JPH07293185A - Control device and control method for crawler drill - Google Patents

Abstract

PURPOSE:To improve the operating efficiency, by setting the working condition combining the working parameters including 'the impact number of a bit, the rotation frequency, the feeding speed, and the like, depending on the detected values of the working state, and carrying out a full automatic drilling. CONSTITUTION:When a selected sort of working is carried out, the operator decides the operating direction, and he selects whether a bit 11 is advanced or retreated in the drilling work, for example. And the working condition by combining plural working parameters is set automatically depending on the detected values of the working state, and some work is carried out fully automatically depending on the sort of working. In this case, when the working state is converted, and the working state detected values are changed, the working condition is corrected one by one according to the variation, and the working condition is reset. For example, a good working condition is gived to all the process of drilling corresponding to the variation when the hardness of the rock-bed is changed on the way of the drilling work. And when a manual regulation is necessary according to the sort of working, the operator makes a minute regulation of each working parameter.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention enables a fully automatic or semi-automatic (a combination of automatic and manual fine adjustment) drilling control based on a program, and a connecting auxiliary rod added as the drilling work progresses. The present invention relates to a control device for a crawler drill in which work such as foot and recovery is automated as much as possible, and a control method using the control device.

[0002]

2. Description of the Related Art A crawler drill is a device mainly used at a quarry, a dam construction site, or the like, when drilling a deep hole for dynamite in a rock. In the conventional crawler drill, at the time of drilling, the operator manually operates a large number of levers in front of the cabin based on the detection value of a pressure gauge, etc.
Each work parameter such as rotation speed and feed rate was adjusted.

[0003]

Such drilling work largely depends on the skill and intuition of the operator, but in recent years, in the construction industry, the aging of operators and the shortage of skilled operators are progressing, and a serious labor shortage. Is invited. Therefore, there has been a demand for the development of a crawler drill that can be easily operated by young or female operators.

Further, in the conventional crawler drill, as described above, a large number of operating tools such as levers are provided in the gabin in correspondence with each work parameter, so that there is a problem that both habitability and visibility are deteriorated. It was

The present invention has been made in view of the above circumstances, and employs a program drilling method (PD system) capable of realizing full automation or semi-automation of drilling control in a crawler drill based on a program. It is a technical object to provide a control device for a crawler drill and a control method using this control device, which can automate the auxiliary rod connection and recovery as much as possible and simplify the operation tools such as the operation lever as much as possible. This is an issue.

[0006]

The drilling control device and drilling control method for a crawler drill according to the present invention are characterized by the following configurations in order to achieve the above technical problems. That is, a control device according to a first aspect of the present invention is a hydraulic drifter that detachably holds a rod provided with a bit for boring and advances and retreats in the axial direction, and applies rotational force and striking force to the rod in forward and reverse directions. In a crawler drill equipped with, a work type selecting means for an operator to select a desired work type from a plurality of work types included in the work by the crawler drill, and an operation direction of the work selected by the work type selecting means. An operation direction selection means selected by the operator, a work state detection means for detecting the work state of the crawler drill, and a plurality of bit feed rates, rotation speeds, hitting numbers, etc. based on the detection values of the work state detection means. An automatic setting means for automatically setting the work parameters and successively correcting the set values of the respective work parameters according to the change of the detected value; Each work parameters set by means operator is characterized in further comprising a manual adjustment means for fine adjustment.

According to a second aspect of the present invention, in the control device, the plurality of work types include at least a plurality of drilling modes such as hole drilling, soft rock drilling, and hard rock drilling, and hole cleaning,
It optionally includes a plurality of auxiliary working modes such as non-rotational hitting, rod joining and rod recovery.

According to a third aspect of the present invention, there is provided a control device for detecting the work condition storage means for pre-storing a plurality of work conditions each of which is a combination of setting values set in a plurality of steps for each work parameter. The automatic setting means includes a selection means for selecting an optimum work condition from the work condition storage means based on a value.

According to a fourth aspect of the present invention, a control device clamps an auxiliary rod that is auxiliary connected to the rod and moves between a supply position on the extension line of the rod and a retracted position off the extension line. A possible auxiliary rod supply / recovery means and a rod holding means for holding the rod at a fixed position, and the work state detection means is a position for detecting whether or not the auxiliary rod supply / recovery means is in the supply position or the retracted position. A detection means and a holding state detection means for detecting whether or not the rod holding means holds the rod,
Moreover, a threaded portion for connection is provided at the corresponding ends of the rod and the auxiliary rod and the output end of the hydraulic drifter.

In the control device according to a fifth aspect of the present invention, the manual adjustment means is capable of tilting in two directions and pivoting about an axis, and in accordance with the tilting and pivoting, a maximum of three types of work parameters are manually adjusted. It includes a control lever that can be used.

