JPH0128159Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a penetration angle control device for a rock drill in which a guide cell and a boom supporting the guide cell are controlled by an actuator.

[Prior Art] In general, a rock drilling machine cutting angle control device is a device for controlling each actuator of the guide cell on which the rock drilling machine is mounted and the boom that supports it so that a desired cutting angle can be obtained. It is.

Here, the cutting angle is when excavating a tunnel,
This is the angle between the blast hole formed in the side wall of the tunnel and the side wall, and is usually 5 to 10 degrees. This cutting angle is absolutely necessary for excavating a tunnel, but in the past, the cutting angle was manually set by the operator. However, if there is an error in the insertion angle, problems arise such as the shape of the side wall becoming poor and the amount of concrete required increasing, making it uneconomical. In order to prevent this kind of problem from occurring, a cutting angle control device that can automatically control the cutting angle to a desired angle has recently come into use.

As described in Japanese Patent Publication No. 57-51517, conventionally, such a beam angle control device has been designed to automatically control the boom system and cell system to obtain a desired beam angle. However, such a fully automatic type angle control device inevitably requires a positioning servo control device for the cell system and the boom system, which poses a problem of high cost.

Therefore, in order to be able to control the cutting angle as cheaply as possible, as described in Japanese Patent Publication No. 57-20478, a synchronous cylinder is provided in the boom system, and this cylinder is connected to the cylinder of the cell system. , there was one that was also equipped with a look-out cylinder to allow the guide cell to move in parallel. However, this conventional device has the problem that only a constant drilling angle (including the horizontal drilling angle) can be obtained, and the above-mentioned angle can be distorted due to oil leakage.

[Purpose of invention]

The present invention has been made in view of these conventional problems, and an object of the present invention is to provide a cutting angle control device for a rock drill that is capable of reliable cutting angle control and is inexpensive.

[Structure of the idea]

The present invention is a cutting angle control device for a rock drill, in which the movement amount of a boom system actuator is converted into a boom state value in a rectangular coordinate system by a first conversion section, and the boom state value and cutting angle are set by a calculation section. The angle change value required for the guide cell to obtain the target insertion angle is calculated from the target insertion angle from the second converter, and the second converter converts the angle change value into the target movement amount of each actuator in the cell system. The comparison unit compares the detected movement amount of the cell-based actuator with the target movement amount from the second conversion unit, and inputs the target movement amount into the positioning servo control device until the two match, and then Input the target movement amount as a target control signal to the drive control device of the cell-based actuator,
As a result, the cell-based actuator is automatically controlled in response to the movement of the boom so that the desired extension angle can be obtained.

〔Example〕

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 and 2 show an embodiment of the present invention,
In the figure, 2a to 2c are boom system detectors, and these are actuators for horizontal, vertical, and rotation control for the boom C that supports the guide cell B on which the rock drill A is mounted. Detects the amount of cylinder movement. Reference numeral 3 denotes a first conversion unit that converts the movement amount signals from the boom system detectors 2a to 2c into boom status values that are values in a rectangular coordinate system, such as values representing the horizontal or vertical angle of the boom.

Reference numeral 4 denotes a cutting angle setting section configured to arbitrarily set a target cutting angle, which is a desired cutting angle; and 5, a boom state value from the first conversion section 3 and a cutting angle setting section 4. a calculation unit that calculates an angle change value necessary for the guide cell B, that is, an angle to be changed in the horizontal or vertical direction of the guide cell B in order to obtain the target insertion angle, from the target insertion angle; is a second conversion unit that converts the angle change value from the calculation unit 5 into a target movement amount which is the movement amount of each actuator necessary to obtain this in the guide cell B.

Reference numerals 1a and 1b are cell-based detectors for detecting the amount of movement of cylinders for horizontal and vertical control, which are actuators for the guide cell B on which the rock drilling machine A is mounted, and 10 is a comparison section. compares the detected movement amount from the cell-based detectors 1a, 1b with the target movement amount from the second conversion section, and outputs a target movement signal until the two match. 7 is a positioning servo control device that converts the target movement amount that has passed through the comparison unit 10 from the second converter 6 into a target control signal that is a control signal necessary to obtain the movement amount, and 8 is the positioning servo control device. This is a drive control device that converts a target control signal from the control device 7 into a drive signal for driving a control valve that opens and closes a hydraulic pressure supply passage of a cell-based actuator 9, for example.

Next, the operation will be explained.

First, an overview of the operation of the device of this embodiment will be explained.

In this embodiment, the cell-based actuator corresponds to the amount of movement of the boom-based actuator so that the above-mentioned target entry angle can be obtained by manually operating the boom-based actuator and setting an arbitrarily settable target entry angle. The amount of movement is determined, and the cell-based actuator is automatically controlled based on this amount.

