JPS61242296A - Positioning device for boom for rock drill - 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 (Field of Industrial Application) The present invention relates to an improvement in a positioning device for positioning various boom means for mounting a rock drilling machine relative to a drilling point on a rock face. It is.

(Prior art) Conventionally, as a method for positioning the boom of this type of rock drilling machine, there is a method of detecting the amount of expansion/contraction displacement of the hydraulic cylinder that drives the boom and assembling a positioning servo. Since it is difficult to specify the position numerically, a method has been adopted in which the boom is manually positioned in advance, the data is stored, and the data is subsequently reproduced. However, this method has drawbacks such as requiring a great deal of time and effort to program the work machine itself and not being able to give numerical commands.

Therefore, as shown in Japanese Patent Publication No. 57-51518, the present applicant has already developed a system to display the position of a rock drill mounted on a boom in a rectangular coordinate system, thereby facilitating the automatic boom positioning program. We have proposed a boom positioning device that can quickly position the boom at a desired position by numerically specifying the position of the boom tip.

In other words, this boom positioning device basically uses the boom means on which the rock drilling machine is mounted, and the position and direction of the drilling point set on the drilling plane given in the orthogonal coordinate system just before the face. a transducer for inputting a value and converting the value in the rectangular coordinate system into a value obtained in the coordinate system of the boom; a positioning control means for actuating the boom means in response to an output from the transducer; Calculate the activated value with a calculator,
The controller is equipped with a feedback means that feeds back the calculated value to the positioning control means, converts the numerical value input in the rectangular coordinate system to the boom coordinate system using a converter, and performs positioning control based on the value of the boom coordinate system. The boom means is positioned by means of feedback control, and after the positioning, the rock drill on the boom means is operated to drill a hole at the drilling point, and when the drilling operation is completed, the above-mentioned It is designed to issue operating commands to the converter.

(Problem to be solved by the invention) By the way, by inputting six numerical values of the position and direction of the drilling point, the boom for mounting the rock drilling machine is positioned at the drilling point, and the face is set in advance. When drilling holes according to a set drilling pattern, if the boom means is damaged due to interference with surrounding objects, there is a risk that the positioning accuracy of the boom means will be reduced. It is necessary to prevent damage.

Therefore, for example, when installing multiple boom means,
Drilling patterns, etc. are set to prevent each boom means from interfering with each other, but this measure alone cannot prevent sudden interference in which the boom means collide with a convex part of the rock face, and further improvements will be made. There is room for

The present invention has been made in view of the above, and its purpose is to prevent the amount of operation of the boom means from changing over time when the boom means interferes with surrounding objects such as other boom means or rock protrusions during positioning. By focusing on the fact that the operation of the boom means decreases and changes, and detecting the interference based on the temporal change in the operation of the boom means, it is possible to quickly and automatically detect the interference of the boom means and ensure its reliable detection. The purpose is to prevent damage.

(Means for Solving the Problems) In order to achieve the above object, the solving means of the present invention, as described above, includes a boom means on which a rock drill is mounted, and A converter that inputs the position and direction values of the drilling point set on the drilled surface as values in the Cartesian coordinate system and converts these values into values that can be drilled in the boom coordinate system, and a positioning control means for moving the boom means in accordance with the value of the boom means; and a computing device for computing the actuated value of the boom means, and feedback means for feeding back the value computed by the computing device to the positioning means ft1(j fi1). Further, a calculation means inputs the actuation value of the boom means from the feedback means, stores this value every time a set unit time elapses, and calculates the boom operation amount for the set unit time, and the calculation means a storage means for sequentially inputting and holding values from the means; and comparing the latest value calculated by the calculation means with the value from the storage means;
The apparatus further includes a comparison means that generates a boom interference signal when it is continuously detected that the value from the calculation means is smaller than the value from the storage means.

(Function) With the above configuration, in the present invention, when positioning the boom means, when data on the position and direction of the target drilling point is input in the Cartesian coordinate system, the values are converted into the Cartesian coordinate system in the converter. The value is converted into a value in the boom coordinate system, and the boom means is positioned while being feedback-controlled by the positioning control means in accordance with the value from this converter.

At this time, the actuation value of the boom means is fed back to the positioning control means and simultaneously inputted to the calculation means, and the calculation means calculates the amount of operation of the boom means during the elapse of a unit time. The values calculated by the calculation means are sequentially input to the storage means and stored, and then,
The comparison means compares the previous value stored in the storage means with the current value calculated by the calculation means. Then, when the boom means interferes with a convex part of the rock face or other boom means, the operating amount of the boom means calculated by the calculation means gradually decreases, and accordingly,
A state in which the value from the calculation means is smaller than the value from the storage means continues, and at that time, a boom interference signal is emitted from the comparison means. Therefore, interference of the boom means can be detected automatically, quickly and accurately, and damage to the boom means due to interference can be prevented in advance and reliably.