A control method for a crawler drill according to a sixth aspect is the control device according to the third aspect, wherein when the hard rock drilling is selected as the work type, the work condition storage means is operated based on the detection result of the work state detection means. The optimum working condition is selected by the selecting means, and the punching is automatically performed based on this working condition.

A control method according to a seventh aspect of the present invention is the control device according to the third or fifth aspect, in which the work condition storage is performed based on the detection result of the detecting means when the cut hole drilling or the hard rock drilling is selected as the work type. Optimum work conditions are selected by the selection means from the means, and the punching is automatically performed based on the work conditions, and the work levers can be additionally manually adjusted by the operation lever if desired by the operator. Is.

In a control method according to an eighth aspect, in the control device according to the fourth aspect, when the rod joint is selected as the work type, the rod holding means holds the rod and the hydraulic drifter is rotated in the reverse direction. By doing so, the rod and the hydraulic drifter are separated from each other, the auxiliary rod is then supplied to the supply position by the auxiliary rod supply / recovery means, and the hydraulic drifter is rotated so that the hydraulic drifter and the auxiliary rod are screwed together. After the auxiliary rod and the rod are connected by rotating the hydraulic drifter, the auxiliary rod supply and recovery means is retracted, and the above steps are performed by the position detecting means and the holding state detecting means. It is designed to be automatically performed based on the detected value and the like.

A control method according to a ninth aspect is the control device according to the fourth aspect, wherein when rod recovery is selected as the work type, the rod holding means holds the rod.
By rotating the hydraulic drifter in the reverse direction, the rod and the auxiliary rod are separated, and further, by rotating the hydraulic drifter in the reverse state with the auxiliary rod being clamped at the supply position by the auxiliary rod supply and recovery means. After the hydraulic drifter and the auxiliary rod are separated and the auxiliary rod supply / recovery means retracts with the auxiliary rod clamped, the hydraulic drifter is rotated to connect the rod and the hydraulic drifter. The process is automatically performed based on the detected values of the position detecting means and the holding state detecting means.

[0015]

According to the control device of the first aspect, since the operator is provided with the manual adjusting means capable of finely adjusting each work parameter, a wide range of work conditions can be obtained.

The operation direction selection means is composed of, for example, a lever, and is used by the operator to determine the operation direction when executing the selected work type. For example, in the case of perforation, it is possible to select whether to move the bit forward or backward by this operation direction selection means.

Further, since the present control device has the automatic setting means for automatically setting the working condition (combination of a plurality of working parameters) based on the detection value of the working state detecting means,
Depending on the work type, the work can be performed fully automatically by the operation of the automatic setting means.

Moreover, when the working state changes and the detected value of the working state detecting means changes accordingly, the automatic setting means sequentially corrects and resets the working condition in accordance with this change. For example, even when the hardness of the rock changes during the drilling work, it can be dealt with, and good working conditions can be continuously provided in all the drilling steps. When manual adjustment is required depending on the work type, fine adjustment can be performed by the manual adjustment means.

According to the third aspect of the control device, for example, in the case of fully automatic drilling in a crawler drill,
Specifically, the working state detecting means detects, for example, the rotational pressure of the bit, and based on the detected value, the selecting means selects the optimum one from the plurality of working conditions stored in the working condition storing means. Since it is configured to be selected, full automation of work can be achieved.

According to the fourth aspect of the present invention, for example, when the auxiliary rod is supplied, the auxiliary rod supply and recovery means clamps the auxiliary rod and supplies the auxiliary rod on the extension line of the rod, and the hydraulic drifter rotates to rotate the rod. And the auxiliary rod can be connected, and when the auxiliary rod is recovered, the auxiliary rod can be recovered by the procedure reverse to the above. Moreover, since the position detecting means for detecting the position of the auxiliary rod supply / recovery means, the holding state detecting means for detecting the holding state of the rod holding means, and the like are provided, the operation of supplying / recovering the auxiliary rod can be performed easily by the operator. Can be done at.

According to the control device of the fifth aspect, since the operating lever capable of tilting in two directions and pivoting about the axis is employed as the manual adjusting means, a maximum of three types of work can be performed with one operating lever. The parameters can be controlled. Conventionally, three levers are used to control three types of work parameters, but the number of operating tools such as levers can be reduced by using the above-described operating lever.

Of the drilling modes, it is preferable that the control is performed fully automatically in the hard rock drilling mode. On the other hand, in the case of the mouth-cutting perforation mode or the hard rock perforation mode, as described in claim 7, it is preferable to perform the manual fine adjustment by the manual adjustment means in addition to the automatic perforation. That is, also in this case, first, the optimum working condition is selected by the selecting means from the working condition storing means on the basis of the detection value of the working state detecting means, and the working condition is automatically set. By operating the means, the working conditions can be finely adjusted manually, and optimum drilling according to the rock condition can be performed.

