controls, whereby the respective operating states of the striking, rotating, and feeding are performed. Drilling can be performed almost automatically while controlling the balance of each. An embodiment of the present invention shown in the drawings will be specifically described below. The rock drill 1 used in the present invention is a hydraulic rock drill which is operated by hydraulic pressure. As shown in FIG. 1, a cylinder cavity 5 of a striking device P is provided inside a cylinder 2 constituting a main body. ing. A piston 10 is provided inside the cylinder space 5 so as to be slidable back and forth, and a valve 15 which moves back and forth is provided on an outer peripheral portion thereof. In the figure, 17 is a cylinder liner, 18 is a cylinder back liner, and 19 is a cylinder front liner. A through hole 10 a is provided in the core of the piston 10, and the blow tube 2
0 is inserted. On the front side of the piston 10, a shank rod 2 is provided.
2 are attached. At the front end of the shank rod 22, a threaded portion 23 for connecting a drilled rod is provided.
A spline part 24 is formed in the middle part. Also,
A through hole 22a is also provided in the core of the shank rod 22, and the tip of the blow tube 20 is inserted into the rear of the through hole. A gear box 25 is provided at the front end of the cylinder 2, and a chuck end 27 is provided at the front thereof.
Is provided. The gear box 25 is provided with a rotating device R for rotating the drilling rod. That is, a hydraulic motor 30 which is a driving source of the rotating device R is attached to a rear portion of the gear box 25, and a drive gear 32 is attached to a rotating shaft thereof. This drive gear 3
The idler gear 33 meshes with the gear 2, and the gear portion 35 a of the chuck driver 35 meshes with the idler gear. Reference numeral 36 denotes a chuck bushing, and 37 denotes a chuck. The chuck 37 is engaged with the chuck driver 35 and rotated while engaged with the spline portion of the shank rod 22, thereby rotating the shank rod. Reference numeral 40 denotes a chuck end cap, and 41 denotes a chuck end cap liner. As shown in FIG. 2, accumulators 50, 50 are provided in the middle of the main body. The accumulator 50 includes a flexible diaphragm 52 in a body 51, and functions to store hydraulic pressure by using the compressibility of gas (nitrogen gas). Next, the operation of the valve 15 and the piston 10 of the striking device P will be described. FIG. 3 to FIG.
The main part is schematically shown. First, in FIG.
The piston 10 has reached the top dead center, and the high-pressure oil HP acts on the piston rear chamber S1 from the high-pressure port D1. Pressure receiving area A1 of piston rear chamber and pressure receiving area A2 of piston front chamber
And A1> A2, when a high-pressure line passes through the rear chamber of the piston, the force acting on the rear part of the piston becomes larger than the force acting on the front part of the piston, and the piston turns to the stroke. In FIG. 4, the piston 10 continues to move forward, during which time the accumulator 50 replenishes the required oil shortage. The large diameter portion of the piston 10 opens the valve switching port D2, and the valve 15 starts switching through the valve rear chamber S2. In FIG. 5, the piston 10 reaches the hitting point and transmits the kinetic energy obtained during the hitting stroke to the rod 22, which propagates the hitting energy required for the breaking operation. At this point, the valve has been switched, the high pressure port D1 is closed and the low pressure port D3 is opened, and the piston rear chamber communicates with the low pressure line LP. The pressure in the rear chamber of the piston decreases, and the force acting on the front part of the piston becomes larger than the force acting on the rear part of the piston, and the piston moves backward. In addition, when the piston further advances from the hit point by idling, the piston closes the port D4, forms the cushion chamber S3, and stops.
Move to retreat. In FIG. 6, the piston 10 continues to retreat, and the valve 15 is pushed by the rear surface of the large diameter portion of the piston 10 and retreats together. At this time, oil in the rear chamber of the piston is discharged from the low pressure port D3, and oil in the rear chamber of the valve is discharged to the low pressure line LP via the groove D4 of the large diameter portion of the piston. During the piston retraction stroke, high-pressure oil is stored in the accumulator 50 (A3) and low-pressure oil is stored in the accumulator 50 (A4). In FIG. 7, when the piston continues to retreat, the valve 15 closes the low-pressure port D3 and opens the high-pressure port D1 at the same time.
Communicates with In the rear chamber of the piston with the low-pressure port D3 closed, a cushion chamber is formed in the high-pressure line with the inertial energy obtained during the backward stroke of the piston, and the accumulated oil is stored in the accumulator 50 (A3). When the piston reaches the top dead center where the piston stops by the cushion, the switching of the valve is also completed, and the state returns to the state of FIG. Hereinafter, the same operation is repeated. Feed device F for applying thrust to rock drill
Is configured as follows. That is, as shown in FIG. 8, the rock drill 1 is mounted on a guide cell 60 so as to be able to move back and forth, and a feed chain 63 is hung over a sprocket wheel attached near both ends of the guide cell. Have been. This chain is driven back and forth by a feed hydraulic motor 65,
A carriage 67 attached to the guide cell 60 so as to be movable back and forth is attached to the chain. Rock drill 1
Is fixed to the carriage 67, and the rock drill 1 moves forward and backward together with the carriage 67 by rotating the hydraulic motor 65 forward and reverse. In the illustrated example, the guide cell 60 is supported by the arm (operated by hydraulic pressure) of the crawler-type traveling vehicle body 90 so as to be able to tilt back and forth, left and right, but may be supported by another suitable supporting device. FIG. 9 is a block diagram showing a control device.
In the figure, hydraulic oil from a hydraulic pump 70 passes through an electromagnetic proportional flow pressure control valve V1 to a striking device P, passes through an electromagnetic proportional directional flow control valve V2 to a hydraulic motor 30 of a rotating device R, The fluid is supplied to the hydraulic motor 65 of the feed device F through the directional flow control valve S3. The hydraulic pressures of the striking device P, the rotation device R, and the feed device F are pressure transmitters S1, S which are pressure sensors.
2 and S3, respectively, and output to the program controller 80 as an electric signal. The feed speed of the feed device F is detected by a speed sensor S4, and is similarly supplied to the program controller 80 as an electric signal. The program controller 80 fetches signals from the above-mentioned sensors, and performs a percussion pressure control, a feed pressure and a speed control, and a rotation speed control based on a preset program. The relationship between the impact pressure, the rotational pressure and the feed pressure in the impact pressure control is shown in FIGS.
As shown in FIG. That is, if the rotational pressure rises above the constant pressure, the striking pressure decreases, and if the feed pressure falls below the constant pressure, the striking pressure decreases. The relationship between the feed speed in the feed pressure and the speed control, and the relationship between the feed pressure and the rotation pressure is as shown in FIGS. That is,
When the rotation pressure rises above the constant pressure, the feed speed decreases and the pressure also decreases. The relationship between the rotation pressure and the rotation speed and the relationship between the impact pressure and the rotation speed in the rotation speed control are as shown in FIG. 14 and FIG. That is, when the rotation pressure rises above the constant pressure, the rotation speed increases. When the impact pressure decreases, the rotation speed increases. As described above, by outputting analog signals from the program controller 80 to the control valves of the respective electromagnetic proportional controls under the above-mentioned condition settings based on the respective analog signals of the impact, rotation, and feed, the impact,
Drilling can be performed almost automatically while controlling the operation states of rotation and feed and the balance of each. Note that an optimal control program to be set in the program controller 80 may be selected based on experience or the like. As is apparent from the above description, the rock drill control apparatus according to the present invention takes in the electric signal from the sensor for detecting the state of impact, rotation, and feed into the program controller, Control signals are output to the control valves of each electromagnetic proportional control based on a preset program, and these controls are performed, so even if drilling conditions change due to changes in rock quality etc., it is automatically performed. It is possible to adjust the impact, rotation, feed in response,
It has become possible to easily perform good drilling without placing a great burden on the operator.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a vertical sectional view of a rock drill. FIG. 2 is a plan view showing a part of the broken surface. FIG. 3 is a schematic view of a main part showing the operation. FIG. 4 is a schematic view of a main part showing the operation. FIG. 5 is a schematic view of a main part showing the operation. FIG. 6 is a schematic view of a main part showing the operation. FIG. 7 is a schematic diagram of a main part showing the operation. FIG. 8 is an external view of a feed device. FIG. 9 is a block diagram of a control device. FIG. 10 is a graph showing a relationship between a striking pressure and a rotation pressure. FIG. 11 is a graph showing a relationship between a striking pressure and a feed pressure. FIG. 12 is a graph showing a relationship between a rotation pressure and a feed speed. FIG. 13 is a graph showing a relationship between a rotation pressure and a feed pressure. FIG. 14 is a graph showing a relationship between rotational pressure and rotational speed. FIG. 15 is a graph showing a relationship between a striking pressure and a rotation pressure. [Description of Signs] 1 Rock drill 2 Cylinder 10 Piston 15 Valve 22 Shank rod 80 Program controller P Striking device R Rotating device F Feeding device

