Method for retrofitting drilling machine

Abstract

To provide a method for retrofitting an existing drilling machine, which can suppress a significant increase in cost and realize simple automatic control.SOLUTION: For an existing drilling machine comprising an impact mechanism 9, a rotating mechanism 10, and a feed mechanism 11, when a rotation mechanism side pressure sensor 26 that detects the pressure in a supply path of the rotation mechanism 10, a feed mechanism side pressure sensor 27 that detects the pressure in the supply path of the feed mechanism 11, the impact mechanism 9, the rotation mechanism 10, and the feed mechanism 11 are operated, operating conditions of the feed mechanism 11 and the impact mechanism 9 are adjusted according to the pressure detected by the rotation mechanism side pressure sensor 26 and the pressure detected by the feed mechanism side pressure sensor 27 .SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a retrofit method for modifying an existing drilling machine for drilling blast holes in rock masses and the like. [Background technology]

[0002] Existing drilling machines for drilling blast holes in rock masses and the like are equipped with various mechanisms and equipment for drilling blast holes deep into the rock mass, and these various mechanisms and equipment are operated appropriately to drill long blast holes. For this reason, drilling work is complicated to operate and requires a high level of skill, resulting in a heavy workload. To address this problem, one technology that can achieve labor-saving and automation of drilling machines is, for example, the technology disclosed in Patent Document 1, which automatically controls drilling operations by installing sensors in each mechanical device of the drilling machine and controlling the component devices based on the detection values ​​of each sensor.

[0003] Here, drilling work is divided into "main drilling," which operates the impact mechanism, rotation mechanism, and feed mechanism at rated output, and "ancillary work" other than main drilling. Note that "ancillary work" includes "open cut drilling," "countersink drilling," "rod extension," "rod retrieval," and "hole cleaning." The technology disclosed in Patent Document 1 is a full-featured automatic control technology that automates the actual drilling and all associated work. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-061368 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology disclosed in Patent Document 1 requires a large number of sensors to be installed in each mechanical device of the drilling machine. In addition, it is necessary to use dedicated mechanical devices that are compatible with automatic control technology as the mechanical devices to be controlled. This results in a problem of a significant increase in equipment costs. To address this issue, one method to suppress increases in equipment costs and improve functionality is retrofitting, which involves modernizing existing equipment.

[0006] However, the drilling machine (e.g., hydraulic crawler drill) has a complex configuration in relation to the technology disclosed in Patent Document 1. For this reason, it is difficult to realize the technology disclosed in Patent Document 1 by retrofitting, which limits the degree of freedom in the layout of sensors and signal lines. On the other hand, there is a problem that full-featured automatic control technology such as that disclosed in Patent Document 1 tends to be avoided as it involves redundant control, since it may slow down the progress of work for highly skilled workers.

[0007] In view of the above-mentioned problems, an object of the present invention is to provide a method for retrofitting a drilling machine that can suppress a significant increase in costs for an existing drilling machine and can achieve simple automatic control. [Means for solving the problem]

[0008] A retrofitting method for a drilling machine according to one aspect of the present invention is a method of adding a rotating mechanism-side pressure sensor, a feeding mechanism-side pressure sensor, and a control means to an existing drilling machine equipped with an impact mechanism, a rotating mechanism, and a feeding mechanism. The rotating mechanism-side pressure sensor is a sensor that detects the pressure in the supply path of the rotating mechanism. The feeding mechanism-side pressure sensor is a sensor that detects the pressure in the supply path of the feeding mechanism. The control means adjusts the operating conditions of the feeding mechanism and the impact mechanism in accordance with the pressure detected by the rotating mechanism-side pressure sensor and the pressure detected by the feed mechanism-side pressure sensor when the impact mechanism, the rotating mechanism, and the feeding mechanism are operating. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a method for retrofitting an existing drilling machine, which can suppress a significant increase in cost and can achieve simple automatic control. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing the configuration of a drilling machine. [Figure 2] FIG. 2 is a diagram showing the configuration of a rock drill and a bit. [Figure 3] FIG. 10 is a block diagram showing the equipment configuration of the control means after retrofitting to the drilling machine. [Figure 4] FIG. 10 is a diagram showing the hydraulic circuit of the second feed modular. [Figure 5] FIG. 2 is a block diagram showing the equipment configuration of a control means before retrofitting to the drilling machine. [Figure 6] 1 is a flowchart showing an example of a control flow, and shows a flowchart of a main routine. [Figure 7] 10 is a flowchart showing an example of a control flow, and shows a flowchart of a subroutine. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below with reference to the drawings as appropriate. Note that the drawings are schematic. Therefore, it should be noted that the relationship and ratio between thickness and planar dimensions may differ from the actual relationship and ratio between the dimensions in the drawings. Furthermore, the embodiments shown below are merely examples of devices and methods for embodying the technical concept of the present invention, and the technical concept of the present invention is not limited to the following embodiments in terms of the materials, shapes, structures, arrangements, etc. of the components.

