JPH0554560B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a drilling device for positioning a boom for a drilling machine equipped with a drilling machine at its tip.

(Prior Art) Conventionally, the drilling position has been determined by displaying the set position of a drilling machine mounted on a boom with respect to a target point using rectangular coordinates, and storing the set position data based on the rectangular coordinates in a memory means as a control pattern. and is configured to read the set position data from the memory means at any time based on a control program from the central processing means to automatically position the boom and automatically control the drilling machine. (For example, Japanese Patent Publication No. 57-51518).

When using such a drilling device to dig a tunnel, for example, the drilling machine is positioned and driven on the surface where the tunnel is to be dug based on the set position data stored in advance in the memory means. By the way, the arm that supports the drilling machine (cell mounting,
Even if the boom position is set based on preset drilling position data, the drilling machine may deviate from the predetermined drilling position due to rattling of the boom (cylinder, guide cell, etc.). In order to prevent this, such equipment divides the movement range of the boom into several areas, each area has its own positioning correction value, and the position of the drilling machine is determined based on the positioning correction value corresponding to that area. The deviation is corrected.

That is, the boom is moved within the same area in a preset order, corrected by the same positioning correction value, and set at a predetermined drilling position.

However, because the above-mentioned arm has wobbling, the magnitude of the deviation of the drilling position of the drilling machine from the position of the boom tends to differ depending on the direction of movement of the boom. It was difficult to accurately correct the set position of the boom using the correction values.

(Object of the Invention) The present invention has been made in view of the above-mentioned problems of the conventional art. It is possible to improve the accuracy of drilling work by appropriately correcting individual errors in each drilling position caused by rattling of parts such as cell mounting installed on the boom. The object of the present invention is to provide a hole device.

(Structure of the Invention) The present invention includes a boom means on which a drilling machine is mounted,
a drilling position memory means storing drilling position data for drilling a hole with the drilling machine;
a central processing means for reading the drilling position data stored in the memory means; a positioning servo control means for operating the boom means in accordance with the drilling position data read by the central processing means; a drilling machine control means for operating the drilling machine of the boom means by an output from the servo control means; a drilling position indicated by the drilling position data; and a drilling machine of the boom means driven by the drilling position data. The drilling position of the boom means is determined by measuring each error amount with respect to the drilling position in advance and performing a predetermined calculation based on the error amount memory means storing each error amount, the drilling position data, and the error amount. calculation means for outputting a position control signal for setting the machine to the drilling position indicated by the drilling position data, the central processing means reads out the error amount from the error amount memory means, and the positioning servo control means The position of the boom means is controlled in response to a position control signal from the calculation means.

With this configuration, the central processing means reads the drilling position data and the error amount from the drilling position memory means and the error amount memory means, and provides the data to the calculation means.
The calculating means performs a predetermined calculation based on the drilling position of the drilling position data and the error amount, and outputs a position control signal, and the positioning servo control means controls the drilling machine of the boom means to drill a hole in response to the position control signal. The position of the boom means is controlled to set the drilling position indicated by the position data.

(Embodiment) FIGS. 1 to 4 show a boom positioning device for a rock drill according to an embodiment of the present invention.

FIG. 2 shows the configuration of the mounting system of a rock drill according to an embodiment of the present invention. In FIG. 2, the rear end 2a of the first boom 2 of the boom 1 is rotatably supported on a base W fixed on a work trolley E, and the second boom 3 is attached to the tip 2b of the first boom 2.
The rear end 3a is rotatably supported, and a guide cell cylinder 5 is fixed to the tip 3b of the second boom 3 via a cell mounting 4. A feed motor 6 is attached to the rear end of the cylinder 5 to move a guide cell 7 back and forth, and a rod 9 is also connected to the guide cell 7.
A drilling machine 8 with a bit 10 attached to the tip thereof is mounted so as to be movable back and forth. During the drilling operation of the drilling machine 8, the drilling machine 8 is moved forward by the feed motor. The boom 1 on which the drilling machine 8 is mounted can be arbitrarily displaced in three directions: left-right horizontal direction (X direction in the figure), front-back horizontal direction (Z direction in the figure), and vertical vertical direction (Y direction in the figure). A boom switching cylinder 11 and a guide cell swing cylinder 12 are operated in the horizontal direction for the first boom 2 and the second boom 3, and a cylinder 12 is operated in the vertical direction. A cylinder 13 for boom lift and a cylinder 14 for guide cell lift are installed as shown. and,
A pair of booms 1 configured as described above are provided on the left and right sides of the work trolley E.

