JPS61179997A - Long-hole drilling robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] Part 1 The present invention automatically drills long holes for blasting work at mining sites, tunnel construction, underground power plant construction, oil tank construction, and various other construction sites. This invention relates to a long hole drilling robot that drills holes.

In particular, since the long hole drilling robot according to the present invention can be suitably used in mining sites such as mines, the present specification will be described in relation to a mining robot, but the present invention is not limited thereto. do not have.

For example, at mining sites (faces) such as mines, it is essential to drill long holes for blasting work. In general, the working face is narrow, hot and humid, and is not desirable from an environmental hygiene point of view.Furthermore, for example, in vein-type metal mines, shafts 2 and A horizontal shaft 3 is formed, and each vertical shaft 2 and horizontal shaft 3 define a mining section 4 and an adjacent mining section 5. Mining area 4 is destroyed sequentially from the bottom, and mining progresses toward mining area 5.

Then, for example, it is collected by a scraper 7 into a transport pit 8 and transported to the ground.

In such a mining site, the ore vein in one mining area 4 is 30 m or more in the running direction and 5 m or more in height in the slope direction (for example, 8 to
12m), therefore, hole 1 for blasting work.
0 is a long hole of 5 m or more, and as can be understood from FIG. It is necessary to

In addition, each mining area 4 does not necessarily all contain the desired ore, that is, the same stratum, but there are voids commonly called cattails, softer layers such as clay layers, harder strata, etc. mixed together.

As mentioned above, in order to drill a long hole 10 of 5 m or more in the mining area 4 consisting of various calendars, it is necessary to control the feed pressure, feed speed, rotational torque, and blow of the bit, that is, the rod. Drilling of long holes was done manually.

I will do it. Drilling a long hole by hand requires a considerable amount of time to add, separate, and recover the rod when drilling a fan-cut hole. Moreover, accidents such as rod breakage or jamming may occur due to operational errors, resulting in poor work efficiency.

In addition, as mentioned above, the manual drilling of long holes requires
There were also strong calls for improvements for environmental reasons, such as being small and hot and humid.

Conventional 1 Automatic or semi-automatic drilling plates have been proposed for tunnel excavation work in underground power plant construction, underground oil storage tank construction, etc., but these are extremely large machines, have poor operability, and have a fan-cut shape. The automatic drilling of long holes in these areas was either impossible or extremely difficult. Therefore, it has been impossible to use it for blasting work at narrow mining sites or construction sites such as those in metal mines.

In designing a long-hole drilling robot, the inventor first researched what control variable values to use when automating long-hole drilling work, which had not been considered in any way.As a result, the following operation control We found that it is possible to realize a long hole drilling robot by doing the following. That is, at least for drilling robots.

(1) Rondo addition operation control (screwing control) (2) Spot boring operation control (3) Drilling operation control (4) Gap treatment operation control (5) Soft zone (e.g. clay layer) treatment operation control (6) Snagging operation control Operation control (7) Germing processing operation control (8) Hole bottom cleaning operation control (9) Rod recovery operation control (10) It is important to control the X and θ axis positioning of the drifter.

The present invention has been made based on the above-mentioned novel research and findings.

11 The main object of the present invention is to provide a long hole drilling robot for blasting operations at mining sites and various construction sites.

Another object of the present invention is to provide a small-sized long-hole drilling robot that can perform fan-cut drilling extremely efficiently even in a narrow, hot and humid face.

Still another object of the present invention is to be able to drill holes accurately in response to changes in the strata, and to prevent rod breakage or jamming (the bit gets stuck in the hole, making it impossible for the rod to move up and down). It is an object of the present invention to provide a long hole drilling robot that can extremely efficiently drill long holes without causing problems.

. For fortune telling The above object is fully achieved by the present invention.

In summary, the present invention provides a base, a lateral movement device capable of moving approximately horizontally with respect to the base, a rotational movement device attached to the lateral movement device, and a rotational movement device attached to the rotational movement device. , comprising a drifter capable of sliding in a manner orthogonal to the rotational axis of the rotational displacement device, and a rod changer for supplying a drilling rod to the drifter and recovering a spent rod from the drifter. This is a long hole drilling robot with special features.

Next, the long-hole drilling robot according to the present invention will be explained in more detail with reference to the drawings. Before explaining its structure and effects, the principle of drilling operation performed by the robot will be explained.

