Drilling machine operation control device

Abstract

To obtain stable drilling data regardless of the ground conditions, and to automate refilling of drilling rods or retrieval (removal) of drilling rods after drilling is completed, thereby enabling efficient drilling.SOLUTION: While target drilling depth is being reached, feed upward pressure that sends a rotary drive head is detected by a pressure sensor 78, feed downward pressure by a pressure sensor 77, feed speed by a linear sensor 79, water supply pressure of drilling water by a water supply pressure sensor 75, water supply flow rate for drilling by a drilling water flow meter 74, rotational torque of a drilling rod by a rotational torque pressure sensor 76, and rotational speed of the drilling rod by a spindle rotation sensor 80, etc., and these are measured and controlled in real time so that they remain within preset values.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to an operation control device for a drilling machine that drills holes in the ground for geological surveys, etc. More specifically, the present invention relates to an operation control device for a drilling machine that enables even an unskilled operator to automatically and stably drill holes. [Background technology]

[0002] In recent years, civil engineering projects in general have been experiencing an aging workforce and a shortage of successors. This has led to a shortage of operators with the advanced skills to operate drilling machines and drilling assistants to attach and detach rods, even in ground survey drilling. In response, the present applicant has proposed a rod changer for civil engineering machinery that automates rod replacement and attachment / detachment (Patent Document 1). This rod changer automatically attaches and detaches drilling rods to and from drilling machines, etc., simply by having the operator insert the lower part of the unit rod upright into the rod holder. Also known is a handling device that automates all of the drilling rod replacement, rod fastening (hereinafter also referred to as "threading"), and / or rod detachment (hereinafter referred to as "thread cutting") from the rotary drive head of a boring machine, etc. (Patent Documents 2 and 3, etc.). Meanwhile, a boring machine capable of precisely controlling the feed rate of the drilling rod has also been proposed to reduce variations in work efficiency and drilling accuracy due to differences in operator skill and experience (Patent Document 4). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-111904 [Patent Document 2] Japanese Patent Publication No. 2023-17311 [Patent Document 3] Japanese Patent Application Publication No. 2023-64531 [Patent Document 4] Japanese Patent Application Publication No. 2023-19131 Summary of the Invention [Problem to be solved by the invention]

[0004] When drilling machines, such as the boring machines described above, manually replacing the drilling rods results in differences in rod replacement time and screw tightening torque depending on the operator's skill level, which in turn leads to unavoidable variations in drilling accuracy and drilling data. Automating the replacement of drilling rods or the removal (removal) of drilling rods after drilling is complete, as in the inventions described in Patent Documents 2 and 3, prevents variations in drilling accuracy and drilling data. However, drilling conditions, such as feed pressure and rotation speed, vary depending on the drilling machine operator in charge of drilling, resulting in variations in various data even when drilling the same ground. To prevent this, a method of precisely controlling only the feed rate of the drilling rod, as in the boring machine described in Patent Document 4, does not provide accurate drilling data.

[0005] The present invention has been made in view of the above background to achieve the following objects. An object of the present invention is to provide an operation control device for a drilling machine that can obtain stable excavation data regardless of the ground conditions. Another object of the present invention is to provide an operation control device for a drilling machine that automates the replenishment of drilling rods or the retrieval (removal) of drilling rods after drilling is completed, thereby enabling efficient drilling. [Means for solving the problem]

[0006] In order to solve the above-described problems, the present invention employs the following means. The operation control device for a drilling machine according to the present invention 1 comprises: A leader (5) that is erected on the ground during operation; a head (6) that is driven to move reciprocally on the leader (5) and has a driving means for rotating the spindle; The upper part of the single pipe, which has a drilling bit at the bottom for drilling, is held by the drilling rod (9) held by the head (6). In a drilling machine (1) comprising: The operation control device (71) of the drilling machine (1) is characterized in that, in the automatic drilling mode of the drilling machine (1), while reaching the target drilling depth, it measures and controls in real time one or more selected from the flow rate of the drilling water to be supplied near the drill bit, the water supply pressure of the drilling water, the rotational driving torque of the driving means, the rotational speed of the drilling rod (9), and the feed descent speed, which is the descent speed of the head (6) that sends the head (6) downward on the leader (5), so that they remain within a preset value.

[0007] The operation control device for a drilling machine according to the second aspect of the present invention is the same as that according to the first aspect of the present invention, The operation control device (71) of the drilling machine (1) is characterized in that in the automatic drilling mode, it judges whether there is an abnormality in the drilling based on whether one or more selected from the water supply amount, the water supply pressure, the rotational drive torque, the rotational speed, and the feed descent speed are within a predetermined range from the drilling start position to the feed lower limit position.

[0008] The operation control device for a drilling machine according to the third aspect of the present invention is the same as that according to the second aspect of the present invention, The abnormality determination is characterized in that when one or more selected abnormalities occur, an abnormality timer is started, and recovery from the abnormality determination is performed by flushing the head, which is a preset operation that stops the feed of the head, raises it, and lowers it, and if the abnormality is not resolved even after flushing, the drilling machine is stopped.

[0009] The operation control device for a drilling machine according to the fourth aspect of the present invention is the same as that according to the second aspect of the present invention, The abnormality determination is characterized in that when one or more of the selected abnormalities occur, an abnormality timer is started, and one or more selected from the increase in feed pressure of the head, the forward rolling pressure of the driving means, the rotation speed of the drilling rod, the amount of drilling water supplied, and the drilling water supply pressure are measured and controlled in real time to achieve a predetermined value, and recovery from the abnormality determination is performed by flushing the head, which stops, raises, and lowers the head feed as set in advance, and if the abnormality is not resolved even after flushing, the drilling machine is stopped.

[0010] The operation control device for a drilling machine of the present invention 5 is the same as that of the present invention 3 or 4, The drilling machine (1) is characterized in that, during automatic drilling, it performs three types of operations when attaching the unit drilling rods (9) that make up the single pipe to the head (6): a rod filling operation, a screw connection operation, and a thread cutting operation, and is equipped with a rod changer that performs three types of operations when removing the pipe to remove the unit drilling rods (9): a screw cutting operation, a rod removal operation, and a screw connection operation.

