JPH07229385A - Automatic hydraulic crawler drill - Google Patents

Abstract

PURPOSE:To allow easy positioning operation for an automatic boring process, and improve boring efficiency by undertaking automatic control on the basis of data detected with a position transducer and each operation detector, and boring position data. CONSTITUTION:An operator sets a reference point on a working face and inputs necessary boring position data to a control device 7. Furthermore, the operator installs a travel carriage 5 near the boring start position of the face, with a track frame directed to the progress direction of a boring work, and gives an automatic operation start instruction. As a result, the control device 7 causes the carriage 5 to self-travel to the first boring work position on the basis of data detected with a position transducer 9 and each operation detector, and preliminarily stored boring position data. Thereafter, a carriage frame 4 is swung to just oppose the face, and the boring positioning operation of each operation section of a boom 8 and a guide shell 11 is controlled. Also, a machine drill 10 is positioned and made to automatically perform drilling operation, according to the established drilling program. Thereafter, the required number of drilling processes is sequentially repeated similarly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic crawler drill capable of automatically drilling a predetermined position.

[0002]

2. Description of the Related Art A hydraulic crawler drill is used for drilling blast holes for crushing the bedrock of a bench in bench cutting face of mining and quarrying works. Conventionally, the operation for positioning at a predetermined drilling position and drilling has been performed by an operator in the driver's seat on the carriage.

However, the portion of the bench where the hydraulic crawler drill must be drilled for drilling is the portion where the ground has loosened due to the impact of blasting, and moreover, there are usually a plurality of benches in the workplace. Since there is a risk of accidents caused by falling rocks from the bench above, it is extremely dangerous for the operator to ride on the hydraulic crawler drill and work in such a place. Therefore, in order to prevent personal injury,
There has been a demand for unmanned drilling work using a hydraulic crawler drill.

Therefore, as a means for automatically drilling a bench with a crawler drill, a distance measuring machine, a turning angle detector, a memory and a controller are mounted on the crawler drill, and the controller measures the distance measuring machine. It is proposed that the position on the bench is calculated based on the detection data from the turning angle detector and the drilling machine is controlled to be positioned at the predetermined drilling position stored in the memory (Japanese Patent Publication No. 5803
(See No. 9).

[0005]

However, this crawler drill has a distance measuring machine, a turning angle detector, a memory, and a control device simply mounted on a crawler drill having a normal structure. , When drilling a plurality of blast holes, there is a problem that the operation for moving to the next drilling position sequentially and positioning the guide shell at a predetermined drilling position is complicated, time-consuming and inefficient. is there.

[0006] The present invention solves such a problem in a hydraulic crawler drill, and an object of the present invention is to provide an automatic hydraulic crawler drill capable of facilitating positioning operation and improving drilling efficiency.

[0007]

SUMMARY OF THE INVENTION An automatic hydraulic crawler drill according to the present invention pivots a hoisting boom having a horizontally movable boom slide portion on a traveling carriage having a truck frame provided with a swingable carriage frame. This boom supports the guide shell on which the rock drill is mounted so that it can tilt and swing, and also detects the operation amount of each operation part and the position of the traveling carriage with respect to the reference point of the face. Equipped with a position detector, the operation detector and the detection data of the position detector, and the drilling position data stored in advance and a controller for controlling the drilling positioning operation and drilling work based on the drilling program. By doing so, the above problem is solved.

[0008]

When performing the drilling work with the automatic hydraulic crawler drill, the operator sets a reference point on the face and the drilling position data necessary for carrying out continuous drilling with a predetermined drilling pattern is sent to the control device. Then, the vehicle is installed near the drilling start position of the face with the truck frame oriented in the direction of the drilling work, and an automatic operation start command is given.
Then, based on the detection data of the position detector, the detection data of the actuation detector, and the pre-stored drilling position data, the control device self-propels the traveling bogie to the first drilling work position and turns the bogie frame. Position the drilling machine mounted on the guide shell to the first drilling position, and control the drilling position of each operating part of the boom and the guide shell. Start automatic drilling according to the drilling program.

After the first drilling work, the control device
The traveling bogie is self-propelled to the second drilling work position and the drilling positioning operation of the boom and the guide shell is controlled to control the drilling machine mounted on the guide shell to the second drilling position. Position to position and perform automatic drilling.
After that, the drilling is repeated a predetermined number of times, and when the final drilling is completed, the drilling machine is removed from the drilling position and the automatic operation is terminated.

Generally, as a drilling pattern for a bench-cut face, a plurality of blast holes are often arranged at equal intervals on a straight line parallel to the face. In the automatic hydraulic crawler drill of the present invention, since the truck frame is provided with the truck frame which can be swung, the truck frame is made parallel to this straight line and the truck frame is swung 90 ° as the traveling direction of the drilling work. If the initial setting is made with the face facing the face, the second and subsequent drilling operations will activate the boom and guide shell operating parts by advancing the track frame by a distance equal to the predetermined drilling interval. The drilling hole can be positioned without the need to do so.