[0012] (Embodiment) (composition) As shown in FIG. 1, the drilling machine 1 includes a traveling carriage 2. The traveling carriage 2 includes a carriage body 3, a track frame 4, an operator cabin 5, and a boom 6. The carriage body 3 forms the main body of the traveling carriage 2. The track frame 4 forms a traveling mechanism of the traveling carriage 2. The operator cabin 5 forms a cockpit in which an operator who operates the drilling machine 1 sits. The boom 6 is disposed on the upper part of the traveling carriage 2 and is capable of swiveling and raising and lowering.

[0013] The carriage body 3 is also provided with a flushing mechanism 18, a dust collector 19, an engine (not shown), a hydraulic pump (not shown), and a control unit. The flushing mechanism 18 supplies compressed air to the tip of the bit 13, which will be described later, to expel cuttings from the hole. The dust collector 19 collects the cuttings discharged by the flushing mechanism 18 . The engine forms a driving source that generates the driving force required to operate the drilling machine 1. The hydraulic pump discharges pressurized oil using the driving force generated by the engine. The control unit includes various hydraulic and pneumatic devices (not shown) and a drilling control device 20. The configuration of the drilling control device 20 will be described later. A guide shell 7 is provided at the tip of the boom 6. A rod changer 14 and a rod magazine 15 are provided on the side of the guide shell 7.

[0014] The rod changer 14 is a device for adding and withdrawing the rod 12, which will be described later. A plurality of rods 12 are loaded into the rod magazine 15. The rods 12 loaded in the rod magazine 15 are transported between the drilling axis of the rock drill 8 and the rod magazine 15 by a rod changer 14, and the rods 12 are further added to or separated from the rod magazine 15. This enables the drilling machine 1 to drill a long blast hole BH deep into the rock mass R. An openable centralizer 16 capable of holding the rod 12 is provided at the tip of the guide shell 7, and a suction cap 17 is provided so as to be movable forward and backward (movable left and right in FIG. 2).

[0015] As shown in FIG. 2, a rock drill 8 and a feeding mechanism 11 are mounted behind the guide shell 7. The rock drill 8 can be moved forward and backward (movable left and right in FIG. 2) by a feed mechanism 11, and is provided with a striking mechanism 9 and a rotation mechanism 10. Further, a rod 12 is attached to the rock drill 8 . A bit 13 is attached to the tip of the rod 12 (the left end in FIG. 2). The impact force and rotational force generated by the impact mechanism 9 and rotational mechanism 10 are transmitted to the bit 13 via the rod 12, and the transmitted impact force and rotational force crush the rock mass R, which is the target of crushing. A thrust force is constantly applied to the main body of the rock drill 8 toward the rock mass R by the feed mechanism 11, and the bit 13 penetrates deep into the rock mass R while crushing it, and drills a blast hole BH in the rock mass R.

[0016] (Drilling control device configuration) Hereinafter, the device configuration of the drilling control device 20 will be described using FIGS. 3 and 4 while referring to FIGS. 1 and 2. 3, the drilling control device 20 includes a first hydraulic pump P1, a second hydraulic pump P2, a control unit 21, a pilot modular 22, a first main valve 23, and a second main valve 24. In addition, the drilling control device 20 includes a first feed modular 25, a rotation mechanism side pressure sensor 26, a feed mechanism side pressure sensor 27, and a second feed modular 28.