[0011] The operation control device for a drilling machine according to the sixth aspect of the present invention is the same as that according to the fifth aspect of the present invention, The subroutine prepared in advance to stop automatic drilling or tube removal when normal drilling is not restored by the abnormality determination process and to restore automatic drilling or tube removal after the abnormality is eliminated is characterized by three types of operations during the automatic drilling: preparatory operation before rod loading (1), loading the unit drilling rod by the rod changer (2), and connecting the unit drilling rod (3), as well as three types of operations when removing the unit drilling rod (9): waiting before the rod tube removal operation (4), rod tube removal operation by swinging the head from the drilling machine (1) using the rod changer (5), and threading by rotating the head (6). [Effects of the Invention]

[0012] The operation control device for a drilling machine of the present invention has the advantage of being able to obtain stable drilling data regardless of the ground conditions, and of automating the refilling of drilling rods or the retrieval (removal) of drilling rods after drilling is completed, thereby enabling efficient drilling. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is an external view of a drilling machine, which is equipped with an operation control device for a drilling machine according to the present invention. [Figure 2] 2(a) to 2(c) are operational diagrams illustrating the operation of the wrench clamp, the single-pipe sear mechanism, and the clamp. [Figure 3] FIG. 3 is a perspective view of a rod changer (RC) according to an embodiment of the present invention. [Figure 4] FIG. 4 is a front view showing a state in which the swinging body of the rod changer (RC) of FIG. 3 has swung to a retracted position. [Figure 5] FIG. 5 is a front view showing a state in which the swinging body of the rod changer shown in FIGS. 3 and 4 has swung to a rod exchange position. [Figure 6] FIG. 6 is an enlarged perspective view showing the main part of the rod rotation drive means of FIGS. [Figure 7] 7 is a front view showing a state in which a unit excavation rod is gripped by the drive roller and grip roller of the rod rotation drive means of FIG. 6. FIG. [Figure 8] 8 is a front view showing a state in which the drive roller and gripping roller of the rod rotation drive means of FIG. 7 have released the grip of the unit excavation rod. [Figure 9] FIG. 9 is a block diagram showing an outline of the relationship between the sensors and the control device of the drilling machine.

[0014] [Figure 10] FIG. 10 is a flow chart showing an example of control of automatic hole-drilling by the drilling machine control device when the drilling machine performs automatic hole-drilling while detecting with the sensor. [Figure 11] FIG. 11 is a flow diagram following the flow diagram of FIG. [Figure 12] FIG. 12 is a flow chart following the flow charts of FIGS. [Figure 13] FIG. 13 is an explanatory diagram showing the operating positions of the drilling machine and rod changer when controlling automatic drilling or the filling and retrieval (removal) of the drilling rod. [Figure 14] FIG. 14 is an exploded view illustrating the sequence of operations when loading a unit drilling rod. [Figure 15] FIG. 15 is an exploded view illustrating the sequence of operations when loading a unit drilling rod. [Figure 16] FIG. 16 is an exploded view for explaining the sequence operation after FIG. [Figure 17] FIG. 17 is an exploded view for explaining the sequence operation after FIG. [Figure 18] FIG. 18 illustrates the operation sequence of the drilling machine 1 when automatic drilling is resumed. [Figure 19-1] FIG. 19-1 is an explanatory diagram of the disassembly operation of the drilling machine, in which the screws of the rod reducer and drilling rod are loosened in order to retrieve the unit drilling rods after automatic drilling is completed. [Figure 19-2] FIG. 19-2 is an explanatory diagram of the disassembly operation of the drilling machine, in which the screws between the unit drilling rods are loosened in order to retrieve the unit drilling rods after automatic drilling is completed. [Figure 20] FIG. 20 is an operational diagram showing the swinging of the rod changer when the unit drilling rod is retrieved. [Figure 21] FIG. 21 is an explanatory diagram of the disassembly operation of the drilling machine when retrieving the next unit drilling rod after the operation shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0015] A first embodiment of the present invention will now be described with reference to the drawings. FIG. 1 is an external view of a drilling machine equipped with an operation control device for a drilling machine of the present invention. The drilling machine 1 comprises a self-propelled vehicle body 3 that can travel on caterpillar tracks 2 and a cab 4 on which an operator sits and drives the drilling machine. The structure and function of the drilling machine 1 are well known and are not part of the gist of the present invention, so a detailed description thereof will be omitted. A leader 5 that stands upright vertically is disposed at the front of the drilling machine 1. A rotary drive head (hereinafter also referred to as "head") 6 that is driven to rotate is mounted on a movable platform 8 above the leader 5, and the movable platform 8 is guided and driven in the vertical direction by a hydraulic cylinder (not shown, hereinafter also referred to as "feed").

[0016] A drilling rod is attached to the spindle (not shown) of the rotary drive head (hereinafter also referred to as "head") 6, via a rod reducer 7 (described below) attached to the spindle. The top of the drilling rod is fastened with screws or the like to a rotary output shaft (also referred to as "rod reducer") 7 fixed to the rotary spindle that drives the drilling rod to rotate. The rod reducer 7 is a type of joint that connects rods of different diameters. A drilling bit (not shown) is placed and fixed to the bottom of the drilling rod to drill holes in the ground.

[0017] At the bottom of the front of the leader 5, a wrench clamp 10 is arranged on the upper level, a single-pipe guide mechanism 15 on the middle level, and a clamp 11 on the lower level, stacked one on top of the other. As its name suggests, the wrench clamp 10 has a mechanism for swinging and rotating the rod, and is equipped with two different mechanisms. One is a rod fixing chuck with gripping jaws, which is arranged opposite to the leader 5 and moves radially by the drive of a cylinder mechanism 13 to grip and fix the drilling rod (hereinafter referred to as the "wrench chuck"). In short, the wrench chuck grips and fixes the rod reducer 7 and the drilling rod, and is mounted on the body of the wrench clamp 10 fixed to the leader 5 so that it can swing freely at a predetermined angle and rotate (see Figure 2(b)).