FIG. 3 shows a drilling procedure performed by the long hole drilling robot according to the present invention. The robot according to the present invention is:

(1) Attach the rod with the casing bit to the drifter and screw in the rod l).

(2) Spot boring process 2)
.

(3-1) Drill a hole for the casing to insert the casing as desired (Drilling step for the casing 3-
1), (3-2) When the casing hole drilling process is completed, the casing is installed in the chain hole.Casing installation process 3-2)
, (3-3) Replace with a rod suitable for general-purpose wood drilling bit (replacement rod suitable for general-purpose bit drilling 3-3), (4) Start wood drilling process 4) , (5) If a cattail is detected in the main drilling step 4, the wood drilling step 4 is performed.
After completing the cattail layer, return to the spot boring process 2 and perform the wood drilling process 4 again, and (6) If a soft zone is detected in the wood drilling process 4, carry out the wood drilling process 4. The process is interrupted and a hole is drilled in the soft zone (soft zone drilling process 6), and after the soft zone is completed, the process returns to the spot boring process 2 and the wood drilling process 4 is performed again.

(7) When a long hole of the set depth is drilled, the wood drilling process ends and the bottom of the hole is cleaned. (8) Finally, the rod is recovered from the long hole (withdrawing the rod. Step 7) Perform each step consisting of:

Next, the mode u4 of each of the above steps will be explained in more detail.

(Rod Screwing Step 1) When the drilling point is determined, the rod is fed to the drifter from the front changer, and the rod is screwed into the drifter at a constant feeding speed, for example, in the range of 30 to 200 mm/S. When the feed amount of the rod and the drifter rotation torque pressure reach predetermined values, the tightening of the rod to the drifter is completed. If the drifter rotational torque pressure does not reach a predetermined value even after a certain period of time has elapsed, it is regarded as abnormal and the rod screwing process is interrupted.

(Spot boring process 2) When the rod is attached to the drifter, the drilling operation is started. In the counterboring process, the rod performs drilling operations while repeatedly moving forward and backward into the strata.

As can be seen with reference to FIG. 4, the feed rate V of the rod is held approximately constant, for example 5 mm/see, the return amount of the rod is, for example, 50 mm, and each return time step of the rod is, for example, 2 seconds. It is said that In the drilling operation of 6-seat restep, the torque is gradually increased in stages, for example, when the drifter rotation torque pressure step value is 10
This is done while controlling the feed rate so that it is kg/cm'.

The countersinking process ends when the drifter rotational torque pressure of the rod reaches a preset torque pressure level, for example 100 kg/crn'.

If the stratum is soft and the torque does not increase and does not reach the level of the wood drilling hole, as shown in Figure 5, the specified feed rate V
In other words, when the rate of 5 mm/sec continues for a predetermined set time t, for example, 30 seconds, the counterbore process is completed and the process proceeds to the actual drilling process.

At this time, the count time of the timer that measures the predetermined time t is set by the drifter in order to prevent the drifter from starting the drilling operation if the time it takes for the bit to reach the ground surface after the rod is attached to the drifter exceeds the predetermined time t. This is the time when the first counterbore is made.

In the spot boring process, the start of the time step 2 second time interval begins when the torque pressure of a 6 spot restep drilling etc. reaches a set value.

Therefore, in the case shown in FIG. 5, the torque pressure for the third seat restep is not reached, so no return operation is performed.

(Casing installation process 3) Once the counterbore hole is formed, it is possible to proceed directly to the main drilling process 5, but it is necessary to prevent rocks and other foreign objects from the ground surface from entering the main drilling hole during the wood drilling process. In order to prevent this, after the counterboring process, a hole is drilled to insert the casing (the basic operation is the same as drilling a wood hole), the rod is pulled out of the casing hole, and a casing with a well-known shape and structure is inserted into the casing hole. Can be installed. After installing the casing, insert the rod with the main drilling bit into the casing hole again and start drilling the wood.

(Tree drilling process 4) In the main drilling, the rod feed speed is the limit speed, for example 20
The feed rate is controlled so that the torque per rotation is increased to a range not exceeding mm/sec, for example, 100 kg/cm.Furthermore, the drifter is applied with a predetermined impact pressure, for example, 100 kg/cm.
kg/cm' is given.

