JPH063908Y2 - Drilling position controller - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a highly reliable drilling position control device with few signal line damage accidents.

[Conventional technology]

Generally, in a tunnel excavation, a punching device for punching a blast hole supports a boom that can be lifted and swiveled on a bogie, and supports a guide shell equipped with a rock drill that can be moved forward and backward at the tip of this boom. This trolley was installed near the face, and the operator manually positioned the rock drill to match the drilling pattern. However, since the positioning operation of such a drilling device is difficult and requires skill, a drilling device has recently been equipped with a control device such as a computer to automatically position a rock drilling machine at a designated position at a designated angle in accordance with a drilling pattern. Is proposed. (Japanese Patent Publication No. 57-51518 / Japanese Patent Publication No. 59-145)
894 etc.).

When using such an automated drilling device,
To determine the position and angle of each hole from the dolly,
A sensor is provided for each operating part of the boom, the boom position is calculated based on the displacement detection signal of each operating part from this sensor, the reference position information is compared, and a control signal is sent to each operating part of the boom. There is. Thus, the boom of the drilling device is required to have a large number of degrees of freedom in order to perform free positioning, and has a large number of operating parts. In the conventional drilling device, the sensors provided in the respective operating parts are respectively provided with The signal cable was routed from the control unit.

[Problems to be solved by the invention]

However, the environment of the tunnel excavation work site is bad,
If a large number of signal cables are routed, damage to the cables is likely to occur due to blasting, falling rocks, contact with equipment, collision, etc. Even if only one signal cable is broken, the drill hole position control becomes impossible. was there.

The present invention solves such a problem in a drilling device, and reduces the number of signal cables for transmitting a detection signal from a sensor to reduce the frequency of accidents in which the drilling position cannot be controlled due to cable damage, and An object of the present invention is to provide a highly reliable drilling position control device capable of improving efficiency.

[Means for solving problems]

In this invention, in order to solve the above-mentioned problems, in a drilling device that controls a drilling position based on a displacement detection signal from a sensor provided in each operating portion of a boom that supports a guide shell, each sensor has a control unit. The number of signal cables wired to the boom is reduced by providing a decoding circuit for decoding the output permission signal from the device and connecting it to the bus bar for transmitting a plurality of signals provided on the boom.

[Action]

As the number of signal cables wired to the boom is reduced,
The probability of occurrence of a damage accident is small, and it becomes easy to provide a cable protection means, so that the frequency at which the drilling hole position control becomes impossible is significantly reduced.

〔Example〕

 An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a side view of a drilling device equipped with a drilling position control device according to an embodiment of the present invention. Drilling device 10
Mounts the boom base 13 on the base 12 of the carriage 11 and the swing shaft 14
The lower end of the boom 15 is pivotally attached to the boom base 13 by the elevation shaft 16. The boom 15 has
A turning hydraulic cylinder 17 and a boom base 1 are provided between the base 12 and the base 12.
A hydraulic cylinder 18 for elevation is provided between 3 and 3, and is capable of turning and elevation. A tilt arm 19 is pivotally attached to the upper end of the boom 15 by a tilt arm shaft 20, and a tilt hydraulic cylinder (not shown) is provided between the boom and the boom 15 to allow tilting. Tilt arm 19
A swing arm 22 is pivotally mounted on a swing arm shaft 23, and a swing hydraulic cylinder (not shown) is provided between the swing arm 22 and the tilt arm 19 so as to be swingable.
The swing arm 22 is provided with a guide rotary 24, and is rotatable about the rotary shaft 21. A guide mounting 25 is fixed to the guide rotary 24, and the guide mounting 25 hinders the guide shell 26 to be slidable.
A rock drill 27 is mounted on the guide shell 26, and is movable in the front-rear direction by a feed motor 28. A rod 30 with a bit 29 is attached to the drilling machine 27, and a punching operation is performed on the face face 31 by giving impact and rotation.

The swivel shaft 1 which is the operating part of the boom of the punching device 10.
4, sensors 1, 2, 3, 4, and 5 for detecting the displacements are attached to the elevation shaft 16, the tilt arm shaft 20, the swing arm shaft 23, and the rotary shaft 21, respectively. 2, 3, 4, 5 are connected to a bus bar 6 for transmitting a plurality of signals, which is arranged on the boom 15 from a control section 34 installed in the punching device 10. 33 is an outrigger.

FIG. 2 is a block diagram of this drilling position control device, which comprises sensors 1, 2, 3, 4, 5 and a control section 34. The control unit 34 receives a detection signal from a central processing unit 35 including an arithmetic unit, a storage device 36, and sensors 1, 2, 3, 4, and 5, and is a known hydraulic circuit for controlling the drive of a boom cylinder or the like. And an input / output device 38 that sends a control signal to the electromagnetic control valve group 37.

The bus 6 for transmitting a plurality of signals is internally provided with the sensors 1, 2, 3,
The detection signal line 7 for sending the displacement detection signals from 4, 5 to the processing unit 34, and the sensors 1, 2, 3, 4, from the processing unit 34.
5 is a cable including an output permission signal line 8 for transmitting an output permission signal to the cable 5.

The sensors 1, 2, 3, 4, 5 output the detection signals only when receiving the input to the output permission terminals, and the sensors 1, 2, 3, 4, 5 output the output permission signals respectively. Decoding circuits 41, 42, 43, 44, 45 connected to the line 8 for decoding the output permission signal from the control unit 34 are provided.

The sensors 1, 2, 3, 4, 5 are respectively 1, 2, 3, 4,
5 addresses are assigned and 1 to 5 from the control unit 34
When the output permission signal (001 to 101 in binary) is sent, any of the sensors 1, 2, 3, 4, and 5 is selected by the decoding circuits 41, 42, 43, 44, and 45, and a detection signal is output. .

When performing a drilling operation, drilling position control data is created in advance and stored in the storage device 36. When the drilling is started, the central processing unit 35 sequentially outputs the output permission signals 1 to 5 to the output permission signal line 8 and the respective sensors 1, 2, 3, 3.
The position control command signal is output while receiving the detection signals from 4 and 5 and comparing with the control data stored in the storage device 36. This command signal is sent to the electromagnetic control valve group 37 to control the driving of each actuator of the drilling device 10 to move the rock drill 27 in the target position and direction of the drilling hole according to the drilling pattern.

[Effect of device]

The device of the present invention is configured as described above, and since only one signal cable is arranged on the boom, the probability of cable damage is low, and it is easy to provide a cable protection means. Therefore, the frequency of accidents in which the drilling position cannot be controlled is reduced, and the work efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a side view of a drilling device provided with a drilling position control device according to an embodiment of the present invention, and FIG. 2 is a block diagram of an embodiment of the drilling position control device. 1, 2, 3, 4, 5 ... Sensor, 6 ... Bus bar, 7 ... Detection signal line, 8 ... Output permission signal line, 10 ... Drilling device, 15 ... Boom, 26 ... Guide shell , 34 ……
Processing unit, 35 ... Central processing unit, 36 ... Storage device, 3
8 ... I / O device, 41, 42, 43, 44, 45 ...
Decode circuit

Claims (1)

[Scope of utility model registration request] 1. A drilling device for controlling a drilling position on the basis of a displacement detection signal from a sensor provided in each operating portion of a boom supporting a guide shell, wherein each sensor is
A drilling hole position control device comprising a decoding circuit for an output permission signal and being connected to a bus bar for transmitting a plurality of signals, which is arranged on the boom.