[0018] The oscillating hydraulic cylinder (another mechanism of the wrench clamp 10) that drives the wrench chuck has one end connected to the leader 5 so as to be freely oscillating about its axis, and the tip of its piston rod 12 is connected to the wrench chuck so as to be freely oscillating (by a connecting portion 14). This configuration allows the wrench chuck to oscillate and rotate. With this configuration, the wrench chuck grips and fixes the rod reducer 7 or drilling rod with the gripping jaws of the wrench chuck, which are driven by the hydraulic cylinder 13 arranged opposite, as described above. As can be understood from the above explanation, the wrench clamp 10 rotates the rod reducer 7 or drilling rod, and is a type of rod wrench.

[0019] The wrench chuck is driven by a swinging hydraulic cylinder supported at its base end, limiting its angle of rotation. However, the drilling rod can be rotated to a desired angle by alternately clamping, fixing, and releasing the hydraulic cylinder 13 of the wrench clamp 10 and extending and retracting the piston 12, a process known as inching. The single-pipe guide mechanism 15, located on the lower leader 5 of the wrench clamp 10, guides the drilling rod and the drilling blade (not shown) at the lower end of the unit drilling rod 9 (described later) to smoothly guide them into the drilled hole. The single-pipe guide mechanism 15 has tapered pieces arranged opposite each other, which are moved radially by the hydraulic cylinder to guide them concentrically with the center line of the unit drilling rod 9 and the center line of the spindle, making it easier to screw them into the unit drilling rod 9 secured by the clamp 11. Furthermore, the clamp 11, located on the lower leader 5 of the single-pipe guide mechanism 15, is a mechanism similar to the wrench chuck described above and is a common one used for adding and removing rods.

[0020] [Rod Changer (RC) 20] A rod changer 20 is arranged on the side of the leader 5 at the front of the drilling machine 1. The rod changer 20 can automatically connect (thread) or disconnect (thread) between the rod reducer 7 and the unit drilling rod 9, or between connected unit drilling rods 9, and is an automatic exchange machine for the unit drilling rods 9. The structure and function of this rod changer 20 are publicly known technology (see Patent Document 1) and are not the gist of the present invention, but an outline of the structure and function will be explained and a detailed explanation will be omitted.

[0021] As shown in FIGS. 3 to 8, the main body 21 of the rod changer (RC) 20 is fixed to the side of the leader 5 by mechanical connection. A vertically extending swing center shaft 22 is attached to the main body 21, and a swing main body 23 is pivotally supported on the swing center shaft 22 so as to be swingable within a horizontal plane. The swing main body 23 is swung by a swing hydraulic motor (swing main body drive means) 31 between a retracted position shown in FIGS. 3 and 4 and an exchange position shown in FIG. 5. The swing main body 23 is configured in a U-shape by an upper swing main body 32, a lower swing main body 33, and a connecting plate 34. That is, the upper swing main body 32 is pivotally supported on the upper part of the swing center shaft 22, the lower swing main body 33 is pivotally supported on the lower part of the swing center shaft 22, and the connecting plate 34 extends vertically to connect the upper swing main body 32 and the lower swing main body 33.

[0022] A frame 41 of the rod rotation drive means 24 for rotationally driving the unit drilling rods 9 is fixed to the upper swing body 32. Fig. 6 is an enlarged perspective view showing the main parts of the rod rotation drive means 24 of Figs. 3 and 4, Fig. 7 is a front view showing a state in which the unit drilling rod 9 is gripped by the drive roller and gripping roller of the rotation drive means 24, and Fig. 8 is a front view showing a state in which the drive roller 43 and gripping roller 45 of the rotation drive means 24 have released the grip of the unit drilling rod 9. As shown in Figs. 6 to 8, a cylindrical drive roller 43 is attached to the output shaft of the roller drive hydraulic motor 42, and this drive roller 43 comes into frictional contact with the outer circumferential surface of the unit drilling rod 9 to rotationally drive the unit drilling rod 9.

[0023] Gripping rollers 45, 45 are attached at positions opposite the drive roller 43. The gripping rollers 45, 45 are rotatably supported on a roller support plate 451, and the roller support plate 451 is connected to one end of a lever 46 by a pin 452. The lever 46 is swingably supported on the frame 41 by a pin 461, and the other end of the lever 46 is connected to a piston rod 471 of a gripping hydraulic cylinder 47. Two compression coil springs 462, 462 are inserted between the lever 46 and the roller support plate 451, and constantly urge the gripping rollers 45, 45 in a direction to grip the unit drilling rod 9. When the piston rod 471 of the gripping hydraulic cylinder 47 is advanced, the lever 46 swings clockwise, and as shown in Figures 6 and 7, the drive roller 43 and the gripping rollers 45, 45 grip the unit drilling rod 9, making it possible to rotate the unit drilling rod 9. When the piston rod 471 of the gripping hydraulic cylinder 47 is retracted, the lever 46 swings counterclockwise, and the drive roller 43 and gripping rollers 45, 45 release the grip on the unit excavation rod 9, as shown in FIG.

[0024] As shown in Figures 3 to 5, a cylindrical rod holder 25, which rotatably supports the lower end of each unit drilling rod 9, is supported on the connecting plate 34 so as to be movable in the vertical direction. A vertically extending guide plate 51 is fixed to the side of the rod holder 25, and this guide plate 51 moves vertically while being guided by the connecting plate 34 (see Figure 3). A vertically extending rod lift cylinder (fluid pressure cylinder) 26 is fixed to the lower end of the lower swing body 33 and the connecting plate 34. A bracket 52 is fixed to the lower end of the guide plate 51, and the lower end of a piston rod 61 of the rod lift cylinder 26 is connected to this bracket 52. A reed switch (piston rod position detection means) is built into the rod lift cylinder 26 to detect the movement position of the piston rod 61. Therefore, the rod holder 25, on which the unit drilling rod 9 is mounted, can be driven up and down by the rod lift cylinder 26.

[0025] Next, a brief description will be given of the operation of replacing the unit drilling rods 9 by the rod changer (RC) 20 according to the embodiment of the present invention. First, the operation of removing the unit drilling rods 9 from the rod reducer 7 of the rotary drive head 6 will be described. As shown in FIG. 1 , the wrench clamp 10 and clamp 11 used for fixing the rods and for swinging and rotating them are disposed at the lower end of the columnar leader 5. These wrench clamps 10 and clamps 11 are used to clamp the unit drilling rods 9 when fastening or loosening the unit drilling rods 9 to each other, or when fastening or loosening the screws between the rod reducer 7 and the unit drilling rods 9, or to swing and rotate the unit drilling rods 9 for screw connection, etc. Details of the screw connection and disconnection between the rod reducer 7 and the unit drilling rods 9, and between the unit drilling rods 9 and the unit rods will be described later.

[0026] [Replacing the unit drilling rod 9 of the rod changer 20] Next, the unit drilling rod 9 replacement operation of the rod changer 20 according to the embodiment of the present invention will be further described. First, the operation of removing or attaching a unit drilling rod 9 from the rod reducer 7 of the rotary drive head 6 will be described. As described above, the wrench clamp 10 and clamp 11 described above are disposed at the lower end of the columnar leader 5. As will be described later, these two clamps 10 and wrench 11 are used to clamp the unit drilling rods 9 when connecting (threading) or disconnecting (threading) the unit drilling rods 9 to each other. After clamping the second-highest unit drilling rod 9 of the multiple unit drilling rods 9 connected to the rod reducer 7 with this clamp 11, by rotating the rod reducer 7 counterclockwise as viewed from above and moving the drilling head 6 upward, the first-highest unit drilling rod 9 will be separated from the second-highest unit drilling rod 9.

[0027] Next, the swing hydraulic motor 31 is driven to swing the swing body 32 from the retracted position in FIG. 1 to the replacement position in FIG. 5 around the swing central axis 22. At this time, the piston rod 471 of the gripping hydraulic cylinder 47 is in the retracted position, and as shown in FIG. 6, the drive roller 43 and gripping rollers 45, 45 have released their grip on the unit drilling rod 9. Next, at the position shown in FIG. 7, the piston rod 471 of the gripping hydraulic cylinder 47 is extended, and the drive roller 43 and gripping rollers 45, 45 grip the unit drilling rod 9. Next, the roller drive hydraulic motor 42 is started, and the drive roller 43 is rotated counterclockwise as viewed from above in FIG. 7, which causes the unit drilling rod 9 to rotate clockwise as viewed from above, and the male thread (left-handed thread) 141 of the unit drilling rod 9 begins to loosen relative to the rod reducer 7.

[0028] The angle (angle β in FIG. 5 ) formed by the axis of the drive roller 43 and the axis of the unit drilling rod 9 (axis of the rod reducer 7) is set to the lead angle of the male thread 141 formed on the unit drilling rod 9. Therefore, a downward biasing force acts on the unit drilling rod 9 from 43, and even after the male thread 141 is disengaged from the rod reducer 7, the drive roller 43 is rotated, causing the unit drilling rod 9 to move downward while rotating clockwise as viewed from above. As can be understood from this explanation, the rod rotation drive means 24 of the rod changer 20 can rotate the unit drilling rod 9 to remove or screw in the unit drilling rod 9 from the rod reducer 7. In other words, the provision of the rod rotation drive means 24 allows the unit drilling rod 9 to be attached and detached without using the rotation drive of the rotation drive head 6 or the wrench clamp 10.

[0029] [Layout of main sensors on Drilling Machine 1] The drilling machine 1 is equipped with various sensors, and the operation control device controls drilling operations and the like based on data from these sensors. Below, we will explain the arrangement of sensors and control devices directly related to the operation control device for a drilling machine of the present invention, the content of the detected data, and an overview of the control. As shown in Figure 1, a drilling machine control device 71 is mounted on the rear of the drilling machine 1. The drilling machine control device 71 is used to control the operation of the drilling machine 1, such as drilling, as will be described in detail below. A drilling machine operation panel 72 is mounted near the driver's seat 4. The drilling machine operation panel 72 is equipped with a keyboard, display, etc., and is an input / output device that issues commands to the drilling machine control device 71. A sensor measurement management device 73, located on the side of the drilling machine control device 71, aggregates data from each sensor, performs data conversion, etc., and passes the data to the drilling machine control device 71.

[0030] The drilling water flow meter 74, located at the rear of the drilling machine 1, detects the water flow rate delivered by the water pump (not shown) during drilling. The water pressure sensor 75 simultaneously detects the water pressure. For example, if the drilled hole is clogged with drilling debris and unable to drain smoothly, the water flow rate decreases and the water pressure increases, indicating that drilling is not proceeding normally. The rotary torque pressure sensor 56 detects the hydraulic pressure supplied to the hydraulic motor that drives the spindle of the rotary drive head 6. The rotary torque pressure sensor 76 is located in the hydraulic piping of the hydraulic motor (not shown) and detects the torque driving the spindle of the rotary drive head 6. The feed down pressure sensor 76 is located in the piping of the hydraulic cylinder that moves the rotary drive head 6 up and down and detects the pressure in the cylinder chamber when the rotary drive head 6 descends (drilling). This can indirectly detect drilling abnormalities such as a stuck drilling rod or clogged drilling debris. The feed upward pressure sensor 78 detects the pressure in the cylinder chamber when the rotary drive head 6 rises. Therefore, the feed downward pressure sensor 77 and the feed upward pressure sensor 78 detect abnormalities such as drilling and retraction of the rotary drive head 6.