According to the control method of claim 8, the auxiliary rod can be automatically replenished by the above procedure, and according to the control method of claim 9, the auxiliary rod can be automatically recovered. Even a skilled operator can easily operate the crawler drill.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a crawler drill control device and control method according to the present invention will be described below with reference to the drawings. As shown in FIG. 2, the traveling device 2 in the crawler drill 1
Crawlers 3 and 4 that can be driven in the forward and reverse directions are disposed on both the left and right sides of the. A boom 5 is tiltably supported in front of the traveling device 2, and a punching device 6 is arranged at the tip of the boom 5.

This punching device 6 is provided with a hydraulic lifter 9 which is axially movable along a guide mechanism 8 by driving a transmission means 7 composed of a belt, a chain or the like.
A rod 10 is connected to the front side (downward in FIG. 2) of the hydraulic drifter 9, and the hydraulic drifter 9 applies a rotating force and a striking force in both forward and reverse directions to the rod 10 by a built-in motor and a striking mechanism. The rod 10 is configured to be reciprocally movable in the axial direction. The rod 10
A sleeve 10a is integrally provided at the rear end of the sleeve, and a male screw provided on the output shaft 9a of the hydraulic lifter 9 is attached to the sleeve 10a.
The hydraulic drifter 9 and the rod 10 are separably connected by being screwed into a female screw (not shown) provided on the inner periphery of a.

At the tip of the rod 10, a bit 1 for boring is formed.
1 is provided. A tubular hood 12 is arranged around the bit 11. Further, the bit 11 is provided with an ejection port (not shown) for ejecting compressed air which is supplied from the supply hose 13 and blows off the sand and sand generated at the time of drilling. The blown-off earth and sand is discharged to the outside through a discharge hose 14 by a dust collector (not shown).

A column 15 is rotatably arranged in the punching device 6 substantially in parallel with the guide mechanism 8. A pair of upper and lower arms 16 are provided on the pillar 15 in a direction orthogonal to the pillar 15, and the arm 16 is configured to rotate integrally with the pillar 15. The arm 16 is composed of an exterior body 16a and an interior body 16b slidable within the exterior body 16a, and is capable of expanding and contracting in the longitudinal direction.

The inner body 16b of the arm 16
If necessary, the tip of the
A clamp 18 is provided to hold the auxiliary rods 17 from both sides when replenishing the auxiliary rods 17 or collecting the auxiliary rods 17. The clamps 18 have a plurality of clamping forces. , For example,
It can be switched in two steps. Clamp 1
8 is accompanied by expansion and contraction of the arm 16 and rotation of the column 15.
While the auxiliary rod 17 is moved between the supply position on the extension line of the rod 10 and the retracted position deviated from this extension line, the auxiliary rod 17 is moved during the work of connecting or separating the auxiliary rod 17 and the hydraulic drifter 9. Hold and put. The column 15, the arm 16 and the clamp 18 constitute an auxiliary rod supply / recovery means.

Near the front end of the guide mechanism 8, a sleeve holding mechanism 19 (rod holding means) for holding the rod 10 separated from the hydraulic drifter 9 at the sleeve 10a when the auxiliary rod 17 is added or recovered. Means) is provided, and is supported by the guide mechanism 8 so as not to move forward and backward.
Although not shown, the sleeve holding mechanism 19 and the position detecting means for detecting whether or not the auxiliary rod 17 is at the supply position or the retracted position are provided by the sleeve 10a.
A holding state detecting means for detecting whether or not is held is provided.

FIG. 3 is a schematic plan view showing the inside of the cabin 2a of the traveling device 2. The work type selection switch 22 (work type selection means) and the operation lever 23 (manual) are provided on the right side of the seat 21 on which the operator sits. Adjustment means) and an operation direction selection lever 24 (operation direction selection means) is provided on the left side of the seat 21.

The crawler drill is designed to selectively execute either a work mode or a running mode during operation. The work mode further includes various drilling modes including cut drilling, soft rock drilling and hard rock drilling. , Auxiliary cleaning modes such as hole cleaning, non-rotation hitting, rod joint and rod recovery. As shown in FIG. 4, the work type selection switch 22 includes a plurality of selection buttons 22a for selecting each work type in the work mode and a selection button 22b for selecting the traveling mode.
The operation lever 23 can be tilted in the front-rear direction and the left-right direction in FIG. 4 and rotated about the axis, and is commonly used in the working mode and the traveling mode.

In the work mode, the operating lever 23 tilts and rotates in two directions, and in the working mode, among the plurality of working parameters such as the striking pressure, the number of striking, the rotation speed, and the feed speed of the bit 11, The configuration is such that manual fine adjustment of three types of parameters such as the feed rate, the number of hits, and the rotation speed is performed. On the other hand, the operating lever 23 is
Manual control of the traveling direction and the traveling speed is performed along with the tilting in the front-rear direction and the rotation around the axis.