(Geological stratum detection) The stratum to be drilled is not always the same, and is a complex mix of various strata. The geological formations that require the most attention when drilling long holes in mining include cattails and soft zones. Gag and soft zones can rapidly change the rotational torque and feed rate of the rod, leading to breakage or jamming of the rod, so it is necessary to immediately detect changes in these formations and control the operation of the drifter accordingly.

(A) Backlash Detection When the wood enters the area of backlash during the drilling process, the torque pressure and feed pressure decrease and the feed rate increases, as shown in FIG.

Therefore, in this robot, ■ Torque pressure is maintained for a preset time 1+ (for example, 1
seconds) within a predetermined set value Lo (e.g. 30kg/c
m'), and for a predetermined time tz (for example, 0.
5 seconds).

(2) The feed pressure is reduced to a predetermined set value Jio (for example, 30 kg/Cm'') within a preset time t1, and continues for a predetermined time tz.

■Time when feed speed is preset 1. Within the limit feed speed vmax of wood drilling operation, for example, the above 20 mm/sec
, and maintain this speed for a predetermined time t1.

It is determined that the rod has entered the toad region when a predetermined combination among the combinations (1) to (2) consisting of is established.

As soon as the rod enters the slack region, the drifter is returned to the operation control according to the spot boring process 2, and then the main drilling process is started again.

(B) Weak Zone Detection When a soft zone is entered during the wood drilling process, the torque pressure and feed rate increase, and the feed pressure decreases.

Therefore, in this robot, 1) the feed pressure is set in advance; The value shall decrease to a predetermined set value O within a certain period of time.

The feed rate increases to a pre-established predetermined percentage (for example 200%) within time ti.

When a pre-specified combination of (1) and (2) is established, it is determined that the soft zone has entered.

Immediately after the rod enters the soft zone, the drifter is controlled to perform the soft zone drilling process described below, and after the soft zone drilling process is completed, the wood drilling process is started again.

(Soft zone drilling process 5) In principle, soft zone drilling is performed without "clogging" caused by drilling powder.
In order to prevent this, the torque pressure is kept low and the feed speed is also kept low.

As shown in FIG. 7, the torque pressure is, for example, l
The feed rate V is controlled so as to be maintained at a predetermined set value such as Ok g / cr n'. however,
The feed speed V is made not to exceed a limit speed, for example 3 mm/SeC.

After drilling a soft band hole for a preset time 1+ (e.g. 2 seconds), the drifter drills a predetermined amount (e.g. 50 mm).
) and start drilling the soft zone again. In other words, the soft zone drilling is performed by step drilling, similar to the spot boring process described above.

Further, when drilling a soft band hole, a predetermined impact pressure of, for example, 20 kg/cm'' is applied to the drifter.

When the soft zone is completed by the step drilling and the rod enters the bedrock, the counterboring process is started again, and then the main drilling is performed. It is determined that the rock has entered the soft zone when a predetermined drilling distance (for example, 50 mm) is not achieved within a preset time t5 (for example, 50 seconds).

(Bottom Cleaning 6) A long hole with a preset depth is drilled in the above-mentioned manner, and when the main hole drilling is completed, unless the long hole is a through hole, the hole has accumulated at the bottom of the hole. soil.

In order to discharge sand, etc., the bottom of the hole is cleaned by moving the drifter up and down.

Hole bottom cleaning is performed by applying the drifter to a predetermined torque pressure (e.g. lO
This is performed while rotating at a speed of 200 kg/cm'') and reciprocating up and down by a predetermined length at a predetermined speed (for example, 200 mm/5 ec).

If the feed pressure during reciprocating motion increases by a predetermined rate, for example 50%, within a predetermined time 1, for example 0.5 seconds, it is determined that the rod is caught in the hole, and the V-lifter s;, W
it'e 41-4M? lji1 (1n m m
On Day 1, hole bottom cleaning is continued without applying a predetermined impact pressure (for example, about 30% of the original pressure).

If during the final rod drilling process, the critical feed rate vm
If the feeding by ax continues for a predetermined time ts (for example, 1 second), it is determined that the hole has penetrated, and cleaning the hole bottom is not necessary.

(Rod pulling process 7) After the hole bottom cleaning 6 is completed, each rod is pulled up,
Collected into rod changer.

