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【原文】 Autonomous drilling robot for landslide monitoring and consolidation【译文】 为山崩监听和巩固的自治演练机械手【原文】Abstract【译文】摘要【原文】The paper proposes a new highly automated drilling system able to create holes up to 20 m depth in rocky walls using standard 1.5 m lengthrods.【译文】报纸计画一新的高度地自动化了聪明产生使用标准 1.5 m lengthrods 的岩石墙壁的达到 20 m 深度的洞尖锐的系统。【原文】 The drilling system, to be used to automate rocky walls consolidation, has to be positioned in the points of the map earlier defined by the geologist;【译文】 尖锐的系统, 用来自动化不稳的墙壁巩固,必须被放置在早地被地质学者定义的地图点中;【原文】 for this reason it is hosted onto a semiautonomous climbing platform, with rods stored on-board.【译文】 因为它在一个 semiautonomous 攀登月台之上被主办的这一个理由, 与竿储存在-之上董事会。【原文】 An automatic system is also required to【译文】 一个自动的系统也被需要到【原文】feed the drilling head with new rods while the hole progresses and to recover the rods once the hole is up.【译文】当洞促进的时候，用新的竿喂尖锐的头和复原竿一经洞是增加。【原文】 The drilling system mainly consists of:【译文】 尖锐的系统主要地有 :【原文】 a【译文】 一【原文】commercial drilling rig with the requested modifications for the interfacing to an automatic feeding system;【译文】为对一个自动的饲养系统的那个接口的和被请求的修正商业的演练装备;【原文】 a manipulator (endowed with a【译文】 一个操作者 ( 捐赠由于一【原文】suitable gripper) for the loading/unloading of the rods;【译文】适当的夹子)对于载入/竿的卸货;【原文】 a storage buffer for allocating the rods.【译文】 分派竿的一个储藏缓冲。【原文】 In the paper, the alternatives considered for the【译文】 在报纸中，替代选择考虑为那【原文】design of the whole drilling system are shortly recalled, explaining the guidelines which led to the final architecture, as well.【译文】整个的尖锐系统的设计不久被取消,解释导致最后的建筑学的指导方针,也。【原文】?【译文】?【原文】 2006【译文】 2006【原文】 Elsevier B.V.【译文】 Elsevier B.V.【原文】 All rights reserved.【译文】 版权所有。【原文】1.【译文】1.【原文】 Introduction【译文】 介绍【原文】Worldwide landslides are one of the major types of natural hazards killing or injuring a large number of individuals and creating very high costs every year.【译文】全世界的山崩是主要类型的天然危险之一杀害或伤害很多的个体而且创造非常高的每年花费。【原文】 There are innumerable small tomedium-sizeslope failures that cumulatively impose costs to society as great or greater than the occasional catastrophic【译文】有累积地超过偶然人强加对社会的费用如很棒的或更棒的无数小 tomedium- sizeslope 的失败悲惨的【原文】landslides that draw so much attention.【译文】引起这么多注意的山崩。【原文】 Due to the high costs of the actual intervention and remediation methodologies, very time consuming and labour intensive, minimum landslide prevention is carried out and remediation is always a long and expensive process.【译文】 由于真实的干涉高费用和再调停方法学, 非常耗费时间的而且劳动强烈又最小的山崩预防被实行而且再调停总是一个长的和贵程序。【原文】 This work today is performed in different ways distinguishing two cases:【译文】 这一个工作今天被运行在不同的方面有区别的二个情形:【原文】 first, the area to consolidate is little and, second, the area to consolidate is large.【译文】 首先，联合的区域很小和,秒,联合的区域是大的。【原文】In the first case, the area is traditionally approached by skilled rappelling operators who set up fixed wire nets using holes drilled manually.【译文】在第一个情形中，区域传统地被熟练的用绳索下口建立固定的电线使用用手被训练的洞网操作员接近。【原文】 An alternative solution is the use of vehicles with articulated arms carrying a drilling unit on the top:【译文】 其它可能的解决是有以关节连接的双臂车辆的使用携带在顶端上的一个尖锐的单位:【原文】 this solution is applicable only when wide approach areas are available and consolidating/monitoring work is within 50 m height.【译文】只有当广阔地方式区域是可得的时候，这解决是可适用，而且联合/ 监听工作是在 50 m 高度里面。【原文】 Both these solutions are cost-effective only for targeted interventions (rock blocks, etc.) and the consolidation operations are performed manually.【译文】 两者的这些解决是有成本效益的只有因为对准干涉 ( 岩石区段,等等) 和巩固行动用手被运行。【原文】 In the second case, the dimension of the operation area and【译文】 在第二个情形，操作区域的尺寸中和【原文】the high number of holes require scaffolds to be placed on the wall.【译文】洞的高数字需要脚手架被放置在墙壁上。【原文】 This solution is highly expensive, time consuming and【译文】 这解决高度贵, 耗费时间和【原文】labour intensive, involving a lot of man-power exposed to highly【译文】强烈的劳工,包括许多男人- 力量暴露到高度地【原文】dangerous tasks for low-added value operations.【译文】为低附加价值操作的危险工作。【原文】 Furthermore,【译文】 此外,【原文】scaffolds hinder and prevent prompt recovery as well as limit the【译文】后面的并且避免迅速的恢复和限制的脚手架那【原文】number of intervention per unit of time, with direct social and【译文】时间的每单位干涉的数字, 由于直接的社会和【原文】economic impacts.【译文】经济的冲击。【原文】The topic has growing environmental concern, which aims at【译文】主题已经增加环境的关心,这瞄准【原文】the replacement of human operators in the consolidation【译文】巩固的人类操作员的替换【原文】workspace.【译文】工作空间。【原文】 This workspace is characterised by risky and【译文】 这一个工作空间是表示被的特色危险的和【原文】unhealthy conditions, such as falling down, presence of dust,【译文】像跌倒,灰尘的出现这样的不健康的情况,【原文】striking of crashed stones, and the likes.【译文】撞碎的石头 , 和同类的打击。【原文】 In addition, another【译文】 除此之外,另外一【原文】concern is to fully monitor the work-cycle to provide remote【译文】关心是完全检测工作- 周期提供遥远的【原文】evidence whether tasks are performed correctly and to collect【译文】证据是否工作正确地被运行和收集【原文】relevant data (basic geology, on-duty remarks, etc.), supplying【译文】有关的数据 ( 基本地质学,在-之上责任评论,等等),供应【原文】on-line assessment of the achieved issues.【译文】被达成的议题在线评估。【原文】The technology proposed in the paper really helps in fast【译文】在报纸中被计划的技术真的在斋戒中帮助【原文】remediation and prevention of landslides.【译文】再调停和山崩的预防。【原文】 This new technology【译文】 这新的技术【原文】enables:【译文】准许:【原文】 .【译文】 。【原文】deep drilling for slope consolidation or landslide【译文】为倾斜巩固或山崩的深演练【原文】remediation at lower cost than today;【译文】超过今天的在较低的费用再调停;【原文】 .【译文】 。【原文】setup of drainage【译文】排水的装备【原文】elements reducing groundwater penetration into slippery layers【译文】元素减少地下水渗透进光滑的层之内【原文】(such as clay layers), in limited time and at lower costs than【译文】( 像是泥土层), 在有限制的时间中和在较低的费用超过【原文】today;【译文】今天;【原文】 .【译文】 。【原文】fast and repeatable analysis of soil instability to prevent【译文】土壤不安定的快速和可重复分析避免【原文】landslides.【译文】山崩。【原文】As a contribution in the development of this technology, an【译文】如这一种技术的发展一个贡献,一【原文】innovative robotic system, named Roboclimber, was developed【译文】创新的机器人的系统,命名了 Roboclimber,被发展【原文】to this purpose, with the capabilities to move on irregular rocky【译文】到这一个目的, 藉由能力继续不规则的岩石【原文】walls 14 and to perform automatic drilling and slope stability【译文】墙壁 1 4 和运行自动机械演练和倾斜安定【原文】remediation 5.【译文】再调停 5.【原文】The Roboclimber system has the following advantages:【译文】Roboclimber 系统有下列的利益:【原文】reduction of the operating costs both in case of slope【译文】操作费用的减少两者都假使倾斜【原文】consolidation and (much more) in case of monitoring and【译文】巩固和 (更多) 假使监听和【原文】small interventions;【译文】小的干涉;【原文】 improvement of the overall efficiency by【译文】 全部效率的进步被【原文】reducing time consuming operations;【译文】减少耗费时间的操作;【原文】 improvement of safety of【译文】 安全的进步【原文】the operators thanks to the remote control of the system,【译文】对系统的遥远控制的操作员谢谢,【原文】avoiding accidents related to operating at high heights on【译文】避免被讲到以高的高度操作的意外事件在【原文】scaffolds.【译文】脚手架。【原文】Furthermore, the replacement of humans with machines in【译文】此外, 和机器的人类替换在【原文】the field of consolidation presents several positive aspects;【译文】巩固的领域呈现一些积极的方面;【原文】 first【译文】 第一【原文】of all, operators are not subjected to healths danger for the【译文】所有的, 操作员是受到不的健康危险为那【原文】generated dust and vibrations and to accidents like falling down【译文】产生了灰尘和震动而且到像落下的意外事件 ?落【原文】or when rocks fall;【译文】或当岩石落下的时候;【原文】 then, tasks are performed all in the same way【译文】 然后, 工作全部同样被运行【原文】and more quickly.【译文】而且更快。【原文】2.【译文】2.【原文】 Roboclimber【译文】 Roboclimber【原文】Roboclimber is a modular robot.【译文】Roboclimber 是模组的机械手。【原文】 The main modules are【译文】 主要的组件是【原文】hereby briefly summarised 6.【译文】特此简短地概述 6.【原文】 A mobile robotic platform:【译文】一移动的机器人的月台:【原文】 robust, able to climb and work on【译文】 强健的, 聪明的攀登而且进行中【原文】irregular ground and rocky walls in harsh environment, to【译文】粗糙的环境瑕疵物地面和岩石的墙壁,到【原文】overcome obstacles, to work outdoor in presence of【译文】克服障碍, 工作户外的在【原文】vibration, dust, rain;【译文】震动，灰尘,雨;【原文】 fully remote controlled by using a【译文】 完全遥远藉由使用控制一【原文】wireless connection, moving automatically up, down and【译文】无线电连接,自动地向上移动,?落和【原文】laterally with no human intervention and always keeping in【译文】侧面地以没有人类的干涉和总是保管在【原文】statically stable equilibrium 7, 8.【译文】静止地赶入马房里平衡 7 ， 8 。【原文】 A robotized drilling system composed of:【译文】使自动化尖锐的系统一组成:【原文】 .【译文】 。【原文】an advanced【译文】一先进的【原文】automatic drilling unit capable to drill holes till 20 m in【译文】自动机械演练有能力训练洞直到 20 m 的单位进入【原文】depth, using different types of rods, automatically【译文】深度,使用竿的不同类型,自动地【原文】performing all complex operations required as screwing/【译文】当做扭紧表演必需的所有复杂的操作/【原文】unscrewing of rods and loading/unloading;【译文】竿的不扭紧而且载入/卸货;【原文】 .【译文】 。【原文】an on-board【译文】一在-之上董事会【原文】rod-warehouse able to store different types of rods;【译文】竿- 仓库聪明的储存竿的不同类型;【原文】 .【译文】 。【原文】a【译文】一【原文】robotic arm able to manipulate the rods.【译文】能够操纵竿的机器人的手臂。【原文】 A navigation system for real-time gait planning.【译文】为即时的步法计划的一航行系统。【原文】 A full remote control human interface, based on wireless【译文】一完全的遥远控制人类的接口,基于无线电【原文】connectivity and allowing an easy control of the system also【译文】连接性而且允许系统的容易控制也【原文】by a not computer-literate operator 9.【译文】藉着一不计算机- 学者的操作员 9.【原文】The paper is mainly【译文】报纸主要地【原文】concerned with the design and functionalities of the【译文】以设计和功能性有关那【原文】robotized drilling system.【译文】使自动化了尖锐的系统。【原文】3.【译文】3.【原文】 Drilling system state of the art【译文】 演练艺术的系统状态【原文】Traditionally rocky wall consolidation requires an operator【译文】传统不稳的墙壁巩固需要一个操作员【原文】to place manually the drilling rods onto the drilling machine【译文】在尖锐的机器之上用手放置尖锐的竿【原文】spindle, because none of the automatic feeding systems【译文】变细长, 因为没有一个自动的饲养系统【原文】available on the market are capable of working horizontally【译文】可得的在市场上能够水平地工作【原文】with small diameter rods.【译文】藉由小的直径竿。【原文】 Furthermore, deep drilling requires【译文】 此外，深的演练需要【原文】skilled operators as several parameters have to be monitored in【译文】如一些叁数的熟练操作员必须被检测在【原文】order to efficiently drive the machine and avoid mechanical【译文】命令有效率地驾驶机器而且避免机械的【原文】damages.【译文】损害。【原文】 Today, descriptive logs of the drilling process heavily【译文】 今天，演练的描述圆木很重地处理【原文】rely on visual observations that are subjective and prone to【译文】仰赖主观的和俯伏的视觉观察到【原文】human bias, sometimes resulting in different descriptions,【译文】人类的偏见, 有时造成不同的描述,【原文】between loggers, of the same material extracted during the【译文】在樵夫之间, 相同的材料吸取在那的时候【原文】drilling.【译文】演练。【原文】The consolidation of rocky walls and slopes is performed【译文】岩石墙壁和倾斜的巩固被运行【原文】today by deep drilling.【译文】今天藉着深演练。【原文】 Geological surveys indicate position,【译文】 地质学的调查指出位置,【原文】inclination and depth for each hole;【译文】为每个洞的倾向和深度;【原文】 holes are made by using a【译文】 洞被藉由使用挖一【原文】set of drilling rods, 12 m long, screwed to each other and【译文】尖锐竿设定,1 2 m 长的, 对彼此扭紧和【原文】inserted in the wall.【译文】在墙壁中插入。【原文】Todays industrial state of the art presents systems with very【译文】今天的艺术工业状态呈现系统非常【原文】heavy and large buffers, being addressed to fixed installations.【译文】重的和大缓冲, 被向演说到修理了安装。【原文】The buffers for mining machines from Atlas-Copco (www.【译文】为采矿的缓冲从地图以机器制造- Copco(www。【原文】), Ingersoll (), and Tamrock【译文】地图-),Ingersoll(), 和 Tamrock【原文】() may hold a limited number 610 of【译文】() 可能支撑一个有限制的数字 6 10【原文】long rods (3 m and more).【译文】渴望竿 (3 m 和更多) 。【原文】 Buffers of piling machines, e.g.【译文】 打桩机器的缓冲,举例来说【原文】from Klemm (www.klemm-bt.de), store rods with large【译文】从 Klemm(www.klemm-bt.de), 用大的储存竿【原文】diameter (76 mm minimum), 3 m in length or more, and【译文】直径 (76 毫米最小量) ，长度 3 m 或更多,和【原文】above 2000 kg mass.【译文】上述的 2000 公斤块。【原文】Some machines for directional drilling have dimensions and【译文】为方向的演练一些机器有尺寸和【原文】rod sizes comparable to the ones for rock/slopes consolidation【译文】竿按规定尺寸制作可比较的到一些对于岩石/倾斜巩固【原文】and the angular drilling range is similar, e.g. the Straightline【译文】而且有角的演练范围是相似的, 举例来说 Straightline【原文】Manufacturing () and the HolyDrilling【译文】制造业 () 和 HolyDrilling【原文】Companies (), offering machines【译文】公司 (),提供机器【原文】with buffer (storing a high number of rods) and a loading【译文】藉由缓冲 (储存一个竿的高数字) 和一个载入【原文】system.【译文】系统。【原文】 However in these machines the drilling cycle is not【译文】 然而在这些机器中尖锐的周期是不【原文】performed automatically:【译文】自动地运行:【原文】 the loading, drilling and unloading【译文】 载入,演练而且卸货【原文】sequences are piloted by an operator standing close to the【译文】序列被一个操作员领航接近地站立到那【原文】machine (and thus exposed to noise, dust, and danger).【译文】机器.( 而且如此暴露谣传,拂去灰尘, 和危险)【原文】An Atlas-Copco commercial machine closer to the needs of【译文】一本地图- Copco 商业的机器比较靠近的到需要【原文】rock/slopes consolidation is used in quarries and mines to【译文】岩石/ 倾斜巩固被用于采石场而且挖掘到【原文】realize holes for explosives.【译文】为炸药了解洞。【原文】 The rods are 3 m long.【译文】 竿是 3 m 长的。【原文】 Also in this【译文】 也在这【原文】case buffer, rod loader and drilling machines are fixed to each【译文】情形缓冲，竿载入程序和演练机器被修理到每个【原文】other.【译文】另外地。