JPS62146389A - Drilling device - 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 (Industrial Application Field) The present invention is applicable to a drilling device for positioning a drilling boom having a drilling hole at its tip.

(Prior art) Traditionally, the drilling neck is attached to one of the drilling machines mounted on the boom.
] The setting position with respect to the gauge point is displayed by rectangular coordinates, and the setting position data by this rectangular coordinate is stored in the memory means as a control pattern. The boom is automatically positioned by reading out the above-mentioned set position data at any time, thereby automatically controlling the drilling machine.
Publication No. 18).

When using such a drilling device to dig a tunnel, for example, the drilling machine is positioned and driven on the surface where the tunnel is to be dug based on the set position data stored in advance in the memory means. By the way, if there is rock of unexpected hardness on the rough surface of the tunnel where the drilling machine is set,
Since it is not possible to dig in this state, the position of the drilling machine must be changed. Therefore, the drilling equipment
￥ Switched to the first operation and changed the setting position of the drilling machine.

However, with this kind of drilling equipment, if the drilling data is inputted to f7 when drilling is performed manually, the operator inputs the drilling data after completing each step of the drilling work. Hole data must be input to a data output means, etc. Therefore, when the number of steps in the drilling operation increases, such input operations become troublesome and take a long time. In addition, when switching from manual operation to automatic operation, the switch operation is cumbersome and requires an experienced operator.Also, because the drilling machine is controlled manually and the drilling work is performed, it is difficult to drill uniform holes in 1q. That was difficult.

(Object of the Invention) The present invention has been made in view of the above conventional problems, and provides a drilling device that simplifies switch operation and can easily obtain drilling data during manual operation. The purpose is to

(Structure of the Invention) The present invention includes a boom means on which a drilling machine is mounted, a memory means storing drilling position data for drilling a hole by the drilling machine, and a boom means for storing drilling position data for drilling a hole by the drilling machine, and a central processing means for reading drilling position data; and a positioning servo control means for operating the boom means in accordance with the drilling position data read by the central processing means;
A drilling mechanism wJ\ stage that operates a drilling machine of the boom means by the output from the positioning servo control means;
In the drilling apparatus comprising a drilling data output means for outputting drilling data during positioning of the drilling and drilling, the positioning servo IT when controlled by the drilling position data of the memory means. ,IJtl
A stop means for giving a stop signal to the central processing means to stop the operation of the I1 means, and after the stop signal is given to the central processing means, it is input to the central processing means by a circular operation and manually positioned. manual positioning setting means for enabling the servo control means; and after the manual positioning setting means performs drilling positioning, providing a restart signal to the central processing means for restarting the positioning servo control means; The drilling data from the drilling 1 geometry control means restarted by the output of the restarting means is provided to the central processing means and output to the drilling data output means. It is.

With this configuration, when a stop signal from the stopping means is given to the central processing means, the operation of the positioning servo control means is stopped, and then manual positioning is performed by operating the manual positioning setting means, and then restarting is performed from the restarting means. The starting signal causes the drilling machine control means to operate, and the drilling data from the drilling machine control means is given to the central processing means, and the drilling data is output to the drilling data output means.

(Embodiment) FIGS. 1 to 4 show a boom positioning device of Iwatsuki according to an embodiment of the present invention.

FIG. 2 shows the structure of the rock-rocking platform in an embodiment of the present invention. In Figure 2, the workbench! The rear end 2 of the first boom 2 of the boom 1 is attached to the base W fixed on lE.
a is rotatably supported, and the rear end 3a of the second boom 3 is rotatably supported on the tip 2b of the first boom 2,
A guide cylinder 5 is roughly fixed to the tip 3b of the second boom 3 via a cell mounting 4. This cylinder 5 has a feed motor 6 attached to its rear end that moves a guide self back and forth, and a bit 1 is attached to the tip of a rod 9 relative to the guide self.
Drilling hole with 0 installed! ! ! 8 is installed so that it can move forward and backward. During the drilling operation of the drilling machine 8, the drilling machine 8 is moved forward by the feed motor 6. The boom 1 on which the above-mentioned drilling machine 8 is mounted is mounted in the left-right horizontal direction (X direction in the figure), in the front-rear horizontal direction (Z direction in the figure)
5 and up and down vertical directions (Y direction in the figure), respectively, and the first boom 2 and the second boom 3 are operated in each of the above horizontal directions for boom switching. A cylinder 11, a cylinder 12 for swinging the guide cell, a cylinder 13 for the boom lift operated in the vertical direction, and a cylinder 14 for lifting the guide cell are attached as shown.

A pair of booms 1 configured as described above are provided on the left and right sides of the work trolley E.