Next, the operation for obtaining the target angle θ using the apparatus of this embodiment will be described in detail.

The amount of movement of the boom system actuator moved by the manual operation of the worker is constantly detected by the boom system detectors 2a to 2c, and the detection signal is input to the first conversion section 3, where the state of the boom C, For example, the boom state signal is converted into a boom state value in a rectangular coordinate system, which is a value indicating the horizontal and vertical angles of the boom C, and the boom state signal is input to the calculation unit 5.

On the other hand, when the operator sets a desired target angle θ using the angle setting section 4, the target angle signal is input to the calculation section 5, where the boom state value and An angle change value in the orthogonal coordinate system necessary for guide cell B is calculated from the target insertion angle θ.

The angle change signal from the calculation unit 5 is
The target control signal is input to the second converter 6, where it is converted into the target movement amount, that is, the movement amount of the guide cell actuator 9 necessary to obtain the target insertion angle θ, and the target control signal is input to the comparison unit 10. be done.

On the other hand, the amount of movement of the cell-based actuator 9 is constantly detected by cell-based detectors 1a and 1b. The detected movement signal is then input to the comparison section 10, where it is compared with the target movement amount. In this case, since the two do not match, the target movement signal is input to the positioning servo control device 7.

The target movement signal is converted into a target control signal by the positioning servo control device 7, and then inputted to the drive control device 8, and the converted drive signal is inputted to the cell system actuator 9, whereby the cell system The actuator 9 moves so that the above-mentioned target insertion angle θ is obtained. The amount of movement of the cell system actuator 9 is determined by the cell system detector 1.
a, 1b, and the detected movement amount is again compared with the target movement amount by the comparator 10. When the two match, the movement of the cell system actuator 9 is stopped, and the guide cell is thereby moved even at the desired insertion angle θ. Then, the position will be determined.

In this way, in this embodiment device, the boom type actuator is manually operated, and the cell type actuator 9 is automatically controlled, so that the amount of movement of the cell type actuator 9 required to obtain the desired extension angle θ is controlled. Since the calculation is made from the insertion angle θ and the amount of movement of the boom system actuator, and the cell system actuator 9 is automatically controlled based on the calculation result, there is no need for a positioning servo control device for the boom system actuator. Therefore, reliable cutting angle control can be performed without increasing the cost.

In the above embodiment, each function is realized by the first and second conversion sections 3 and 6, the calculation section 5, the comparison section 10, and the positioning servo control device 7, which are hardware circuits. All of these can also be realized using a microcomputer.

[Effect of idea]

As described above, according to the cutting angle control device for a rock drilling machine according to the present invention, the boom-based actuator is manually operated, the cell-based actuator is automatically controlled, and the amount of movement of the boom-based actuator is adjusted to the desired value. The amount of movement required for the cell-based actuator is calculated from the extension angle, and the drive signal for the cell-based actuator is calculated from this.
There is no need for a boom-based positioning servo control device, and therefore there is an effect that the accuracy of the angle control can be improved without increasing the cost.

[Brief explanation of the drawing]

Fig. 1 is a side view of a drilling device equipped with a cutting angle control device for a rock drill according to an embodiment of the present invention;
The figure is a block diagram of the above-described cutting angle control device for a rock drill. A... Rock drill, B... Guide cell, C... Boom, 1a, 1b... Cell system detector, 2a to 2c
...Boom system detector, 3...First conversion section, 4...
Insertion angle setting unit, 5... Calculation unit, 6... Second conversion unit, 7... Positioning servo control device, 8... Drive control device, 9... Cell system actuator, 10...
...Comparison section.

Claims (1)

[Scope of utility model registration request] In a rock drilling machine in which a guide cell carrying a rock drill is supported via a boom, and the guide cell and boom are controlled by a cell system and a boom system actuator, respectively, a rock drill is installed corresponding to each cell system and boom system actuator. a cell system and a boom system detector that detect the amount of movement of each actuator; a first converter that converts the detected movement signal from the boom system detector into a boom state value in a rectangular coordinate system; a calculation section that calculates an angle change value necessary for the guide cell from the boom status signal from the first conversion section and the target insertion angle signal from the insertion angle setting section. a second conversion unit that converts the angle change signal from the calculation unit into a target movement amount of each actuator of the guide cell; and a second conversion unit that receives the target movement signal from the second conversion unit and generates a corresponding target control signal. The positioning servo control device that outputs to the drive control device of each actuator of the guide cell compares the detected movement signal of the cell system detector with the target movement signal of the second converter, and moves the target movement until both signals match. A comparison section for outputting a signal to the positioning servo control device. A cutting angle control device for a rock drilling machine.