【原文】 The sequence for rod loading on the drilling spindle【译文】 为竿在尖锐的纱锭上的载入序列【原文】includes the following steps:【译文】包括下列的步骤:【原文】 the buffer rotates until one rod is【译文】 缓冲替换直到一支竿是【原文】ready in loading/unloading position;【译文】载入/卸货位置的现金;【原文】 the loader gripper picks the【译文】 载入程序夹子摘那【原文】rod and fetches it to the spindle;【译文】竿而且接来它到纱锭;【原文】 a frontal drilling yoke closes【译文】 前的演练轭结束【原文】blocking the rod which is then screwed to the spindle (detection【译文】阻断然后被扭紧到纱锭的竿 (发现【原文】by a sudden rise of the head rotation torque);【译文】被头旋转转力矩的一个突然上升);【原文】 the gripper comes【译文】 夹子受到的影响【原文】back to the buffer;【译文】对缓冲的背面;【原文】 the rod is screwed at the other side to the rods【译文】 竿在另一边被扭紧到竿【原文】battery already in the rock or, if it is the first, to the hammer;【译文】已经在岩石的电池或,如果它是第一个,到槌;【原文】 the【译文】 那【原文】frontal yoke opens and the rock drilling process starts until all【译文】前的轭公开和岩石演练程序开始直到所有的【原文】the rods have been inserted in the rock.【译文】竿已经在岩石中被插入。【原文】 This cycle is repeated till【译文】 这一个周期被重复直到【原文】the required drilling depth is achieved.【译文】必需的演练深度被达成。【原文】 All the operations are【译文】 所有的操作是【原文】hydraulically actuated.【译文】水力地促使。【原文】 The main advantages of this system are【译文】 这一个系统的主要利益是【原文】the simple (one degree of freedom) loader configuration, the【译文】简单的 (自由的一度) 载入程序结构,那【原文】reduced size of the buffer and the possibility for the operator to【译文】为操作员减少缓冲的大小和可能性到【原文】command the process from a remote console in a safe area afar【译文】由远处在一个安全的区域中命令来自遥远的控制台的程序【原文】from the system.【译文】从系统。【原文】 The main disadvantage is the limited number【译文】 主要的缺点是有限制的数字【原文】of rods.【译文】竿。【原文】The analysis of the market made clear that none of the above【译文】市场的分析清楚地表达没有一个上方【原文】solutions is good and feasible:【译文】解决很好的和能实行:【原文】 buffers for mining machines are【译文】 为采矿机器的缓冲是【原文】too long, cannot handle rods as the desired ones (1 m length and【译文】太长的, 不能够处理如被需要的一些竿 (1 m 长度和【原文】76 mm diameter), and are not efficient in the horizontal【译文】76 毫米直径), 而且在水平线方面不是有效率的【原文】position;【译文】位置;【原文】 buffers for piling machines are able to operate even【译文】 为打桩机器的缓冲能够甚至操作【原文】horizontally but are too heavy and long, manage diameters【译文】水平地但是太重的和长,处理直径【原文】higher than 76 mm, and are hardly compatible with nonproprietary【译文】更高地超过 76 毫米, 而且对非专有的感到刚刚可并立【原文】hydraulic systems.【译文】水力的系统。【原文】For these reasons a new solution has been conceived,【译文】因为新的解决已经被构思的这些理由,【原文】designed and realized.【译文】设计而且了解。【原文】 This new drilling system on-board【译文】 这新的演练系统在-之上董事会【原文】Roboclimber is able to execute the holes autonomously till a【译文】Roboclimber 能够自治地运行洞直到一【原文】given depth in a pre-programmed direction, both using downhole【译文】一个被预先规划的方向给予的深度,两者的使用 downhole【原文】hammer or bore-coring bit.【译文】槌或令人讨厌的人-结晶偏析咬。【原文】 To grant the due autonomy, it is【译文】 为了要允许适当的自治,它是【原文】necessary that all required rods are on-board and an automatic【译文】必需的那支所有的必需竿是在-之上董事会和一个自动机械【原文】system is necessary to feed the drilling head with new rods as【译文】系统是必需用新的竿喂尖锐的头当做【原文】the hole progresses and to recover the rods at the end.【译文】洞促进和在最后复原竿。【原文】 The【译文】 那【原文】planned drilling system basically consists of:【译文】计划了的演练系统基本上有 :【原文】 .【译文】 。【原文】a from-themarket【译文】一从-themarket【原文】drilling head modified to adapt to the automatic feeding【译文】演练头修正适应自动的饲养【原文】system;【译文】系统;【原文】 .【译文】 。【原文】a manipulator specially devoted to loading/unloading【译文】特别地投入于到载入/卸货的一个操作者【原文】of the rods:【译文】竿:【原文】 the task requires at least 3 degrees of freedom;【译文】 工作至少需要自由的 3 度;【原文】 .【译文】 。【原文】a【译文】一【原文】buffer storing the rods;【译文】缓冲储存竿;【原文】 .【译文】 。【原文】a robust and reliable control system,【译文】一个强健的和可靠的控制系统,【原文】even a sequencer, with the capability to recover eventual【译文】甚至一个顺序器, 藉由能力复原最后的【原文】mismatching and errors by tele-manipulation.【译文】配合错误和电视的错误-处理。【原文】This novel drilling system has to work on-board the robotic【译文】这系统必须进行中的新奇演练- 董事会那机器人的【原文】mobile platform, a 1.5 t vehicle, Figs.【译文】可动装置月台,一辆 1.5 t 车辆，无花果树。【原文】 1 and 2, climbing slopes【译文】 1 和 2, 攀登倾斜【原文】till 85 thanks to the coordinated action of its four legs, moved【译文】直到对它的四只腿的被协调的行动 85 谢谢,移动【原文】by hydraulic jacks, and of two lifting devices putting ropes in【译文】藉着水力插座, 和二举起装置推杆以绳将在系住【原文】tension, the Tirfor?【译文】紧张,Tirfor?【原文】s 5.【译文】s5.【原文】4.【译文】4.【原文】 Drilling system layouts【译文】 演练系统地面区划【原文】Different layouts of the drilling system were considered and【译文】尖锐的系统不同地面区划是考虑过的和【原文】evaluated 10.【译文】评估 10.【原文】 They mainly refer to the configuration of the rod【译文】 他们主要地提及竿的结构【原文】buffer and its position with respect to the drilling machine.