Here, the length Ql of the first boom 2, the length C2 of the second boom 3, and the distance from the tip of the second boom 3 to the tip of the guide self (that is, the movement of the guide self) are QS.
As shown in FIGS. 3(a) and 3(b), the relationship between the amount of operation of each of the cylinders 11 to 14 and the position of the tip of the boom (that is, the position of the tip of the guide self) that moves in accordance with the operation is shown in FIGS. 3(a) and 3(b).
If you refer to and analyze it, you will get the following.

That is, when the boom 1 is initially on the Z-axis, its tip is at the position Pa in FIGS. 3(a) and 3(b).

First, from this state, the cylinder 11 for boom swing and the cylinder 12 for guide cell swing are operated, and the first boom 2 is moved to the horizontal plane (plane X-7 in the figure) by the extension of the rod. If you move by 03, 1. The Pa point of the note moves to 11 points.

Then, actuate the boom lift cylinder 14 to move the 02. When moved by θ4, the 11th point moves to the 22nd point. The positions of the 22 points and the directions (of the cells) are given by the following equations.

x=113inθ1−CO2O3+ lC2sinθ1
+Q S Sin (θ1+θ31) C03(θ2
+θ4)y=Q1cosθ1◆sinθz+(j22c
osθ1+1 s cos (θ1 +θ3) )
5in(θ2 +04)l=Q1CO3θ1-cos
θ2+(C2CO3θ1 +Q s cos(θ1−
θ3 ) ) cos (02+04 )... (1
) θ01 +63 φ; 82 +04 That is, the point P2 and its direction are determined by the rectangular coordinate system p (X, Y, l, θ, φ) and the boom coordinate system Pθ (θ1. θ2.θ3.θ4.ΩS) to phase n
can be converted to .

Therefore, to control the position and direction of the point P2 given in the rectangular coordinate system, the coordinate transformer (P→PO) and the angle θ
1. θ2. This can be achieved if there is a positioning servo control device with θ3,04 and length aS.

The boom positioning device δ as described above is connected to the coordinate converter (
P→Pθ) and a servo control m+ device for positioning are installed, and the boom is positioned by displaying the bit 10 in at the tip of the boom in a Cartesian coordinate system.The configuration is shown in Figure 1. show.

In FIG. 1, the first memory means 20 stores drilling position data P (in the Cartesian coordinate system) for setting the amount of work vJ for directly positioning the boom tip position with respect to the virtual Cartesian coordinate plane immediately in front of the face. This is a memory that stores location data. This first memory means 20 stores the drilling position data P, which is the operating claw of the first and second booms 2.3.
can be freely entered using input means such as a keyboard. The coordinate converter 21 converts the drilling position data P into drilling position data Pθ in the boom coordinate system (displacement angles θ1, θ2, θ3, θ4 of each boom 2.3 and movement nus of the guide self). .

The positioning navigation control means 22 controls the operating amount of the pistons of the hydraulic cylinders 11 to 14 for driving each boom and the cylinder 5 for the guide cell based on the displacement angles 01 to 04 included in the drilling position data Pθ and the transfer side port S. It is up to you to decide. The drilling machine control means 23 uses the output of the positioning servo till tit means 22 indicated by -F to apply the i and II suspensions necessary for the drilling operation to the drilling hole TL18 mounted on the guide self of the boom 1, and adjusts the positioning length. -Bo control device 2
Work is started when a signal indicating that the boom 1 connected to the boom 2 has been positioned at a desired position is received.

The central processing means 24 receives the end signal for each drilling operation from the control means 23, reads out the desired drilling position data P stored in the first memory means 20, and converts the data into a coordinate converter. 21 and further described later tI
This is for performing IIIl operation.

The stopping means 25 is realized by a key switch or the like, and the positioning servo control means 22 and the drilling machine control means 23 are controlled (automatically) based on the drilling position data P from the first memory means 20. A reset signal (stop signal) for temporarily stopping the operation is given to the central processing means 24. The manual positioning setting means 26 manually controls the positioning servo control means 22 via the central processing means 24 after the control operations of the positioning servo &ljm means 22 and the drilling machine control means 23 have stopped. This makes it possible to operate. The restart means 27 is realized by a key switch or the like, and outputs a set signal (restart signal) for restarting the fIIJ control means 23 after manual positioning by operating the positioning servo control means 22 by the above-mentioned manual operation. It is provided to the central processing means 24. Note that the restart means 27 is the same as the stop means 2.
5 outputs the reset signal, the stop means 25 may be operated once again, and the output at that time may be given to the central processing unit 24 as a set signal.

