JPH061666Y2 - Drilling control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION << Industrial Application Field >> The present invention relates to a control device for a punching device in which a cell on which a rock drill is mounted and a boom supporting the cell are moved by a plurality of actuators.

<< Prior Art >> A tunnel is generally excavated by punching a large number of charging holes on a face with a rock drilling machine, setting explosives in these charging holes, and blasting. The above-mentioned punching device is used for punching the charging hole.

For drilling a large number of charging holes on the face face, a method of automatically controlling the motions of the boom, the cell and the rock drill as programmed in advance (see Japanese Patent Publication No. 57-51518) and the operator on site Operate the operating lever while watching,
There is a method to control the movement of the boom and cell.

As the latter manual drilling control device, there is known a device for displaying the position and angle of a boom and the position of a rock drill, as shown in Japanese Utility Model Laid-Open No. 60-66787. According to this, even if the operator is far from the drilling point, the position information of the boom and the rock drill can be accurately read from the display installed nearby, and the operation of the boom and the rock drill can be easily performed. .

<Problems to be solved by the device> When drilling with a certain force applied to a rock drilling machine, the actual drilling speed changes depending on the rock quality and the presence or absence of cavities. The condition of rocks and cavities is very useful information for advancing tunnel construction, such as adjusting the amount of explosive used for blasting depending on the conditions of rocks and cavities inside. This information can be grasped from the magnitude of the punching speed and the changing situation when drilling the charging hole. Heretofore, this is the information that a skilled worker observes at the drilling site and obtains mostly by a can. Therefore, it was not accurate, and it was not something that anyone could do.

The present invention has been made in view of the above-mentioned conventional problems, and an object thereof is to provide a drilling control device capable of accurately knowing the drilling speed of a drilling machine.

<Means for Solving Problems> Therefore, in this invention, a boom mounted on a base so as to be swingable and swingable up and down, and a tip of the boom swingable and swingable up and down. The attached cell, the rock drill mounted on the cell, the first turning movement means for turning the boom, and the first for rocking the boom up and down.
Swinging movement means, second turning movement means for turning the cell, second swinging movement means for rocking the cell up and down, and forward-backward movement means for moving the rock drill back and forth along the cell. And a position detecting means for detecting the moving position of each of the moving means, and a tunnel at the tip of the drilling hole based on the information from each of the moving position detecting means. It is characterized in that a depth calculation means for calculating the depth in the direction and a display means for displaying the calculated depth in the tunnel direction are provided.

<< Operation >> From information obtained from each position detecting means provided in each of the first and second turning movement means and the first and second swing movement means,
The position and orientation of the cell such as a hole is calculated. Also, the drilling hole length is calculated from the position of the rock drilling machine on the cell detected by the position detecting means of the forward and backward moving means, and from this drilling hole length and the position and direction information of the cell, the tunnel direction of the drilling hole tip is calculated. Is calculated, and the depth in the tunnel direction is displayed on the display means.

<< Embodiment >> FIG. 2 shows a mechanical structure of a general punching device. Reference numeral 1 is a base which is a part of the trolley, 2 is a swivel cylinder vertically attached to the base 1, and 3 is a first swivel cylinder mounted on the swivel cylinder 2.
Booms 4 are hydraulic cylinders that rotate the first boom 3,
5 is a hydraulic cylinder for vertically rotating the first boom 3, 6 is a second boom attached to the tip of the first boom 3, 7 is a hydraulic cylinder for vertically rotating the second boom, and 8 is a second cylinder. 2 Cell attached to the tip side of the boom 6, 9
Is a hydraulic cylinder for turning the cell 8, 10 is a rock drill mounted on the cell 8, 11 is a rod of the rock drill 10, 12
Is a bit attached to the tip of the rod 11, and 13 is a feed motor for moving the rock drill 10 back and forth along the cell 8 in the direction of drilling.

FIG. 3 shows a schematic structure of a drilling control device according to an embodiment of the present invention. The operation unit 14 includes the hydraulic cylinders 4,
Operation lever for controlling 5, 7, 9 and feed motor 1
An input device such as an operation lever and a keyboard for controlling the control unit 3 is provided. The drive control unit 15 responds to a lever operation and a switch operation of the operation unit 14 to move the hydraulic cylinder 4,
It includes a hydraulic circuit and an electric circuit for driving 5, 7, 9 and the feed motor 13. Hydraulic cylinder 4,
By controlling 5, 7, and 9, the position and orientation of the cell 8 can be set arbitrarily. When the position and orientation of the cell 8 is determined and the rock drill 10 is moved forward by the feed motor 13, the drilling is performed by the bit 12, and the drill moves in the moving direction of the rock drill 10, that is, in the guide direction of the cell 8. To do.

As shown in FIG. 3, each hydraulic cylinder 4, 5, 7, 9 is provided with a position sensor 17, and
A position sensor 16 is attached to the feed system of the rock drilling machine 10 by the feed motor 13. Based on the outputs of these position sensors 16 and 17, the booms 3 and 6 and the cell 8 are
The position information (position and direction) of the rock drill 10 can be detected.

