JPH06102953B2 - Positioning correction method for punching machine - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drilling machine positioning correction method for automatically correcting the positioning position of a drilling machine.

(Prior Art) Recent rock drills display the setting position (target value) for the target point of the drilling machine mounted on the boom in rectangular coordinates, and the setting position data in the rectangular coordinates are stored in the memory section as a control pattern. The setting position data is read out from the memory section at any time based on a control program from the central processing unit, and the boom and the drilling machine are automatically positioned. (For example,
See Japanese Patent Publication No. 57-51518).

(Problems to be solved by the invention) However, in such a rock drilling machine, the boom is attached to the bogie portion via a hinge mechanism,
In addition, since the punching machine is attached to the boom via a sliding mechanism such as a guide cell, the hinge mechanism, the sliding mechanism, etc. may not be mounted due to an error in mounting on the carriage at the time of assembly or aging. This causes rattling of parts due to wear and looseness of parts, and further bending of the boom itself, which causes a situation in which the boom cannot be accurately positioned according to the control pattern. And, if the positioning is not accurate, it will not be possible to obtain the ideal face face for the drill rock.

Moreover, the positioning error caused by the above phenomenon occurs not only in the X and Y directions in the Cartesian coordinate system but also in the X, Y and Z directions in the boom coordinate system, and the degree of the error ( Since (size) is not constant in each direction, it cannot be easily corrected by general means.

(Means for Solving Problems) The present invention has been made for the purpose of solving the above-mentioned problems. A boom carrying a punching machine and a punching machine for punching an actual face face by the punching machine. Positioning correction of a drilling machine, which is provided with a control data which displays the position and direction of a point by a coordinate value of a Cartesian coordinate system as a control target value, and boom control means for positioning the boom according to the input value. A method of setting a virtual face face corresponding to the actual face face, positioning the boom according to the control target value by the boom means with respect to the virtual face face, and performing the positioning in the positioning state. The position of the drilling machine is measured by light wave transit and displayed as coordinate values in a rectangular coordinate system, while the displayed value is compared with the control target value to obtain the control target value. The amount of error from the coordinate value corresponding to the actual positioning position is calculated, and the control target value is corrected according to the amount of error.

(Operation) According to the above means, the error amount peculiar to the boom operating portion of the perforator is measured in advance corresponding to the actual boom position corresponding to each drilling point on the virtual face, and the actual At the time of positioning the boom with respect to the facet, the final control target value is corrected according to the above-mentioned error amount prior to the positioning.

Therefore, the positioning of the boom with respect to the actual face surface is always accurate, and at the same time, the error amount detecting operation for each positioning cycle can be eliminated, so that the control efficiency is further improved.

(Embodiment) FIGS. 1 to 7 show a positioning correction apparatus for a punching machine for carrying out a positioning correction method for the punching machine according to an embodiment of the present invention. First, FIG. 2 shows the construction of the mounting device portion of the punching machine in the above embodiment,
A rear end 2a of the first boom 2 of the boom 1 is rotatably supported by a base W fixed on the work carriage E, and a rear end 3a of the second boom 3 is attached to a front end 2b of the first boom 2. A rotatably supported shaft is supported, and a guide cell cylinder 5 is fixed to the tip 3b of the second boom 3 via a cell mounting 4. A guide cell 7 having a feed motor 6 attached at the rear end is slidably mounted on the cylinder 5 so as to move the guide cell 7 forward and backward, and the tip of a rod 9 is further attached to the guide cell 7. A drilling machine 8 with a bit 10 attached to it is mounted so that it can move forward and backward. Then, when the punching operation of the punching machine 8 is performed, the punching machine 8 is moved forward by the feed motor 6. The boom 1 on which the punching machine 8 is mounted can be arbitrarily displaced in three directions of a horizontal direction in the left / right direction (X direction in the drawing), a front / rear horizontal direction (Z direction in the drawing), and a vertical direction (Y direction in the drawing). The boom swing cylinder 11 and the guide cell swing cylinder 12 that are operated in the horizontal directions with respect to the first boom 2 and the second boom 3 and the boom lift that is operated in the vertical direction. Cylinder for 13
And the cylinder 14 for lifting the guide cell is attached as shown. A pair of booms 1 configured as described above are provided on the left and right of the work carriage E.
Further, reference numerals 41 and 42 are first and second target plates which are installed on one side of the outriggers 47 and 48 which are located on both sides of the carriage E and which are provided in a front and rear pair.