(Example) Embodiments of the present invention will be described below based on the drawings.

In FIG. 3, reference numeral 1 denotes a work cart that moves on the ground in front of a face in a tunnel, and a boom device 2 on which a rock drill 14 is mounted is installed on the work cart 1. As shown in enlarged detail in FIG. 2, the boom device 2 has a rear end 4a pivotably supported in a vertical plane by a support shaft 3 attached to the truck 1 so as to be rotatable in a horizontal plane. 1 boom 4, and a second boom 5 whose rear end 5a is pivotably supported in a vertical plane at the front end 4b of the first boom 4, and the front end 5b of the second boom 5 has a cell. A guide cell hydraulic cylinder 7 is supported via a mounting 6 so as to be swingable in a horizontal plane. Also, swing hydraulic cylinders 8 are provided between the first boom 4 and the trolley 1 and between the second boom 5 and the cell mounting 6, respectively, for swinging the first boom 4 and the cell mounting 6 in the horizontal direction. 9
are connected, and between the first boom 4 and the support shaft 3 and between the first boom 4 and the second boom 5, the first
Lift hydraulic cylinders 10 and 11 for vertically lifting and moving the second booms 4 and 5 are connected. Further, a guide cell 13 with a feed motor 12 attached to the rear end is mounted on the hydraulic cylinder 7 on the second boom 5, and the guide cell 13 has a rod 14b with a pit 14a attached to the tip. A rock machine 14 is mounted so as to be slidable in the front-back direction, and the front end of the guide cell 13 of the boom device 2 is moved horizontally from side to side (X direction in Figure 3) by the operation of a hydraulic cylinder 8°9, The actuation moves the hydraulic cylinder 10.11 in the longitudinal and horizontal directions (the same two directions), and the actuation of the hydraulic cylinder 10.11 moves it vertically (the same y direction) to position the drilling point on the face, and after the positioning, the drilling point is moved. At the same time, the rock drill 11114 is fed back and forth by the feedback motor 12.

On the other hand, FIG. 1 shows the overall configuration of a boom positioning device according to an embodiment of the present invention, which positions the boom device 2 by adjusting the telescopic displacement ω of each of the hydraulic cylinders 7 to 11.

In the figure, reference numeral 15 denotes a memory means into which the drilling pattern is input, and the memory means 15 stores the input drilling pattern in a rectangular coordinate system immediately before the face, as shown in FIG. 4, for example. A large number of drilling points P+, P3,... set on a given virtual drilling surface and a detour point offset from the drilling point P I HP 3 *... The positions and directions of P2, P4, ... (the pointing angle of the guide cell 13 and its direction) are expressed as values in the rectangular coordinate system, and the points P+ + P2 +.
It is stored in the order of...

Further, reference numeral 16 denotes a converter into which the data signal read out from the memory means 15 is input, and the converter 16 is connected to the position and direction of the drilling point input as values in the rectangular coordinate system by the memory means 15. Convert to values in the boom's coordinate system.

Here, the relationship between the rectangular coordinate system, the boom coordinate system, and the multivalues that are converted by the converter 16 will be explained. When the lengths of the first and second booms 4.5 are respectively M+ and 92, and the length (m) of movement of the guide cell 13 from the front end 5b of the second boom 5 to the front end of the guide cell 13 is 95, the boom From the state where the front end of the device 2 and its guide cell 13 are on two axes (front and rear horizontal axes), the first and second booms 4.9 are operated by the swing hydraulic cylinder 8.9.
5 along the horizontal plane (X-Z plane) by a displacement angle θ1, and the guide cell 13 is further displaced by a displacement angle θ3 with respect to both booms 4 and 5, and then the hydraulic cylinder 10 for lift, 11, the first and second booms 4 and 5 are respectively displaced along the vertical plane (y-z plane) by a displacement angle θ2°θ4, the guide cell 1
3. The position of the front end (x, y, z) and the pointing angle of the guide cell 13 and its direction (θ, φ) are respectively calculated by the following formula.In other words, the position and direction of the guide cell 13ttJ end are determined by the above (1). ~(By Equation 5, the rectangular coordinate system P(x
, y, z, θ, φ) and the boom coordinate system PO (θ1
, θ2. θ3. θa, Us). Therefore, in the converter 16, the position II (
This is to convert the values of .

