JPH09177468A - Dicision method for reference direction of drilling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate operation to find slippage of a drilling device in the reference direction against the reference direction of drilling. SOLUTION: A drilling device is furnished with a boom 15 to support a guide shell 6 by a guide mounting, a detector to detect operating quantity of these movable parts and an arithmetic and control unit to carry out automatic positioning of the guide shell 6 in accordance with its detected data. Thereafter, a head end of a bit 7 is matched with a reference point P on a facing 10 on which a laser beam LB is projected, a positional data of an operating reference point J of a drilling device against the reference point P on the facing from a detected value of the movable part at this time, thereafter, an observation point on the guide mounting is matched on the laser beam LB in front of the facing, a positional data of the observation point on the laser beam LB is found from the detected value of the movable part, and slippage of a reference line of drilling and a reference direction of the drilling device is found from a positional data of the observation point on the laser beam LB against a position of the reference point P on the facing.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects the amount of operation of a movable part such as a guide shell equipped with a rock drill, each joint part of a boom, a slide part, etc., and performs automatic positioning and position display based on the detected data. And a method for determining a reference direction of a drilling device such as a tunnel jumbo.

[0002]

2. Description of the Related Art In drilling work such as tunnel excavation,
In order to save labor and manpower, a drilling device for automatically positioning or displaying a position by using a computer to control a guide shell equipped with a rock drill and a boom supporting the guide shell is used. In such a drilling device, the moving amount of each movable part such as each joint part or slide part of the guide shell or boom is detected, and the required moving amount to the target position is calculated based on the detected data to calculate each movable part. Control the operation of the actuator.

For example, in the drilling device shown in FIG. 1, a boom base 13 is pivotally mounted on a base 12 of a bogie 11 of the drilling device by a pivot shaft 14, and the telescopic boom 1 is attached to the boom base 13.
5 is pivotally connected by a raising shaft 16. The telescopic boom 15 includes a base boom 4 and a distal boom 5, and is mounted so that the distal boom 5 slides with respect to the base boom 4. A swing hydraulic cylinder 17 is provided between the base 12 and the boom base 13, and a depression / elevation hydraulic cylinder 18 is provided between the base end boom 4 of the telescopic boom 15 and the boom base 13. 15 is capable of turning and descending.

A tilt arm 19 is pivotally attached to a tip portion of the tip boom 5 by a tilt arm shaft 20, and a tilt hydraulic cylinder 21 is provided between the tip arm 5 and the tip boom 5 so as to be tiltable. A swing arm 22 is pivotally attached to the tilt arm 19 by a swing arm shaft 23, and a swing hydraulic cylinder (not shown) is provided between the tilt arm 19 and the tilt arm 19 to allow swinging. A guide rotary 24 is provided on the swing arm 22 so that the swing arm 22 can rotate about a rotary shaft 25. A guide mounting 26 is supported on the guide rotary 24 by a mount shaft 27, and the guide shell 26 is supported by the guide mounting 26 so as to be slidable back and forth. The guide shell 6 is equipped with a rock drilling machine 9 to which a rod 8 having a bit 7 attached at the tip is inserted.
The drilling machine 9 is fed in the front-rear direction to drill the rock of the face 10.

The pivoting shaft 14, the elevation shaft 16, the tilt arm shaft 20, the swing arm shaft 23, the rotary shaft 25, and the telescopic boom 15, the telescopic boom 15, the guide mounting 26, and the sliding portion of the guide shell 6 of the telescopic boom 15 of this punching device. Each movable part has a detector (not shown) for detecting its operation amount, which includes a turning angle θ ₁ , a depression angle θ ₂ , a tilt angle θ ₃ , a swing angle θ ₄ , and a rotary angle θ. ₅ , boom slide length L ₁ , guide slide length L ₂ , and rock drill feed length L ₃ are detected.