Continuation of the front page (72) Inventor Kaichi Yataya 36, Tojo-cho, Tojo-cho, Hiba-gun, Hiroshima Prefecture Yamamo Trock Machine Co., Ltd. (56) References JP-A-9-119282 (JP, A) (WO, A1) WO 95/023276 (WO, A1) (58) Fields investigated (Int. Cl. ⁷ , DB name) E21B 1/26 E21B 6/02

Claims (1)

(1) A control device for controlling the operation of a hydraulic rock drill provided with a hydraulic hitting device, a rotating device, and a feed device, wherein the hitting of the rock drill is performed. An electromagnetic proportional flow pressure control valve for supplying hydraulic pressure to the device; an electromagnetic proportional directional flow control valve for supplying hydraulic pressure to the rotating device; an electromagnetic proportional directional flow control valve for supplying hydraulic pressure to the feed device; And a pressure transmitter that detects the oil pressure of the feed device and outputs it to the control device as an electric signal, respectively.
A program controller for controlling each of the control valves based on an electric signal from the pressure transmitter; increasing a percussion pressure when a rotation pressure falls below a constant pressure during operation of the rock drill; Performs a blow pressure control that lowers the blow pressure as the speed increases, a feed pressure and speed control that lowers the feed speed when the rotation pressure rises above a constant pressure, and a rotation speed control that raises the rotation speed when the rotation pressure rises above a constant pressure. A control device for a hydraulic rock drill.