Reference numeral 17 denotes a central processing unit (CPIJ) connected to the memory means 15, and the central processing bag @ 17 is supplied with a key manual input or an end signal for each drilling operation from a drilling control device 123, which will be described later. -1 said memory means 15
The command values P of the target drilling points P+, P3, . . . and the detour point Pz r P 4 + .

Further, the output of the converter 16 is input to the positioning servo control device 1B. The positioning servo control device l1
The output of 118 is connected to a hydraulic control device (not shown) for controlling each of the hydraulic cylinders 7 to 11 in the boom device 2, and the positioning navigation control device 18 controls each cylinder based on the command value from the converter 16. The actuation amounts of cylinders 7 to 11 are determined, and the cylinders 7 to 11 are actuated to the actuation amounts so that each boom 4.5 and guide cell 13 of the boom assembly @2 can be moved.

Each of the cylinders 7 to 11 of the boom device 2 is equipped with an encoder (not shown) whose output value changes according to its operating amount, and the output of the encoder is controlled by the boom device! 2, that is, the displacement angle of each boom 4.5 and the movement m of the guide cell 13, are fed back to the positioning servo control @[18] through the calculator 19, which calculates the displacement angle of each boom 4.5 and the movement m of the guide cell 13. Positioning servo 1
A feedback device 20 is configured to provide feedback to the control device 18 to position the boom installation @2.

Further, reference numeral 21 denotes a drilling control device that provides control variables such as drilling values necessary for the drilling operation to the rock drill 14 on the guide cell 13 of the boom device @ 2, and the drilling control device 21 receives a signal indicating that the boom device 2 is positioned at a desired position from the positioning servo control device 18 and controls the operation of the rock drill 14, and when the rock drill 14 completes the drilling operation, transmits the completion signal to the center. Processing device 17
’.

Furthermore, as a feature of the present invention, the output signal of the arithmetic unit 19 in the feedback device 20 is input to a boom interference control device 22 that determines interference of the boom device 2. The boom interference determination device 22 is a feedback device! The operating value of the boom device N2, that is, the encoder value En output from the encoder accompanying the expansion and contraction of each hydraulic cylinder 7 to 11 is inputted from the calculator 19 of 20, and the encoder value EO is inputted under the set unit time. The operating amount of the boom device 2 with respect to the set unit time T, that is, the temporal slope of the encoder value change amount 1:n -1:n-H during the elapse of the set unit time T, is memorized every time the set unit time T elapses. Kn
= (En −En −1)/T; a slope calculation device 23 as a deduction means for calculating the slope calculation device [output value from the slope calculation device 23] (n); a register as a storage means for sequentially inputting and storing n; 24 and the latest value Kn calculated by the slope calculation device 123 is compared with the previous value Kn-+ stored in the register 24 before the set unit time T.
The comparator 2 generates a boom interference signal when the value 1 from the inclination calculating device 23 (n is smaller than the value Kn-t from the register 24) and the case of Kn < Kn-1 is detected five times in a row.
It consists of 5. The output signal of the comparator 25 is input to the central processing unit 17, and when a boom interference signal is issued from the comparator 25 of the boom interference determination device 22, it is sent to the memory means 15 by the central processing bag @17. Detour point P z + P 41... from the input data of
Read the data and move the boom device 2 to the detour point Pz +
After passing through Pa +..., the next drilling point P +
r P s e . . .

Next, the operation of the above embodiment will be explained along the processing procedure shown in FIG. Activate the boom device [2 and drill the rock 11]
14, when automatically drilling holes on the drilling surface of the face according to a preset drilling pattern, first, the drilling point P+ given in the orthogonal coordinate system.

After inputting and storing the data of the detour points Pz, Pa, . Drilling point and detour point P+ + P2 stored in memory means 15 by command signal
, . . , the data of the first point in order is read out, and in the next step S2, it is determined whether the read point is a detour point or not. If this determination is YES, the process moves to step S3, where the hole address of the drilling point or detour point stored in the memory means 15 is incremented, and the point read out above, that is, the detour point, becomes the next point in the order, that is, the detour point. The point is updated to the hole point, and then the process returns to step S+. Through such processing, the detour points P2, Pa are stored from the memory means 15.
.

... is read out, the detour point P 21 P
4. Positioning of e... is omitted.

