Boom positioning apparatus for rock drill

Claim 1

A boom positioning apparatus for a rock drill, comprising: a boom means which has a drilling apparatus mounted thereon; an input means which determines, as set values expressed in a rectangular coordinate system, positions and directions of a number of drilling points formed on a drilling plane disposed immediately in front of a facing, a working area of said boom means being divided into a plurality of blocks such that the drilling points are, respectively, alloted to the blocks, said blocks being assigned block numbers; a compensating means which adds compensation values to change the set values into compensated set values respectively such that actual drilling positions are located at normal positions of the drilling points, respectively, said compensating means receiving the set values of the drilling points from said input means and inputting the compensated set values back into said input means, said compensating means further receiving from said input means the block numbers corresponding respectively to the set values; a memory means for storing the compensation values for the set values allotted to the blocks respectively such that said compensating means calls from said memory means the compensation values for the blocks, on the basis of the block numbers, corresponding to the set values inputted to said compensating means respectively; positioning servo control means for displacing said boom means in accordance with the compensated set values from said input means; a feedback means which detects displacement amounts of said boom means so as to feed back to said positioning servo control means signals indicative of the displacement amounts of said boom means respectively; and a control device for controlling said drilling apparatus, which actuates said drilling apparatus in response to signals from said positioning servo control means.