[0031] As shown in Figure 1, a linear encoder 79 is located on top of the reader 5. The linear encoder 79 is a sensor that can detect linear position and detects the vertical position of the rotary drive head 6. The spindle rotation sensor 80 is a proximity sensor that detects the rotation of the spindle of the rotary drive head 6 and detects the rotation speed of the spindle. Figure 9 is a block diagram showing an overview of the relationship between the sensors and control devices of the drilling machine 1. Each of the sensors mentioned above, except for the drilling water flow meter 74 that supplies water required for drilling, is connected to the sensor measurement management device 73. The touch panel 731 is an input / output device for setting up the sensor measurement management device 73, etc. Information from each sensor can be individually retrieved and used when necessary for geological evaluation, etc. The drilling machine control device 71 controls the drilling of the drilling machine 1 based on the information from these sensors.

[0032] [Sensor and control device overview] Figure 9 is a block diagram showing an overview of the relationship between the drilling machine's sensors and control devices. Each of the sensors mentioned above, except for data from the drilling water flow meter 74, is connected to the sensor measurement management device 73 via an interface. Data detected by each sensor is collected in the sensor measurement management device 73, and the drilling machine control device 71 obtains the data necessary to control the drilling machine 1 from the sensor measurement management device 73. The drilling machine control device 71 controls the drilling machine 1 based on preset values ​​and information from each sensor to perform automatic drilling, which will be described later.

[0033] [Automatic drilling data settings] Before the drilling machine 1 performs automatic drilling while detecting with the above sensors, the necessary settings for the drilling conditions are entered in advance in the drilling machine control device 71 from the drilling machine operation panel 72. The settings to be controlled when performing automatic drilling include the flow rate of drilling water (set value ≧ water flow rate ≧ set value), the water supply pressure for sending drilling water (water supply pressure ≧ set), the forward rotation pressure which is the hydraulic pressure that drives the spindle of the rotary drive head 6 (forward rotation pressure ≧ set), the rotation speed which detects the rotation speed of the spindle (rotation speed < set), the descent speed of the drive head 6 driven by the hydraulic cylinder (descent speed ≦ set), the feed pressure increase side of the drive head 6 (feed pressure increase side ≧ set), and the number of flushes which are the retraction operation of the drive head 6 performed when a drilling abnormality occurs (number of flushes ≧ set), etc., which are necessary settings which are entered in advance in the control device.

[0034] The flow rate of drilling water is detected by the drilling water flow rate sensor 74, and the water supply pressure sensor 75 detects the water supply pressure; unless the water supply rate is within a certain value and the water supply pressure is below a certain value, damage to the drilling bit and other parts may occur, or mud may not be discharged smoothly. These set values ​​are set by the operator or other personnel based on experimental values, empirical values, past data, etc. Similarly, the torque driving the spindle of the rotary drive head 6 is detected by the rotary torque pressure sensor 76, and this value is set as "forward rotation pressure ≧ set value."

[0035] Furthermore, the rotation speed of the spindle of the rotary drive head 6 is detected by the spindle rotation sensor 80, and this value is set as "rotation speed < setting." Furthermore, the drilling speed of the spindle of the rotary drive head 6 is detected by the linear encoder 79, and this value is set as "lowering speed ≦ setting." The above setting values ​​are one example, and other settings necessary for automatic drilling may be made as long as they can be detected by the above-mentioned sensor, such as the number of flushing times that the rotary drive head 6 is temporarily raised to discharge machining debris with machining fluid. The above setting values ​​are one example, and other settings may be made as long as they can be detected by the above-mentioned sensor.

[0036] [Control flow of automatic drilling for drilling machine 1] 10 to 12 are flow charts showing an example of control of automatic drilling by the drilling machine control device 71 when the drilling machine 1 performs automatic drilling while detecting using the above-mentioned sensors. To start automatic drilling using the drilling machine 1, an automatic drilling command is issued by pressing "Auto Start / Resume PB" on the drilling machine operation panel 72 (S1). When the start command is issued, the conditions (state) of the drilling machine 1 that allow automatic drilling, such as whether the rod is clamped, are confirmed, and the spindle of the rotary drive head 6 (hereinafter referred to as "head") is rotated and downwardly fed to perform drilling (S2).

[0037] When drilling begins, the water supply flow rate abnormality timer is started, and data from the drilling water flow meter 74 is acquired to determine whether the flow rate of drilling water for drilling is optimal. Based on this acquired data, it is determined whether "set value ≧ water supply rate ≧ setting" (S4). If the water supply rate is outside the set value, it is considered an abnormal value, and after checking whether the rod is clamped, etc., if it is possible to continue, the process returns to the original step (S5-S6). If the abnormality is still not resolved, the process proceeds to flow "3" (Figure 12). If there is no abnormality in the water supply flow rate, the "water supply flow rate abnormality timer" is reset (S7). Next, if the water supply flow rate is within the appropriate range, the water supply pressure abnormality timer is started, and the water supply pressure is determined (S8-S9). If there is an abnormality, the same abnormality processing as above is performed, and if it is possible to continue, the process returns to the original step (S10-S11). If the abnormality is still not resolved, the process proceeds to flow "3" (Figure 12). If there is no abnormality in the water supply pressure, the "water supply pressure abnormality timer" is reset (S12).

[0038] Next, the forward rolling pressure abnormality timer is started to determine whether "forward rolling pressure ≥ setting," which refers to the value of the spindle torque of the rotary drive head 6 (S13-S14). If the spindle torque is abnormal, it may be because, for example, the rod is fixed with a wrench chuck, and this is detected, confirmed, and processed in the same manner as above. If it is confirmed and it is possible to continue, the process returns to the original step (S14); if it is not possible to continue, the process moves to the next flow step "3" (Figure 12). If there is no abnormality in the forward rolling pressure, which is the torque of the spindle, the "forward rolling pressure abnormality timer" is reset (S17). Next, the process moves to operation "2" in Figure 11, and before detecting the rotation speed of the spindle of the rotary head 6, the "rotation speed abnormality timer" is started to operate (S18). The spindle rotation speed is judged to be "rotation speed < setting" (S19), and if it exceeds the setting, similar to the processing of water supply volume and water supply pressure described above, it detects and confirms whether the rod is fixed with the wrench chuck, etc., and if it is not possible to continue, it returns to the original state, and if it is possible to continue, it moves to the next flow step "3" (Fig. 12). If there is no abnormality in the spindle rotation speed, the "rotation speed abnormality timer" is reset (S22), and the operation of the "descent speed abnormality timer" of the rotating head 6 is started (S23).