On the other hand, when the determination in step S2 is No, that is, the point read from the memory means 15 is the drilling point P.
+ r P s r..., step S
4, the read drilling point P1*P
3. The positioning operation of the boom device 2 is started based on the data of r... In this positioning operation of the boom device 2, the above read drilling point P+ * P s +
Command values (x,
y, z, θ, φ) are input to the converter 16 and its coordinate system is converted to the boom coordinate system P゛θ, and the poom positioning servo control device 18 is operated according to the command value converted to this boom coordinate system. The hydraulic cylinders 7 to 11 of the boom device 2 are expanded and contracted, and the expansion and contraction of the hydraulic cylinders 7 to 11 moves each boom 4.5 of the boom device 2 and the guide cell 13, and the front end of the guide cell 13 is opened. It moves toward the desired drilling point P+, Pa, . . . on the hole surface, and its direction is adjusted to the commanded direction.

Further, as each boom 4, 5 and guide cell 1.3 move, the amount of displacement thereof is calculated by the calculator 19 of the feedback device 20 that receives the output of the encoder of each hydraulic cylinder 7-11, and the positioning is determined by Servo control I equipment [
20, and by this feedback control, the front end of the guide cell 13 of the boom device 2 is accurately moved toward the target drilling point P+, Pa, .

After step S4, in step 8518+3, interference detection processing and determination processing for the boom device 2 moving toward the target drilling points P+, Pa, . . . are performed, respectively. In the above interference detection process, the sixth
As shown in detail in the figure, step S after the above step S4
6, the arithmetic unit 19 of the feedback device 20
The encoder value En output from the boom interference judgment device W
The data is input to the slope calculation device 23 at 122 and stored. Next, the process moves to step S7, where a timer in the slope calculation device 23 is started, and then, in step S8, the set unit time T is determined by the time-up of the timer.
It is determined whether or not the period has elapsed, and the same step S8 is repeated until this determination becomes YES. Then, as the timer times up, the determination in step S8 becomes YES.
When S is reached, the process moves to step S9, and at that point, the above-mentioned feedback device is applied! The encoder value En from one of the 20 computing units is input again to the slope computing device 23 and stored.

After this, the process moves to step S Il+, and the step S
6 r The previous and current encoder values En −+ and the amount of change in En stored in 89 En−En−
Based on + and the above set unit time T, the temporal slope of the encoder value change amount Kn = (En −En−+)/T
is calculated, and its value Kn is sequentially stored in the register 24 in step S11. Next, in step S12, the counter n used in calculating the above-mentioned slope (n) is updated to n+1, and then the process returns to step S6, where the next slope Kn+1 + KO+ 2 + . . . is sequentially calculated and stored. Through such boom interference detection processing, the drilling point P I * P 3 targeted by the boom device 2 is determined.
1 . . . , the temporal slope Kn of the encoder value change amount is calculated every time the instep time T elapses and is sequentially input and held in the register 24.

In the interference determination process, as shown in detail in FIG. 7, after step S5 of the interference detection process, first, in step S14, the previous slope Kn-+ stored in the register 24 is determined. Slope calculator! The comparator 25 determines the magnitude of the current slope Kn immediately after being calculated by the comparator 23. And this judgment is l(n < l < n-
If the answer is No, the process returns to step S5 of the interference detection process, and the target drilling points P+, P3 of the boom device 2 are determined.
．． Until the positioning is completed by reaching...
Sequentially updated slope)(n and Kn-+ are judged in magnitude. On the other hand, when the judgment is YES for l(n < 1 (n-1), the process moves to step S+s and the counter I is updated to m+1. After that, in step S16, it is determined whether or not the counter l is B<5. If this determination is YES for m5, the process returns to step $5, and the magnitude of the above-described slope Kn and Kn-+ is determined. While the determination is made, if the determination is No (m≧5), the process moves to step S17, and a boom interference signal indicating the interference state of the boom device 2 is output from the comparator 25 to the central processing unit ff17. The above-mentioned inclination Kn is determined by the interference determination process as shown in FIG.

When the state where Kn-+ is Kn<Kn-+ is not detected continuously, the slope of the encoder value change with respect to time change does not change continuously as shown by the broken line in FIG. It is determined that there is no interference, but once the state where Kn < Kn-1 continues, the slope of the encoder value change with respect to time change gradually becomes smaller, as shown by the solid line in the figure. become,
It is determined that the boom device 2 is interfering.

In each process of detecting and determining interference of the boom device M2, when it is determined that the boom device 2 is not in an interference state, the boom device 2 is removed in step S+a.
positioning is completed. After this positioning is completed, the process moves to step S+s, where the operation of the rock drill 14 is controlled by the drilling @ device 21, and the drilling point P that has been positioned is
A drilling operation for + + P s + .

In the subsequent step 821, it is determined whether or not the drilling point P + + P 3-... read out from the memory means 15 is the final value, and when this determination is NO, the step 821 is performed. The process moves from $3 to step S+, and data for the next new drilling points P+, P2, . . . are read out from the memory means 15 in response to a command signal from the central processing unit 17. When the determination is YES, it is assumed that the drilling work for all drilling points P + r P 31 . . . in the rock mass has been completed, and the drilling control ends.