In this drilling device, the position of the tip of the bit 7 with respect to the operation reference point of the drilling device on the pivot 14 of the boom base 13 is determined by the above-mentioned detected values (θ ₁ , θ ₂ , θ ₃₎ .
θ ₄ , θ ₅ , L ₁ , L ₂ , L ₃ ) as a function of
The direction of the guide shell 6 with respect to the reference direction of the drilling device is calculated by a computer as a function of the detected values (θ ₁ , θ ₂ , θ ₃ , θ ₄ , θ ₅ ).

When performing a drilling operation in a tunnel, the drilling pattern is set on the cutting face 10. Therefore, in order to automatically perform the drilling by computer control, the bogie 11 of the drilling device is used. It is necessary to input the position of the operation reference point of the drilling device with respect to the cutting face 10 after installation near the cutting face 10 and before starting the drilling. Further, since it is difficult to install the bogie 11 of the drilling device in the direction that exactly matches the reference line of the drilling device, the deviation of the reference direction of the drilling device with respect to the reference line of the drilling device is input to the computer in advance. The data for hole control needs to be corrected.

As described above, the position of the tip of the bit 7 with respect to the operation reference point of the drilling device on the swing shaft 14 of the boom base 13 is determined by the above-mentioned detected values (θ ₁ , θ ₂ , θ ₃ , θ ₄ , θ). ₅ ,
L ₁ , L ₂ , L ₃ ) and the inclination of the direction of the guide shell 6 with respect to the reference direction of the drilling device is a function of the detected values (θ ₁ , θ ₂ , θ ₃ , θ ₄ , θ ₅ ). Therefore, the position of the reference point of the drilling device with respect to the cutting face can be determined by activating the actuator of each movable part, and the tip of the bit 7 at the point on the cutting face where the laser beam indicating the reference line of the drilling hits the cutting face. Is set, and by detecting the operation amount of each movable part at this time, the detected values (θ ₁ , θ ₂ ,
θ ₃ , θ ₄ , θ ₅ , L ₁ , L ₂ , L ₃ ) can be obtained as a function.

Further, the deviation of the reference direction of the drilling device relative to the reference line of the drilling causes the direction of the guide shell 6 to coincide with the direction of the laser beam indicating the reference line of the drilling, and the operation of each movable part at this time. The amount is detected and the detected value (θ ₁ , θ ₂ ,
θ ₃ , θ ₄ , θ ₅ ) can be obtained.
As described above, as a method of aligning the direction of the guide shell 6 with the direction of the laser beam indicating the reference line of the drill hole, conventionally, as shown in FIG. And the laser beam LB has a target point 28t of this target 28, 29,
The method of positioning the guide shell 6 so that it hits the 29t at the same time, and as shown in FIG. Is set and a bit is drilled to prevent the position of the bit 7 from being displaced. Then, the laser beam LB is provided on the extension line of the rod 8 for the target 3
A method of positioning the guide shell 6 so as to hit the target point 30t of 0 is used.

[0010]

However, in the method of FIG. 6, positioning the guide shell 6 so that the laser beam LB strikes the two target points 28t and 29t at the same time is because of the large number of movable drilling devices. The parts have to be adjusted, which is a difficult task and takes time and effort. Further, in the method of FIG. 7, it takes time and labor to punch the bit 7 so that the position of the bit 7 does not shift, and since the target 30 is provided at the rear end of the guide shell 6, An error may occur if the guide shell 6 bends due to the weight.

The present invention facilitates the operation for obtaining the deviation of the drilling device in the reference direction with respect to the drilling reference line,
An object of the present invention is to provide a method for determining a reference direction of a drilling device, which can shorten the time for preparation work for drilling and improve work efficiency.