The rod is pulled out by applying a rotational force of, for example, lOOkg/crn' pressure to the rod in a direction that does not loosen the rod connecting screw part, for example, for a maximum of 200 mm 1 s.
It will be pulled up at the speed of ec.

When the rod is withdrawn, the feeding pressure is maintained for a predetermined period of time, for example 0.
If the rod increases by a predetermined rate 1, for example, 50% within 5 seconds, it is determined that the rod is stuck in the hole, and the drifter is returned by a predetermined amount, for example, 100 mm, and a predetermined impact pressure (for example, about 30% of the original pressure) is applied. and then continue withdrawing the rod.

(Rod Separation Process) Each rod pulled out from the hole by the drifter is recovered from the drifter to the rod changer, but first, it is separated from the drifter. To separate the rod, start by applying a blow to loosen the threaded part.

The top of the rod is then tightened and the bottom of the rod is then separated from the next rod.

Disconnection is determined to be complete when the rotational torque for detachment is less than a predetermined value, for example 5 kg/cm", and the screw feed amount is a preset amount, for example 155 mm. If If the rotational torque does not reach 5 kg/cm' even if the screw feed amount exceeds a predetermined limit, for example, 155 mm + 20 mm, it is determined that there is an abnormality, and the cutting process is temporarily interrupted and checked.

After completing the separation of the lower part of the rod, separate the upper part of the rod from the drifter in the same manner.

The long hole drilling robot according to the present invention, which is equipped with the above steps, is also characterized in that it employs hydraulic control for the purpose of improving accuracy.For example, the control modes for hole drilling control can be roughly divided into: (a) A control mode in which the feed rate is controlled so that the rotational torque is constant (Fig. 8), (b) a control mode in which the feed force is controlled so that the rotational torque is constant (Fig. 9), and ( c) A control mode (Fig. 1θ) in which the feed speed is controlled so that the feed force is constant, and the optimum mode can be adopted in each process.

Furthermore, it is necessary to limit the maximum speed of feed in each control mode (a), (b), and (C), and the maximum torque of rotation in control mode (C).

Next, a drilling robot according to the present invention will be explained with reference to the drawings.

Referring to Figures 11 and 12, drilling holes) 2
0 indicates a base 21, a base fixing device 30, and a lateral movement device 4 that can move in the X direction in FIG. 11 with respect to the base 21.
0, and a rotational movement device 6 attached to the lateral movement device 40.
0.

The base 21 has a frame 24 provided with a sled-shaped member 23 at the ground contact part so that it can slide on the ground surface in the left-right direction as shown in FIG.
Equipped with. One part 25, 26 of the frame 24 projects upwardly and carries on its upper part rails 27 and 28 which are U-shaped in cross section and extend parallel to each other. The rail 2
7.28 are arranged in orthogonal relation to the sled member 23.

The lateral movement device 4'0 will be explained with reference to FIGS. 12 to 14. The lateral movement device 40 has a pedestal 41 formed of a frame structure. Rollers 42.43 are rotatably attached to the pedestal 41, and the rollers 42.43 are attached to the rail 2.
7 and 28. The lateral displacement device 40 is thus made reciprocatable on the rails 27.28 by means of the rollers 42.43 in the transverse direction, that is to say in the direction of the X-axis.

As best illustrated in FIGS. 13 and 14, hydraulic cylinders 44 and 45 for moving in the X direction are arranged between the frame 24 of the base 21 and the pedestal 41 of the lateral movement device 40. . To explain in more detail, the first hydraulic cylinder 4
4 is connected to the frame 24 of the base 21, one end of the second hydraulic cylinder 45 is connected to the frame 41 of the lateral movement device, and the other ends of the first and second hydraulic cylinders 44 and 45 are connected to the connecting rod 46. are connected. Therefore, the lateral movement device 40 is driven in the X direction by the telescoping operations of the first and second hydraulic cylinders 44,45. In this way, two hydraulic cylinders 44.
45 connected by a connecting rod 46, the amount of movement of the lateral movement device can be increased, in other words, the device can be made more compact.

Further, the lateral movement device 40 is provided with an X-travel ramp 50 for fixing the lateral movement device 40 at a predetermined position in the X direction. The X-axis ramp 50 includes a U-shaped mount 51 fixed to the lateral movement device 40 and a hydraulic jack 52 attached to the mount 51, so that the lateral movement device 40 is set at a predetermined position. Then, the hydraulic jack 52 is activated,
In this embodiment, the lower rail 27a of the rail is held between the hydraulic jack 52 and the lower protrusion 51a of the mount 51, and serves to fix the lateral movement device 40.