However, it is difficult to make the traveling carriage self-propelled and accurately stop at the next drilling work position, and if too high accuracy is required, the detection data of the position detector must be fed back to correct the position many times. In some cases, it takes time and work efficiency deteriorates. Therefore, when the self-propelled traveling vehicle stops at a position slightly deviated from the next drilling work position, the error value is obtained from the detection data of the position detector and the drilling of each operating part of the boom and the guide shell is performed. The positioning operation is controlled to position the rock drill mounted on the guide shell at the drilling position. At this time, the error in the direction perpendicular to the face surface and the direction parallel to the face surface can be corrected quickly by turning the bogie frame and sliding the horizontally held boom slide portion.

[0012]

1 is a side view of an automatic hydraulic crawler drill according to an embodiment of the present invention, FIG. 2 is a plan view thereof, FIG. 3 is an explanatory view of a boom structure, and FIG. 4 is an operation detector and a position detector. FIG. 5 is a block diagram of a control system, and FIG. 6 is a diagram showing an example of a drilling pattern in a bench cut face.

The automatic hydraulic crawler drill 1 of this embodiment is
A cabin 6, a control device 7, a boom 8, and a position detector 9 are provided on a traveling carriage 5 in which a truck frame 2 is provided with a carriage frame 4 via a turning mechanism 3.
Guide shell 1 equipped with a rock drill 10 at the tip of
1 is supported. The boom 8 has a boom yoke 12 erected on the bogie frame 4, a base end portion of which is pivotally supported by a boom lift pin 13, and a lift cylinder 14 allows the main boom 15 to rise and fall, and a boom tilt pin at a tip portion of the main boom 15. The boom slide portion 18 is pivotally mounted at 16, and can be tilted by a boom tilt cylinder 17. The boom slide portion 18 is provided with a slide boom 21 in which an inner boom 20 is slidably fitted in an outer tab boom 19. When the main boom 15 is raised and lowered, the slide boom is tilted forward and backward by a boom tilt cylinder 17 to slide the slide boom. 21 can be held horizontally.

A tilt arm 22 is pivotally attached to a tip end portion of the inner boom 20 by a guide tilt pin 23, and is tilted by a guide tilt cylinder 24. Tilt arm 2
A swing arm 25 is pivotally attached to the 2 by a guide swing pin 26. The guide swing cylinder 27 swings. The guide shell 11 is slidably supported on the swing arm 25. A rod 28 is attached to the rock drilling machine 10 mounted on the guide shell 11 and is hit, rotated and fed to punch a rock of a face. In each of the above-mentioned operating parts, a travel distance detecting sensor 30, a turning angle detecting sensor 31,
Boom lift angle detection sensor 32, boom tilt angle detection sensor 33, boom slide length detection sensor 34, guide tilt angle detection sensor 35, guide swing angle detection sensor 3
6, a guide slide length detection sensor 37, a guide shell inclination sensor 38, and a carriage frame inclination sensor 39 are arranged.

The position detector 9 detects a distance and an angle for determining the position of the traveling vehicle 5 with respect to the reference points A and B set on the face. The control device 7 has an input unit 40 for inputting drilling position data and a drilling program in advance,
A storage unit 41 that stores the drilling position data and the drilling program that have been input, a position detector 9, and each operation detector 3
0, 31, 32, 33, 34, 35, 36, 37, 3
A CPU 42 that sends a signal for controlling the drilling positioning operation and drilling work to the hydraulic control device 43 based on the detection data of 8 and 39 and the drilling position data and the drilling program stored in the storage unit 41. Is equipped with. The storage unit 41 can also store the result of the arithmetic processing of the CPU 42.

Drilling with an automatic hydraulic crawler drill
When moving, the operator, as shown in FIG.
Set reference points A and B on parallel straight lines, and set reference points A and B
The connecting straight line is the Y axis, and the straight line that passes through the reference point A and is perpendicular to the Y axis is X.
Drilling position D on the axis coordinate₁~ D_nData d₁~
d_nIs input from the input unit 40. Drilling hole position D₁~ D _n
Is usually a predetermined distance L on a straight line parallel to the Y and X axes._Y, L
_XOnly separated.

Further, the drilling work positions of the traveling carriage 5 and the respective drilling work positions for positioning the guide shell 11 mounted with the drilling machine 10 in accordance with the drilling direction and the drilling inclination at each drilling position D _{1 to} D _n . Operation of the actuator of the operating part,
A predetermined drilling program for hitting, rotating, feeding, etc. of the rock drill 10 according to the rock quality is also input from the input unit 40.
As the drilling program and the drilling position data, several kinds of patterns may be input in advance and appropriately selected.

Next, the track frame 2 is oriented in the advancing direction of the drilling work parallel to the Y-axis near the drilling work position P ₁ of the traveling carriage 5 for drilling the first drilling position D ₁ . In this state, the traveling vehicle 5 is installed and an automatic operation start command is given. Then, the detection data of the position detector 9 and the respective operation detectors 30, 31, 32, 33, 34, 35, 36, 37,
38 and 39 the detection data in advance on the basis of the stored drilling position data d ₁ to d _n, the control unit 7 sends a control signal to the hydraulic control unit 43, the first drilling working position the traveling carriage 5 After self-propelled to P ₁ , turn the bogie frame 4 to face the face F, and then boom 8 and guide shell 1
The drilling positioning operation of each working part 1 is controlled to position the rock drilling machine 10 mounted on the guide shell 11 at the first drilling position D ₁ , and the automatic drilling is started according to the drilling program.

