JPH0633706B2 - Drilling device for drilling machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a drilling device for a rock drilling machine, and more specifically, it comprises means for correcting the direction of the next drilling point based on the actual cross-sectional shape of the tunnel. The present invention relates to a punching device. This is used in the field of drilling machines where the rock in the tunnel is drilled by a drilling machine mounted on a boom.

[Prior art]

The drilling machine is equipped with a drilling machine that forms a large number of blast holes in the face, and its position, angle and direction can be changed via a hydraulic cylinder or the like. The drilling operation is performed by advancing a bit attached to the drilling machine at a preset angle and direction at a preset drilling position to obtain a desired tunnel cross-sectional shape. In that case, of the several holes, the holes located at the peripheral edge of the tunnel cross section greatly affect the tunnel shape after blasting. When the rock face of the face is homogeneous, if the set position is drilled, it is possible to obtain a tunnel cross section having a substantially desired shape. However, if the rock mass strength is not uniform on the face, even if a hole is drilled at the set position, irregularities will occur in the tunnel peripheral shape after blasting. The projecting part where the rock is not sufficiently destroyed requires a separate shaving work, and if it is destroyed too much, excessive materials and work such as cement for forming the tunnel wall will be required.

In order to reduce such trouble and waste as much as possible, conventionally, the next drilling position has been corrected. That is, the tunnel cross-sectional shape is regularly measured,
The necessity and the position of the trailing hole in the next drilling are determined based on the operator's experience and intuition in consideration of the measured value and rock quality. Therefore, in the next drilling, a portion other than the set position is punched by a command by a manual operation, or some of the set positions are omitted as necessary.

However, the shape accuracy of the tunnel cross-section tends to vary even by such work, and the skill and judgment of the operator sometimes differ. Furthermore, it is becoming more and more difficult to quickly obtain a desired shape due to a decrease in skilled operators. Moreover, for drilling holes, etc.,
There is a problem that it is required to manually command the operation of the boom, and work in an extremely harsh environment where dust is scattered is still inevitable.

[Object of the Invention]

The present invention has been made in view of the above problems, and an object thereof is to rapidly and rapidly correct the direction of a drilling point in order to obtain an ideal tunnel cross-sectional shape without relying on the experience and intuition of an operator. The object of the present invention is to provide a drilling device for a rock drill.

[Structure of Invention]

The features of the drilling device for a rock drill of the present invention are as follows. Boom means for displacing the drilling machine, memory means for storing the positions and directions of a large number of drilling points set on the virtual face and the ideal peripheral edge position of the tunnel, and the memory means for storing the values according to the values from the memory means. Positioning servo control means for operating the boom means, feedback means for inputting the operation amount of the boom means to the positioning servo control means, tunnel shape measuring means for measuring the actual cross-section peripheral position of the tunnel, and actual cross-section peripheral position of the tunnel. It is provided with a drilling direction correcting means for performing a comparative calculation with the ideal cross-section peripheral position and correcting the direction of the drilling point output from the memory means in the next drilling.

〔Example〕

Hereinafter, the present invention will be described in detail based on examples thereof.
FIG. 2 is a diagram of a drilling control system by the drilling device for a rock drilling machine of the present invention, in which a memory means 1 for storing a set drilling pattern and an ideal peripheral edge position, a drilling machine 2 and a boom means 3 are used. Positioning servo control means 4 for moving to a desired position, feedback means 5 for detecting the position of the drilling machine 2, tunnel shape measuring means 6 for measuring the actual shape of the tunnel obtained by the previous drilling, and next drilling. The hole direction correcting means 7 for correcting the point direction is the main component.

Explaining each of them, the memory means 1 stores information such as positions of a large number of drilling points, drilling angles and directions, and ideal tunnel peripheral positions, and a predetermined value is stored via a dial or a keyboard. Input freely. The drilling information is the drilling pattern P (X
oi, Yoi, Zoi, θoi, φoi), and the data of the tunnel edge position is represented by the edge value P (Xaj, Yaj, Za) in the desired ideal tunnel shape.
The value set in the Cartesian coordinate system of the face, X,
Y is the horizontal and vertical direction of the virtual face, Z is the axial direction of the tunnel, θ is the punching angle at which the bit of the drilling machine 2 is inclined with respect to the axis perpendicular to the face, and φ is the punching hole. The angle direction is shown. The subscript i is a number from 1 to n, which means that the face has n drilling points. The latter subscript j is a number from 1 to k, which means that, as shown in FIG. 3, there are k typical peripheral points arranged in an arc at the ideal peripheral edge of the tunnel.