The base fixing device 30 includes struts 31 placed on both sides of the base 21 and hydraulic cylinders 32 for extending and contracting the struts.
and a base 21. That is, it serves to fix the drilling robot 20 to the rock.

Next, the rotational movement device 60 will be explained. Referring to FIGS. 12 and 17, the rotational movement device 60 has a rotation shaft 62 rotatably attached to the pedestal 41 of the lateral movement device 40 by a support 61. At the rear end of the rotating shaft 62, there is a θ
A rotational hydraulic motor 63 is connected via a joint 64 to control the θ rotation amount of the rotational movement device 60.

Further, a rotating ring 65 is attached to the fixed plate 6 at the front end of the rotating shaft 62.
6 and ribs 67, and is rotated in any direction by a θ rotation hydraulic motor 63. The rotating ring 6
A plurality of θ-axis clamps 68, ie, 4 ([1] in this embodiment) are arranged around 5.

Each of the θ-axis clamps 68 is provided with a hydraulic fixing fitting 69 (FIG. 18), and the rotating moving device 60 is fixed in a predetermined position by pressing the fitting 69 against the outer peripheral surface of the rotation ring 65 with a hydraulic cylinder 70.

As seen in FIGS. 11 and 12.

A vertical guide rail 71 is fixed to the fixed plate 66 of the rotating ring 65, and a drifter 72 is movably installed on the guide rail 71. The drifter 72 is the guide rail 7
The drive is controlled by a hydraulic motor 73 for driving the drifter, which is attached to 1.

The rotary ring 65 is further equipped with a rod changer 75 (75A).
and 75B) are installed. The rod changers 75A and 75B are arranged at symmetrical positions with respect to the guide rail 71, and have the same structure. Therefore, only one rod changer 75A will be explained.

The rod changer 75, as shown in FIG.
A sleep clamp 76 for grasping the sleeve portion of the drilling rod R, a rod clamp 77 for grasping the rod portion of the drilling rod R, a rod cartridge 80 set to be movable, a grease filler 92190, and the sleeve clamp 76 and the rod. An arm mechanism 100 is provided for moving the clamp 77 from the rod cartridge housing position to the drifter mounting position.

The rod cartridge 80 has sprockets 81A to 81
It has a chain 83 wound around 0 and guided by a chain guide 82, and a rod holder 84 is attached to the chain 83.

The holder 84 supports the rod R at two points, upper and lower.

so that it is always parallel to the guide rail 71,
Hold the rod. Furthermore, the chain 83 is connected to hydraulic motors 84A and 84 that drive sprockets 81A and 81B.
The hydraulic motors 84A and 84B are rotated by the hydraulic motors 84A and 84B (Fig. 21) and function to control the rod R in a freely positionable manner.
When the rod cartridge 80 rotates in the normal direction, the hydraulic motor 8
4A is driven, hydraulic motor 84B operates as a brake, and when reverse rotation, hydraulic motor 84B is driven, hydraulic motor 84
A acts as a brake. By this operation, the rod R is moved with an appropriate tension being applied to the chain. FIG. 22 shows an embodiment of a hydraulic circuit for this purpose. To briefly explain the hydraulic circuit, the hydraulic supply pipe L
When the control valve 87 disposed at 1 is pushed down as shown in FIG.

Hydraulic oil is supplied to the hydraulic motor 84A from the hydraulic pump P through a conduit L1 through a pressure reducing valve 85, a throttle valve 86, a control valve 87, a flow regulator valve 88a, and a pilot check valve 89a. Hydraulic oil from the hydraulic motor 84A is discharged into the tank T through the pipe L3. As a result, the hydraulic motor 84A rotates in the normal rotation direction, that is, in the direction of the arrow shown in the figure, and the rod R is moved via the chain 83, and the hydraulic motor 84'B is rotated. The hydraulic motor 84B operates as a pump by being rotated by an external force (driving force by the chain 83). Hydraulic motor 8
The hydraulic oil 4B passes through the pipe L2 and is discharged to the tank T via the pilot check valve 89b, the flow regulator valve 88b, and the control valve 87. At this time, the discharge of hydraulic oil is controlled by adjusting the throttle valve of the flow regulator valve 88b, and the hydraulic motor 84B acts as a brake for the hydraulic motor 84A, so that the moving chain 83 is
Appropriate tension can be applied to the right side in Figure 22.

When the chain 83 is reversed, the control valve 87 is
It is pushed up in the L direction with a flash, and hydraulic oil is supplied to the hydraulic motor 84B. Hydraulic motor 84B reverses and moves chain 83 in the opposite direction of the arrow. The operating mode of the hydraulic circuit components in this case is the same as in the above case, and the hydraulic motor 84A performs a braking action on the hydraulic motor 84B by adjusting the throttle valve of the flow regulator valve 88a, and the chain 83 On the right side in Figure 22, 1l
A tension of f1 degrees can be applied.

The sleeve clamp 76 includes a hydraulic cylinder 76a and a grasping pawl 76, as shown in FIGS. 20 and 23.
b, and a grasping pawl 76 via a link mechanism 76c.
b is controlled to swing around the pivot 78 and release the grip on the rod R.

Further, the rod clamp 77 has the same structure as the sleeve clamp 76, as described above. Further, the sleeve clamp 76 and the rod clamp 77 move the rod R parallel to the guide rail 71 from the rod cartridge housing position to the drifter mounting position by the arm mechanism 100.

Regarding the arm mechanism 100, FIGS. 19 and 25~
To explain with reference to FIG. 27, the arm mechanism 100
comprises a link iot, 102.103 and a hydraulic cylinder 104. Link 101 and link 102 have pivot points o1 and OZ, respectively, and one end of link 101 is pivotally connected to piston 105 of hydraulic cylinder 104, and one end of link 102 is pivotally connected to one end of link 103. The other end of the link 103 is connected to the piston 10 similarly to the link 101.
5, and the other ends of the links 101 and 102 are pivotally connected to a support 79 holding a sleeve ramp 76 and a rod clamp 77. Therefore, by actuation of the hydraulic cylinder 104, the support 79, ie the sleeve clamp 7
6 and the rod clamp 77 are in the storage position A (as described above).
(Fig. 25), rod gripping position B (Fig. 26), and screwing position C (Fig. 27).

The greasing device 90 is shown in FIGS. 19, 24, and 2.
5, a greasing brush 91, a brush holder 92 that holds the greasing brush 91 movably in the vertical direction, one end of which is connected to the greasing brush 91 and rotates around a pivot 93. a swinging connection lever 94 that is swingable; a hydraulic cylinder 91 that acts on the swinging connection lever 94 to swing the lever 94; and a grease pump means 96.

The grease pump means 96 includes: a grease reservoir 96a and a grease pump 96b, the piston 96c of which is connected to an arm 98 pivoting about a pivot 97; Further, the arm 98 is configured to be able to come into contact with a roller 94a provided at the tip of the swinging connection lever 94.

Therefore, when the grease-up hydraulic cylinder 95 performs an extending operation, the arm 98 swings in the direction of the arrow to operate the piston 96c of the grease pump 96b and transfer the grease. The grease is supplied to the greasing brush 91 inside the holder 92 via the vibrator 96d.

Next, due to the contraction operation of the hydraulic cylinder 95, the brush 91
is pushed down inside the holder 92 by the action of the swinging connection lever 94, and is supplied to the sleeve portion of the rod R set in the rod storage position MA (the state shown in FIG. 25) in advance to the brush portion. Fill with the grease that was previously used. At the same time, the roller 94a is also lifted upward via the swinging connection lever 94, so that the arm 98
is released and returned to its original position by spring 98a.

This movement of the arm 98 causes the piston 96C to move to the second position.
4, move to the right side and replenish grease from the grease reservoir 96 to the grease pump 96b.

Each mechanical part of the drilling robot 20 is unitized, making it easy to carry into the tunnel, and to easily disassemble and assemble the robot in the tunnel.

Next, the operation (operating procedure) of the drilling robot 20, which is structured like two legs, will be explained.

The tunnel robot 20 uses a sled member 25 to position itself at a predetermined position in the X direction inside the tunnel. Next, the X-movement hydraulic cylinders 44 and 45 are driven to accurately position the lateral movement device 40 at the drilling position and clamp it. Next, the θ rotation hydraulic motor 63 is controlled, and the one-rotation moving device 60 is set at a predetermined angular position.