As shown in FIG. 5, the operation direction selection lever 2
4 is capable of tilting in the front-rear direction and left-right direction in the drawing, and along with the tilting in the front-rear direction, the advancing direction of the bit 11 can be selected during the drilling work. That is, when the operation direction selection lever 24 is tilted forward, the bit 1
Bit 1 moves backward when 1 moves forward and tilts backward.

Further, when the operation direction selection lever 24 is tilted to the left side in FIG. 5 when the auxiliary rod 17 is added or recovered, the inner body 16b of the arm 16 is directed toward the center, that is, the auxiliary rod 17 is moved toward the rod 10. The inner body 16b of the arm 16 is retracted when the operation direction selection lever 24 is tilted rightward in FIG. 5 by moving in a direction in which it can be positioned on the extension line.

Here, an outline of the control circuit section of the crawler drill will be described. As shown in FIG. 1, the tilting of the operation lever 23 in the ab direction, the rotation in the cd direction, and the tilting in the ef direction are detected by the front-back tilt detecting means 25 and the rotation detecting means 2, respectively.
6 and the lateral tilt detecting means 27. Each of the detection means 25, 26, 27 is constituted by, for example, a potentiometer.

Output signals X1 and X2 from the two detection means 25 and 26 are sent to a travel command device 31 in the travel device 2 via the control means 28, and the travel command device 3
1 controls the traveling hydraulic circuit 32 so that the left and right crawlers 3 and 4 are respectively driven in forward and reverse directions or stopped.

Furthermore, the above-mentioned three detecting means 25, 26, 2
The output signals X1, X2, X3 from 7 are sent to the fine adjustment command section 34 in the punching device 6 via the control means 28, and the command signal from this fine adjustment command section 34 is sent to the punching command device 35. It Basically, the perforation command device 35 automatically controls the perforation hydraulic circuit 36 based on a signal from an automatic setting means 38, which will be described later.
Although the number of hits and the number of rotations are determined, when a signal is input from the control means 28, the setting value of the automatic setting means 38 is finely adjusted according to this signal, and then the driving hydraulic circuit 36 for drilling is controlled. Has become.

The control circuit section detects the rotational pressure of the bit 11 during punching in the working mode by the rotational pressure detecting means 3
Equipped with 7. The rotating pressure detecting means 37 constitutes working state detecting means together with the position detecting means and the holding state detecting means described above. Further, the control circuit unit is provided with an automatic setting means 38 for automatically setting each work parameter in the work mode, specifically, for example, the feed speed of the bit 11, the number of revolutions, the number of hits, etc. at the time of punching. There is.

The automatic setting means 38 is a work condition storage means 40 for storing work conditions set in a plurality of stages according to the magnitude of the rotation pressure detected by the rotation pressure detection means 37 for each work type. And the selection means 41 for selecting the optimum work condition from the work condition storage means 40 according to the detection value of the work state detection means 37 and sending the optimum work condition to the punching command device 35. The control unit 28, the travel command device 31, the fine adjustment command unit 34, the perforation command device 35, the selection unit 41, and the like can be configured by a single microcomputer.

The work conditions stored in the work condition storage means 40 will be briefly described. This working condition is a combination of the feed speed of the bit 11, the number of revolutions of the bit 11, the number and impact pressure of the bit 11, the blow pressure of the compressed air ejected from the ejection port of the bit 11, and the like. For example, the feed speed is three stages of fine speed, low speed and high speed (six stages if the forward or reverse feed direction is included), and the rotation speed is four stages of fine speed, low speed, high speed and ultra high speed (forward or reverse rotation direction). , 8 steps), the number of hits is the minimum value, the intermediate value, the maximum value is 3 steps, etc., and the setting value of each work parameter is set to about 2 to several steps, and the set value of each work parameter is combined. Work conditions.

For example, for the perforation of the mouth, 2
By combining the set values of the respective work parameters set in steps to several steps, several to ten kinds of work conditions can be set. Table 1 shows some of them.

[0042]

[Table 1]

Also for soft rock drilling, several kinds to ten kinds of working conditions can be set by combining the set values of the respective working parameters set in two steps to several steps. Table 2 shows some of them. The working conditions I to III in Tables 1 and 2 correspond to each other, and as is clear by comparing them, in the soft rock drilling, the feed rate and the rotation speed are increased as a whole, compared with the mouth drilling. Blow pressure is increasing.