On the other hand, in the interference determination process shown in step S13, when it is determined that the boom device 2 is interfering, in step S21, the drilling point before the movement of the boom device 2 is set to P+ + P3 +... The hole number is incremented and the drilling point p I+ P 3r... is updated to the next detour point P2 + P4 +..., and then in step S22, the detour point P2, P4,...
After the data regarding... is read out, the process returns to step S4. As a result, the boom device 2 moves from the drilling point P + + P 31... to the next drilling point Ps, P
5. If it interferes with a convex part of the rock while moving to..., move to the next detour point P 21 P 41... from the original drilling point P + g P 31... and take the detour. Point P2. P4,... is drilled, and then the detour point P
2. From P4, ..., the initial target drilling point P +
+ P s +... and drill it.

Therefore, in this embodiment, when the boom device 2 interferes, the interference state is detected by a temporal decrease in the movement amount of the boom device 2, and the boom device I2 is temporarily moved to the detour point P21.
After detouring to P 41..., the target drilling point P
＋ ＋ P 31... Therefore, the interference state of the boom device 12 can be automatically and quickly detected, and damage to the boom device 2 due to interference can be reliably prevented, and the target drilling can be performed. Holes at points P+, Pa, . . . can be reliably drilled.

In the above embodiment, when the boom device 2 interferes, the boom device M2 is first detoured to the detour points Pz, Pa, . . . and then moved to the target drilling points P+, Pa, . However, when there is interference with the boom, the target drilling point is processed to make the hole difficult to drill and the next drilling point is drilled, or the boom device 2 is alerted to the interference and its positioning operation is forcibly stopped. You can also do this. but,
The configuration of the above embodiment is excellent in that the holes can be reliably and automatically drilled at the drilling points.

(Effects of the Invention) As explained above, according to the present invention, the values of the position and direction of the drilling point on the face, which have been numerically input as values in the rectangular coordinate system, are converted to values in the boom coordinate system using a converter. In a boom positioning device for a rock drill, in which the positioning servo control device performs positioning while feedback controlling the boom means based on the values of the boom coordinate system, the boom means is fed back to the positioning servo control device. By detecting the operating amount per unit time and determining that there is interference with the boom means when the value continuously decreases, interference with the boom means can be detected quickly and accurately. Therefore, damage caused by interference of the boom means can be prevented in advance and reliably.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is an overall configuration diagram of a boom positioning device, FIG. 2 is a side view of the boom device with a rock drill mounted on it, and FIG. 3 is a positioning state of the boom device. A schematic perspective view, FIG. 4 is a front view illustrating the positions of the drilling point and detour point on the rock, FIG. 5 is an explanatory diagram showing the overall processing means of control, and FIG. 6 is the boom interference detection process. FIG. 7 is a detailed explanatory diagram of the boom interference determination processing procedure, and FIG. 8 is an explanatory diagram showing temporal changes in encoder values at the time of boom interference. 2... Boom device, 4... First boom, 5... Second boom, 7... Hydraulic cylinder for guide cell, 8.9
...Hydraulic cylinder for swing, 10.11...Hydraulic cylinder for lift, 13...Guide cell, 14...
rock drill, 16... converter, 18... positioning servo control device, 19... computing unit, 20... feedback device, 23... tilt computing device, 24... register, 25... ...Comparator. Patent applicant Mazda Motor Corporation (,:), H
,1,:;-1st person before
1) Hiroshi・zu・do1−haF +ζ Fig. 7 Fig. 8

Claims (1)

[Claims] (1) Input the values of the position and direction of the drilling point set on the boom means with the rock drilling machine mounted and the drilling plane given in the Cartesian coordinate system just before the face as the values in the Cartesian coordinate system. and a converter for converting this value into a value obtained in the coordinate system of the boom, a positioning control means for moving the boom means according to the value from the converter, and a calculator for calculating the actuated value of the boom means. a feedback means for feeding back the calculated value to the positioning control means; and a feedback means for inputting the actuated value of the boom means from the feedback means, and storing the value every time a set unit time elapses for the set unit. a calculation means for calculating the boom operation amount with respect to time; a storage means for sequentially inputting and holding the values from the calculation means; and a storage means for comparing the latest value calculated by the calculation means with the value from the storage means; 1. A boom positioning device for a rock drilling machine, characterized in that the boom positioning device for a rock drilling machine is characterized in that it has a comparing means for emitting a boom interference signal when a value of is continuously detected to be smaller than a value from the storage means.