[0017] In Figure 3, the interrelationships between the components are shown by solid lines for hydraulic interrelationships, by fine dotted lines for hydraulic pilot interrelationships, and by coarse dotted lines for interrelationships between the components due to electrical signals. The first hydraulic pump P1 and the second hydraulic pump P2 are hydraulic pumps provided in the carriage body 3. The first hydraulic pump P1 is a pump that supplies pressure oil to the first main valve 23. The second hydraulic pump P2 is a pump that supplies pressure oil to the second main valve 24.

[0018] The control unit 21 is a unit that controls the impact mechanism 9, the rotation mechanism 10, and the feed mechanism 11 in response to an operation signal input by an operator, a detection signal input from the rotation mechanism side pressure sensor 26, and a detection signal input from the feed mechanism side pressure sensor 27. Specifically, the control unit 21 generates a control signal in accordance with information contained in the detection signal input from the rotation mechanism-side pressure sensor 26, information contained in the detection signal input from the feed mechanism-side pressure sensor 27, and an operation signal input by an operator.The control unit 21 then outputs the generated control signal to the pilot modular 22, the first feed modular 25, and the second feed modular 28.

[0019] The pilot module 22 controls the operation of the first main valve 23 and the second main valve 24 in response to a control signal input from the control unit 21 . The first main valve 23 operates the impact mechanism 9 in accordance with the pilot pressure controlled by the pilot modular 22. The first main valve 23 also controls the flow rate of pressure oil supplied to the first feed modular 25 in accordance with the pilot pressure controlled by the pilot modular 22. The second main valve 24 operates the rotation mechanism 10 in response to the pilot pressure controlled by the pilot modulus 22 . The first feed modular 25 controls the flow rate of the pressure oil supplied to the second feed modular 28 in response to a control signal input from the control unit 21 .

[0020] The rotation mechanism-side pressure sensor 26 detects the pressure in the supply path of the rotation mechanism 10, that is, the pressure between the second main valve 24 and the rotation mechanism 10, and outputs a detection signal including the detected pressure to the control unit 21. In other words, the rotation mechanism-side pressure sensor 26 detects the pressure on the primary side of the rotation mechanism 10. The feed mechanism-side pressure sensor 27 detects the pressure in the supply path of the feed mechanism 11, that is, the pressure between the second feed modular 28 and the feed mechanism 11, and outputs a detection signal including the detected pressure to the control unit 21. In other words, the feed mechanism-side pressure sensor 27 detects the pressure on the primary side of the feed mechanism 11. The second feed modular 28 is connected to the first feed modular 25 and the feed mechanism 11, and operates in response to a control signal input from the control unit 21. The second feed modular 28 is also located between the first feed modular 25 and the feed mechanism 11, upstream of the position where the feed mechanism side pressure sensor 27 is connected.

[0021] As shown in FIG. 4, the second feed module 28 includes a first needle valve 28a, a differential pressure sensing valve 28b, a second needle valve 28c, a pressure compensation valve 28d, and a solenoid valve 28e. The first needle valve a is a valve that generates a pressure difference between the primary side (IN side) and the secondary side (OUT side) depending on the flow rate of the pressure oil passing through the inside of the second feed modular . The differential pressure sensing valve 28b is a valve that opens and closes in response to the differential pressure generated in the first needle valve 28a. The second needle valve 28c is a valve that allows pressure oil to flow when the differential pressure sensing valve 28b is closed, and adjusts the flow rate of pressure oil flowing toward the feed mechanism 11 (flow rate of pressure oil flowing) to a preset regulated flow rate.

[0022] The pressure compensation valve 28d is a valve that compensates for the pressure of the second needle valve 28c and keeps the regulated flow rate constant. The solenoid valve 28e is a valve for selecting whether the second feed modular 28 is stopped. As described above, the second feed module 28 is a valve module that adjusts the operating conditions of the feed mechanism 11 regardless of the pressure detected by the feed mechanism side pressure sensor 27 by regulating the flow rate of the pressurized oil when the flow rate of the pressurized oil passing through exceeds a predetermined flow rate.

[0023] <Operation / effect> Next, with reference to FIGS. 1 to 4, and using FIG. 5, the operation of the drilling machine 1 and the effect of the retrofit method for the drilling machine 1 will be described. As shown in Figure 5, the drilling control device 20 before retrofitting to the drilling machine 1 (the drilling control device 20 before retrofitting) does not have the rotation mechanism side pressure sensor 26, the feed mechanism side pressure sensor 27, and the second feed modular 28.