[0012]

In the method for determining the reference direction of a drilling device according to the present invention, a guide shell equipped with a rock drill, a boom for supporting the guide shell by guide mounting, and a guide shell and a boom for the guide shell are provided. A drilling device equipped with a detector for detecting the operation amount of a movable part and an arithmetic and control unit for automatically positioning or displaying the position of the guide shell based on the detection data from the detector during drilling. The tip of the rock drill bit is aligned with the reference point on the face where the laser beam indicating the reference line of the hole hits, and the operating amount of the movable part at this time is detected, and the reference value on the face is detected from this detected value. The position data of the operation reference point of the drilling device with respect to the point is obtained, and then the measurement point on the guide mounting is aligned with the laser beam before the face, and the movable part at this time is adjusted. The amount of operation is detected, the position data of the measuring point on the laser beam is obtained from this detected value, and the drilling device for the reference line of the drilling is made from the position data of the measuring point on the laser beam for the position of the reference point on the face. The above problem is solved by obtaining the deviation of the reference direction.

When performing a drilling operation, the data of the drilling pattern on the cutting face is the position data of the operation reference point of the drilling device with respect to the obtained reference point on the cutting face, and the drilling device for the reference line of the drilling device. Based on the deviation of the reference direction of
The arithmetic and control unit converts the data into the drilling pattern data based on the drilling device and controls the drilling. The operation for obtaining the deviation of the reference direction of the drilling device from the reference line of the drilling device is easy, and the drilling preparation time can be shortened and the work efficiency can be improved.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a side view of a guide shell and a boom of a punching device, FIG. 2 is a side view of a guide shell and a guide mounting showing one embodiment of the present invention, and FIG. FIG. 4 is an explanatory view showing a state in which the tip of a rock drill bit is aligned with a reference point, FIG. 4 is an explanatory view showing a state in which a measurement point on the guide mounting is aligned with a laser beam, and FIG. It is explanatory drawing which shows the state of the deviation | deviation of the reference | standard direction of a punching device.

Here, the basic structure of the drilling device is the same as that of a conventional automatic control drilling device having an arithmetic and control unit using a computer, and as shown in FIG. A boom base 13 is pivotally mounted on a base 12 of the carriage 11 by a turning shaft 14, and a base end of a telescopic boom 15 is pivotally mounted on the boom base 13 by a lift shaft 16. The telescopic boom 15 includes a base boom 4 and a distal boom 5, and is mounted so that the distal boom 5 slides with respect to the base boom 4. A swiveling hydraulic cylinder 17 is provided between the base 12 and the boom platform 13, and a depression / elevation hydraulic cylinder 18 is provided between the base end boom 1 of the telescopic boom 15 and the boom platform 13, whereby the telescopic boom is provided. 15 is capable of turning and descending.

A tilt arm 19 is pivotally attached to a tip portion of the tip boom 5 by a tilt arm shaft 20, and a tilt hydraulic cylinder 21 is provided between the tip arm 5 and the tip boom 5 so as to be tiltable. A swing arm 22 is pivotally attached to the tilt arm 19 by a swing arm shaft 23, and a swing hydraulic cylinder (not shown) is provided between the tilt arm 19 and the tilt arm 19 to allow swinging. A guide rotary 24 is provided on the swing arm 22 so that the swing arm 22 can rotate about a rotary shaft 25. A guide mounting 26 is supported on the guide rotary 24 by a mount shaft 27, and the guide shell 26 is supported by the guide mounting 26 so as to be slidable back and forth. The guide shell 6 is equipped with a rock drilling machine 9 to which a rod 8 having a bit 7 attached at the tip is inserted.
The drilling machine 9 is fed in the front-rear direction to drill the rock of the face 10.

The pivot shaft 14, the elevation shaft 16, the tilt arm shaft 20, the swing arm shaft 23, the rotary shaft 25, and the telescopic boom 15, the telescopic boom 15, the guide mounting 26, and the sliding portion of the guide shell 6 of the telescopic boom 15 of this punching device. Each movable part has a detector (not shown) for detecting its operation amount, which includes a turning angle θ ₁ , a depression angle θ ₂ , a tilt angle θ ₃ , a swing angle θ ₄ , and a rotary angle θ. ₅ , boom slide length L ₁ , guide slide length L ₂ , and rock drill feed length L ₃ are detected.

In this punching device, the boom base 13
Bit for the operation reference point J of the drilling device on the swivel shaft 14
The position of the tip of the gut 7 is determined by the above-mentioned detected values (θ₁, Θ_Two,
θ_Three, Θ _Four, Θ_Five, L₁, L_Two, L_Three) Function
In addition, the guide shell 6 with respect to the reference direction of the drilling device
Direction is the detected value (θ₁, Θ_Two, Θ_Three, Θ_Four, Θ_Five) Function
Is calculated by the computer as.

Further, in this drilling device, as shown in FIG. 2, a measuring point 3 is provided at the rear end of the guide mounting 26. The measuring point 3 may be a projection, an intersection of cross marks, or the like, which is easily visible when it is aligned with the laser beam. The position of this measuring point 3 with respect to the reference point J of the drilling device is the detected value (θ ₁ , θ ₂ , θ ₃ , θ ₄ , θ ₅ , L ₁ )
It is calculated by a computer as a function of.

When drilling in a tunnel or the like,
The drilling pattern is set on the face 10. Specifically, as shown in FIG. 5, a laser beam LB indicating the reference line of the perforation is irradiated toward the face 10, and the point on the face 10 where the laser beam LB strikes is the reference point on the face 10. P
And Then, the face coordinates are defined with the laser beam LB as the X axis, the horizontal line passing through the reference point P on the plane perpendicular to the X axis as the Y axis, and the line passing through the reference point P and orthogonal to the X axis and the Y axis as the Z axis. ,
A drilling pattern is set on the YZ plane of the face coordinates.

The bogie 11 of the punching device is installed near the face 10. The control of the position and direction of the guide shell 6 of the drilling device is performed with reference to the operation reference point J of the drilling device and the reference direction of the drilling device, so that computer-controlled positioning drilling is performed automatically. In order to start drilling, it is necessary to input the position of the operation reference point J of the drilling device with respect to the cutting face 10 in advance. Further, it is difficult to install the bogie 11 of the drilling device in the direction that exactly matches the reference line of the drilling, that is, the direction of the laser beam LB.
It is necessary to input the deviation of the reference direction of the drilling device with respect to the direction of the laser beam LB to the computer in advance to correct the drilling control data.

Here, the line parallel to the reference direction of the hole drilling device passing through the reference point P on the face 10 is the x axis, and the horizontal line passing through the reference point P on the plane perpendicular to the x axis is the y axis and the reference point P. Consider the drilling device coordinates with the z-axis being the line passing through and orthogonal to the x-axis and the y-axis. Therefore, as shown in FIG. 3, the tip of the bit 7 of the rock drill 9 is aligned with the reference point P on the face 10 on which the laser beam LB strikes. The operation amount of the movable part at this time is detected, and the detected values (θ ₁ , θ ₂ , θ ₃ ,
From θ ₄ , θ ₅ , L ₁ , L ₂ , L ₃ ), the position data J in the drilling device coordinates of the drilling device operation reference point J with respect to the reference point P (0, 0, 0) on the cutting face 10 are described. (X _j ,
y _j , z _j ) is obtained.

Next, as shown in FIG. 4, the measuring point 3 on the guide mounting 26 is aligned with the laser beam LB before the face 10, and the position of the measuring point 3 on the laser beam LB is designated as the point Q. . The operation amount of the movable part at this time is detected, and the detected values (θ ₁ , θ ₂ , θ ₃ , θ ₄ , θ ₅ ,
L ₁ ) and the position data J (x _j , y _j , z _j ) of the operation reference point J in the drilling device coordinates, the position data Q (x _q , in the drilling device coordinates of the point Q on the laser beam LB.
y _q , z _q ) is obtained.