【译文】有关于尖锐的机器缓冲和它的位置。【原文】 The【译文】 那【原文】automation of the rods loading and unloading operations【译文】竿的自动化载入和卸货操作【原文】implies that the rods lay orderly and are easily reachable.【译文】暗示竿俗人的有秩序的而且容易可到达。【原文】Taking into account also cost, robustness, low maintenance,【译文】进入帐户之内轮流也花费,强健，低的维护,【原文】compactness and flexibility, two buffer configurations were【译文】紧凑和柔性,二个缓冲结构是【原文】considered:【译文】考虑:【原文】 .【译文】 。【原文】a traditional cylindrical revolving buffer storing【译文】传统的圆筒形的回转缓冲储存【原文】the rods in separate rooms and .【译文】在分开的房间中的竿和。【原文】a gravity cage buffer based on a【译文】一个以地心引力笼缓冲为基础的一【原文】suitable combination of slanted rails allowing rods loading,【译文】允许竿载入的使倾斜的栏杆适当组合,【原文】holding and the accurate positioning of one rod at a defined【译文】把持和一支竿的正确定位在一定义【原文】location reached by the serving arm of the drilling machine.【译文】被尖锐的机器一人份餐点手臂到达的位置。【原文】 In【译文】 在【原文】the following, different buffer configurations and layouts are【译文】下列各项，不同的缓冲结构和地面区划是【原文】compared.【译文】比较。【原文】Revolving buffers can be easily realized:【译文】回转的缓冲能容易地被了解:【原文】 actuation is【译文】 刺激是【原文】required and the rods are moved one by one in the loading/【译文】必需的而且竿一点之前在载入中被移动一/【原文】unloading position by suitable buffer rotations.【译文】卸货藉着适当缓冲旋转放置。【原文】 In case a high【译文】 以防万一一个高度【原文】number of rods are needed (long holes) the buffer diameter rises【译文】竿的数字被需要 ( 长的洞) 缓冲直径上升【原文】significantly.【译文】重要地。【原文】 A better distribution of the rods (from mass point【译文】 竿的较好分配 (从大众的点【原文】of view) is possible with the buffer axis parallel to the platform【译文】视野)对缓冲轴感到可能到月台的平行【原文】plane.【译文】飞机。【原文】With buffer axis parallel to the drilling spindle, the centre【译文】藉由缓冲轴对尖锐的纱锭平行,中心【原文】of mass of the system moves afar from the rocky wall reducing【译文】系统的块从岩石的墙壁由远处移动减少【原文】the robot stability.【译文】机械手安定。【原文】 If the buffer is mounted perpendicular to the【译文】 如果缓冲被展开垂直线到那【原文】drilling machine the system static equilibrium is enhanced but【译文】演练机器系统静电平衡被提高但是【原文】the arm needs one more degree of freedom to load/unload the【译文】手臂需要自由的另外一个程度装载/ 卸载那【原文】rods (rodspindle alignment).【译文】竿.(竿变细长对准)【原文】 In case of vertical positioning of【译文】 假使垂直定位【原文】the revolving buffer, the total weight is applied to a restricted【译文】回转的缓冲, 总重量被应用到一限制【原文】area of the platform that has to be suitably sized.【译文】必须合适地被按规定尺寸制作的月台区域。【原文】 The reduction【译文】 减少【原文】of the platform covered area is only apparent since the rods need【译文】被复盖区域的月台自从以后竿需要只是明显的【原文】to be rotated to become parallel to the drilling machine:【译文】被替换变成平行到尖锐的机器:【原文】 this【译文】 这【原文】operation requires space and one more degree of freedom for the【译文】操作需要空间和自由的另外一个程度为那【原文】serving arm.【译文】一人份餐点武装。【原文】Cage buffers are more compact compared to revolving【译文】笼缓冲是更紧凑的与回转的相较【原文】buffers and their use can be convenient if the layout allows rods【译文】如果地面区划允许竿，缓冲和他们的使用可能是方便的【原文】movement by gravity.【译文】地心引力的运动。【原文】 In fact, for vertical positioning, the access【译文】 事实上,对于垂直的定位,通路【原文】to the rods may be difficult and some tricks to avoid rods fall are【译文】到竿可能很困难和一些诡计避免秋天是的竿【原文】needed;【译文】需要;【原文】 furthermore, rods cannot move inside the buffer only【译文】 此外，竿不能够移动唯一的在缓冲里【原文】based on gravity and a suitable actuation is required.【译文】被基于的地心引力和一个适当的刺激被需要。【原文】 In case of【译文】 假使【原文】gravity cage-type buffers placed with rod axes parallel to the【译文】笼- 类型的地心引力缓冲以竿轴放置平行到那【原文】supporting platform plane, the positioning of the cage with rods【译文】支援月台飞机,和竿的笼定位【原文】parallel to the drilling spindle shows advantages compared to【译文】对尖锐的纱锭平行表示被相较的利益【原文】positioning with rods perpendicular to the drilling spindle, e.g.【译文】和竿的定位对尖锐的纱锭垂直线,举例来说【原文】reduced mobility of serving arm required, but the overall system【译文】减少了服务手臂的可动性必需的, 但是全部的系统【原文】stability is reduced because the centre of mass is more distant【译文】因为块的中心是更远的，所以安定被减少【原文】from the wall.【译文】从墙壁。【原文】5.【译文】5.【原文】 Design overview【译文】 设计概观【原文】The development of the drilling system required the use of【译文】必需使用的尖锐系统的发展【原文】application oriented design tools obtained by integrating【译文】申请定向在藉由整合被获得的设计工具【原文】specific modules into functional and structural general purpose【译文】进入功能的和结构的一般用途之内的特定组件【原文】modelling packages.【译文】做模型包裹。【原文】 Our experience demonstrated that the【译文】 我们的经验示范那【原文】construction of the prototype of such a heavy robotized system【译文】一个如此重的使自动化系统的原型建筑【原文】is very complex, time consuming and expensive, because of the【译文】是非常复杂的，耗费时间的和贵, 因为那【原文】size of the machine and the complexity of the on-board systems.【译文】机器和在- 之上董事会的系统复杂的大小。【原文】For this reason the development of the whole system was【译文】对于这一个理由整个的系统发展是【原文】organized in modules following the simultaneous engineering【译文】在同时的工程学之后在组件中组织【原文】paradigm and using advanced virtual simulation to reduce time【译文】例而且使用前进了虚拟的模拟减少时间【原文】and cost of the development.【译文】而且发展的费用。【原文】 Each module has been defined and【译文】 每个组件已经被定义和【原文】implemented using mathematical models in suitable software【译文】实现使用适当的软件数学的模型【原文】packages to be interfaced and included within the general【译文】包裹被接口而且包含在将军之中【原文】purpose CAD/CAE packages.【译文】目的卑鄙男人/ CAE 包装。【原文】In the final layout of the drilling system on-board the【译文】在尖锐的系统最后地面区划中在-之上董事会那【原文】Roboclimber platform, the drilling head, the manipulator and【译文】Roboclimber 月台，尖锐的头，操作者和【原文】the buffer are rigidly connected by a frame, Fig. 3, and tilted as a【译文】缓冲硬地被一个体格，图 3 连接, 而且倾斜当做一【原文】whole:【译文】全部:【原文】 this reduces the required mobility of the manipulator, as【译文】 这减少操作者的必需可动性,当做【原文】the rods are always parallel to the spindle of the drilling head;【译文】竿总是与尖锐的头纱锭平行;【原文】the slope of the frame is set, before the mission starts, by means【译文】体格的倾斜被设定, 在任务之前开始,被方法【原文】of a manual screw type jack.【译文】一个人工的螺丝钉类型抬起。【原文】The modularity approach used along the design phases of the【译文】模组化方式沿着设计时期用那【原文】drilling system allows an easy maintenance, reconfiguration and【译文】演练系统允许容易的维护，再结构和【原文】upgrading of the same.【译文】一样的升级。【原文】The storage buffer has been designed to host the required【译文】储藏缓冲已经被设计主办那必需的【原文】number of rods within the minimum space:【译文】在最小的空间里面的竿数字:【原文】 the final asset was【译文】 最后的资产是【原文】singled out among several feasible alternatives, preferring the【译文】在一些能实行的替代选择之中选出, 偏爱那【原文】simplest architecture granting reliability under varying sloping【译文】最简单的建筑学在改变之下允许可信度倾斜的【原文】conditions and firmly holding up the rods even in occurrence of【译文】情况和坚固把持在竿上面甚至在发生中【原文】impulsive loads or shocks.【译文】冲动的负荷或震惊。【原文】High accuracy of the manipulator and high repeatability of【译文】操作者的高准确性和高重复性【原文】the rods buffer positioning avoid misalignments of rods which【译文】竿缓冲放置避免竿的欠对准【原文】might hinder the correct screwing up operations (to the spindle【译文】可能在操作上面阻碍正确的扭紧 (到纱锭【原文】of the drilling head and to the other rods already inserted in the【译文】尖锐的头而且到其他竿已经插入在那【原文】rock) and the later storage back inside the buffer.【译文】摇动) 和较迟的储藏向后地在缓冲里。【原文】Different architectures of the manipulator were examined,【译文】操作者的不同建筑学被调查,【原文】considering multiple requirements as low cost, simplicity, high【译文】把多样的需求视为低点费用，单纯,高度【原文】reliability, easy maintenance, accurate rods handling and【译文】可信度，容易的维护, 正确的竿处理和【原文】positioning.【译文】定位。【原文】6.【译文】6.【原文】 Drilling unit【译文】 演练单位【原文】6.1.【译文】6.1.【原文】 Drilling machine specifications【译文】 演练机器规格【原文】For the drilling, a modified off-the-shelf Comacchio unit【译文】对于演练,一个被修正的现货产品 Comacchio 单位【原文】(model MC 200) was used, powered by a separate Comacchio【译文】(型号 MC 200)被用,被分开的 Comacchio 使有力量【原文】diesel portable hydraulic power unit.【译文】水力的手提式的柴油使有力量单位。【原文】 The hydraulic drill rig has【译文】 水力的钻孔机装备有【原文】the following technical data:【译文】下列的技术上的数据:【原文】 max torque:【译文】 最大转力矩:【原文】 2400【译文】 2400【原文】 Nm;【译文】 nm;【原文】 max speed:【译文】 最大速度:【原文】100 rpm;【译文】100个转/每分;【原文】 feed stroke:【译文】 饲养笔划:【原文】 1200 mm;【译文】 1200 毫米;【原文】 feed force:【译文】 饲养力量:【原文】 12,000【译文】 12,000【原文】 N;【译文】 N;【原文】 retract【译文】 缩回【原文】force:【译文】力量:【原文】 12,000【译文】 12,000【原文】 N;【译文】 N;【原文】 engine power:【译文】 引擎力量:【原文】 27.5 kW;【译文】 27.5 千瓦;【原文】 mass:【译文】 块:【原文】 1050 kg 11.【译文】 1050 公斤 11.【原文】The rig was equipped with a Numa Mission reverse【译文】装备被装备 Numa 任务相反【原文】circulation down-hole hammer and a 92 mm drill-bit with【译文】循环 ?落- 洞槌和一个 92 毫米钻针由于【原文】carbide inserts.【译文】碳化物插入。【原文】 The drilling fluid is air provided by a Compair【译文】 尖锐的液体是由 Compair 提供的空气【原文】Holman 400170S portable compressor with a nominal flow【译文】有名义上的流程手提式的压缩物的霍尔曼 400 170 S【原文】rate of 12 nm3/min at a nominal pressure of 12 bar.【译文】在 12 的名义上压力的 12 nm3/ 最小的比率除之外。【原文】The rig has been instrumented using a set of Jean Lutz【译文】装备已经被工具使用一组珍 Lutz【原文】sensors for the real-time monitoring of the drilling parameters【译文】为尖锐的叁数即时监听的感应器【原文】providing the systems status.【译文】提供系统的状态。【原文】 Such data can be used to warn the【译文】 如此的数据能用来警告那【原文】remote operator about possible criticisms during drilling, and【译文】有关可能的批评遥远的操作员在演练期间,和【原文】provide useful information about soil conditions.【译文】提供关于土壤情况的有用资讯。【原文】 The following【译文】 下列各项【原文】parameters were monitored:【译文】叁数被检测:【原文】 depth below rock surface,【译文】 在岩石表面下面的深度,【原文】instantaneous advance speed, thrust, torque, rotation speed,【译文】即时的进步速度，推进，转力矩，旋转速度,【原文】vibration, inclination, air pressure and air flow rate.【译文】震动，倾向，风压和空气流程估价。【原文】6.2.【译文】6.2.【原文】 Power supply【译文】 力量补给【原文】Three sources of power are needed for the drilling【译文】力量的三个来源是对演练的需要【原文】operations.【译文】操作。【原文】 Pneumatic:【译文】 空气的:【原文】 compressed air (at 1220 bar) for the【译文】 被压缩的空气 ( 以 12 20 除)之外为那【原文】drilling unit (for the operations of drilling and flushing).【译文】演练单位。 ( 对于演练的操作而且脸发红)【原文】Hydraulic:【译文】水力的:【原文】 oil (at 200 bar, 60 l/min) for the drilling head (to【译文】 为尖锐的头涂油水于 (在 200根酒吧,60 l/最小)(到【原文】rotate and advance), and other services.【译文】辐状的和进步), 和其他的服务。【原文】 Electric:【译文】 电的:【原文】 for sensors,【译文】 对于感应器,【原文】control system, cameras (for visual monitoring) and lighting.【译文】控制系统，照相机 (对于视觉的监听) 和照明。【原文】After evaluating different solutions, it was decided that【译文】在评估不同的解决之后，它是确定的【原文】pneumatic power is generated on ground by a compressor and【译文】空气的力量被产生在土地的之上被一个压缩物和【原文】supplied to the robot through an umbilical cable:【译文】对机械手经过脐带的电缆供应:【原文】 a low-pressure【译文】 一低压的【原文】ball valve (actuated by a hydraulic jack which is commanded【译文】球活瓣 (藉着一个被命令的水力插座促使【原文】through a proportional valve) is adopted to vary the air flow rate【译文】经过一个比例的活瓣)被采用改变空气流程率【原文】to the hammer;【译文】到槌;【原文】 hydraulic power is generated on-board using a【译文】 水力的力量被产生在-之上董事会使用一【原文】380【译文】380【原文】 V, 20 kW electric pump with double outlet and variable【译文】 V,有两倍的出口和变数的电泵 20个千瓦【原文】volume;【译文】体积;【原文】 electric power is generated at ground and supplied【译文】 电力在地面被产生而且供应【原文】through an umbilical cable at 380 V:【译文】透过脐带的电缆以 380 V:【原文】 voltage can be varied onboard【译文】 电压能在板子上被改变【原文】using transformers.【译文】使用变压器。【原文】 The hydraulic pump supplies oil to【译文】 水力的泵补给涂油水于到【原文】the drilling head and to the legs of the robot through the main【译文】尖锐的头和到机械手的腿经过主要部份【原文】outlet, while the second port (at 15 l/min) hands out the services【译文】出口, 当第二个港口 (以 15 l/最小) 手的时候出自服务【原文】and the rope tensioning devices.【译文】而且粗绳紧张装置。【原文】 Pressure tuning is made acting【译文】 压力调音被做代理【原文】on the pilot circuit of the pump, which has a draining and a flow【译文】在泵的飞行员线路上, 有一个排出沟外和流程【原文】controller.【译文】控制器。【原文】 The drilling rig and the rods manipulator exploit【译文】 尖锐的装备和竿操作者功绩【原文】mainly proportional solenoid valves.【译文】主要比例的螺线形电导管给装阀门。【原文】 More precisely, for the【译文】 更精确, 为那【原文】driller, one valve controls the spindle rotation, one the head【译文】训练,一个活瓣控制纱锭旋转, 一头【原文】translation, three the opening/closing and the rotation of the【译文】翻译, 三开始/ 结束和旋转那【原文】yokes;【译文】轭;【原文】 for the manipulator, a proportional valve manages the【译文】 对于操作者，一个比例的活瓣处理那【原文】finger, while two on/off valves allow the manipulator【译文】手指,当二个 ON/OFF 活瓣允许操作者的时候【原文】translation.【译文】翻译。【原文】7.【译文】7.【原文】 Buffer for rods storage【译文】 为竿储藏的缓冲【原文】The first layout for rods storing was a cage with sloped rails,【译文】为竿储存的第一个地面区划是有使栏杆倾斜的一个笼,【原文】such that the rods reach the location for the manipulators grasp【译文】以致于竿为操作者的把握到达位置【原文】thanks to the gravity effect 10.【译文】由于地心引力产生 10.【原文】 This solution was judged【译文】 这解决被判断【原文】unreliable and discarded because free rolling of rods along rails【译文】不可靠的而且丢弃因为沿着栏杆释放竿的旋转【原文】may be stopped by pieces of rocks or dust, and because, when【译文】可能被顺道拜访岩石或灰尘的块, 而且因为,当【原文】drilling is made vertically, gravitys useful component for【译文】演练垂直地被做, 地心引力的有用成份为【原文】moving rods vanishes.【译文】感人的竿消失。【原文】So, the design was addressed to revolving buffers;【译文】如此，设计被向演说到回转的缓冲;【原文】 from the【译文】 从那【原文】requirements about the maximum hole depth (20 m), a buffer【译文】关于最大值的需求挖洞深度 (20 m) ，一个缓冲【原文】containing 20 rods 1 m length has been initially considered.【译文】包含 1 m 长度已经最初被考虑的 20支竿。