[0024] Furthermore, in the drilling control device 20 before retrofitting, when the operator operates an operating device (not shown) in the operator cabin 5, an operation signal corresponding to the operating state of the operating device by the operator is input to the control unit 21. Then, the control unit 21 generates a control signal according to the input operation signal, and outputs the generated control signal to the pilot modular 22 and the first feed modular 25. Upon receiving the control signal, the pilot modular 22 controls the operation of the first main valve 23 and the second main valve 24. This activates the impact mechanism 9 and the rotation mechanism 10. Furthermore, upon receiving the control signal, the first feed modular 25 activates the feed mechanism 11.

[0025] On the other hand, in the drilling control device 20 after retrofitting to the drilling machine 1 (the drilling control device 20 after retrofitting) shown in Figure 3, an operation signal according to the operation state of the operation device by the operator is input to the control unit 21. In addition to this, a detection signal output from the rotation mechanism side pressure sensor 26 and a detection signal output from the feed mechanism side pressure sensor 27 are input to the control unit 21. Then, upon receiving the operation signal and the detection signal, the control unit 21 outputs a control signal and operates the impact mechanism 9, the rotation mechanism 10, and the feed mechanism 11 according to the states of the rotation mechanism 10 and the feed mechanism 11.

[0026] That is, in the retrofitted drilling control device 20, in addition to the operation by the operator, during main drilling in which the impact mechanism 9, rotation mechanism 10, and feed mechanism 11 are operated at rated output, the detection signals output from the rotation mechanism side pressure sensor 26 and the feed mechanism side pressure sensor 27 are input to the control unit 21. Then, the control unit 21 adjusts the operating conditions of the feed mechanism 11 and the impact mechanism 9 directly or via the pilot module 22. Furthermore, in the drilling control device 20 after retrofitting, the second feed modular 28 arranged between the feed mechanism 11 and the first feed modular 25 enables the control of the feed mechanism 11 to respond more appropriately to changes in the drilling situation compared to the drilling control device 20 before retrofitting.

[0027] The operation of the second feed module 28 will now be described. When the striking mechanism 9, the rotating mechanism 10, and the feed mechanism 11 are operated at rated output and the bit 13 is drilling the rock mass R, if the bit 13 passes through a cavity or a fractured zone, the reaction force that the bit 13 receives from the rock mass R decreases, and the drilling speed increases. Since the drilling speed is proportional to the flow rate of pressurized oil in the feed mechanism 11, the flow rate of pressurized oil in the feed mechanism 11 increases. In other words, depending on the change in drilling speed, it is possible to detect the state in which the bit 13 is attached to the bedrock R, regardless of the pressure detected by the pressure sensor 26 on the rotation mechanism side and the pressure detected by the pressure sensor 27 on the feed mechanism side.

[0028] In the second feed modular 28, the first needle valve 28a generates a pressure difference between the primary feed pressure FP1 and the secondary feed pressure FP2, as shown in Fig. 4. Therefore, when the bit 13 passes through a cavity or a fracture zone, the pressure difference increases as the flow rate of the pressurized oil passing through the inside of the second feed modular 28 increases. When the differential pressure generated between the primary feed pressure FP1 and the secondary feed pressure FP2 exceeds a predetermined value, the position of the differential pressure sensing valve 28b is switched from the open position to the closed position.

[0029] When the position of the differential pressure sensing valve 28b is switched from the open position to the closed position and the differential pressure sensing valve 28b closes, the pressure oil passes through the second needle valve 28c and the flow rate passing through the second needle valve 28c is adjusted to the regulated flow rate. Here, a pressure compensation valve 28d is provided between the first needle valve 28a and the second needle valve 28c, and the pressure compensation valve 28d compensates for the pressure of the second needle valve 28c, thereby maintaining the regulated flow rate constant. Therefore, pressure oil adjusted to the regulated flow rate is supplied to the feed mechanism 11, and the rock drill 8 moves forward at a regulated speed corresponding to the regulated flow rate. The regulated speed corresponding to the regulated flow rate is a value lower than the normal drilling speed.