Here, the length of the first boom 2 is l ₁ , the length of the second boom 3 is l ₂ , and the length from the tip of the second boom 3 to the tip of the guide cell 7 (that is, the guide cell 7 the amount of movement) as l _s, boom tip position that moves in accordance with the operation amount and the acting movements of the respective cylinders 11 to 14 (i.e., the relationship between the tip position of the guide cell 7), 3 (a), When analyzed with reference to (b), the results are as follows.

That is, when the boom 1 is initially on the Z-axis, its tip is at the position Po in FIGS. 3 (a) and 3 (b). First, the cylinder 11 for boom swing and the cylinder 12 for guide cell swing are operated from this state, and the rods are extended so that the first boom 2 is θ ₁ and the second boom 3 is on the horizontal plane (XZ plane in the figure). When it moves by θ ₃ , the Po point moves to the P ₁ point.
After that, when the boom lift cylinder 14 is activated and moved by θ ₂ and θ ₄ to the vertical plane (YZ plane in the figure), P ₁ point becomes the Po
Go through point P ₂ point. The position of this P ₂ point and the direction (of the cell) are given by

x = l ₁ sin θ ₁ · cos θ + {l ₂ sin θ ₁ + lssin (θ ₁ +
θ ₃ )} cos (θ ₂ + θ ₄ ) y = l ₁ cos θ ₁ · sin θ 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 + lscos (θ ₁ −
θ ₃ )} cos (θ ₂ + θ ₄ ) ・ (1) θ = θ ₁ + θ ₃ φ = θ ₂ + θ ₄ That is, the point P ₂ and its direction are expressed by the Cartesian coordinate system P (x , y, z, θ, φ) and boom coordinate system Pθ
(Θ ₁ , θ ₂ , θ ₃ , θ ₄ , ls) can be mutually converted.

Therefore, the control of the position and direction of the point P ₂ given in the Cartesian coordinate system is performed by the coordinate exchanger (P → Pθ) and the angle θ ₁ ,
This can be achieved if there is a positioning servo controller with θ ₂ , θ ₃ , θ ₄ and length ls.

The boom positioning device having the correction function of this embodiment is provided with the coordinate converter (P → Pθ) and the positioning servo controller, and displays the position of the bit 10 at the boom tip in a rectangular coordinate system to display the boom 1 In addition, the target value at the time of the positioning is automatically calibrated based on the measured value by the light wave transit, and is configured as shown in FIG.

That is, in FIG. 1, first, reference numeral 15 indicates the position of the bit 10 at the tip of the boom 1 with respect to the virtual rectangular coordinate plane FR ′ immediately before the face of the face according to a predetermined drilling pattern as shown in FIG. 6, for example. The memory means 15 is a memory means for setting an operation amount for direct positioning. The memory means 15 is used for the first and second booms 2,
The operation amount of 3 can be freely set with a keyboard or dial. 16 is the boom 1
Boom positioning servo control device for determining the operating amounts of the pistons of the hydraulic cylinders 11 to 14 for driving each boom and the cylinder 5 for the guide cell from the displacement angles θ _{1 to} θ ₄ of the first and second booms 2 and 3 (Corresponding to boom control means in the claims), 17 is a boom coordinate system (P → P) installed between the memory means 15 and the boom positioning servo control device 16.
θ) coordinate converter for converting the position and direction (x, y, z, θ, φ) of the coordinate value P of the rectangular coordinate system given by the memory means 15 into the coordinate value Pθ of the boom coordinate system (each boom 2, 3 displacement angle θ ₁ ,
This is converted into θ ₂ , θ ₃ , θ ₄ and the movement amount ls) of the guide cell 7. Reference numeral 18 denotes a central processing unit, which is the above memory means.
It is connected to 15 and the coordinate exchanger 17, and when an operation input is given, a desired drilling hole position P is taken out from the memory means 15 and inputted to the coordinate exchanger 17. 19 is the above coordinate exchanger
A first register connected between the boom positioning servo controller 16 and the boom positioning servo controller 16, which holds the target value Pθ given by the coordinate converter 17 for a predetermined time and inputs it to the positioning servo controller 16. Is. Reference numeral 20 is a second register connected to the coordinate converter 17, and inputs constants such as the lengths l ₁ , l ₂ ... Of the first boom 2 and the second boom 3 to the coordinate converter 17. ing. First and second boom
Each of the drive hydraulic cylinders 5, 11 to 14 of the boom 1 and the guide cell 7 composed of 2, 3 is operated according to the piston operation amount of each cylinder 5, 11 to 14 instructed by the positioning servo control device 16. . Reference numeral 22 denotes a punching machine control means, which gives the punching machine 8 mounted on the guide cell 7 of the boom 1 with a control amount necessary for the drilling operation, and is connected to the positioning servo control device 16 to the boom. The work is started by the signal when 1 is positioned at the desired position, and it is also connected to the central processing unit 18 to give the end signal for each drilling work.