[0044]

[Table 2]

For hard rock drilling, the working conditions are set in the same manner as described above. However, while mouth cutting and soft rock drilling are normally controlled by automatic and manual fine adjustment, hard rock drilling is not performed at all. Since it is configured so that it can be performed automatically, the number of types of working conditions set for hard rock drilling is set to be, for example, about 10 to 20 types, in addition to the number of cut and soft rock drilling. That is, since fine adjustment is manually performed in the mouth cutting and the soft rock drilling, as a result, each working parameter such as the feed rate and the rotation speed can be adjusted steplessly, whereas the working conditions like the hard rock drilling can be adjusted. When all are automatically set, each work parameter is only changed stepwise, so it is preferable to increase the number of steps as much as possible. Table 3 shows some of the working conditions for drilling hard rock.

[0046]

[Table 3]

Next, the traveling control by the operation lever 23 when the traveling mode for traveling the crawler drill is selected by the operation type selection switch 22, and each operation such as drilling by the crawler drill is performed by the operation type selection switch 22. Operation lever 23 when the work mode to be performed is selected
The manual fine adjustment of each work parameter will be described. First, when the traveling mode is selected by the work type selection switch 22, when the operation lever 23 is tilted and displaced in the ab direction, the output signal X1 corresponding to the magnitude of the displacement angle is changed to the front and rear tilt. The detection means 25 sends it to the control means 28, and accordingly, the control means 28 sends the first control signal A1 corresponding to the magnitude of the displacement angle to the travel command device 31.

On the basis of this first control signal A1, the traveling hydraulic circuit 32 drives the left and right crawlers 3 and 4 in the forward and reverse directions at a speed according to the magnitude of the displacement angle, whereby the crawler drill 1 travels forward and backward. The traveling speed at that time is proportionally controlled according to the tilt operation amount of the operation lever 23.

In the traveling mode, when the operating lever 23 is rotationally displaced in the cd direction from the neutral position or the position tilted in the ab direction, the displacement angle in the ab direction depends on the magnitude. In addition to the output signal X1, the output signal X2 corresponding to the magnitude of the displacement angle in the cd direction is sent from the rotation detection means 26 to the control means 28, and accordingly, the left and right crawlers 3, 4 are connected to each other. The driving speed or the driving direction is made different, and the crawler drill 1 turns right or left at a speed and a turning radius according to the operation amount of the operation lever 23 in the ab direction and the cd direction.

On the other hand, when the work mode is selected by the work type selection switch 22 and the work mode is selected as the hole cutting perforation or the soft rock perforation and the manual fine adjustment of the work parameter is performed, the operation lever 23 is operated. ab
When the tilt displacement is made in the direction, the output signal X1 corresponding to the displacement angle is sent from the front-back tilt detection means 25 to the control means 28. Along with this, the punching device 6 from the control means 28.
The second control signal A2 corresponding to the amount of displacement to the side a or b is sent to the fine adjustment commander 34 in, and the feed speed is controlled accordingly. In FIG. 1, the direction a is the increasing direction of the feed rate, and the direction b is the decreasing direction of the feed rate.

Further, in the same slitting or soft rock piercing mode, when the operating lever 23 is rotationally displaced in the cd direction, the rotational detecting means 26 sends an output signal X2 to the controlling means 28, As a result, the control means 28 sends the second control signal A2 to the fine adjustment command section 34 according to the amount of displacement in the c or d direction. Along with this bit 1
The rotation speed of 1 is controlled. The direction c is the direction in which the rotational speed decreases, and the direction d is the direction in which the rotational speed increases.

Further, when the operating lever 23 is tilted and displaced in the ef direction, an output signal X3 is sent from the left and right tilt detecting means 27 to the control means 28, whereby the control means 28 makes a fine adjustment command section 34. A second control signal A2 corresponding to the amount of displacement in the e or f direction is transmitted. Along with this, the number of hits by the bit 11 is controlled. Figure 1
The middle e direction is the direction in which the number of hits increases, and the f direction is the direction in which the number of hits decreases.

Incidentally, the manual increase / decrease of the feed speed, the number of revolutions and the number of hits by the operation lever 23 are carried out on the basis of the set values of the feed rate, the number of revolutions and the number of hits respectively given by the automatic setting means 38. Further, the signal processing corresponding to the tilting of the operation direction selection lever 24 in two directions is
Since the same operation is performed as in the case of the operation lever 23, the description will be omitted.

Next, the joint of the auxiliary rod 17 will be described. While drilling with the bit 11, the hydraulic drifter 9
When the sleeve 10a of the rod 10 reaches the position of the sleeve holding mechanism 19 as shown in FIG. In this case, first, the sleeve holding mechanism 19 holds the sleeve 10a so that it cannot rotate and cannot move in the axial direction.