[0030] Thereafter, when the bit 13 reaches a stable position inside the bedrock R, that is, when the bit 13 is attached to the bedrock R, the reaction force received from the bedrock R increases. Then, the pressure difference between the primary feed pressure FP1 and the secondary feed pressure FP2, which has been maintained by the pressure compensating valve 28d, i.e., the differential pressure, decreases. When the decreased differential pressure falls below a predetermined value, the position of the differential pressure sensing valve 28b returns from the closed position to the open position. When the differential pressure sensing valve 28b returns from the closed position to the open position and the differential pressure sensing valve 28b opens, the pressure oil flowing to the feed mechanism 11 returns to the normal, unrestricted flow rate.

[0031] Therefore, when the state of the bit 13 changes from passing through a cavity or a crushed zone to reaching a stable point inside the rock mass R, a normal flow rate of pressurized oil is supplied to the feed mechanism 11, and the speed of the rock drill 8 changes from the regulated speed corresponding to the regulated flow rate to the normal drilling speed.Then, the rock drill 8 moves forward at the normal drilling speed. In other words, when the impact mechanism 9, the rotation mechanism 10, and the feed mechanism 11 are operating at rated output, the second feed module 28 adjusts the operating conditions of the feed mechanism 11 regardless of the pressure detected by the rotation mechanism side pressure sensor 26 and the pressure detected by the feed mechanism side pressure sensor 27.

[0032] As described above, the second feed modular 28 controls the drilling speed to decrease to a safe speed when the condition of the rock mass R becomes unstable, and controls the drilling speed to maintain the speed while the unstable condition of the rock mass R continues. Then, when the condition of the rock mass R stabilizes, the second feed modular 28 controls the drilling speed to return to the normal drilling speed. In other words, the second feed modular 28 is a module that realizes a series of controls (controls A, B, C) using only hydraulic equipment: control to reduce the drilling speed to a safe speed (control A), control to maintain the drilling speed (control B), and control to return the drilling speed to the normal drilling speed (control C).

[0033] Therefore, the second feed modular 28 is an ideal component to be added when an existing manually controlled drilling control device 20 (the drilling control device 20 before retrofitting) is retrofitted to incorporate automatic control, as in the present invention. In the embodiment, as an example, a case will be described in which a retrofit method for a drilling machine 1 is applied as a method for repairing a drilling machine 1 that has already been delivered to a customer or the like and is in operation.

[0034] As described above, the control by the drilling control device 20 before retrofitting is based on manual operation by an operator. In contrast, the control by the drilling control device 20 after retrofitting is hybrid control that intervenes not only with manual operation but also with automatic control based on the detection values ​​of sensors (rotation mechanism side pressure sensor 26, feed mechanism side pressure sensor 27). Furthermore, the control by the drilling control device 20 before retrofitting is open-loop control, whereas the control by the drilling control device 20 after retrofitting is closed-loop control.

[0035] As described above, the drilling control device 20 after retrofitting has the rotation mechanism side pressure sensor 26, the feed mechanism side pressure sensor 27, and the second feed module 28 added to the drilling control device 20 before retrofitting. Therefore, in the retrofit method for a drilling machine in the embodiment, a rotation mechanism side pressure sensor 26, a feed mechanism side pressure sensor 27, and a second feed modular 28 are additionally provided to an existing drilling machine.

[0036] <Control flow> Hereinafter, an example of a control flow performed by the components (rotation mechanism-side pressure sensor 26, feed mechanism-side pressure sensor 27, and second feed modular 28) added by the retrofit method for a drilling machine according to an embodiment will be described with reference to Figures 1 to 5 and using Figures 6 and 7. The control flow shown in Figure 6 is a control flow (main routine flowchart) executed based on the detection values ​​of the rotation mechanism-side pressure sensor 26 and the feed mechanism-side pressure sensor 27. The control flow shown in Figure 7 is a control flow (subroutine flowchart) executed by the second feed modular 28.

[0037] First, the flowchart of the main routine will be described with reference to FIG. In step S10, when the operator starts the operation for the main drilling ("main drilling start"), the impact mechanism 9, the rotation mechanism 10 and the feed mechanism 11 operate at the rated pressure. Next, in step S11, it is determined whether the pressure (rotational pressure) in the supply path of the rotation mechanism 10 detected by the rotational mechanism-side pressure sensor 26 exceeds a preset threshold rotational pressure. If it is determined in step S11 that the rotational pressure exceeds the threshold rotational pressure ("Y"), the feed mechanism 11 is stopped in step S12 ("feed mechanism stopped"), and the process proceeds to step S13. On the other hand, if it is determined in step S11 that the rotational pressure is equal to or less than the threshold rotational pressure ("N"), the process proceeds to step S17.