Further, 23a and 23b are two calculators for receiving the displacement detection signals of the driving cylinders 11 to 14 of the first and second booms 2 and 3 and the cylinder 5 for operating the guide cell to obtain the actual displacement angle of the boom. Is connected to the positioning servo control device 16 to feed back the actual displacement angle (θ ₁ , θ ₂ , θ ₃ , θ ₄ ) of the boom and the actual movement amount (ls) of the guide cell 7,
The boom is positioned to the target point.

By the way, the displacement angles θ _{1 to} θ ₄ of the boom 1 are detected directly from the displacements of the drive cylinders 11 to 14 without the calculators 23a and 23b, or indirectly via the calculators 23a and 23b. The principle will be described below with reference to FIG.

In the simplified drawing of the first boom 2 shown in FIG.
When the first boom 2 is now horizontal, ΔX ₁ X ₂ X ₃ is a right triangle. Therefore, if the length of each side is now shown in FIG. 4, the following equation is established from Pythagorean theorem.

a ² = b ² + c ² (2) On the other hand, when the first boom 2 moves upward by an angle α °, point X ₁
Is moved to the point X ₁ ′ and the distance between X _{1 and} X ₃ is increased by t, the following equation holds.

(a + t) ² = (b + csinα) ² + (ccosα) ² = b ² + c ² + 2bcsi
nα ... (3) From the above equations (2) and (3), t ² + 2at = 2bc sinα ∴sinα = (t ² + 2at) / 2bc (4) Therefore, the angle α can be obtained from the following equation.

α = sin ⁻¹ (t ² ＋ 2at) / 2bc ・ ・ ・ (5) In this equation (5), to make the variables dimensionless (a / b
c) Replace t with T.

(A / bc) t → T (6) Then, the above equation (5) can be transformed as follows.

α = sin ⁻¹ (bc / 2a ² · T ² + T) (7) Now, consider a triangle ΔQ ₁ Q ₂ Q ₃ similar to ΔX ₁ ′ X ₂ X ₃ above. If the length of each side corresponding to ΔX ₁ ′ X ₂ X ₃ is expressed as (a ′, b ′, c ′, t ′), then a / a ′ = b / b ′ = c / c '= t / t' = k ₁ (constant) (8) holds, so at / bc = a't '/ b'c' holds and (7) above As for the constants of the formula, bc / a ² = b'c '/ a' ² = k ₂ (constant), and in the end, between the similar triangles, the constants and variables of the above formula (7) are set to the size of the triangle. It can be seen that the angle α does not depend on each other, and both the angles α are expressed by the same equation (7). Further, using the constant k ₂ , the above equation (7) can be expressed as follows.

_{^{α = sin -1 (k 2/}} 2 · T 2 + T) ··· (9) than the displacement T of the thus said cylinder, using equation (9), shooting angle of the boom alpha is determined. Specifically, this can be realized by using the following two computing units 23a and 23b (which is advantageous to use a digital computing unit).

An encoder incorporated in the drive hydraulic cylinders 11 to 14 is used as the displacement T detection device.

The encoder is, for example, each of the driving hydraulic cylinders 11 to
It is attached to the inner base end side of 14, and a rotary disk and a detector are installed in the case that is fixed to the cylinder, and the rotary disk is rotated via the shaft by the inflow of hydraulic pressure, and physically encoded on the disk. The generated 1.0 pattern is stored, and this is detected by the detector.

The rotation angle β of the disk and the output signal T are: T = kβ (10) where k is a constant. Therefore, if the disk pattern of the encoder is changed as a function generator satisfying the above equation (9) instead of the equation (10), the moving angle α can be obtained directly from this encoder.

Then, by substituting the above (9) (10) Equation (9) in order to determine the disk pattern of the function generator (encoder) satisfying the formula, firstly _{^{α = sin -1 (k 2/}} 2 · k ² β ² + k β) is obtained, and this is solved for β to obtain the following equation.

However, since β is not only negative, the sign is positive.

Also, 1 + 2k ₂ sin α> 0.

That is, according to the equation (11), the pattern angle β of the encoder with respect to the shooting angle α of each arm of the boom can be obtained.

Further, if the method of using the encoder as a special function generator is adopted, the distances Lx and Ly in FIG. 5 can be easily detected.

On the other hand, reference numeral 25 in FIG. 1 denotes a measurement data input device for measuring the movement amount of each axis peculiar to the boom 1 with respect to the target point in advance by the light wave transit 40 and then inputting and storing it as measurement data in a mapping state. is there. The actual measurement data of the measurement data input device 25 is, for example, the operation of each of the rotating portion A, the lift portion B, the extension portion C of the boom 1, the lift portion D, the swing portion E, and the slide portion F of the guide cell. It is displayed as including the error amount (ΔX, ΔY, ΔZ) due to secular change in the X, Y, Z directions on the rectangular coordinates of the portion having the degrees of freedom A to F.

Next, reference numeral 26 is a stored coordinate value (set target value) P (x, y, z, θ, φ) of the drilling pattern on the face of the face inputted to the memory means 15 and the measurement data input device 25. Measured data P '(x', y ', z', θ ',
φ ') is input to detect a deviation value (error amount) ΔP = PP ′ between these two input amounts. The deviation value ΔP detected by the comparator 26 is then input to the target correction means 27, and the set target value P input to the memory means 15 by the target value correction means 27 is used as the actual positioning value. Correction according to the deviation value ΔP from P ′ (P + Δ
P). As a result, the stored value of the memory means 15 which is the set target value in the positioning servo system is properly set in consideration of the error peculiar to the boom 1.

By the way, the actual measurement data of the actual drilling machine positioning position with respect to the virtual face face input to the measurement data input device 25 is obtained as follows.

That is, first, in FIG. 5, the boom 1 is actually controlled by the positioning servo control device 16 on the premise of the virtual face FR 'shown in FIG. 6 which is set corresponding to the actual face in the tunnel. The principle view of the case where it is installed at the target value point is shown, and a predetermined direction is set on the same axis line in the front-rear direction on the side of the outriggers 47, 48 of the rock drill body carriage E on which the drilling machine 8 is mounted as described above. The above-mentioned first and second provided so as to keep a distance and be capable of being pulled out in a horizontal direction (X-axis direction) by a predetermined length.
Two first and second target hole 41a of the target plate 41, the light wave transit on top extension Z-axis connecting the center points of 42a (which is typically matched to the tunnel center axis O _T) of 40 are provided. This lightwave transit 40
Has a function of irradiating and receiving a coherent laser beam, and has a function of calculating a linear distance l _E from the reflection time of the irradiation beam to the reflection point (boom tip bit 10 position) from the light emission point. .

Therefore, the light wave transit 40 is now installed at a predetermined distance in front of the bogie E of the drilling machine main body as shown in FIG. 5, and the irradiation laser beam from the light wave transit 40 is two pieces on the bogie E side. Target plate 41, 42 of each target hole 4
The optical axis when passing through 1a and 42a is the Z axis, and the virtual face in the tunnel FR 'shown in FIG. 6 is set vertically on the Z axis.
Then, on the virtual face FR ', the memory means
Target value P (x, y, z, θ, based on 15 input drilling patterns
Assuming that the tip (bit position) of the boom 1 actually positioned by (φ) is at the point Pn in the figure, the light wave transit 40 is used to perform the work shown in the flowchart of FIG. The error amount of the point is calculated, and the target value described with reference to FIG. 1 is corrected according to the calculated value. That is, first, in step S ₁ , the Z axis with respect to the rock drill main body of the light wave transit 40 is specified by using the two target plates 41 and 42 as described above, and then the light wave transit 40 is determined based on the Z axis. 5
Set as shown in the figure.

Then, the target value P (x, y, z) virtual working face surface of the above based on the F at step S ₂ is input to the memory means 15 of the Figure 1
Actually position the boom 1 with respect to R '.

Then, the measurement time of the respective target plates at Step S ₃ 4
The pulled amount l _T of 1,42 to the side of the carriage E (X-axis direction) is measured, and the tunnel coordinate value of the Z-axis is specified.

Then, in step S ₄ , the tip Pn point (reflection point) of the boom 1 is detected with the light emitting point P _L of the lightwave transit 40 as the center.

Then, in next step S _5, the optical wave transit 40
Then, the linear distance l _E between the actual positioning position Pn of the boom 1 and the light emitting point P _L of the lightwave transit 40 is calculated. Then, in steps S ₆ and S ₇ , the vertical tilt angle θ _V and the horizontal tilt angle θ _H of the lightwave transit 40 with respect to the positioning point Pn are measured.

Further, the process proceeds to step S ₈ to S _10, X-axis coordinate value from the transit system of the boom tip based on the measured values _{{Pn (X) = l E} (cosθ V · sinθ H)}, on the Y axis Coordinate value (Pn (Y) = l _E sin θ _V ), coordinate value on Z axis (Pn (Z) =
l _E cos θV · cos θ _H ) is calculated.

Thereafter, further proceeds to step S ₁₁ to S _13, the target value P
The deviation value (error amount) ΔP (X), ΔP (Y), ΔP (Z) for each X, Y, Z coordinate value is calculated by comparison with (x, y, z), and based on this In step S ₁₄ , the target value P (x, y, z)
Is corrected (P (x, y, z) + ΔP (x, y, z)).

(Effect of the Invention) As described above, the method of the present invention is such that the position and the direction of the punching point by the punching machine with respect to the actual face face and the boom on which the punching machine is mounted are the coordinates of the rectangular coordinate system. A method for correcting the positioning of a drilling machine, comprising: a control data displayed by a value as a control target value; and a boom control means for positioning the boom according to the input value. Set the corresponding virtual face,
The boom control means positions the boom according to the control target value with respect to the virtual facet, and the position of the drilling machine in the positioned state is measured by light wave transit and displayed in the coordinate value of the rectangular coordinate system. On the other hand, the error amount between the control target value and the coordinate value corresponding to the actual positioning position is calculated by comparing the displayed value with the control target value, and the control target value is corrected according to the error amount. It is characterized by doing so.

Therefore, according to the method of the present invention, the error amount peculiar to the boom operating portion of the perforator is measured in advance in correspondence with the actual boom position corresponding to each drilling point on the virtual face, and the actual face is cut. When the boom is positioned with respect to the surface, the final control target value is corrected according to the above-mentioned error amount prior to the positioning.

Therefore, the positioning of the boom with respect to the actual face surface is always accurate, and at the same time, the error amount detecting operation for each positioning cycle can be eliminated, so that the control efficiency is further improved.

[Brief description of drawings]

FIG. 1 is a block diagram of an apparatus for carrying out a positioning correction method for a punching machine according to an embodiment of the present invention, and FIG. 2 is a side view showing a boom and a boom mounting device of the punching machine in the above embodiment, 3 (a) and 3 (b) are explanatory views showing a displacement state during boom operation in the above embodiment, and FIG. 4 shows the relationship between the displacement angle of the boom and the movement amount of the boom operating cylinder in the above embodiment. FIG. 5 is a diagram showing the principle of performing positioning correction using the light wave transit in the above embodiment, and FIG. 6 is a model diagram showing a virtual facet.
FIG. 7 is a flow chart showing a method of correcting the positioning of the punching machine in the above embodiment. 1 …… Boom 8 …… Punching machine 16 …… Positioning servo controller 17 …… Coordinate converter 18 …… Central processing unit 25 …… Measurement data input device 26 …… Comparator 27 …… Target value correction means 40… … Lightwave transit

Claims (1)

[Claims] 1. A boom on which a punching machine is mounted, and control data in which the position and direction of the punching point by the punching machine with respect to the actual face face are displayed by coordinate values in a rectangular coordinate system as control target values. A method for correcting the positioning of a punching machine, which comprises a boom control means for positioning the boom according to the input value, wherein a virtual face face corresponding to the actual face face is set, and the virtual face face is set. While positioning the boom according to the control target value by the boom control means with respect to a surface, while measuring the position of the punching machine in the positioning state by a light wave transit, and displaying the coordinate value of the rectangular coordinate system, An error amount between the control target value and the coordinate value corresponding to the actual positioning position is calculated by comparing the displayed value with the control target value, and the error amount is calculated according to the error amount. Positioning correction method of drilling machine, characterized in that so as to correct the control target value.