Here, the length l ₁ of the first boom 2, the length l ₂ of the second boom 3, and the length from the tip of the second boom 3 to the tip of the guide cell 7 (that is, the length of the guide cell 7
For each of the above cylinders 11 to 1, the amount of movement) is ls.
The relationship between the amount of actuation No. 4 and the position of the tip of the boom (that is, the position of the tip of the guide cell 7) that moves in accordance with the actuation is analyzed with reference to FIGS. 3a and 3b as follows.

That is, when the boom 1 is initially on the Z axis,
Its tip is at position P ₀ in Figures 3a and b. First, from this state, cylinder 1 for boom swing
1 and the cylinder 12 for guide cell swing, and the extension of the rod causes the horizontal plane (X-
When the first boom 2 is moved by θ ₁ and the second boom 3 is moved by θ ₃ in the Z plane), the above point P ₀ moves to point P ₁ . after that,
When the boom lift cylinder 14 is activated and moved by θ ₂ and θ ₄ in the vertical plane (Y-Z plane in the figure), point _P1 is
P Move to point ₂ . The position and direction (of the cell) of _{the two} points P are given by the following equation.

X=l ₁ sin θ ₁・cosθ ₂ +{l ₂ sin θ ₁ +ls sin(θ ₁ +θ ₃ )}cos(θ ₂ +θ ₄ ) y=l ₁ cos θ ₁・sinθ ₂ +{l ₂ cos θ ₁ +ls cos(θ ₁ +θ ₃ )}sin(θ ₂ +θ ₄ ) Z=l ₁ cos θ ₁・cos θ ₂ +{l ₂ cos θ ₁ +ls cos(θ ₁ −θ ₃ )}cos(θ ₂ +θ ₄ ) ...(1) θ=θ ₁ +θ ₃ φ=θ ₂ +θ ₄ In other words, point P ₂ and its direction are determined through equation (1),
It can be mutually transformed into a rectangular coordinate system P(X, Y, Z, θ, φ) and a boom coordinate system Pθ(θ ₁ , θ ₂ , θ ₃ , θ ₄ , ls).

Therefore, the above P ₂ given in Cartesian coordinate system
The position and direction of the point can be controlled using a coordinate transformer (P→
This can be achieved if there is a servo control device for positioning Pθ), angles θ ₁ , θ ₂ , θ ₃ , θ ₄ and length ls.

The boom positioning device as described above is equipped with the coordinate converter (P→Pθ) and a positioning servo control device, and the boom positioning device is equipped with the coordinate converter (P→Pθ) and a positioning servo control device,
The boom is positioned by displaying the position of the boom, and its configuration is shown in Figure 1.

In FIG. 1, the first memory means 20 (drilling position memory means, error amount memory means) is for setting the operating amount for directly positioning the boom tip position with respect to the virtual rectangular coordinate plane immediately in front of the face. The drilling position data P (position data in a rectangular coordinate system) is stored, and the amount of error in the drilling position of the drilling machine 8 by the boom 1 driven by the drilling position data P is actually measured in advance, This is a memory that stores the error amount ΔP. This first
The memory means 20 stores the first and second booms 2 and 3.
The above-mentioned drilling position data P and the error amount ΔP, which are the operating amounts of the drill, can be input freely using input means such as a keyboard. This first memory means 20 constitutes a drilling position memory means for storing data of a plurality of preset drilling positions, and an error amount memory means, and the error amount is determined based on the actual measurement conducted in advance. Based on this, values for each drilling position are stored. In other words, this type of drilling device sequentially drills holes at multiple drilling positions based on preset drilling position data. For example, when a series of drilling operations like this is performed multiple times, The amount of error actually measured for each hole drilling position in the previous drilling work etc. is inputted by the input means and stored in the first memory means 20.

Further, the coordinate converter 21 converts the drilling position data P into the drilling position data Pθ in the boom coordinate system (displacement angles θ ₁ , θ ₂ , θ ₃ , θ ₄ of each boom 2 and 3 and the guide cell 7
, and converts the error amount ΔP in the rectangular coordinate system into the error amount ΔPθ in the boom coordinate system.

The positioning servo control means 22 controls the displacement angles θ ₁ to _{θ 4} and the movement amount included in the drilling position data Pθ.
ls and the error amount ΔPθ determine the operating amount of the pistons of the driving hydraulic cylinders 11 to 14 of each boom and the cylinder 5 for the guide cell. The drilling machine control means 23 uses the output of the positioning servo control means 22 to give a control amount necessary for the drilling operation to the drilling machine 8 mounted on the guide cell 7 of the boom 1, and controls the positioning servo control device 22 and Work is started upon receiving a signal indicating that the connected boom 1 has been positioned at a desired position.

The central processing means 24 controls the drilling machine control means 2.
3, the end signal for each drilling operation is inputted, and the desired drilling position data P and error amount ΔP stored in the first memory means 20 are read out and given to the coordinate converter 21, which will be described later. This is for performing control operations.

On the other hand, the second memory means 25 supplies constants such as the lengths l ₁ and l ₂ of the first boom 2 and the second boom 3 to the coordinate converter 21 to set the movement amount ls of the guide cell 7. . The detector 26 includes first and second detectors.
It detects the displacement of each of the driving cylinders 11 to 14 of the booms 2 and 3 and the cylinder 5 for operating the guide cell. The calculator 27 receives the output of the detector 26 and calculates the displacement angles θ ₁ , θ ₂ , θ ₃ , θ ₄ of the boom and the movement amount ls of the guide cell 7, and
For each drilling position, the central processing means 24 performs a predetermined calculation based on the drilling position data Pθ read from the first memory means 20 and the error amount ΔPθ, and the boom 1 is set at a predetermined drilling position. Positioning servo control means 2
2 to provide a position control signal.

Next, the operation of the embodiment shown in FIG. 1 will be explained with reference to the flowchart shown in FIG.

In step n1, the drilling position data P and the error amount ΔP are stored in the first memory means 20.
In step n2, the central processing unit 24 reads out the desired drilling position data P stored in the first memory means 20 and the error amount ΔP corresponding to the data P, and supplies them to the coordinate converter 21. step n3
Then, the drilling position data P given to the coordinate converter 21 is converted into drilling position data Pθ, and the error amount ΔP is converted into an error amount ΔPθ, which is then given to the central processing means 24. In step n4,
The central processing means 24 transmits the drilling position data Pθ converted by the coordinate converter 21 and the error amount ΔPθ to the calculator 27. As a result, the calculator 27 performs a predetermined calculation using the drilling position data Pθ and the error amount ΔPθ, that is, the position of the drilling machine 8 by the boom 1 set based on the drilling position data Pθ is
In order to correct deviations from the desired drilling position due to rattling, etc., calculations such as addition or subtraction are performed on the drilling position data Pθ and the error amount ΔPθ.
A position control signal for correcting the position of the boom 1 is transmitted to the positioning servo control means 22.