[0038] In step S13, it is determined whether the pressure (feed pressure) in the supply path of the feed mechanism 11 detected by the feed mechanism-side pressure sensor 27 is less than a preset threshold feed pressure. If it is determined in step S13 that the feed pressure is less than the threshold feed pressure ("Y"), the impact mechanism 9 is operated at low pressure (e.g., impact pressure during countersinking) in step S14 ("impact mechanism low pressure operation"), and the process proceeds to step S15. On the other hand, if it is determined in step S13 that the feed pressure is equal to or greater than the threshold feed pressure ("N"), the process of step S13 is repeated.

[0039] In step S15, it is determined whether the rotation pressure is equal to or less than the threshold rotation pressure. If it is determined in step S15 that the rotation pressure is equal to or less than the threshold rotation pressure ("Y"), in step S16, the impact mechanism 9 is operated at the rated pressure ("impact mechanism rated pressure operation"), and the operation of the feed mechanism 11 is resumed ("feed mechanism re-operation"), and the process proceeds to step S17. That is, in step S16, the process returns to the main drilling. On the other hand, if it is determined in step S15 that the rotational pressure exceeds the threshold rotational pressure ("N"), the process of step S15 is repeated. In step S17, it is determined whether the current drilling length has reached the set drilling length, which is a drilling length that has been set in advance. If it is determined in step S17 that the current drilling length has reached the set drilling length ("Y"), the process ends. On the other hand, if it is determined in step S17 that the current drilling length has not reached the set drilling length ("N"), the process proceeds to step S11.

[0040] Next, the flowchart of the subroutine will be described with reference to FIG. The subroutine flowcharts are interposed between the processing of step S10 and the processing of step S11, and between the processing of step S16 and the processing of step S17 in the main routine flowchart.

[0041] In the flowchart of the subroutine, first, in step S21, it is determined whether the flow rate of pressure oil supplied to the feed mechanism 11 (feed flow rate) exceeds a threshold flow rate, which is a preset flow rate of pressure oil. If it is determined in step S21 that the feed flow rate exceeds the threshold flow rate ("Y"), in step S22, the flow rate of pressure oil supplied to the feed mechanism 11 is adjusted to a regulated flow rate by the second needle valve 28c ("feed flow rate regulated value"). In addition, the pressure of the second needle valve 28c is adjusted to a regulated pressure by the pressure compensating valve 28d, thereby adjusting the feed pressure to the regulated pressure ("feed pressure regulated value"), and the process proceeds to step S23. On the other hand, if it is determined in step S21 that the feed flow rate is equal to or less than the threshold flow rate ("N"), the process of step S21 is repeated. That is, in the processing of steps S21 and S22, if the bit 13 reaches a cavity or a fractured zone during the actual drilling and the feed flow rate exceeds the threshold flow rate, the feed flow rate and feed pressure are adjusted to the regulated values.

[0042] In step S23, it is determined whether the feed pressure exceeds a threshold feed pressure, which is a preset pressure of the pressure oil. If it is determined in step S23 that the feed pressure exceeds the threshold feed pressure ("Y"), in step S24, the feed flow rate is increased to a value corresponding to the rated output ("feed flow rate rated value"), and the feed pressure is increased to a value corresponding to the rated output ("feed pressure rated value"), and the process ends. On the other hand, if it is determined in step S23 that the feed pressure is equal to or lower than the threshold feed pressure ("N"), the process of step S23 is repeated. That is, in the processing of steps S23 and S24, when the bit 13 reaches the bedrock R and the feed pressure rises and exceeds the threshold feed pressure, the feed flow rate and feed pressure are increased to the rated values ​​and the drilling is returned to normal.

[0043] As shown in Figure 7, the control flow performed when the bit 13 passes through a cavity or a crushed zone has two judgment steps (step S21 and step S23), but as described above, each judgment is not made using the pressure sensor 26 on the rotation mechanism side or the pressure sensor 27 on the feed mechanism side. As explained above, the control flow of the main routine is designed to flexibly respond to changes in the condition of the bedrock R, while the control flow of the subroutine is designed for emergency avoidance, and is therefore an appropriate control concept for realizing an inexpensive retrofit method.