[0039] Next, the descent speed of the head 6, i.e., the drilling speed, is checked to see if it is "descent speed ≦ setting" (S24). If it exceeds the set value, similar to the processing of the water supply rate, water supply pressure, forward rolling pressure, and rotation speed described above, the system checks for any abnormalities such as wrench malfunctions (S25-S26). If this value is normal, the "descent speed abnormality timer," which indicates the descent speed of the head 6, is reset (S27), the head 6 is stopped at a predetermined stop position, and it is checked whether it is at the set stop position (S28-S29). Then, as the drilling progresses, if the head descent position is normal and "head position = 0," which means the head's lowest position, the next operation, such as extending the rod, is performed (S29-S30). In other words, if the system proceeds to this step, drilling of the length of one unit drilling rod 9 has been completed successfully. If the head 6 is not at the set position, the system starts over. If automatic drilling cannot continue, the system performs the flushing operation shown in Figure 12. "Rise ≧ setting", "forward rotation pressure ≧ setting" which is the rotation torque of the spindle of the head 6, "rotation speed < setting", "flow rate of drilling water ≧ setting"

[0040] [Flushing operation] Figure 12 is a flow diagram showing the flushing operation of the drilling machine 1. When the water supply flow rate (S4), water supply pressure (S9), forward rolling pressure (S14), rotation speed (S19), or descent speed (S24) described in the flow diagrams of Figures 10 and 11 are abnormal and the drilling machine 1 cannot continue, it is possible that there is a problem with the drilling of the ground, not with the drilling machine 1. In this case, drilling is temporarily stopped, and the head 6 is raised (S40-S41 in Figure 12). At this time, the following conditions are confirmed: "Feed pressure increase ≧ set" (the pressure increase of the head 6); "Feed pressure increase ≧ set" (the pressure increase of the head 6); "Forward rolling pressure ≧ set" (the rotation torque of the head 6 spindle); "Rotation speed < set" (the rotation speed); "Set value ≧ water supply rate ≧ set" (the flow rate of drilling water); and "Water supply pressure > set" (the pressure of the drilling water supply). (S42-S46)

[0041] If "feed pressure rise ≧ set," "forward rolling pressure ≧ set," "rotation speed < set," "set value ≧ water supply rate ≧ set," and "water supply pressure > set" are not met, the head 6 is raised by the set value L, and then the head 6 is lowered and flushing is performed a predetermined number of times (S48, S53). If "feed pressure rise ≧ set," "forward rolling pressure ≧ set," "rotation speed < set," "set value ≧ water supply rate ≧ set," and "water supply pressure > set" are all within the set values ​​within the set time, automatic drilling is resumed (S31-S32). According to the drilling machine control device 71 of the present invention, if there is a possibility of a drilling problem in the ground, drilling can be temporarily stopped, the feed pressure rise, etc., measured, flushing automatically performed, and automatic drilling can be resumed. This allows for stable drilling data to be obtained regardless of the ground condition.

[0042] [Rod connection and drilling operation of drilling machine 1] Next, detailed operations will be described for threading and removing (removing) the unit drilling rod 9 between the drilling machine 1 and the rod changer 20. Figure 13 is a position explanatory diagram that explains the operating position for connecting the rod of the drilling machine 1 described above. It is an explanatory diagram that shows the positions of the head 6 and rod changer 20 when connecting the rod while the drilling machine 1 is drilling and removing the rod after drilling is completed. The capital letters in each position indicate the vertical position of the head 6, and the lowercase letters indicate the vertical position of the rod changer (RC) 20. In other words, the respective stop positions of the rotary drive head 6 mean "Position 0: Lower limit position (lower limit of the rotary drive head 6) of feed (up and down feed of the head 6)", "Position A: Position to lift the rod (for example, set value 1.5 m)", "Position C: Position to complete thread cutting (separation of rod & rod)", "Position C: Feed lowering position after thread cutting (for clamping)", "Position D: Upper limit position of feed", "Position E: Position to determine whether RC is used", "Position F: Position to complete thread cutting (rod reducer & rod)", and "Position B: Position to complete thread joining (rod & rod)".

[0043] The stop positions of the rod changer (RC) 20 are "position a: RC lower limit position", "position b: RC turning position and thread cutting end position", and "position c: RC upper limit position". I. Sequence of operation of supplying unit drilling rod 9 during automatic drilling Below, we will explain the procedure for automatically extending and connecting a new unit drilling rod 9 using the rod changer (RC) 20 when the head 6 reaches the lowest position (position 0) during automatic drilling. Figures 14 to 17 are exploded views that explain the sequence operations when loading a unit drilling rod. The drilling machine 1 performs drilling, and the rotary drive head 6 is positioned downward at "position: 0". The drilling machine 1 detects this and stops the rotation of the spindle of the rotary drive head 6, and then performs the operations [1] to [5] shown in Figure 14.

[0044] [Preparation for rod connection using RC20] (See Figure 14 and Table 1) Figure 14 is an exploded operational diagram that breaks down the sequence operations of the drilling machine 1 and RC20. Table 1 below explains this sequence operation. When the head 6 reaches the set lowered position ("position: 0") during automatic drilling, in order to load the next unit drilling rod 9, the drilling machine 1 must be prepared to load the unit drilling rod 9. The operations shown in Table 1 are preparatory operations for this purpose. [Table 1]

[0045] When the sequence operations shown in Table 1 above are completed, the drilling machine 1 enters a state of waiting for connection of a unit drilling rod 9 from the RC 20. [Loading of unit drilling rod 9 into drilling machine 1 by RC20] (See Figure 15 and Table 2) Next, after confirming the position D of the head 6, the RC 20 performs the sequence operation shown in Table 2 below. Figure 15 is an exploded operational diagram illustrating the sequence operation of the drilling machine 1 and the RC 20. [Table 2]

[0046] As described above, by the supplying operation of the unit drilling rod 9 by the RC 20, the center line of the unit drilling rod 9 and the center axis of the spindle of the drilling machine 1 come to coincide with each other (FIG. 16). [Connection of unit drilling rod 9 to head 6] (See Figure 16 and Table 3) The unit drilling rod 9 held by the RC 20 is loaded in a position where its axis is aligned with that of the drilling machine 1. From this state, the head 6 is rotated and lowered to perform a screw connection between the rod reducer 7 and the drilling rod. [Table 3]

[0047] [Connection between rod reducer 7 and unit drilling rod 9] (Figure 17, Table 4) As described above, once the threaded connection between the rod reducer 7 and the upper part of the unit drilling rod 9 is completed, it is necessary to threadedly connect the lower part of the unit drilling rod 9 and the upper part of the drilling rod. [Table 4]

[0048] [Continuation of automatic drilling after connecting unit drilling rod 9] (Figure 18, Table 5) After the sequence operations described in Figure 17 and Table 4, the drilling machine 1 resumes the first automatic drilling in the procedure shown in Figure 18 and Table 5. This automatic drilling is controlled and monitored according to the flow shown in Figures 10 to 12, including the control of the drilling, the amount of water supplied, the water pressure, the torque of the spindle, etc. [Table 5]

[0049] The above explanation was about drilling a hole by adding unit drilling rods 9. In what follows, when drilling to the planned depth is completed, it is necessary to pull up the drilling rod and retrieve the unit drilling rods 9. Below, we will explain the sequence operation for sequentially retrieving the unit drilling rods 9 using the drilling machine 1 and RC20.

[0050] II. Sequence operation of retrieving (removing) the unit drilling rod after automatic drilling is completed [Removing the drilling rod and threading (loosening) the rod reducer 7] Figures 19-1 to 19-2 and Table 6 explain the disassembly operation after automatic drilling is completed, up to the point just before the unit drilling rod 9 is retrieved by the RC20. Once automatic drilling is complete, threading must be performed between the drilling rod and the rod reducer 7 that is threadedly connected to it. The threaded connection between these two is tightly fastened by the drilling torque of the rotary drive head 6, so it must be loosened with the wrench chuck 10 before threading with the rotary drive head 6. Figures 19-1 to 19-2 and Table 6 explain this procedure ([1] to

[10] ).

[0051] [Table 6] TIFF2025127302000008.tif166169By following the procedures shown in Table 6 and Figures 19-1 to 19-2, the unit drilling rod 9 of the drilling machine 1 is ready to be retrieved by the RC20.

[0052] Figure 20 and Table 7 show an explanation of the disassembly operation in which the unit drilling rod 9 of the drilling machine 1 after drilling is completed is retrieved by the RC 20. The rod rotation drive means 24 of the RC 20 swings toward the drilling machine 1 and grasps the unit drilling rod 9 (see Figures 5 to 8). [Table 7]

[0053] Table 8 and Figure 21 show the procedure ([1] to [6]) for retrieving a unit drilling rod 9 from the drilling machine 1 by the RC 20, and then the drilling machine 1 proceeds to retrieve the next unit drilling rod 9. The unit drilling rods 9 are retrieved using the same procedure until the number of rods used has been retrieved. [Table 8]

[0054] III. Quick manual for automatic driving (subroutine settings) The drilling machine 1 controls and monitors the drilling operation, as well as the water supply rate, water pressure, and spindle torque, according to the flow charts shown in Figures 10 to 12. However, for some reason, the drilling machine 1 may detect an abnormality during automatic drilling and stop. After detecting the abnormality and correcting it through flushing or an operator, automatic drilling must be resumed. In this case, the position of the sequence operation for resuming automatic drilling differs depending on the state of the drilling machine 1. Starting the sequence operation from a pre-prepared operation position rather than resuming it from the beginning can prevent time loss while returning to automatic operation. In this embodiment, six subroutines are prepared for the aforementioned automatic operation, such as replenishing and retrieving the unit drilling rods 9. The operator determines the state of the drilling machine 1 and selects one of these to resume automatic drilling.

[0055] [Preparation before loading unit drilling rod 9] 1. Subroutine (1) [Preparation for rod connection using RC20] In order to load (replenish) unit drilling rods 9 during automatic drilling, subroutine (1) [preparation for rod connection by RC 20] is performed. That is, this subroutine (1) is substantially the same as the operation described in Table 1 (preparation operation before loading the rod) and Figure 14. The start position of this subroutine (1) is [1] in Table 1 and [1] in Figure 14, and the end position is [5] in Table 1 and [5] in Figure 14.

[0056] 2. Subroutine (2) [Loading of unit drilling rod 9 into drilling machine 1 by RC 20] In order to load (replenish) unit drilling rods 9 during automatic drilling, subroutine (2) [loading of unit drilling rods 9 into drilling machine 1 by RC20] is performed. That is, subroutine (2) is substantially the same as the continuous operations shown in Table 2 (loading of rods by RC20) and Table 3 (connection of rods), as well as Figures 15 and 16. The start position of this subroutine (2) is [1] in Table 2 and [1] in Figure 15, and the end position is [4] in Table 3 and [4] in Figure 16.

[0057] 3. Subroutine (3) [Connection between unit drilling rods 9] In order to load (replenish) unit drilling rods 9 during automatic drilling, subroutine (3) [connecting unit drilling rods 9 to unit drilling rods 9] is performed. This subroutine (3) is essentially the same as the operation described in Table 4 (preparatory operation before loading the rod) and Figure 17. The start position of this subroutine (3) is [1] in Table 4 and [1] in Figure 17, and the end position is [4] in Table 4 and [4] in Figure 17.

[0058] 4. Subroutine (4) [Rod removal after drilling (standby)] In order to load (replenish) the unit drilling rods 9 during automatic drilling, subroutine (4) [Rod removal after drilling (standby)] is performed. This subroutine (4) is essentially the same as the operation described in Table 6 (Rod removal after drilling (standby)) and Figures 19-1 and 19-2. The start position of this subroutine (4) is [1] in Table 6 and [1] in Figure 19, and the end position is

[10] in Table 6 and

[10] in Figure 19-2.

[0059] 5. Subroutine (5) [Waiting for rod removal by RC] In order to load (replenish) unit drilling rods 9 during automatic drilling, subroutine (5) [Rod removal by RC] is performed. That is, subroutine (5) is essentially the same as the continuous operation shown in Table 7 (Rod removal and pile core waiting) and Figures 20 and 21. The start position of this subroutine (5) is [1] in Table 7 and [1] in Figure 20, and the end position is [4] in Table 8 and [4] in Figure 21.

[0060] [Preparation before loading the rod] The subroutines (1) to (5) described above are all "preparatory operations before loading the rod" and are operations for loading the rod during automatic drilling. The automatic operation of the drilling machine 1 also automatically removes the tube to retrieve the rod. The subroutine (6) described below is a subroutine prepared for this purpose. 6. Subroutine (6) [Rod extubation by RC] After the automatic drilling is completed, the unit drilling rod 9 is withdrawn (removed) during the tube removal. Subroutine (6) [Rod removal by RC] shown in Table 14 below is a subroutine for withdrawing (removing) the unit drilling rod 9. In other words, subroutine (6) is essentially the same operation as the continuous operation shown in Table 8 (Rod removal by RC) and Figure 21 [5] to [6]. The operation start position of this subroutine (6) is [1] in Table 8 and [5] in Figure 21, and the end position is [4] in Table 8 and [6] in Figure 21. [Explanation of symbols]

[0061] 1...Drilling machine 2... Caterpillar 3...Body 4...Driver's cab 5...Leader 6...Rotary drive head (head) 7...Rotary output shaft (rod reducer) 9...Unit drilling rod 10...Wrench clamp 11...Clamp 12...Piston rod 13...Cylinder mechanism 15...Single pipe guiding mechanism 20...Rod changer (RC) 23...Oscillating body 24...Rotation drive means 25...Rod holder 26...Rod lifting cylinder 34...Connection plate 42...Hydraulic motor for driving rollers 43...Drive roller 45...Gripping roller 46...Lever 47...Hydraulic cylinder for gripping 52...Bracket 71...Drilling machine control device 72…Drilling machine operation panel 73...Sensor measurement management device 74…Drilling water flow meter 75...Water pressure sensor 76...Rotational torque pressure sensor 77...Feed down pressure sensor 78...Feed rising pressure sensor 79...Linear encoder 80...Spindle rotation sensor

Claims

1. A leader (5) that is erected on the ground during operation; a head (6) that is driven to move reciprocally on the leader (5) and has a driving means for rotating the spindle; The upper part of the single pipe, which has a drilling bit at the bottom for drilling, is held by the drilling rod (9) held by the head (6). In a drilling machine (1) comprising: The operation control device (71) of the drilling machine (1) measures and controls in real time, while the drilling machine (1) is in the automatic drilling mode and reaches the target drilling depth, one or more selected from the flow rate of the drilling water to be fed to the vicinity of the drill bit, the water supply pressure of the drilling water, the rotational drive torque of the drive means, the rotational speed of the drilling rod (9), and the feed descent speed, which is the descent speed of the head (6) that feeds the head (6) downward on the leader (5), so that they fall within a preset numerical value. An operation control device for a drilling machine characterized by the above.

2. 2. The operation control device for a drilling machine according to claim 1, The operation control device (71) of the drilling machine (1) judges an abnormality in the drilling based on whether or not one or more selected from the water supply amount, the water supply pressure, the rotation drive torque, the rotation speed, and the feed lowering speed are within a preset range during the period from the drilling start position to the feed lower limit position in the automatic drilling mode. An operation control device for a drilling machine characterized by the above.

3. 3. The operation control device for a drilling machine according to claim 2, When one or more selected abnormalities occur, the abnormality determination starts an abnormality timer, and recovery from the abnormality determination is performed by a preset flushing operation in which the head feed is stopped, raised, and lowered, and if the abnormality is not resolved even by the flushing operation, the drilling machine is stopped. An operation control device for a drilling machine characterized by the above.

4. 3. The operation control device for a drilling machine according to claim 2, The abnormality determination includes starting an abnormality timer when the one or more selected abnormalities occur, One or more selected from the feed pressure increase of the head, the forward rolling pressure of the drive means, the rotation speed of the drilling rod, the amount of water supplied by the drilling water, and the water supply pressure of the drilling water are measured and controlled in real time so as to reach a preset value; The abnormality is recovered by flushing, which is a preset operation of stopping, raising, and lowering the head feed, and if the abnormality is not resolved even by flushing, the drilling machine is stopped. An operation control device for a drilling machine characterized by the above.

5. 5. The operation control device for a drilling machine according to claim 3 or 4, The drilling machine (1) is equipped with a rod changer that performs three types of operations when attaching the unit drilling rods (9) constituting the single pipe to the head (6) during automatic drilling: a rod filling operation, a screw jointing operation, and a thread cutting operation, and that performs three types of operations when removing the pipe to take out the unit drilling rods (9): a screw cutting operation, a rod removal operation, and a screw jointing operation. An operation control device for a drilling machine characterized by the above.

6. 6. The operation control device for a drilling machine according to claim 5, A subroutine prepared in advance to stop automatic drilling or extubation when normal drilling is not restored in the abnormality determination process and to restore automatic drilling or extubation after the abnormality is eliminated is: Three types of operations during the automatic drilling include a preparatory operation before loading a rod (1), loading the unit drilling rod by the rod changer (2), and connecting the unit drilling rod (3); and There are three types of operations when removing the unit drilling rod (9): waiting before the rod removal operation (4), the rod removal operation by swinging the head from the drilling machine (1) using the rod changer (5), and threading by rotating the head (6). An operation control device for a drilling machine characterized by the above.

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