On the other hand, the second memory means 27 stores the lengths ρ1 of the first boom 2 and the second boom 3. A constant such as Ω2 is given to the coordinate converter 21 to set the guide self displacement IJJ:'dQs. The register 28 temporarily stores the drilling position data Pθ from the coordinate converter 21 and provides it to the positioning servo & IJ control means 22. Arithmetic unit 2
9.30 is each driving cylinder 11 to 14 of the first and second booms 29.30 and the cylinder 5 for operating the guide cell.
In response to the signal that detected the displacement of the boom, the displacement angle θ1. θ
2. θ3°θ4 and the amount of movement Qs of the guide rail 7
This is for determining the position of the boom 1, feeding it back to the positioning servo control means 22, and positioning the boom 1.

The third memory hand g231 stores drilling data (s, t) and positioning data (PO, t2) from the central processing means 24.
) and memorize it. The data processing means 32 is a data processing device realized by a microcomputer or the like,
Drilling data (S,
L+) and positioning data (PO, t2), and performs data processing to be described later. The data output means 33 prints the drilling data and positioning data processed by the data processing means 32.

Next, the operation of the embodiment shown in FIG. 1 will be explained with reference to the flowchart shown in FIG. First, the positioning servo control means 22 and the drilling machine control means 23 are activated by the drilling position data P1 stored in the first memory means 20. : Control is performed based on this, that is, automatic control operation will be explained.

In step n1, the central processing unit 24 reads out the drilling position data P stored in the first memory means 20 and provides it to the coordinate converter 21. In step n2, the drilling position data P given to this coordinate transformation 'a21 is converted into drilling position data Pθ, temporarily stored in the register 28, and given to the positioning servo control means 22. That is, the drilling position data PO is temporarily stored in the register 28 until the positioning servo control means 22 starts operating. At step n3, the positioning servo control means 22 positions the boom 1 based on the drilling position data PO.

In step n4, it is determined whether the reset signal from the stop means 25 has been given to the central processing means 24.

That is, when the automatic control operation is being performed, the reset signal is not given to the central processing means 24, so it is determined that the reset signal is not input and the process moves to step n5. In step n5, the positioning 1 positioner i+11 control means 22 determines whether or not the positioning of the boom 1 has been completed, and when the positioning is completed, the process moves to step n6. In step n6,
Perform automatic drilling. That is, the positioning servo control means 22 controls the drilling machine control means 23, and in response to this control, the drilling control means 23 operates the drilling machine 8 to perform drilling. In step n7, the drilling machine control means 23
Drilling data showing the drilling length S from drilling hole B18 (
S) receiving the drilling data (S, tl) indicating the drilling length S and the drilling distance t1 corresponding to the drilling length S to the central processing means 24, and the positioning servo control means 22 The central processing means 24 is provided with positioning point data (Pθ, tz) indicating the drilling position data Pθ and a positioning time t2 of 11.1 seconds required for positioning the boom 1. With these, the central processing means 24 records the drilling hole data (S, tl) and the positioning point data (P/7).
．． tz) is outputted and given to the third memory means 31.

In step n8, the third memory means 31 stores the drilling data (S, jl) and the positioning point data (Pθ, tz
).

In step n9, it is determined whether or not the drilling work has been completed based on the work completion signal J from the drilling machine control means 23. If the drilling work has been completed, the process moves to step n10 or step n11, and if the drilling work has not been completed, the process proceeds to step n11. Return to n1 and perform similar processing operations.

In step n10, the drilling data (S, tl) and positioning point data (Pθ,
tz) is stored in a separately provided data storage cassette such as a ROM cassette.

On the other hand, in step n11, the data processing means 32
Drilling data (S, t+
) and positioning point data (Pθ, tz), and performs the following processing. That is, the data processing means 32 converts the drilling position data Pθ into drilling position data P and outputs it, and also outputs the positioning time t2 as data! U Fl!
L, calculates the cumulative positioning time Σt2, and outputs the positioning time t2 and the cumulative t1 positioning time Σt2. Further, the data processing means 32 processes the drilling data (S, tl) to obtain the cumulative drilling length Σt1 and the drilling speed S/
t1, total drilling speed ΣS/Σt1, drilling data (S, tl), cumulative drilling length ΣS, side drilling distance Σt1, drilling speed S/11, cumulative drilling speed Σ
Output S/Σt1.

When such data processing is completed, the process moves to step n12, and the data output means 33 outputs the drilling position data P, position 11'? given from the data processing means 32. Decided time t2
, cumulative positioning time Σt2, drilling data (S, tt
), cumulative drilling length ΣS, cumulative drilling speed εt1, drilling speed S/lj, and cumulative t1 drilling speed ΣS/Σt
Print out 1.

Next, the operation when drilling position data is given to the central processing means 24 by manual operation will be described.