[0044] <Correspondence to claims> The second feed modular 28 added to the control unit 21, pilot modular 22, first main valve 23, second main valve 24, and first feed modular 25 corresponds to a control means that adjusts the operating conditions of the feed mechanism and the impact mechanism in accordance with the pressure detected by the rotation mechanism side pressure sensor 26 and the pressure detected by the feed mechanism side pressure sensor 27 when the impact mechanism 9, the rotation mechanism 10, and the feed mechanism 11 are operating.

[0045] <Actions and Effects of the Embodiment> The retrofitting method for the drilling machine 1 according to the embodiment can achieve the following actions and effects. (1) To an existing drilling machine equipped with an impact mechanism 9, a rotation mechanism 10, and a feed mechanism 11, a rotation mechanism-side pressure sensor 26 that detects the pressure in the supply path of the rotation mechanism 10 and a feed mechanism-side pressure sensor 27 that detects the pressure in the supply path of the feed mechanism 11 are added. In addition, a control means is additionally provided that adjusts the operating conditions of the feed mechanism 11 and the impact mechanism 9 in accordance with the pressure detected by the rotation mechanism-side pressure sensor 26 and the pressure detected by the feed mechanism-side pressure sensor 27 when the impact mechanism 9, the rotation mechanism 10, and the feed mechanism 11 are operating.

[0046] For this reason, there is no need to provide a large number of sensors to each mechanism device of the drilling machine 1, and there is no need to use dedicated mechanism devices compatible with automatic control technology, so the modifications to the existing drilling machine 1 are very limited, resulting in low costs. Furthermore, instead of full-spec automatic control technology, in addition to manual operation by the operator, it is possible to perform hybrid control in which automatic control of the impact mechanism 9 intervenes in addition to automatic control of the feed mechanism 11 based on the detected values ​​of sensors (rotation mechanism side pressure sensor 26, feed mechanism side pressure sensor 27), and therefore the range in which automatic control intervenes is limited, so there is no redundant control. As a result, it is possible to provide a method for retrofitting the drilling machine 1 that can suppress a significant increase in cost for an existing drilling machine and can realize simple automatic control.

[0047] (2) The control means includes a second feed module 28, which is a valve module that adjusts the operating conditions of the feed mechanism 11 regardless of the pressure detected by the feed mechanism-side pressure sensor 27. The second feed module 28 also includes a first needle valve 28a that generates a differential pressure between the primary side and the secondary side depending on the flow rate of pressurized oil passing through the valve module, and a differential pressure sensing valve 28b that opens and closes depending on the differential pressure generated in the first needle valve 28a. In addition, the second needle valve 28c allows pressurized oil to flow when the differential pressure sensing valve 28b closes, and adjusts the flow rate of the flowing pressurized oil to a preset regulated flow rate, and a pressure compensation valve 28d that keeps the flow rate of the second needle valve 28c constant.

[0048] Therefore, when the state of the rock mass R becomes unstable, the drilling speed is controlled to be reduced to a safe speed, and while the unstable state of the rock mass R continues, the drilling speed is controlled to be kept stable. Then, when the state of the rock mass R stabilizes, it becomes possible to control the drilling speed to return to the normal speed. As a result, the second feed modular 28 makes it possible to achieve a series of controls using only hydraulic equipment, including control to reduce the drilling speed to a safe speed, control to maintain a stable drilling speed, and control to return to the normal drilling speed. Furthermore, in the equipment configuration of the valve module, the flow rate of pressure oil is basically used as the parameter to be controlled without using electrical signals, so drilling control can be performed reliably and at low cost.