When the first drilling work is completed, the control device 7
Reads the data of the next drilling position D ₂ , and the traveling carriage 5
Self-propelled to the _second drilling work position P ₂ and boom 8
By controlling the drilling positioning operation of each operating part of the guide shell 11, the drilling machine 10 mounted on the guide shell 11 is positioned at the _second drilling position D ₂ , and automatic drilling is performed. After that, the drilling is repeated in sequence from D _{1 to} D _n, and when the final drilling is completed, the drilling machine 10 is removed from the drilling position D _n and the automatic operation is terminated.

As shown in FIG. 6, as the drilling pattern for the bench-cut face, the drilling positions D _{1 to} D _n of the plurality of blasting holes are formed.
Are arranged on a straight line parallel to the Y-axis and the X-axis, separated by predetermined distances L _Y and L _X , the automatic hydraulic crawler drill 1 is equipped with a truck frame 4 which is swivelable to a track frame 2.
Since the track frame 2 is provided in parallel with the traveling direction of the drilling work parallel to the Y axis,
° If you make initial settings in a state of turning and facing the face,
In the second and subsequent drilling operations, if the track frame 2 is moved forward by a distance equal to the predetermined drilling hole interval L _Y , drilling positioning can be performed without operating the operating parts of the boom 11 and the guide shell 8. Become.

However, it is difficult to make the traveling carriage 5 self-propelled and accurately stop at the next drilling work position, and if too high accuracy is required, the traveling data of the traveling carriage 5 is fed back many times by feeding back the detection data of the position detector 9. Since it may be necessary to correct the position of, it takes time and the work efficiency deteriorates.
Therefore, when the self-propelled traveling vehicle 5 drills the drilling position D _i and stops at a position slightly deviated from the predetermined drilling work position P _i , an error occurs from the detection data of the position detector 9. If the value of is determined to be within the allowable range, the operation of positioning the drilling holes of the boom 8 and each operating portion of the guide shell 11 is controlled to set the drilling machine 10 mounted on the guide shell 11 to the drilling position. Position. At this time, Y axis and X
The positional error in the axial direction can be corrected quickly by turning the bogie frame 4 and sliding the horizontally held boom slide portion 18.

Incidentally, the correction of the drilling direction and the drilling inclination associated with the turning of the carriage frame 4 is performed by the swing and tilt operations of the guide shell 11. As described above, since the truck frame 4 is provided with the truck frame 4 via the turning mechanism 3 and the boom 8 is provided with the boom slide portion 18 capable of being held horizontally, it is easy to correct the positional error and The calculation formula can be simplified and the allowable range can be widened.

[0023]

As described above, according to the automatic hydraulic crawler drill of the present invention, it is possible to automatically drill at a predetermined position, the positioning operation is easy, and the drilling efficiency is improved. it can.

[Brief description of drawings]

FIG. 1 is a side view of an automatic hydraulic crawler drill that is an embodiment of the present invention.

FIG. 2 is a plan view of an automatic hydraulic crawler drill.

FIG. 3 is an explanatory diagram of a configuration of a boom.

FIG. 4 is a layout view of an operation detector and a position detector.

FIG. 5 is a block diagram of a control system.

FIG. 6 is a diagram showing an example of a drilling pattern in a bench-cut face.

[Explanation of symbols]

 1 Automatic Hydraulic Crawler Drill 2 Track Frame 3 Swing Mechanism 4 Bogie Frame 5 Traveling Bogie 7 Control Device 8 Boom 9 Position Detector 10 Drill Rock 11 Guide Shell 18 Boom Sliding Section 30 Travel Distance Detection Sensor 31 Swing Angle Detection Sensor 32 Boom Lift Angle detection sensor 33 Boom tilt angle detection sensor 34 Boom slide length detection sensor 35 Guide tilt angle detection sensor 36 Guide swing angle detection sensor 37 Guide slide length detection sensor 38 Guide shell tilt sensor 39 Cart frame tilt sensor 40 Input section 41 Storage section 42 CPU 43 Hydraulic control device A Reference point B Reference point F Face

Claims (1)

[Claims] 1. A hoisting boom equipped with a horizontally movable boom slide portion is pivotally supported on a traveling carriage provided with a truck frame on which a truck frame can swing, and a rock drill is mounted by the boom. While supporting the guide shell in a tiltable and swingable manner, an operation detector that detects the operation amount of each operation portion, a position detector that detects the position of the traveling carriage with respect to the reference point of the face, an operation detector and a position detector. An automatic hydraulic crawler drill equipped with the detection data, the drilling position data stored in advance, and a control device for controlling the drilling positioning operation and drilling work based on the drilling program.