1- When the drilling position of the drilling robot 20 is set as described above, the rod R (+!
a, a rod with a bit Rb, and a rod with a casing general-purpose bit Re) are attached.

The installation procedure for the 0tsudo R is as follows.

Ill Determine which rod cartridge of rod changer 75 the rod R (Ra, Rh, Rc) to be used is stored in. In this embodiment, it is assumed that the rod R (Ra, Rh, Rc) is stored in the cartridge of the left rod changer 75A. do.

(The desired rod R is moved by the hydraulic motors 84A and 84B of
is set to the extraction position.

■The brush 91 is pushed downward by the hydraulic cylinder 95, and the sleeve threaded portion 1 of the rod R is
20 (Fig. 25). In the process of returning the brush 91 to its home position, grease is supplied to the brush 91 from the grease pump 96b.

) The arm mechanism 100 moves the sleeve ramp 76 and the rod clamp 77 to the rod gripping position B, and the sleeve portion and rod portion of the rod R are clamped (FIG. 26).

fΦ Furthermore, by pushing out the arm mechanism 100.

The rod R is removed from the rod holder 84 and screwed into position C.
(Figure 27).

The lΦ drifter 72 is lowered while rotating to the left, and the shank rod 110 is screwed into the upper part of the rod R (second
Figure 8).

(2) Release the sleeve tarp lamp 76 and rod clamp 77, and store the devices 76 and 77 in storage position A (Fig. 29).

- If the rod R is a rod with a bit Rb or a casing pitch (general-purpose pitch) Rc, the drifter 72 descends and performs the drilling operation (impact, rotation, feed) to perform the drilling process for mounting the casing. (Figure 30).

・9) When the rod R is a connecting rod Ra (that is, in the case of a connecting operation), lower the drifter 72 while rotating it counterclockwise, and the lower end of the rod R is screwed in (the third
Figure 1).

The centralizer 130 is released, the drifter 72 is lowered, and the main drilling process is continued (FIG. 32).

After drilling the long holes according to the procedures described above, each rod R is then collected into the rod cartridge 80 of the rod changer 75. Next, the rod recovery procedure will be explained.

(-〇 When the drilling operation is completed, the drifter 72 is pulled up to a predetermined position (Fig. 33).

(■ For rod R, attach the lower sleeve to Centrizer 130.
, and a blow is applied by the drifter 72 . This impact loosens the threaded parts E and F (Fig. 34).

(2) Pull up the drifter 72 and clamp it with the rod clamp 77, and the threaded portion E is increased (Fig. 35).

lΦOnce again, the lower sleeve portion of the rod R is gripped by the centrifuge 130, and the threaded portion F, which was loosened in step 3, is unscrewed (Fig. 36).

The rod R is clamped by the rod clamp 77 and the sleeve clamp 76, and the shank rod 75 is separated from the threaded portion (FIG. 37).

The rod R is pulled in to the position 2iB by the fΦ arm mechanism 100 and is housed in the rod holder 84 (Fig. 38).
.

(2) The gripping forces of the sleeve clamp 76 and rod clamp 77 are released, and the arm mechanism 100 is used to store it in position A (FIG. 39).

(2) The rod cartridge 80 is fed one frame by the hydraulic motors 84A and 84B (Fig. 40).

[Yes] The drifter 72 is lowered and the shank rod 75 and the next rod R' are fastened.

By repeating the above steps, the drilling robot can efficiently and automatically drill long holes for blasting work in a fan-cut shape.

As explained above, the long hole drilling robot of the present invention can be configured to be extremely compact, and therefore can be used extremely efficiently in narrow, hot and humid working faces such as mining sites and other construction sites. Can perform fan cut drills. Furthermore, according to the robot of the present invention, it is possible to drill holes in response to changes in the strata with high precision, and it is possible to drill long holes in a short time and extremely efficiently without causing rod breakage or germing. .