First, in order to stop the automatic control operation described above, the stop means 25 is operated to give a reset signal to the central processing means 24. As a result, the process moves from step ")4 to step n13. In step n13, the central processing means 24
gives a reset signal to the positioning servo control means 22 and the drilling machine control means 23, and the positioning servo control W\stage 2
2 and the automatic control operations of the drilling machine control means 23 are temporarily stopped. After the positioning shoe navigation control means 22 and the drilling control means 23 are stopped in this way, by operating the manual positioning setting means 26 and, for example, continuing to press the rise button, a drilling position rise signal (drilling position data) P
' is given to the central processing means 24.

As a result, the central processing means 24 changes the coordinates by 1! Ji device 21
The above drilling position data P' is sequentially given to the coordinate converter 2.
1 converts the drilling position data P' into drilling position f-data Pθ' in the boom coordinate system. This drilling position data Pθ′
are sequentially temporarily stored in the register 28, the positioning servo control means 22 is operated lJ+, and when the first button is released, the iFJ+ operation of the positioning servo control means 22 is stopped. When manual positioning is performed in this manner, the manual operation at step n13 is completed, and the process moves to the next step n14.

In step n14, the restart means 27 is operated to give a reset signal to the central processing means 24.

As a result, the central processing means 24 performs positioning 1nervo i,
11111 means 22 and hisa < hole @ fNI 11 hands ff123 niyo,? - The output of the reset signal is stopped, the drilling machine control means 23 is restarted, and the process moves to step n6, where the drilling machine control means 23 is automatically controlled. The advantage is that the drilling data (
s', t'), the cumulative drilling length ΣS', the bare side drilling time Σt1', the drilling speed S'/lt', and the cumulative drilling speed 21-s'/Et1', and these data are The data may be stored in a storage cassette or printed out by the data output means 33.

When such manual processing is completed, the central processing means 24 reads out the drilling position data P from the first memory means 20 again, and performs the positioning 1t- by the processing operation described above.
control means 22 and drilling 4111.11 m hand 1
23 WotIIl 1Ilt 6゜This IC yacht...
No operation is required to return from manual operation to automatic control.

According to this embodiment, the positioning servo control means 22 is controlled by the manual positioning setting means 26, and then the thinning machine 8 is automatically controlled, and the central processing means 24 receives the work end signal from the thinning machine aIIjt211 means 23. Since the drilling data after the manual positioning operation is output until the drilling operation is completed, all the drilling data during the drilling operation can be collected, and the user can better manage the drilling operation. Further, by simply operating the stop means 25, the manual 1 position setting means 26, and the restart means 27, manual positioning and automatic drilling are performed, and the manual operation automatically returns to automatic control. Therefore, even operators who are not familiar with the operation can perform the work.

(Effects of the Invention!J) As described above, according to the present invention, there is provided a stop means for giving a stop signal to the central processing means in order to stop the operation of the positioning servo control means; and a restart means for supplying a restart signal to the central processing means after the drilling position is determined by the manual position setting means. The drilling data from the restarted drilling machine control means is given to the central processing means and output to the drilling data output means, so that drilling data during manual operation can also be obtained.
Useful for analyzing rock quality, etc. Furthermore, since the manual operation is simplified, even an operator who is not familiar with the operation can perform the work.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the electrical configuration of a drilling device according to an embodiment of the present invention, and FIG. 2 is a side view showing the boom and boom mounting device of the rock drilling machine according to the above embodiment. FIGS. 3(a) and 3(b) are explanatory diagrams showing the displacement state during operation of the No. F pool, and FIG. 4 is a flowchart for explaining the processing operation of the above-mentioned drilling device. DESCRIPTION OF SYMBOLS 1... Boom, 2... First boom, 3... Second boom (boom means), 8... Thinning machine, 20... First memory means (memory means), 22...・Positioning servo control means, 23...Drilling machine i1+11 control means, 2
4... Central processing means, 25... Stopping means, 26...
- Manual positioning setting means, 27... Restarting means, 33
...Drilling data output means.

Claims (1)

[Claims] 1. A boom means on which a drilling machine is mounted, a memory means storing drilling position data for drilling a hole with the drilling machine, and reading out the drilling position data stored in this memory means. a central processing means; a positioning servo control means for operating the boom means according to the drilling position data read by the central processing means; and a drilling machine of the boom means based on an output from the positioning servo control means. A drilling apparatus comprising a drilling machine control means for operating the drilling machine and a drilling data output means for outputting drilling data during positioning of the drilling and drilling, the drilling apparatus being controlled by the drilling position data in the memory means. stopping means for giving a stop signal to the central processing means in order to stop the operation of the positioning servo control means when the positioning servo control means is in operation; and after the stop signal is given to the central processing means, the central processing means is manually operated. manual positioning setting means for manually operating the positioning servo control means, and a restart signal for restarting the central processing means after the manual positioning setting means has performed drilling positioning. and a restart means for giving the drilling machine, and the drilling data from the drilling machine control means restarted by the output of the restarting means is provided to the central processing means and output to the drilling data output means. A drilling device featuring: