Control device for drilling machine

Abstract

To provide a control device for a drilling machine that can reduce the workload while suppressing a significant increase in costs and suppresses a decrease in work efficiency.SOLUTION: A control device for a drilling machine, which automatically controls equipment based on detection values of sensors installed on the equipment that constitutes the drilling machine used in a drilling operation, defines the entire drilling operation as a collection of work units made up of multiple operating elements, and automatically executes the multiple operating elements that make up one work unit in sequence by a single operation signal applied by the worker operating the drilling machine.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a control device for a drilling machine that drills blast holes in rock masses and the like. [Background technology]

[0002] Existing drilling machines for drilling blast holes in rocks and the like are equipped with various mechanisms and devices for drilling blast holes deep into rocks, and these various mechanisms and devices are operated appropriately to drill long blast holes. For this reason, drilling work requires the operation of a great number of devices, and there is a problem that it is not easy to master the operation of the operating means corresponding to each device. In addition, drilling work requires each operation to be performed reliably and at the right timing, which places a heavy burden on the worker.

[0003] To address this problem, one example of a technology that realizes labor saving and automation of drilling machines is disclosed in Patent Document 1. In the technology disclosed in Patent Document 1, a control device outputs control signals to each mechanism and device based on detection values ​​from sensors installed in all of the mechanisms and devices of the drilling machine, thereby fully automatically controlling the drilling 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] Fully automatic control such as the technology disclosed in Patent Document 1 moves to the next step after detecting that the mechanism or device to be controlled has certainly completed the operation in response to the control signal. However, because drilling machines operate in harsh environments, mechanisms, devices and sensors are required to have a high level of rigidity and reliability, and there is a problem that applying this technology to an actual drilling machine would result in a significant increase in equipment costs. In addition, as described above, in a device with fully automated control, such as the technology disclosed in Patent Document 1, processing proceeds while confirming that the mechanisms and devices have certainly completed their operations. For this reason, there is a problem that workers with a certain level of skill may perceive that the progress of work is slower and work efficiency is reduced compared to manual operation, and may be shunned.

[0006] In consideration of the above-mentioned problems, the present invention has an objective of providing a control device for a drilling machine that can reduce the workload while suppressing a significant increase in costs and suppressing a decrease in work efficiency. [Means for solving the problem]

[0007] A control device for a drilling machine according to one aspect of the present invention is a control device for a drilling machine that automatically controls equipment constituting the drilling machine used in the drilling operation based on detection values ​​of sensors provided on the equipment. In the control device for the drilling machine, the entire drilling operation is defined as a collection of task units composed of multiple operation elements. Then, the multiple operation elements constituting one task unit are automatically executed in sequence by a single operation signal applied once by an operator operating the drilling machine. Effect of the Invention

[0008] According to the present invention, it is possible to provide a control device for a drilling machine that can reduce the workload while suppressing a significant increase in costs and suppressing a decrease in work efficiency. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing the configuration of a drilling machine. [Diagram 2] FIG. 2 is a diagram showing the configuration of a rock drill and a bit. [Diagram 3] 3A is a diagram showing the inside of the operator's cabin, FIG. 3B is a diagram showing the left console box, and FIG. 3A is a diagram showing the right console box. [Figure 4] 4A and 4B are diagrams showing the configuration of a feed operation lever, and FIG. 4A is a side view of the feed operation lever, and FIG. 4B is a view taken along line B in FIG. 4A. [Diagram 5] 1 is a diagram showing a control block in a control device of a drilling machine, and is a diagram showing work units relating to drilling work and topping-up work. FIG. [Figure 6] FIG. 2 is a diagram showing a control block in a control device of the drilling machine, and is a diagram showing a task unit related to a recovery task. [Figure 7] FIG. 1 is a diagram showing a control flow in a control device of a drilling machine, and is a diagram showing operational elements that constitute a task unit of loosening a screw (adding a screw). [Figure 8] This is a diagram showing a monitor screen displaying the operating status of the "cutting operation" among the operational elements. [Figure 9] This is a diagram showing the monitor screen displaying the operating status of the [Main Drilling Operation] operation element. [Figure 10] FIG. 13 is a diagram showing a monitor screen when the processes relating to drilling work and top-up work are set separately. [Figure 11] FIG. 13 is a diagram showing a monitor screen when a process related to a recovery operation is individually set. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] 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, ratio, etc. between thickness and planar dimensions may differ from the actual ones, and the drawings may include parts with different dimensional relationships and ratios. In addition, the embodiments shown below are examples of devices and methods for embodying the technical idea of ​​the present invention, and the technical idea of ​​the present invention does not specify the materials, shapes, structures, arrangements, etc. of the components to the embodiments described below.

[0011] (Embodiment) (composition) As shown in FIG. 1, the drilling machine 1 is a machine used for drilling work, and is equipped with 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 portion 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 for an operator who operates the drilling machine 1. The operator cabin 5 will be described in detail later. The boom 6 is disposed on the upper part of the traveling carriage 2 and is capable of rotating and raising and lowering.

[0012] The carriage body 3 is further 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. 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.

[0013] 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 in 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 the rod changer 14, and further, the rods 12 are added or separated. This enables the drilling machine 1 to drill a long blast hole BH deep into the rock mass R. An openable / closable 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 in the left and right directions in FIG. 2).

[0014] As shown in FIG. 2, a rock drill 8 and a feed 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 an impact 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 the rotation mechanism 10 are transmitted to the bit 13 via the rod 12, and the rock mass R to be crushed is crushed by the transmitted impact force and rotational force.

[0015] The body of the rock drill 8 is constantly given a thrust toward the rock face R by the feed mechanism 11, and the bit 13 penetrates deep inside the rock face R while crushing the rock face R, and drills a blast hole BH in the rock face R. The striking mechanism 9, the rotating mechanism 10, and the feed mechanism 11, which are devices constituting the drilling machine 1, are each provided with a sensor (not shown) such as a pressure sensor. The drilling control device 20 is capable of automatically controlling the impact mechanism 9, the rotation mechanism 10, and the feed mechanism 11 based on the detection values ​​of sensors provided in the impact mechanism 9, the rotation mechanism 10, and the feed mechanism 11.

[0016] <Operator Cabin> As shown in FIG. 3(a), inside the operator cabin 5, an operator seat 21, a right console box 22, a left console box 24, and a monitor 25 are arranged. The operator seat 21 is disposed in the center of the operator cabin 5, and is where an operator who performs drilling work using the drilling machine 1 sits.

[0017] The right console box 22 is disposed on the right side of the operator seat 21, and is provided with a right side operation switch group 22a including buttons and the like, and a feed operation lever 23 (multifunction lever), as shown in FIG. 3(c). The left console box 24 is disposed on the left side of the operator seat 21, and is provided with a left operation switch group 24a including buttons and the like, as shown in FIG. 3(b). The monitor 25 is disposed in front of and above the operator seat 21, and is capable of displaying the operating status of the drilling machine 1. In addition, the monitor 25 is formed using a touch panel display that allows various condition settings to be input from the screen.

[0018] <Feed control lever> As shown in FIG. 4, the feed operation lever 23 is a lever that is provided upright on the upper surface of the right console box 22, and the forward and backward movement (forward movement, backward movement) of the feed mechanism 11 can be controlled by tilting it in the front-to-back direction (left-to-right direction in FIG. 4(a)). Furthermore, the feed operation lever 23 can control the speed at which the feed mechanism 11 operates depending on the tilt angle. Specifically, the deeper the tilt angle, the faster the speed at which the feed mechanism 11 operates can be controlled. Specifically, when the feed operation lever 23 is tilted forward (to the left in FIG. 4(a)) as seen by the operator, the feed mechanism 11 moves backward, and when the feed operation lever 23 is tilted backward (to the right in FIG. 4(a)) as seen by the operator, the feed mechanism 11 moves forward. In other words, the feed operation lever 23 is a so-called "pull drilling" type operation lever.

[0019] Furthermore, the feed operation lever 23 is provided with a detent mechanism (not shown) that makes it possible to maintain the tilted angle and maintain the speed at which the feed mechanism 11 operates. Specifically, the feed operation lever 23 can hold the tilt angle at two stages of positions in the backward direction (in FIG. 4(a), the central axes of the feed operation lever 23 in the backward direction are indicated by "R1" and "R2"). In addition, the feed operation lever 23 can hold the tilt angle at three stages of positions in the forward direction (in FIG. 4(a), the central axes of the feed operation lever 23 in the forward direction are indicated by "F1", "F2", and "F3"). Furthermore, the feed operation lever 23 can maintain the speed of the forward / backward movement assigned to each position (for example, backward slow speed "R1", backward full speed "R2", forward slow speed & weak impact "F1", forward slow speed & strong impact "F2", forward full speed "F3"). In Fig. 4(a), the central axis of the feed operation lever 23 in the neutral position is indicated by "N".

[0020] The feed operation lever 23 includes a grip portion 23a, a striking operation switch 23b, and a rotation operation switch 23c. Grip portion 23a is disposed on the upper portion of feed operation lever 23, and is held by an operator when operating feed operation lever 23. The striking operation switch 23b is formed using a button or the like, and is disposed on the side surface of the grip portion 23a. The rotation operation switch 23c is formed using a button or the like, and is disposed on the upper surface of the grip portion 23a.

[0021] Therefore, the feed operating lever 23 is a multi-function lever that can operate the impact mechanism 9, the rotation mechanism 10, and the feed mechanism 11, but its multi-functional potential is realized when the drilling machine 1 is operated manually. In the semi-automated drilling machine 1 of the present invention, the feed operation lever 23 basically functions as an interface that applies a single operation signal through operation by the worker performing the drilling work and outputs a single operation signal. The single operation signal is a signal that is generated in response to an operation of pushing down the feed operation lever 23 by an operator. In addition, the direction in which the feed operation lever 23 is tilted to generate a single operation signal is set to a direction that coincides with the direction in which the feed mechanism 11 is advanced in the next operational element to be executed, for example, R1 or F1 in FIG. 4(a).

[0022] <Definition> The entire drilling operation is defined as a collection of work units consisting of multiple operation elements. A task unit defined as an assembly is, for example, a task unit related to a drilling operation or a task unit related to an extension operation of the rod 12.

[0023] <Control block> As shown in Figure 5, in the control block in the control device of the drilling machine 1 (the control block for control performed by the drilling control device 20), a group of work units related to the drilling work and the rod 12 extension work are composed of ten work units W ([W1] to [W10]) ranging from [opening work] to [main drilling work (second rod and onwards)]. In addition, the [semi-automatic drilling (drilling and addition)] shown in Figure 5 indicates that the drilling operation (drilling) of drilling blast holes BH in the rock mass R and the addition operation (addition) of the rod 12 to drill long blast holes BH are performed by combining (semi-automatic) operation by an operator (manual) and automatic control of the drilling machine 1 (full-automatic). Also, as shown in Figure 5, after completing [Main drilling work (second hole or later)] W10, the work units from [Hole cleaning work] W4 to [Main drilling work (second hole or later)] W10 are executed sequentially until the planned drilling length is reached.

[0024] Furthermore, in the control block in the control device of the drilling machine 1, as shown in Figure 6, the group of work units related to the retrieval of the rod 12 is composed of six work units W ([W11] to [W16]) ranging from [loosening screw work] to [tip retrieval work]. In addition, the "semi-automatic drilling (recovery)" shown in Figure 6 indicates that the recovery operation (recovery) of the rod 12 added for drilling a long blast hole BH from the blast hole BH is performed by combining operation by an operator and automatic control of the drilling machine 1.

[0025] <Example of a work unit> As an example of a task unit, the fifth task unit executed in the task unit group relating to drilling and adding is called "screw loosening task (adding-on)." The multiple operation elements constituting the [screw loosening operation (addition)] W5 shown in FIG. 5 include a transition step S10 and an execution step S30, as shown in the form of a control flow in FIG.

[0026] (Transition step) The transition step S10 includes the work units of "loosening work position" (step S11) and "loosening guide" (step S12), and is a step that notifies the operator of the contents of the next work unit after it is detected that the operation element to be executed first in the next work unit is ready to be executed. Specifically, in transition step S10, if it is determined in step S11 that the task unit up to [Hole cleaning completed] W4 has been completed, it is determined that the task unit of the "loosening work position" has been completed ("Yes"). Then, in step S12, a guide display of [loosening] is displayed on the monitor 25 (guide display). In addition, in step S12, a guide display is displayed on the monitor 25 (guide display) that the single operation signal to be applied next is "feed (slow forward speed)". The guide display of "feed (slow forward speed)" indicates that the single operation signal will be applied by tilting the feed operation lever 23 to the "F1" position shown in FIG. 4(a).

