JPH0438396A - Drill rod supply/withdrawal vehicle for drilling machine - Google Patents

Abstract

PURPOSE:To supply and withdraw rods of playback type automatically for higher work efficiency and greater safety by controlling the stroke of a cylinder for operation a boom supporting a rod holding mechanism. CONSTITUTION:A drill rod supply/withdrawal vehicle is properly positioned by means of track 9 in relation to a drilling machine, and is secured with outriggers 10. A selector switch is moved to the teaching side. A joy stick 16 is operated to set a rod holding mechanism 1 to a rod pickup/storing position. The stroke of each cylinder 3 is detected by a detecting means 4 using an input switch, and stored in a memory means 5. The joy stick 16 is operated to set the rod holding mechanism 1 to a rod set position on the drilling machine. The stroke data is stored in the memory means 5 by pressing an input 20. This enables transportation of drill rod by merely pressing one switch.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a vehicle for supplying and recovering drill rods of a drilling machine.

[Conventional technology]

Conventionally, drilling machines that are lightweight and use only a limited number of drill rods have been equipped with a drill rod i' supply/recovery device in the main body of the drilling machine.

In addition, regarding drilling machines that use many large and heavy lower rods, the rods can be moved using cranes, etc. f! After transporting the items, they were manually positioned.

[Invention tries to solve! ! ! ! [Problem] When supplying and recovering the lowers 1' to a drilling machine that uses a large number of large and heavy lowers I', the lower 1 supplying and collecting device becomes too large and cannot be provided in the main body of the drilling machine.

In addition, [If the ind supply and recovery is performed by another vehicle, such as a crane, the positions of the drilling machine and the crane are uncertain, so the 4'll lateral positioning and the lower on the lower trunk ]' Grasping IJM
The positioning process had to be repeated for the number of lower Fs to be supplied and retrieved, which was a time-consuming and dangerous task.

The present invention automates the supply and collection of the lower 1' by a playback method by controlling the stroke of the cylinder that drives the boom that supports the rod gripping mechanism, thereby increasing work efficiency and safety. This is the purpose.

(!!l!Means for solving the problem) (1) One detection stage ζ of the strike L1-ri is installed in the cylinder that drives the boolean and the means for moving the gripping device, and the impact Stroke data at the time when is pressed can be stored in a memory means.

(2) The above-mentioned data can be arbitrarily planned, modified, and deleted by using stakes and switches.

(3) A positioning servo, a boom controller, and a central processing unit are provided to move the lower 1 gripper according to data stored in the memory means.

(4) A moving means for positioning the vehicle at an arbitrary position with respect to the drilling machine, an outrigger for supporting the vehicle, a rack for storing the rod, and a vehicle that is always in the fixed position. A rod take-out cylinder is provided to set the 'Rilrotsu 1'.

[November 1] In the teaching mode, the boom control jll device drives the cylinder in response to the joystick output signal 5f.

The central processing unit stores the stroke data from the cylinder stroke detection means in the memory means or displays the stroke data in the memory means on the stroke monitor in response to the manual input from the switch box. , strike within the memory means! You can erase and erase coke data.

In the playback mode, the central processing unit calculates the path that the boom means should take from the stroke data in the first stage of memory and outputs it to the positioning servo.

The positioning servo sends an output to the boom control '4n device to move the boom according to the output from the central processing unit.
The stroke of the cylinder driven by the boom controller is foot banked to the positioning servo by the stroke detection means, forming a feedback loop.

〔Example〕

Fig. 1 shows an embodiment of the present invention, Fig. 2 shows a bushitonk diagram, and Fig. 3 shows an example of its operation. 7 Place the supply and recovery vehicle on the vehicle (position it on the appropriate A1 device using IF9, and fix it by extending the outrigger lO).

1. Flow of teaching (flow shown by the solid line in Figure 2) ]) Set the selector switch 194 to the teaching/ying side.

2) Create a joystick 1G and send commands to the control device Ill, 171 pieces 1, 1 machine side 1
Take out the rotary 1' and set it in the storage position 14.

3) Indeno 1 switch 2 on switch box 17
0, the stroke of each cylinder at that time is detected by the detection means 4 and stored in the memory means 5.

4) By making joystick 1G, the mouth and
7 Do grip 1) Place the mechanism 1 on the rod set position 71 on the drilling machine 13.
Set to 15.

5) Each time the indeno 120 is pressed, the stroke data is stored in the memory means s.

During the route 113) to 4), the boom 2 is removed from the lock 1' and stored position I4 to the opening on the drilling machine 13 and the dosing (device 15).
When C does not go directly, an arbitrary way point 21 can be provided on the way. 2) 'The gripping device l is responsible, and the intermediate point 2
1, when the indeno I.20 is pressed, the stroke data at that position is stored in the memory means 5.

Any number of way points 21 can be input.

In addition, the input stroke]--Y is sequentially changed by 1]C switch 23, INc switch 24,
T 2922 top-(: L'l recognition 1' ki, [!RA
SI! Switch 2547-/'7 By using the switch 20, it is possible to erase or re-enter α.

2. Flow of playback (flow shown by dotted lines in Figure 2) 1) Set the selector switch 19 to the playback side.

2) If the start switch 26 is not pressed, the rod gripping device 1 will be at the teaching end position, that is, the rod set position 1.
From 15, go to way point 21 in the order of the way points entered on the way.
It moves to the take-out/storage position 14 via Ron, and when the movement is finished, the engine 1' lamp 28 lights up.

In the example in Figure 5, 15.21-3.21-2.21-1
．． Move in the order of 14.

3) After the movement is completed, press START SWIN 4-2G again.
moves from the rod take-out/storage position 14 to the "171' cent position 15."

The operations 2) and 3) above can be repeated any number of times until the selector switch 19 is turned to the teaching side again.

Further, the operation can be interrupted at any position by the stop switch 27. Further, in that case, the start switch 26 allows restarting from that position.

[Effect of the invention] The drill rod supply/recovery vehicle for a drilling machine according to the present invention has the following features:
Rod grip Rl1l) Boot with (+) at the tip,
means (2) and cylinders for moving the individual booms (
3), a detection means (4) for detecting the stroke of each cylinder, and a detection means (4) for recording the detected stroke data.
a central processing unit (6) which calculates the moving path of the boom from the memory means; and a central processing unit that drives the cylinder by °ζ according to the result of tA'M. By providing the positioning servo control means (7) for positioning and the moving means (9) for positioning the mouth 21' supply and collection device with respect to the drilling machine, the following effects are achieved.

The transport of 1' drill 1 coffod between the drill rod supply and collection vehicle and 1 hole machine is carried out regardless of the mutual positional relationship of both vehicles.
All you have to do is press a switch.

Therefore, it is possible to improve work efficiency and safety.

[Brief explanation of drawings]

FIG. 1 is a side view of the entire vehicle according to the embodiment of the present invention, and FIG.
The figure is the control pro 7 diagram as above, Figure 3 is the working state diagram as above, Figure 4 is the detailed TA diagram of the swing Y-box as above,
FIG. 5 shows an example of (1) 1' gripping device: 6 movement paths same as above. 1...Rod gripping mechanism 2.Boom means 3.Cylinder 4.1 detection stage 5...Memory means G...Medium fire W equipment: U7.
・Positioning force - Water control f stage 9...Transportation means 11...Lower 1' hook agent Force Pl! ± lR, 1 shi 1. 111 sentences 1 person outside Figure 2

Claims (1)

[Claims] A boom means having a rod gripping mechanism at the tip, a cylinder for moving each boom, a detection means for detecting the stroke of each cylinder, a memory means for storing detected stroke data, and a boom means for storing the detected stroke data. The apparatus includes a central processing unit that calculates a moving path, a positioning servo control unit that drives the cylinder according to the result calculated by the central processing unit, and a moving unit that positions the rod supply and recovery device with respect to the drilling machine. A drill rod supply/recovery vehicle for a drilling machine.