At step n5, the positioning servo control means 22 positions the boom 1 in response to the position control signal. In step n6, it is determined based on the position control signal whether or not the operation of setting the boom 1 to a predetermined drilling position has been completed, and upon completion, the process moves to step n7. In step n7, the positioning servo control means 22 controls the drilling machine control means 2.
3, and by the control, the drilling control means 23
The drilling machine 8 is operated to drill a hole.

In step n8, it is determined whether the drilling work has been completed by receiving a work completion signal from the drilling control means 23, and when the drilling work is completed, the drilling machine 8 is stopped.

According to this embodiment, when the position of the boom 1 is set based on the drilling position data P stored in advance, the cell mounting 4 on which the drilling machine 8 of the boom 1 is mounted, the cylinder 5. Due to looseness of the guide cell 7, etc., the drilling machine 8 deviates from the drilling position indicated by the above-mentioned drilling position data, but the amount of error is actually measured to correct such positional deviation, and this error is The amount is memorized, and calculations such as adding or subtracting this error amount are performed for each drilling position data, and the boom is positioned so that the drilling machine 8 is set at the drilling position indicated by the drilling position data. Set. Therefore, the drilling machine 8 is set at a predetermined drilling position and can perform drilling.

In this embodiment, the drilling position data and the error amount are stored in the first memory means 20, but they may be stored in separate memory means.

(Effects of the Invention) As described above, according to the present invention, each drilling position is driven by the drilling position indicated by the drilling position data stored in the drilling position memory means and the drilling position data. Each error amount with respect to the drilling position of the drilling machine by the boom means is actually measured in advance, and the error amount memory means that stores each error amount, and the above-mentioned calculation is performed using the above-mentioned drilling position data and the above-mentioned error amount. and calculation means for outputting a position control signal for setting the drilling machine of the boom means to the drilling position indicated by the drilling position data, and the central processing means reads the error amount from the error amount memory means and performs positioning. The servo control means controls the position of the boom means in response to the position control signal from the calculation means, so that the drilling machine can drill a hole at a predetermined drilling position. In particular, even if various errors occur at each drilling position due to arm wobbling, etc., the drilling position can be adjusted appropriately based on the memorized value of the error amount for each drilling position that was actually measured in advance. can. Therefore, the drilling accuracy when drilling a tunnel or the like is improved, and since there is no need to correct deviations in the drilling position, the cost of drilling work can be reduced.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing the electrical configuration of a drilling device according to an embodiment of the present invention, Fig. 2 is a side view showing the boom and boom mounting device of the rock drilling machine in the above embodiment, and Fig. 3 a and b are explanatory diagrams showing the displacement state when the boom is operated, and FIG. 4 is a flowchart for explaining the processing operation of the drilling device. 1...Boom, 2...1st boom, 3...2nd
Boom (boom means), 8...Drilling machine, 20...
... first memory means (drilling position memory means, error amount memory means), 22 ... positioning servo control means, 23 ... drilling machine control means, 24 ... central processing means, 27 ... calculation means.

Claims (1)

[Claims] 1. A boom means on which a drilling machine is mounted, a drilling position memory means that stores drilling position data for drilling a hole with the drilling machine, and a drilling position memory means that stores the drilling position data stored in this memory means. a central processing means for reading; a positioning servo control means for operating the boom means according to the drilling position data read by the central processing means; and a positioning servo control means for operating the boom means according to the drilling position data read by the central processing means; The drilling machine control means that operates the machine, and the amount of error between the position indicated by the above drilling position data and the drilling position by the drilling machine of the boom means driven by this drilling position data for each drilling position. an error amount memory means which actually measures in advance and stores an error amount for each drilling position based on this actual measurement; and drilling position data read out from the memory means for each drilling position and read out from the error amount memory means for each drilling position. calculation means for performing a predetermined calculation based on the amount of error and outputting a position control signal for setting the drilling machine of the boom means at the drilling position indicated by the drilling position data; A drilling apparatus characterized in that the means reads the error amount from the error amount memory means, and the positioning servo control means controls the position of the boom means in response to a position control signal from the calculation means.