[0027] That is, the transition step S10 is a step for notifying the worker of the contents of the next task unit after it is detected that preparations for executing the action element ([loosen the screw]) to be executed first in the next task unit have been completed. Moreover, the information notified to the operator in the transition step S10 includes a guide display of the single operation signal that needs to be applied next ("Feed (slow forward speed)").

[0028] (Manual operation steps) The manual operation step S20 is a step in which an operator manually applies a single operation signal. Specifically, in step S12 of the transition step, when a guide is displayed on the monitor 25 indicating that the task unit to be executed next is "feed (forward slow speed)", the worker who sees the guide display tilts the feed operation lever 23 to the forward slow speed position (see "F1" in Fig. 4(a)) and applies a single operation signal. At this time, the worker operates the feed operation lever 23 after checking the suitability of the task unit, the state of the equipment, the state of the rock mass R to be worked on, etc.

[0029] Here, the action and effect of allocating operation of the feed operation lever 23 to the slow speed position in the forward direction as the operation for applying a single operation signal will be considered. The feed operation lever 23 is a lever provided upright on the upper surface of the right console box 22, and is provided with a grip portion 23a at the top. For this reason, compared with the right side operation switch group 22a and the left side operation switch group 24a, which are configured to include buttons and the like that are flat members, it is clear that the feed operation lever 23 is set as the main operating means. Therefore, the feed operation lever 23 is suitable as the only interface for applying an operation signal for automatic operation in the present invention.

[0030] Next, we will consider the action and effect of setting the direction in which the feed operation lever 23 is tilted when generating a single operation signal to match the direction of travel of the feed mechanism 11 in the operation element to be executed next. The concept of the present invention is to realize a semi-automatic controlled drilling machine in which a human (operator) intervenes in the automatic control and makes decisions and operates. Therefore, the operator to whom the present invention is intended to be applied is at a level where he or she has some understanding of the overall flow of drilling work and the actual operating procedures.

[0031] For such an operator, the fact that the direction in which the feed operation lever 23 is tilted when generating (applying) a single operation signal coincides with the direction of travel of the feed mechanism 11 in the next operating element to be executed allows the operator to operate the device comfortably without any sense of incongruity, and the possibility of erroneous operation is extremely low. Therefore, the feed operation lever 23 is suitable in terms of operational feel as an interface for applying an operation signal for automatic operation. Also, the original setting of [Feed forward slow speed] and the setting of [Automatic processing execution] in the present invention are conceptually consistent, so there is little possibility of erroneous operation.

[0032] (Steps to be taken) The execution step S30 is a step in which a plurality of motion elements (steps S31 to S38) are automatically executed in sequence when the operator applies a single operation signal after the manual operation step S20, that is, the transition step S10. In the execution step S30, first, in step S31, forward processing is performed, and then the processing of step S32 is performed. The forward movement process includes a process of moving the feed mechanism 11 forward at a slow speed and a process of supplying compressed air to the tip of the bit 13 by the flushing mechanism 18.

[0033] In step S32, it is determined whether the feed pressure (the pressure in the supply path of the feed mechanism 11) is 2.0 [MPa] or less. If it is determined in step S32 that the feed pressure is 2.0 [MPa] or less ("Yes"), a first impact process is performed in step S33, and then the process of step S34 is performed. The first impact process includes a process of loosening the screw of the rod 12 by the impact force generated by the impact mechanism 9 and a process of supplying compressed air to the tip of the bit 13 by the flushing mechanism 18.

[0034] In step S34, it is determined whether the time that has elapsed since the start of the first impact process exceeds 0.5 [sec]. If it is determined in step S34 that the time that has elapsed since the start of the first impact process exceeds 0.5 [sec] ("Yes"), the second impact process is performed in step S35, and then the process of step S36 is performed. The second impact process includes, in addition to the processes included in the first impact process, a process of moving the feed mechanism 11 backward at a slow speed for 0.2 [sec].

[0035] In step S36, it is determined whether the time that has elapsed since the start of the second impact process exceeds 0.5 [sec]. If it is determined in step S36 that the time that has elapsed since the start of the second impact process exceeds 0.5 [sec] ("Yes"), in step S37, a third impact process is performed, and then the process of step S38 is performed. The third hitting process includes, in addition to the processes included in the first hitting process, a process of rotating the rod 12 in the reverse direction for 0.3 [sec].

[0036] In step S38, it is determined whether the time that has elapsed since the start of the third impact process exceeds 1.0 [sec]. If it is determined in step S38 that the time that has elapsed since the start of the third impact process exceeds 1.0 [sec] ("Yes"), execution step S30 is ended, and the loosening of the screw is completed. As described above, the task unit [screw loosening task (addition)] W5, which is composed of multiple operation elements, includes a transition step S10 and an execution step S30. Although not described here, each of the other task units also includes a transition step and an execution step. Therefore, each of the multiple task units includes a transition step and an execution step.

[0037] In addition, as in the work unit [screw loosening work (addition)] W5 shown in Figure 7, basically, a transition step, a manual operation step, and an execution step are each set once in one work unit, but the configuration may differ depending on the work unit. Furthermore, the operation of applying a single operation signal in the manual operation step is basically assigned to the operation of the feed operation lever 23 to the slow speed position in the forward direction. However, depending on the task unit, the operation of the feed operation lever 23 to the slow speed position in the backward direction or the operation of a switch selected from the right operation switch group 22a or the left operation switch group 24a may be set. These settings can be made arbitrarily.

[0038] As described above, in the control performed by the drilling control device 20, the entire drilling work is defined as a collection of task units each composed of a plurality of motion elements. Then, the plurality of motion elements constituting one task unit are automatically executed in sequence by a single operation signal applied by the operator.

[0039] <Screen display> Hereinafter, an example of a screen display displayed on the screen of the monitor 25 will be described with reference to FIGS. 1 to 7 and with reference to FIGS. 8 to 11. Figure 8 shows an example of the execution status of the work unit [opening work] W1 related to drilling and addition, displayed on the monitor 25. The name [Setting 0 point] displayed as the operating status is a general term for the operation element that brings the bit 13 into contact with the rock base where the opening work is performed by the feed mechanism 11 to set the 0 point, and is consistent with the term commonly used in manual operation. Further, in FIG. 8, other display contents show that the selected mode is semi-automatic and the next work unit (next operation) is [countersinking] W2.

[0040] Furthermore, icon IC indicated by a downward arrow displayed in display area DE in the lower right corner of the screen indicates that the single operation signal to be applied in the next work unit is the operation of feed operation lever 23 to the slow speed position in the forward direction, i.e., F1 in Figure 4(a). Therefore, in the transition step included in the next task unit, operation of the feed operation lever 23 (operation to the slow speed position in the forward direction) according to the single operation signal to be applied next is indicated. In other words, the information to be notified to the worker in the transition step included in the next task unit includes a guide display indicating operation of the feed operation lever 23 to the slow speed position in the forward direction as the single operation signal to be applied next.

[0041] Fig. 9 shows an example of the execution status of the work unit [main drilling work] W3 related to drilling and adding holes, displayed on the monitor 25. Note that the name [main drilling work in progress] displayed as the operating status is a collective name for the operating elements that operate the impact mechanism 9, rotation mechanism 10, feed mechanism 11, flushing mechanism 18, and dust collector 19 to perform drilling, and is consistent with the terminology commonly used in manual operation. Further, in FIG. 9, other display contents show that the selected mode is semi-automatic and the next task unit (next operation) is [hole cleaning task] W4.

[0042] Furthermore, icon IC indicated by a downward arrow displayed in display area DE in the lower right corner of the screen indicates that the single operation signal to be applied in the next task unit is to operate feed operation lever 23 to the full speed position in the forward direction. Therefore, in the transition step included in the next task unit, operation of the feed operation lever 23 (operation to the slow speed position in the forward direction) according to the single operation signal to be applied next is indicated. In other words, the information to be notified to the worker in the transition step included in the next task unit includes a guide display indicating operation of the feed operation lever 23 to the slow speed position in the forward direction as the single operation signal to be applied next.

[0043] Fig. 10 is another example of the screen display of the monitor 25, showing the display contents of individual settings for the work units related to drilling and addition. The menu displayed on the monitor 25 in Fig. 10 is a menu that allows the user to select each work unit and set the required items. Here, three operation units shown in the same color (in Fig. 10, shown with hatching of the same density), for example, [Counterboring], [Main Drilling (continuous counterboring)], and [Main Drilling (with clay filling)], are classified as a common group. Then, by pressing the selection icon located to the right of [Counterboring], it becomes possible to set the items common to the three operation elements collectively.

[0044] Fig. 11 is another example of the screen display of monitor 25, showing the display contents of individual settings for task units related to collection. The menu displayed on monitor 25 in Fig. 11 is a menu that allows the user to select each task unit and set the required items. Here, four work units shown in the same color (in Fig. 11, shown with hatching of the same density), for example, [RC IN work (recovery)], [Thread cutting work (upper)], [RC OUT work (recovery)], and [RC IN work (recovery of second and subsequent lines)], are classified as a common group. Then, by pressing the selection icon located to the right of [RC IN work (recovery)], it becomes possible to set the items common to the four work units collectively.

[0045] <Exception behavior> The case where an exceptional operation is executed will be described below. When a predetermined operation signal is applied by an operator while a single operation signal is being applied, or while an operation element is being automatically executed (during execution) by a single operation signal, an exceptional operation element (another operation element different from the operation elements that make up the work unit) is executed. The "predetermined operation signal" is an operation signal different from the regular operation signal corresponding to the operation element being executed. For example, if the regular operation signal corresponding to the operation element being executed is an operation signal corresponding to an operation element that moves the feed operation lever 23 forward, the "predetermined operation signal" is an operation signal corresponding to an operation element that moves the feed operation lever 23 backward.

[0046] For example, if, while performing the task unit "main drilling", the operator senses some kind of abnormality and operates the feed operating lever 23 to apply a full-speed reverse operation signal, the operating elements related to the main drilling are immediately stopped and "feed full-speed reverse" is executed. Here, the exceptional operation does not cancel the semi-automatic control; when the semi-automatic control is resumed, the operational elements that make up the work unit "main drilling" are executed by applying a normal single operation signal. Therefore, in the present invention, when a specified operation signal is applied by an operator while a single operation signal is being applied or while an operation element is being executed, a different operation element (an exceptional operation element) different from the operation elements that make up the work unit is executed.

[0047] <Correspondence to claims> The drilling control device 20 corresponds to a control device of the drilling machine that automatically controls the equipment constituting the drilling machine 1 used for the drilling operation based on detection values ​​of sensors provided on the equipment.

[0048] <Actions and Effects of the Embodiment> The control device for the drilling machine 1 according to the embodiment can provide the following actions and effects. (1) The entire drilling operation is defined as a collection of work units consisting of multiple operating elements, and the multiple operating elements that make up one work unit are automatically executed in sequence by a single operation signal applied by the operator. Therefore, the entire drilling work is defined as a collection of work units consisting of multiple operation elements, and each operation element constituting one work unit can be automatically executed sequentially by a single operation signal applied by the operator. As a result, since the trigger for control execution is the operator's operation, there is no need to increase the level of reliability of the equipment and sensors by relying on human judgment. This makes it possible to reduce equipment costs while reducing the workload, and to prevent the sacrifice of work efficiency. As a result, it is possible to provide a control device for the drilling machine 1 that can reduce the workload while suppressing a significant increase in costs and suppressing a decrease in work efficiency.

[0049] (2) A transition step is included in which, after each task unit detects that the preparation for executing the first operation element in the next task unit is completed, the operator is notified of the content of the next task unit. In addition, an execution step is included in which, when the operator applies a single operation signal after the transition step, the plurality of operation elements are automatically executed in sequence. As a result, the worker can understand the work content in advance when applying a single operation signal, and further, if necessary, the worker can check the status of the equipment and the work target himself, thereby increasing the sense of security.

[0050] (3) The information notified in the transition step includes a guide display of the single operation signal that needs to be applied next. As a result, since the notification in the transition step includes a guide display of the single operation signal that needs to be applied next, the operator is able to apply the appropriate single operation signal in the manual operation step, thereby reducing the possibility of erroneous operation.

[0051] (4) The single operation signal is a signal generated in response to an operation by an operator of tilting the feed operation lever 23 used to operate the feed mechanism of the drilling machine. The direction in which the feed operation lever 23 is tilted is set to the same direction as the direction in which the feed mechanism 11 is advanced in the next operation element to be executed. As a result, the direction in which the feed operating lever 23 is operated to generate a single operation signal is set to coincide with the direction in which the feed mechanism 11 is advanced in the next operational element to be executed, so that the actual operation of the feed operating lever 23 and the automatically executed operation conceptually match, thereby making it possible to reduce the possibility of erroneous operation.

[0052] (5) When a specific operation signal preset by an operator is applied while a single operation signal is being applied or while an operation element is being executed, another operation element different from the operation elements that constitute the task unit is executed. As a result, when a specific operation signal is applied by an operator while a single operation signal is being applied or while an operation element is being executed, an exceptional operation element is executed, making it possible to flexibly respond to changes in the work environment.

[0053] <Modification> (1) In the embodiment, in the manual operation step, the operator operates the feed operation lever 23, but this is not limiting. In other words, for example, it is possible to set it so that if the position of the feed operating lever operated in the manual operation step of the previous work unit is held by the detent mechanism and the single operating signal applied in the held state matches the single operating signal to be applied, there is no need to operate the lever again.

[0054] The present technology can be configured as follows. (1) A control device for a drilling machine that automatically controls a device constituting a drilling machine used in a drilling operation based on a detection value of a sensor provided in the device, The entire drilling operation is defined as a collection of operation units constituted by a plurality of operation elements; A control device for a drilling machine which automatically and sequentially executes a plurality of operating elements constituting one of the work units in response to a single operation signal applied by an operator operating the drilling machine. (2) Each of the work units comprises: a transition step of notifying the worker of the contents of the next task unit after detecting that the preparation for executing the operation element to be executed first in the next task unit is completed; A control device for a drilling machine as described in (1) above, which includes an execution step of automatically executing the plurality of operating elements in sequence when the operator applies the single operation signal after the transition step. (3) A control device for a drilling machine as described in (2) above, wherein the information notified in the transition step includes a guide display of the single operation signal that needs to be applied next. (4) The drilling machine includes a feed mechanism; the single operation signal is a signal generated in response to an operation of the operator tilting a feed operation lever used for operating the feed mechanism, A control device for a drilling machine described in any one of (1) to (3) above, in which the direction in which the feed operation lever is tilted is set to the same direction as the direction in which the feed mechanism is advanced in the next operational element to be executed. (5) A control device for a drilling machine as described in any one of (1) to (4) above, which executes another operation element different from the operation elements that constitute the work unit when a predetermined operation signal preset by the operator is applied while the single operation signal is being applied or while the operation element is being executed. [Explanation of symbols]

[0055] 1 Drilling machine 2 Travelling cart 3. Cart body 4 Truck Frame 5 Operator Cabin 6. Boom 7 Guide Shell 8 Rock Drill 9. Striking mechanism 10 Rotation mechanism 11 Feeding mechanism 12 Rod 13-bit 14 Rod Changer 15 Rod Magazine 16 Centralizer 17 Suction cap 18 Flushing mechanism 19 Dust Collector 20 Drilling control device 21 Operator seat 22 Right console box 22a Operation switches 23 Feed control lever 23a Grip section 23b Impact operation switch 23c Rotary operation switch 24 Left console box 24a Operation switches 25 Monitors R Bedrock BH Blast Hole DE Display Area IC Icon

Claims

1. A control device for a drilling machine that automatically controls a device constituting a drilling machine used in a drilling operation based on a detection value of a sensor provided in the device, The entire drilling operation is defined as a collection of operation units constituted by a plurality of operation elements; A control device for a drilling machine which automatically and sequentially executes a plurality of operating elements constituting one of the work units in response to a single operation signal applied by an operator operating the drilling machine.

2. Each of the work units comprises: a transition step of notifying the worker of the contents of the next task unit after detecting that the preparation for executing the operation element to be executed first in the next task unit is completed; 2. The control device for a drilling machine according to claim 1, further comprising: an execution step of automatically executing said plurality of operation elements in sequence when said operator applies said single operation signal after said transition step.

3. 3. A control device for a drilling machine according to claim 2, wherein the contents notified in the transition step include a guide display of the single operation signal which needs to be applied next.

4. The drilling machine includes a feed mechanism; the single operation signal is a signal generated in response to an operation of the operator tilting a feed operation lever used for operating the feed mechanism, 2. A control device for a drilling machine according to claim 1, wherein the direction in which said feed operation lever is tilted is set to a direction that coincides with the direction in which said feed mechanism is advanced in the next operational element to be executed.

5. A control device for a drilling machine described in any one of claims 1 to 4, wherein when a predetermined operation signal preset by the operator is applied while the single operation signal is being applied or while the operation element is being executed, another operation element different from the operation elements that constitute the work unit is executed.

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