The positioning servo control means 4 issues an operation command to the boom means 3 to move the punching machine 2 based on the punching pattern P from the memory means 1. The command determines the amount of operation of the piston of the driving hydraulic cylinder or applies to the guide cell for moving the punching machine 2 forward and backward in order to give a desired displacement angle to some of the booms that constitute the boom means 3. It determines the operation amount of the cylinder. Since the control means 4 cannot directly operate the boom means 3 with the drilling pattern P, the memory means 1
The coordinate conversion means 8 is provided between the and. This coordinate transformation means is provided with the drilling information P (Xoi, which is provided from the memory means 1 with or without the drilling direction correcting means 7).
Yoi, Zoi, θoi, φoi) is converted into a boom system Pθ (θai, θbi, θci, θdi, θsi) suitable for boom operation. In addition, θai, θbi, θci, and θdi are displacement angles of the arm of the boom means 3, and θsi is a movement amount of the guide cell.

The feedback means 5 sequentially inputs the operation amount of the boom means 3 to the positioning servo control means 4, and sets information for setting the operation of the hydraulic cylinder or the like to a desired value so that the punching machine 2 moves to the commanded position. Is provided. That is, the displacement signals of the boom are detected by the encoder in response to the displacement signals of the hydraulic cylinders of the booms and the cylinders for the guide cells, and are fed back to assist the drilling machine to reach the predetermined position of the face. .

The tunnel shape measuring means 6 measures the actual shape of the tunnel obtained by the previous drilling and blasting and provides data for correcting the next drilling direction using the measured value. This can be done by measuring the actual peripheral edge position of the tunnel from the reference position, and thus various known methods and devices are adopted. In this example, the boom means 3 is operated by the operation lever 9 and measured, and the feedback means 5 described above is used.
Has a data transmission function. Therefore, the measured value is given by the boom system described above, and at the j position, Prθ (θarj, θbrj, θcrj, θdrj, θsrj)
Becomes This measured value is calculated by the coordinate conversion means 8 described above.
It is converted into a rectangular coordinate system Pr (Xrj, Yrj, Zrj, θrj, φrj) and inputted to the drilling direction correcting means 7. The measurement may be performed over the entire circumference of the face, but if it is possible to find a portion deviating from the ideal cross-sectional peripheral edge position, it is sufficient to perform the measurement only at that position.

The drilling direction correcting means 7 compares the actual cross-section peripheral edge position of the tunnel with the previously stored ideal cross-section peripheral edge position,
In the next drilling, the drilling information P (Xoi, Yoi, Zoi, θoi, φoi) output from the memory means 1 is corrected. Therefore, the correcting means 7 is provided with a drilling error calculating section 7a and a drilling direction correcting section 7b,
In this example, the drilling information P from the memory means 1 can be transmitted to the coordinate conversion means 8 even when no correction is necessary. In more detail, the drilling error calculation unit 7a uses the Pr (X
rj, Yrj, Zrj, θrj, φrj) and the ideal peripheral value P (Xaj, Yaj, Za) stored in the memory means 1,
Error at the peripheral edge position j of the tunnel ΔXj = Xrj−Xa
j, ΔYj = Yrj−Yaf are calculated and output to the drilling direction correcting unit 7b. Drilling direction correction unit 7
b is calculated by using the following formula to calculate a new drilling angle θi and a drilling angle direction φi when j and i match each other, and the corrected P (Xi, Yi, Zi, θi , φi) is output.

φi = arc tan (ΔYj / ΔXj) Since Xi, Yi, and Zi are not targets of correction, Xi = X
oi, Yi = Yoi and Zi = Zoi. Also, ΔXj =
If 0, ΔYj = 0, the drilling information P (Xoi, Yoi, Zoi, θoi, φ) is calculated without calculating new θi and φi.
oi) is defined as P (Xi, Yi, Zi, θi, φi).

Za mentioned above is the distance between the virtual face last time and the next time, and is the fourth
As shown in the figure, the actual hole direction line A separated by Za will be corrected to the next hole direction line B. By the way, the errors ΔXj, ΔYj and the virtual inter-face distance Za and θi
And φi have a geometrical arrangement relationship shown in FIG.

Drilling control means 10 is provided in addition to the components described above. This is to operate the punching machine by receiving a signal from the positioning servo control means 4. That is, when the drilling machine 2 reaches the predetermined position of the face by the positioning servo control means 4, the control amount necessary for the operation of the drilling machine 2 mounted on the guide cell is given. As a result, the feed motor is driven, the punching machine 2 moves forward, the bit at the tip rotates, and a predetermined punching is performed. Then, when one drilling is completed, the central processing unit 11 which issues a control command for the entire device,
An end signal is output.

According to such an embodiment, the direction of the drilling point can be corrected as follows. First, find a position where the cross section is not ideal, for example, j = 6, due to the hardness of the rock wall, etc., from the peripheral edge of the tunnel formed by the previous drilling and the blasting caused by it. The operator uses the operation lever 9 of the tunnel shape measuring means 6 to move the boom means 3 to the position of j = 6 shown in FIG. 3 [step 1 in the flowchart of FIG. 6, hereinafter referred to as S1]. The encoder detects the operation amount of each cylinder from the preset reference position of the boom means 3, and the value Pθ (θar6, θbr6, θ
cr6, θdr6, θsr6) are measured. [S2]. This is input to the coordinate conversion means 8, and in order to enable the calculation of the error in the drilling direction correction means 7, the rectangular coordinate system Pr (Xr
6, Yr6, Zr6, θr6, φr6) converted to Xr6, Yr6
Is required [S3]. On the other hand, the ideal cross-sectional peripheral edge position P (Xaj, Yaj, Za) is called from the memory means 1 [S4], and from Xa6, Ya6 at the position of j = 6,
The errors ΔX6 and ΔY6 are calculated by the drilling error calculation unit 7a [S5]. This is input to the drilling direction correcting unit 7b, and the new drilling angle θ6 and the drilling angle direction φ6 are calculated according to the above-mentioned formula.
Is calculated [S6], the corrected P (X6, Y6, Z6, θ6, φ6) at the position j = 6 is obtained [S7].

Since this value is adopted at the position of j = 6 in the next drilling work, it is stored in a register or the like not shown. If necessary for other positions, P is similarly corrected. As shown in FIG. 3, the correction value due to the error can be changed from the actual drilling direction line A to the drilling direction line B with Za in between.

In the drilling work, the work progresses from i = 1, and when the central processing unit 11 commands the drilling at the position of, for example, i = 5, the memory means 1 outputs P (Xo5, Yo5, Zo5, θo5, φ).
o5) is drawn out, and if there is no need for correction, simply pass through the hole direction correcting means 7 and P (X5, Y5, Z5, θ5, φ5)
Is input to the coordinate conversion means 8. Pθ by boom system
After being converted into (θa5, θb5, θc5, θd5, θs5), it is stored in the register, the positioning servo control means 4 actuates each drive cylinder, and the punching machine 2 is moved to a desired position. At the next i = 6, P (X6, Y6, Z6, θ6, φ6) corrected in the above description becomes Pθ (θa6, θb
6, θc6, θd6, θs6), and the drilling machine 2 is moved to a desired position according to the command value. In any of the drill holes, the boom angle or the like is detected from the displacement of the piston of each cylinder, and is fed back to the positioning servo control means 4. After this positioning is completed, the drilling control means 10 controls the drilling machine to start the drilling work. When one drilling operation is completed, an end signal is given to the central processing means 11. The drilling work for one face according to the drilling pattern is completed by sequentially repeating i = 1 to n.

〔The invention's effect〕

As can be seen from the above description of the embodiment, the present invention is a tunnel shape measuring means for measuring the actual cross-sectional shape of a tunnel, and a drilling direction correction for correcting the direction of the next drilling point by comparing with the ideal peripheral edge position. Since the means is provided, the drilling angle and the direction of the drilling angle can be sequentially and rapidly corrected without relying on the experience and intuition of the operator. As a result, an ideal tunnel cross-sectional shape can be obtained, and a tunnel cross section with little waste can be formed.

[Brief description of drawings]

1 is a block diagram of a drilling device for a rock drilling machine of the present invention, FIG. 2 is a drilling control system diagram, FIG. 3 is a sectional view of a tunnel measured by a tunnel shape measuring means, and FIG. FIG. 5 is an explanatory diagram of the direction of the drilling point in the next virtual face, and FIG. 5 shows the error between the ideal peripheral value and the actual peripheral value, and
And FIG. 6 is a flowchart showing the procedure for correcting the direction of the drill point. 1 ... Memory means, 2 ... Drilling machine, 3 ... Boom means, 4 ... Positioning servo control means, 5 ... Feedback means, 6 ... Tunnel shape measuring means, 7 ... Drilling direction correcting means.

Claims (1)

[Claims] 1. A boom means for displacing a punching machine, a memory means for storing the positions and directions of a large number of drilling points set on a virtual face, and an ideal peripheral edge position of a tunnel, and from this memory means. Positioning servo control means for operating the boom means according to the value of, feedback means for inputting the operation amount of the boom means to the positioning servo control means, tunnel shape measuring means for measuring the actual cross-section peripheral edge position of the tunnel, And a hole direction correcting means for correcting the direction of the hole point output from the memory means in the next hole by comparing and calculating the actual peripheral edge position of the tunnel and the ideal peripheral edge position. A drilling device for a rock drill.