[0049] <Modification> (1) In the embodiment, a retrofit method for the drilling machine 1 is applied as a method for repairing the drilling machine 1 that has already been delivered to a customer or the like and is in operation, but the present invention is not limited to this. That is, for example, when a drilling machine 1 not equipped with an automatic control device is newly delivered (provided) to a customer or the like, it is also possible to apply a retrofit method for the drilling machine 1 as a method for setting it as an option. (2) In the embodiment, the mechanism of action of each component device in “main drilling” was explained, in which the impact device 9, rotation mechanism 10, and feed mechanism 11 are each operated at their rated output. However, the present invention is also effective in “countersink drilling,” in which the impact mechanism 9, rotation mechanism 10, and feed mechanism 11 are each adjusted to a predetermined output and operated. In countersink drilling, the condition settings of the control steps in Figure 6 are changed for countersink drilling, but the basic control concept is the same as for countersink drilling. (3) In the embodiment, the feed mechanism pressure sensor 27 is connected between the feed mechanism 11 and the second feed modular 28, but this is not limited to this. That is, for example, the feed mechanism pressure sensor 27 may be connected between the first feed modular 25 and the second feed modular 28.

[0050] The present technology can be configured as follows. (1) In contrast to existing drilling machines equipped with a striking mechanism, a rotating mechanism, and a feeding mechanism, a rotation mechanism-side pressure sensor that detects the pressure of the pressure oil supplied to the rotation mechanism; a feed mechanism side pressure sensor that detects the pressure of the pressure oil supplied to the feed mechanism; a control means for adjusting the operating conditions of the impact mechanism and the feed mechanism in accordance with the pressure detected by the pressure sensor on the rotation mechanism side and the pressure detected by the pressure sensor on the feed mechanism side when the impact mechanism, the rotation mechanism, and the feed mechanism are operated at rated output; A retrofit method for a drilling machine by adding (2) the control means includes a valve module that adjusts the operating conditions of the feed mechanism independently of the pressure detected by the feed mechanism-side pressure sensor; The valve module includes: a first needle valve that generates a pressure difference between a primary side and a secondary side depending on the flow rate of pressure oil passing through the valve module; a differential pressure sensing valve that opens and closes in response to a differential pressure generated in the first needle valve; a second needle valve that allows pressure oil to flow when the differential pressure sensing valve is closed and adjusts the flow rate of the pressure oil to a preset regulated flow rate; A retrofitting method for a drilling machine according to (1) above, further comprising: a pressure compensation valve for maintaining a constant flow rate of the second needle valve. [Explanation of symbols]

[0051] 1 Drilling machine 2 Traveling cart 3. Cart body 4 Track Frame 5 Operator Cabin 6. Boom 7 Guide Shell 8 Rock Drill 9. Striking mechanism 10 Rotation mechanism 11 Feeding mechanism 12 rods 13-bit 14 Rod Changer 15 Rod Magazine 16 Centralizer 17 Suction cap 18 Flushing mechanism 19 Dust Collector 20 Drilling control device 21 Control Unit 22 Pilot Modular 23 First main valve 24 Second main valve 25 First Feed Modular 26 Rotation mechanism side pressure sensor 27 Feed mechanism side pressure sensor 28 Second Feed Modular 28a First needle valve 28b Differential pressure sensing valve 28c Second needle valve 28d Pressure compensation valve 28e Solenoid valve FP1 Primary Feed Pressure FP2 Secondary feed pressure P1 First hydraulic pump P2 Second hydraulic pump R Bedrock BH blast hole

Claims

1. In contrast to the existing drilling machine equipped with an impact mechanism, a rotation mechanism, and a feed mechanism, a rotation mechanism side pressure sensor for detecting a pressure in a supply path of the rotation mechanism; a feed mechanism side pressure sensor for detecting a pressure in a supply path of the feed mechanism; a control means for adjusting operating conditions of the feed mechanism and the impact mechanism in response to a pressure detected by the pressure sensor on the rotation mechanism side and a pressure detected by the pressure sensor on the feed mechanism side when the impact mechanism, the rotation mechanism, and the feed mechanism are operated; A retrofit method for a drilling machine comprising:

2. the control means includes a valve module that adjusts an operating condition of the feed mechanism independently of the pressure detected by the feed mechanism pressure sensor; The valve module includes: a first needle valve that generates a pressure difference between a primary side and a secondary side depending on a flow rate of pressure oil passing through an interior of the valve module; a differential pressure sensing valve that opens and closes in response to a differential pressure generated in the first needle valve; a second needle valve through which pressure oil flows when the differential pressure sensing valve is closed, and which adjusts the flow rate of the pressure oil flowing to a preset regulated flow rate; 2. The retrofit method for a drilling machine according to claim 1, further comprising: a pressure compensation valve for keeping a flow rate of the second needle valve constant.

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