The arithmetic processing unit 18 is composed of a microcomputer and performs the following signal processing based on the operation signal of the operation unit 14 and the detection signals of the position sensors 16 and 17, and displays the position information of the reference point of the cell 8 on the display unit 19 and The drilling speed and the drilling depth according to this invention are displayed.

FIG. 4 shows a processing procedure by the arithmetic processing unit 18.

When performing a general drilling operation, the operator first controls the hydraulic cylinders 4, 5, 7, and 9 with the rock drill 10 returned to the initial position by the feed motor 13.
After aligning the tip (bit 12) of the cell 8 with the origin of the face to be worked next, press the set face origin button. In this process, the arithmetic processing unit 18 reads the detection signals of the position sensors 16 and 17 in step 401, calculates the position of the tip of the cell 8 based on the sensor signal in the next step 402, and calculates the orientation of the cell 8. The process of displaying it on the display unit 19 is repeated. The operator controls the hydraulic cylinders 4, 5, 7, 9 by looking at this display. When the face origin setting button is pressed, step 403
To 404, the position of the cell 8 at that time is stored as the face origin.

Next, the operator performs the work of aligning the tip (bit 12) of the cell 8 with one of a large number of planned hole positions on the face, and then presses the hole start button. In this process, the arithmetic processing unit 18 reads the detection signals of the position sensors 16 and 17 in step 405, calculates the position and orientation of the tip of the cell 8 in step 406, and displays it on the display unit 19.
The operator controls the hydraulic cylinders 4, 5, 7, 9 by looking at this display. When the punching start button is pressed, the process proceeds from step 407 to step 408 and thereafter.

At step 408, the detection means of the position sensors 16 and 17 are read, and at step 409, which follows, the read position sensor 16 is read.
The moving speed of the rock drilling machine 10 (moving speed in the drilling direction by the feed motor 13) is calculated from the detection signal of, and in step 410, the feed length (moving distance) of the rock drilling machine 10 is calculated as the depth in the tunnel direction. Convert to and continue to Step 4
At 11, the calculation results of steps 409 and 410 are displayed on the display unit 19. Then, the process returns from step 412 or 413 to step 405 or 408.

That is, the rock drill 10 is fed to the cell 8 by the feed motor 13.
When the bit 12 actually starts drilling, the sensor signal reading process of step 408 is executed at a constant cycle, and drilling is performed based on the detection signal of the position sensor 16 sampled at each time point. The moving speed (drilling speed) of the rock machine 10 is calculated. Also, in general, unlike the direction perpendicular to the face of the face (this is called the tunnel direction) and the direction of the cell 8 (drilling direction), the actual drilling length by the rock drilling machine 10 is converted to the depth in the tunneling direction. Then, the work is finished when the depth reaches the set value. Therefore, in step 410, the depth in the tunnel direction is calculated and displayed in step 411.

As is clear from the above description, when the drilling work is actually performed, the display unit 19 displays the drilling speed and the depth of the drilling tip in the tunnel direction at every moment. By observing the display, the drilling speed and the depth of the tip in the tunnel direction can be accurately known, and the change in the drilling speed can be easily grasped. Therefore, it is possible to accurately grasp information such as lithology at the drilling point, changes in lithology, and presence / absence of cavities.

<Effect of device> As described in detail above, in the drilling control device according to the present invention, the depth of the tip of the drilling hole in the tunnel direction during the process of drilling by the rock drilling machine. Is displayed every moment, so that when a plurality of drill holes are arranged in parallel, the depths of the respective tip portions in the tunnel direction can be easily excavated.

[Brief description of drawings]

FIG. 1 is a block diagram illustrating the structural requirements of the utility model registration claim, FIG. 2 is a diagram showing the mechanical structure of a general rock drilling device, and FIG. 3 is a drilling device according to an embodiment of the present invention. FIG. 4 is a block diagram of the control device, and FIG. 4 is a flowchart showing a processing procedure of the arithmetic processing unit 18 in FIG. 8 ... Cell, 10 ... Rock drill 12 ... Bit, 13 ... Feed motor 16 ... Position sensor, 18 ... Arithmetic control unit 19 ... Display unit

Claims (1)

[Scope of utility model registration request] 1. A boom mounted on a base so as to be swingable and swingable up and down, a cell mounted on the tip of the boom so as to swing vertically and swingably, and mounted on the cell. A rock drilling machine, a first swinging moving means for swinging the boom, a first swinging moving means for swinging the boom up and down, a second swinging moving means for swinging the cell, and the cell. Second swinging moving means for swinging up and down, forward and backward moving means for moving the rock drill back and forth along the cell,
In the drilling device provided with, while providing position detecting means for detecting each moving position in each of the moving means, based on the information from each of these position detecting means, in the tunnel direction of the tip of the drilling A drilling control device comprising: a depth calculation means for calculating the depth; and a display means for displaying the calculated depth in the tunnel direction.