In this state, when the output shaft 9a of the hydraulic drifter 9 is rotated in the reverse direction, the male screw on the outer periphery of the output shaft 9a and the sleeve 1 are rotated.
The screwing with the female screw on the inner circumference of 0a is released, and the hydraulic lifter 9
And the rod 10 are separated. After that, the hydraulic drifter 9
Moves backward to near the upper end of the guide mechanism 8, as shown in FIG.

Subsequently, as shown in FIG. 8, the support column 15 is rotated in the direction of the arrow and the arm 16 is extended, so that the auxiliary rod 17 previously held by the clamp 18 is extended on the extension line of the rod 10. Is supplied to. Next, FIG.
As shown in FIG. 5, the hydraulic lifter 9 is moved forward, and the output shaft 9a
Is rotated forward, the male screw on the outer circumference of the output shaft 9a is screwed into the female screw located on the inner circumference of the sleeve 17a at the rear end of the auxiliary rod 17, and the hydraulic drifter 9 and the auxiliary rod 17 are connected.

Thereafter, as shown in FIG. 10, the hydraulic drifter 9 is further advanced and rotated forward, and the male screw at the front end of the auxiliary rod 17 is screwed into the female screw at the inner circumference of the sleeve 10a, whereby the auxiliary rod 17 is The rod 10 is connected. After the auxiliary rod 17 is added to the rod 10 in this manner, the arm 16 is contracted and the support column 15 is rotated in the opposite direction to retract the auxiliary rod supply / recovery means, and then perform the drilling work. Is continued. In addition, the recovery of the auxiliary rod 17 after the completion of the drilling work is performed in the reverse procedure of the above-mentioned joining.

The replenishment or recovery of the above-mentioned auxiliary rod 17 can be easily performed only by the operator instructing the supply and retreat of the auxiliary rod 17 by the operation direction selection lever 24. That is, when the extension of the auxiliary rod 17 is required, the operator selects the extension of the auxiliary rod 17 as the work type by using the selection button 22a in FIG. As a result, the rod joint mode is started, and when the operator subsequently tilts the operation direction selection lever 24 of FIG. 5 to the left, the arm 16 is extended and the clamp 18 is extended.
The auxiliary rod 17 held by is supplied on the extension line of the rod 10. After that, follow the above procedure to the hydraulic lifter 9
When the operator tilts the operation direction selection lever 24 in FIG. 5 to the right after connecting the auxiliary rod 17 and the auxiliary rod 17, the arm 16 contracts and the clamp 18 returns to the retracted position.

Each operation other than the supply and retreat of the auxiliary rod 17, that is, the operation such as the above-described rotation of the hydraulic drifter 9 in the forward or reverse direction, the forward movement or the backward movement of the hydraulic drifter 9, and the order thereof are the working conditions. The work conditions are stored in advance in the storage means 40, and the control is automatically performed based on the detection values of the position detection means and the holding state detection means without the operator giving an instruction.

Also in the case of recovering the auxiliary rod 17, the operator tilts the operation direction selection lever 24 to the left in FIG. 5 to supply the clamp 18 to the position where the auxiliary rod 17 is held and to operate it. By tilting the direction selection lever 24 to the right in FIG. 5, it is only necessary to move the hydraulic drifter 9 and the separated auxiliary rod 17 to the retracted position.

The non-rotational striking in the auxiliary work mode means an operation of striking the hydraulic drifter 9 without rotating it. By performing the non-rotational striking before the auxiliary rod 17 and the rod 10 are separated, the auxiliary rod is hit. 17 The effect of relaxing the screwing force between the male screw at the front end and the female screw at the inner circumference of the sleeve 10a is obtained. Further, hole cleaning is performed for the purpose of surely discharging the gravel and the like inside the perforated holes after the perforation work is completed.

11 and 12 show system flow charts. In FIG. 11, when the power is turned on, the initial setting of the program is performed in S1, the first failure diagnosis is performed in S2, and the power supply voltage is lowered whether the operation lever 23 is in the neutral position or not. It is checked whether it is not done. At this time, if there is an abnormality, it is displayed on a liquid crystal display (not shown) in the cabin 2a.

In S3, it is determined whether or not the engine has been started, and if not, it is determined in S4 whether or not the input with the ten keys is performed. If no input has been made, the process returns to S3, while if an input has been made using the ten-key, the process proceeds to S5 and the ten-key mode is executed to read the input data.

Subsequently, in S6, it is determined whether or not the ten-key input is completed. If not, the process returns to S5 and the reading is continued. On the other hand, if the numeric keypad input is completed,
Return to S3. The ten-key input is for inputting a set pressure value of the hydraulic system, a set time of a timer described later, and the like.

If the engine is started in S3, it is then determined in S7 whether or not the warm-up completion flag is on. If it is off, the process proceeds to S8, in which the temperature switch is on or the 5-minute timer is turned on. It is determined whether or not one of the conditions for termination is satisfied, in other words, whether or not the warm-up is completed.