[Brief explanation of the drawing]

FIG. 1 is a partial front view of a mining site in a metal mine. FIG. 2 is a schematic cross-sectional view of the vein. FIG. 3 is an explanatory diagram schematically showing the operation mode of the long hole drilling robot according to the present invention. FIG. 4 is a graph showing the relationship between torque and feed amount with respect to time in the spot boring process. FIG. 5 is a graph showing the relationship between torque and feed amount with respect to time in a spot boring process in a soft zone. FIG. 6 is a graph showing the relationship between torque pressure, feed pressure, and feed speed with respect to time when the slack region is reached. FIG. 7 is a graph showing the relationship between torque and feed rate in the soft zone drilling process. 8 to 10 are block diagrams showing the drilling operation control mode. FIG. 11 is a front view of the drilling robot according to the present invention. FIG. 12 is a side view of the drilling robot according to the present invention. FIG. 13 is a partial plan view taken along the line (I--XI in FIG. 12). FIG. 14 is a partial front view taken at X1il-W in FIG. 13. FIG. 15 is a view similar to FIG. 14, but a partially enlarged view of the roller and clamp. FIG. 16 is a partial front view taken along the line WI-XVI of FIG. 15. FIG. 17 is a schematic sectional view passing through the rotational axis of the rotational movement device. FIG. 18 is a partial front view taken along the line double m-double m in FIG. 17. FIG. 19 is a partial front view of the drilling robot for explaining the operation of the rod cartridge and arm mechanism. FIG. 20 is a partial plan view of the drilling robot for explaining the operation of the rod cartridge and rod clamp mechanism. FIG. 21 shows the line XX [-XX
It is a partial front view taken along [. FIG. 22 is a hydraulic circuit diagram of the rod cartridge. FIG. 23 is a partial plan view of the sleeve clamp. FIG. 24 is a schematic explanatory diagram of the greasing device. 25 to 32 are a series of explanatory diagrams showing the procedure for connecting rods. FIGS. 33 to 40 are a series of explanatory diagrams showing the procedure for recovering the rod. 20: Drilling robot 21: Base 40: Lateral movement device 60: Rotation movement device 72 Ni drifter 75: Rod changer 76: Sleeve clamp 77: Rod clamp 90: Arm mechanism 100 Nigel lift up device 10th side. Chopsticks, -0 Kusunha Kupo) To Hakutsuka Ichigo 0 Transport = Shugan “01 Kutoha 7゜11 Figure 13 Figure 14 Figure 16! -xvIII Figure 18 Figure 22 Figure 23 Figure 25 Figure 26 Figure 27 Figure 28 Figure 292 Figure 35 Figure 36

Claims (1)

[Claims] 1) A base, a lateral movement device capable of moving approximately horizontally with respect to the base, a rotational movement device attached to the lateral movement device, and a rotational movement device attached to the rotational movement device. and a rod changer for supplying a drilling rod to the drifter and recovering a used rod from the drifter. A long hole drilling robot featuring: 2) A rail is arranged on the base in a roughly horizontal direction, and a roller attached to a pedestal of a lateral movement device is rotatably placed on the rail, and the pedestal is moved laterally by a lateral movement hydraulic cylinder. The robot according to claim 1, which is driven. 3) The rotational movement device includes a rotation shaft, one end of the rotation shaft is connected to a rotation hydraulic motor attached to the frame of the lateral movement device, and the other end of the rotation shaft is equipped with a rotation ring. 3. The robot according to claim 2, wherein the rotary ring is fixedly fixed, and the rotary ring is rotated in any direction by the rotary hydraulic motor. 4) A vertical guide rail is fixed to the rotating ring, a drifter is slidably provided on the guide rail, and the drifter is driven and controlled by a hydraulic motor for feeding the drifter attached to the guide rail. The robot described in Section 3. 5) The robot according to claim 3 or 4, wherein the rod changer is attached to a rotating ring. 6) The rod changer consists of a rod cartridge that removably accommodates the drilling rod, a greasing device that applies grease to the end of the drilling rod, a sleeve clamp for grasping the sleeve portion of the drilling rod, and a drilling device. Claim 1, comprising: a rod clamp for grasping a rod portion of a rod; and an arm mechanism for moving the sleeve clamp and the rod clamp from a storage position in the rod cartridge to a mounting position on a drifter. The robot described in item 5. 7) The rod cartridge is equipped with a rod holder and a chain driven by a hydraulic motor, and the holder supports the drilling rod at two points, upper and lower, so that it is always parallel to the guide rail of the rotary moving device. 7. The robot according to claim 6, wherein the robot holds the rod.