The reference line of the drilling hole, that is, the X axis of the face coordinate is
It is a straight line passing through the reference point P and the point Q on the laser beam LB, and the projection of the laser beam LB on the x, y plane is the line lb.
It has become. Therefore, the deviation of the drilling device in the reference direction with respect to the drilling line is the reference point P (0,0,0) in the drilling device coordinates and the point Q (x on the laser beam LB.
_{It is calculated} from the position data of _q , y _q , z _q ) by the following equation. alpha = tan ^{-1 _{[z q / (x q 2 +}} y q 2) 1/2 ] beta = tan ^-1 [x _q / y _q] Here, alpha: vertical offset angle beta: deviation angle in a lateral direction When performing the drilling operation, the data of the drilling pattern on the set cutting face coordinates is used as the operation reference point J of the drilling device with respect to the reference point P on the cutting face 10 obtained by the above preparatory operation.
Position data J (x _j , y _j , z _j ) and an angle α indicating the deviation of the reference direction of the drilling device from the reference line of the drilling device,
Based on β, the data is converted by a computer into drilling pattern data based on the drilling device coordinates, and drilling control is performed.

The operation for obtaining the deviation in the reference direction of the drilling device with respect to the reference line of the drilling is carried out even when the tip of the bit 7 of the drilling machine 9 is aligned with the reference point P on the face 10. Even when the measuring point 3 on the guide mounting 26 is aligned with the LB, it is extremely easy because only one point needs to be aligned, and the labor for the preparation work for the drilling is reduced, the working time is shortened, and the working efficiency is improved. Can be improved.

Further, since the measuring point 3 is provided on the guide mounting 26, an error due to the bending of the guide shell 6 does not occur.

[0027]

As described above, according to the method for determining the reference direction of the drilling device of the present invention, the operation for obtaining the deviation of the reference direction of the drilling device from the reference line of the drilling device becomes easy. Since the drilling preparation time can be shortened, the work efficiency is improved.

[Brief description of the drawings]

FIG. 1 is a side view of a guide shell and a boom of a punching device.

FIG. 2 is a side view of a guide shell and a guide mounting showing an embodiment of the present invention.

FIG. 3 is an explanatory view showing a state in which a tip of a rock drill bit is aligned with a reference point on a face.

FIG. 4 is an explanatory diagram showing a state where measurement points on a guide mounting are aligned with a laser beam.

FIG. 5 is an explanatory view showing a state where the drilling device is displaced in the reference direction with respect to the reference line of the drilling hole.

FIG. 6 is an explanatory diagram of a conventional method showing a state in which the direction of the guide shell matches the direction of the laser beam.

FIG. 7 is an explanatory view of a conventional method of positioning a guide shell so that a laser beam hits a target point.

[Explanation of symbols]

 3 Measuring points 4 Base boom 5 Tip boom 6 Guide shell 7 Bit 8 Rod 9 Drilling rocker 10 Face 11 Carriage 12 Base 13 Boom base 14 Swivel axis 15 Telescopic boom 16 Depth axis 19 Tilt arm 20 Tilt arm axis 22 Swing arm 23 Swing arm shaft 24 Guide rotary 25 Guide rotary shaft 26 Guide mounting 27 Mount shaft J Operation reference point LB Laser beam P Reference point Q Point on laser beam

Claims (1)

[Claims] 1. A guide shell equipped with a rock drill, and a boom for supporting the guide shell by guide mounting,
A drill provided with a detector for detecting the operation amount of the guide shell and the movable part of the boom, and an arithmetic and control unit for automatically positioning or displaying the position of the guide shell based on the detection data from the detector at the time of drilling. In the drilling device, align the tip of the drilling machine bit with the reference point on the face where the laser beam indicating the drilling reference line hits, and detect the operating amount of the movable part at this time, and from this detected value The position data of the operation reference point of the drilling device with respect to the reference point on the cutting face is obtained, and then the measurement point on the guide mounting is aligned with the laser beam before the cutting face, and the operation amount of the movable part at this time. The position data of the measuring point on the laser beam is obtained from this detected value, and the reference of the drilling hole is calculated from the position data of the measuring point on the laser beam with respect to the position of the reference point on the face. Reference direction the method of determining the drilling device and obtains the reference direction of the displacement of the drilling apparatus with respect.