If the warm-up is completed, the warm-up completion flag is turned on in S9, and the running mode is automatically selected because the engine is just started, and the running mode is turned on. On the other hand, if the warm-up is not completed in S8, the process proceeds to S10 in FIG. 12 and the cylinder mode is executed.

Subsequently, in S11, it is determined whether or not the traveling mode is on. If it is on, the traveling mode is executed in S12, and the process proceeds to S17 described later. On the other hand, S1
If the traveling mode is off in step 1, it is determined whether the manual mode is on or not in step S13.
After the manual mode is executed in 14, the process proceeds to S17 described below.

If the manual mode is off in S13, it is subsequently determined in S15 whether the PD system is on. If the PD system is on, P at S16
After the D system is executed, the process proceeds to S17. In addition, PD
The contents of the system are as described above.

On the other hand, if the PD system is off at S15, the routine proceeds to S17, where it is judged if the outputs of all the solenoids are off. If the outputs of all the solenoids are off, the second failure diagnosis in S18, specifically, the disconnection of the solenoid, the short circuit, the presence / absence of abnormality of the pressure sensor, etc. are detected, and then the process returns to S3 of FIG. In addition, S17
If the output of one of the solenoids is ON, the second failure diagnosis is not performed and the process directly returns to S3.

[0070]

As described above, according to the control device of the crawler drill according to the present invention, the working condition which is a combination of a plurality of working parameters such as the number of hits of the bit, the number of revolutions, and the feed rate depending on the selected work type. Is set by the automatic setting means on the basis of the detection value of the work state detecting means, the drilling can be performed fully automatically, so that even an unskilled operator can easily operate the crawler drill.

Moreover, when the working state changes and the detection value of the working state detecting means changes accordingly, the working condition is sequentially corrected and reset according to this change. Even if the hardness of rock mass changes during the drilling work, it can be dealt with, and good working conditions will continue to be given in all steps of the work. When manual adjustment is required depending on the work type, fine adjustment can be performed by the manual adjustment means.

Work condition storage means for storing a plurality of work conditions formed by combining the set values set in a plurality of stages for each work parameter by the automatic setting means;
If it is configured so as to include a selection unit that selects the optimum work condition based on the detection value of the work state detection unit, for example, during automatic drilling, the detection value detected by the work state detection unit, for example, a bit On the basis of the rotation pressure, etc., the selecting means selects the optimum one of the plurality of work conditions in the work condition storage means, and the perforation control is automatically performed based on the selected work condition. . Here, it is preferable to perform the drilling control fully automatically when hard rock drilling is selected as the work type.

Depending on the work type, in addition to the automatic setting of the work condition by the automatic setting means, the work can be performed under the optimum work condition by finely adjusting the work condition manually by the manual adjusting means. For example, such a control method is suitable in the cut and drilling modes and the soft rock drilling mode.

Further, if an operating lever capable of tilting in two directions and rotating around the axis is adopted as the manual adjusting means, a maximum of three types of work parameters can be controlled by one operating lever. In addition to improving operability, it is possible to reduce the number of operating tools such as levers and improve the habitability and visibility of the cabin or the like where the operator is located.

Auxiliary rod supply / recovery means that clamps an auxiliary rod that is auxiliary connected to the rod and is movable between a supply position on the extension line of the rod and a retracted position deviated from the extension line. And rod holding means for holding the rod at a fixed position, the work state detecting means for detecting whether or not the auxiliary rod supply / collecting means is at the supply position or the retracted position, and the rod holding means. Holding state detecting means for detecting whether or not the means holds the rod, and a threaded portion for connection is provided at the corresponding ends of the rod and the auxiliary rod and the output end of the hydraulic drifter. Therefore, while the rod is held by the rod holding means, the auxiliary rod is supplied by the auxiliary rod supply / recovery means, and the hydraulic pressure is increased by the rotation of the hydraulic drifter. After connecting the lifter and the auxiliary rod, the position detecting means performs the replenishing work of the auxiliary rod connecting the auxiliary rod and the rod by the rotation of the hydraulic drifter or the collecting work of collecting the auxiliary rod in the reverse order of the above. Also, it can be automatically performed based on the detection value of the holding state detecting means and the like.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a rotation control unit of a crawler drill according to an embodiment of the present invention.

FIG. 2 is a schematic perspective view of the crawler drill.

FIG. 3 is a schematic plan view showing a cabin of the crawler drill.

FIG. 4 is a plan view showing a work type selection switch and an operation lever in the cabin.

FIG. 5 is a plan view showing an operation direction selection lever in the cabin.

FIG. 6 is a schematic view showing a rod joining procedure in the drilling device for the crawler drill.

FIG. 7 is a schematic view showing the next step of the rod joining procedure in the punching device.

FIG. 8 is a schematic view showing the next step of the rod joining procedure in the punching device.

FIG. 9 is a schematic view showing the next step of the rod joining procedure in the punching device.

FIG. 10 is a schematic view showing the next step of the rod joining procedure in the punching device.

FIG. 11 is a flowchart showing a control procedure in the crawler drill.

FIG. 12 is a flowchart showing a subsequent control procedure in the crawler drill.

[Explanation of symbols]

 23 Operation Lever (Manual Adjustment Means) 37 Rotation Pressure Detecting Means (Work State Detecting Means) 38 Automatic Setting Means 40 Work Condition Storage Means 41 Selection Means

Claims (9)

[Claims] 1. A crawler drill provided with a hydraulic drifter that detachably holds a rod provided with a bit for boring and advances and retreats in the axial direction, and that applies a rotational force and a striking force to the rod in forward and reverse directions. , A work type selecting means for the operator to select a desired work type from a plurality of work types included in the work by the crawler drill, and an operation direction for the operator to select the operation direction of the work selected by the work type selecting means A selection means, a work state detection means for detecting the work state of the crawler drill, and a plurality of work parameters including a bit feed rate, a rotation speed, a hitting number, etc. are automatically set based on the detection value of the work state detection means. Automatic setting means for setting and sequentially correcting the set values of each work parameter according to the change of the detected value, and the automatic setting means Controller crawler drill each task parameter operator, comprising a manual adjustment means for finely adjusting the. 2. The plurality of work types include at least a plurality of drilling modes such as hole drilling, soft rock drilling and hard rock drilling, and a plurality of assists such as hole cleaning, non-rotational hitting, rod joining and rod collecting. The control device according to claim 1, further comprising a work mode. 3. A work condition storage means for storing in advance a plurality of work conditions formed by combining set values set in a plurality of stages for each work parameter, and the work condition based on the detection value of the work state detection means. The control device according to claim 2, wherein the automatic setting means includes a selection means for selecting an optimum work condition from a storage means. 4. An auxiliary rod supply / recovery means which clamps an auxiliary rod auxiliary connected to the rod and is movable between a supply position on the extension line of the rod and a retracted position deviated from the extension line. And a rod holding means for holding the rod at a fixed position, the working state detecting means detecting position of the auxiliary rod supply / collecting means at the supply position or the retracted position, and the rod holding means. Holding state detecting means for detecting whether the means holds the rod or not, and a threaded portion for connection is provided at the corresponding ends of the rod and the auxiliary rod and the output end of the hydraulic drifter. The control device according to claim 2 or 3, which is provided. 5. The manual adjustment means includes a control lever capable of tilting in two directions and rotating about an axis, and capable of manually adjusting a maximum of three types of work parameters in accordance with the tilting and rotation. The control device according to 2, 3 or 4. 6. The control device according to claim 3, wherein when hard rock drilling is selected as the work type, the optimum work condition is selected from the work condition storage means by the selection means based on the detection value of the work status detection means. A control method in which perforation is performed automatically based on these working conditions. 7. The control device according to claim 3 or 5,
When the mouth drilling or the soft rock drilling is selected as the work type, the optimum working condition is selected by the selecting means from the working condition storing means on the basis of the detection value of the working condition detecting means, and automatically based on this working condition. A control method in which perforation is performed in the machine and an operator can manually finely adjust the working conditions by the manual adjustment means. 8. The control device according to claim 4, wherein when the rod joint is selected as a work type, the rod is held by the rod holding means, and the hydraulic lifter is rotated in the reverse direction so that the rod and the hydraulic pressure are reversed. The drifter is separated, the auxiliary rod is then supplied to the supply position by the auxiliary rod supply and recovery means, and the hydraulic drifter is rotated to connect the hydraulic drifter and the auxiliary rod with the threaded portion. After the auxiliary rod and the rod are connected by the rotation of the hydraulic drifter, the auxiliary rod supply / recovery means is retracted, and the above steps are based on the detected values of the position detecting means and the holding state detecting means. Control method that is automatically performed. 9. The control device according to claim 4, wherein when rod recovery is selected as a work type, the rod is held by the rod holding means and the hydraulic drifter is rotated in the reverse direction, whereby the rod and the auxiliary are rotated. The rod is disconnected, and further, the hydraulic drifter is reversely rotated while the auxiliary rod is being clamped at the supply position by the auxiliary rod supply and recovery means, so that the hydraulic drifter and the auxiliary rod are separated, and the auxiliary rod is continuously supplied. After the recovery means retracts with the auxiliary rod clamped,
A control method in which the rod and the hydraulic drifter are connected by rotating the hydraulic drifter, and the above steps are automatically performed based on detection values of the position detecting means, the holding state detecting means, and the like.