【原文】Due to the limited room available for the buffer, the rods are【译文】由于有限制的房间缓冲可以使用的,竿是【原文】placed on two coaxial circumferences;【译文】放置在二同轴的圆周上;【原文】 this implies having two【译文】 这暗示有二【原文】different pick points (one per circumference) and a greater【译文】不同的精选点 ( 一每一圆周) 和一比较棒的【原文】complexity of the manipulator.【译文】操作者的复杂。【原文】The idea was, then, to use 1.5 m length rods (Fig. 4):【译文】主意是,然后, 使用 1.5支 m 长度竿 (图 4):【原文】 in this【译文】 在这【原文】way fewer (13) rods are necessary and they may be placed on a【译文】方法较少的 (13) 竿是必需的，而且他们可能被放置在上一【原文】single circumference, simplifying their fixing and picking and【译文】独身者圆周, 单一化他们固定和摘和【原文】reducing the number of operations per drilled hole.【译文】减少每训练的洞操作的数字。【原文】The drawbacks of this solution are that a larger drilling unit【译文】这解决的不利点是那比较大的演练单位【原文】and a longer hosting cage are needed, increasing the inertia and【译文】而且一个较长的主机租贷笼被需要, 增加惯性和【原文】the distance of the centre of mass of the drilling system with【译文】尖锐的系统块中心的距离由于【原文】respect to the wall.【译文】尊敬到墙壁。【原文】 This has been considered in the design of the【译文】 这已经在设计中被考虑那【原文】mobile platform of the robot.【译文】可动装置机械手的月台。【原文】 In the following, concepts about【译文】 在下列各项中, 观念大约【原文】the buffer design are briefly recalled from the earlier version to【译文】缓冲设计简短地被取消从较早的版本到【原文】the final one.【译文】结局一。【原文】7.1.【译文】7.1.【原文】 Buffer with holding plugs【译文】 缓冲由于握住塞子【原文】In this solution, two parallel plates are connected to a shaft【译文】在这解决方面，二个平行的碟子被连接到一个桥【原文】receiving the motion by an electric motor.【译文】收到一个电的马达运动。【原文】The shaft is supported by housings connected to the main【译文】桥被被连接到主要部份的住屋支援【原文】cage.【译文】笼。【原文】 In the plates, holes on two circumferences are provided.【译文】 在碟子中, 在二圆周上挖洞被提供。【原文】The rods (20 of length 1 m) are arranged in two【译文】竿 ( 长度中的 201 m) 被安排在二【原文】coaxial patterns to reduce the diameter of the buffer.【译文】同轴的式样减少缓冲的直径。【原文】 The【译文】 那【原文】support of a rod is made through plugs that are pressed by【译文】一支竿的支持经过被压的塞子被做被【原文】springs in the hollow ends of the rod;【译文】在竿的空结束中的春天;【原文】 because the ends of【译文】 因为结束【原文】the rod have different sizes, one plate has holes (and plugs)【译文】竿有不同的大小, 一个碟子有洞 ( 和塞子)【原文】bigger than the other one.【译文】比另一个大的。【原文】 The release of a rod, when it has【译文】 竿的释放,当它有的时候【原文】reached the position over the axis of the drilling slide, is【译文】到达了在尖锐的滑轴上的位置,是【原文】performed by acting 【译文】藉由行动运行 -【原文】 at the same time 【译文】 同时 -【原文】 on the two【译文】 在那之上二【原文】plugs holding the rod:【译文】塞子握住竿:【原文】 two actuators simply lift the head of【译文】 二个主动器只是举起头【原文】the plugs through forks when the rod is in the right position【译文】经过叉子的塞子当竿是在正确的位置中的时候【原文】for the grip.【译文】对于紧握。【原文】 Of course, before the plugs movement starts,【译文】 当然, 在塞子运动之前开始,【原文】the manipulator has to firmly clamp the rod.【译文】操作者必须坚固夹紧竿。【原文】7.2.【译文】7.2.【原文】 Buffer with elastic sockets【译文】 和有柔性的插座缓冲【原文】This solution presents rods placed on one circumference (13【译文】这解决礼物竿放置在圆周上 (13【原文】of length 1.5 m).【译文】长度 1.5 m).【原文】 Two disks have contoured retain springs【译文】 二个磁盘片已经画轮廓保有春天【原文】radially placed, Fig. 5 left, suitably sized to safely hold the rods.【译文】光线地放置,被留下的图 5, 合适地按规定尺寸制作安全地支撑竿。【原文】To avoid axial movement of the rods two additional plates are【译文】避免二个另外的碟子是的竿轴运动【原文】appropriate.【译文】充用。【原文】To release the rods, the manipulator overcomes the elastic【译文】为了释放竿，操作者克服松紧带【原文】force of the retain springs.【译文】力量那保有春天。【原文】 Note that in this case a coaxial【译文】 在这情况注意那一同轴的【原文】allocation for the rods is impracticable.【译文】为竿的配置是不能实施的。【原文】7.3.【译文】7.3.【原文】 Buffer with open bands【译文】 和开着的乐团缓冲【原文】The buffer consists of two disks having 13 cuts for 1.5 m【译文】缓冲有二个磁盘片为 1.5 m 有 13 削减【原文】rods, regularly distributed except a circular sector required for【译文】竿, 经常地除了一个圆形的部门以外分配必需的为【原文】manipulator positioning, Fig. 5 right.【译文】操作者定位, 图 5 权利。【原文】Two bands fixed to the supporting frame envelop the rods,【译文】被修理到支援体格的二条乐团包封竿,【原文】leaving one opening, located over the drilling machine near the【译文】离开一个开始, 在尖锐的机器之上位于靠近那【原文】point where the rod is picked by the manipulator.【译文】指出竿被操作者挑选的地方。【原文】ATeflon?【译文】ATeflon?【原文】 layer is applied on the inner surface of each band【译文】 层在每条乐团的内部表面上被应用【原文】to reduce the friction between rods and band.【译文】减少在竿和乐团之间的摩擦。【原文】Two plates are added at the ends of the buffer to avoid rods【译文】二个碟子在缓冲结束的时候被增加避免竿【原文】axial movement.【译文】轴的运动。【原文】7.4.【译文】7.4.【原文】 Buffer with modular leaf springs (adopted)【译文】 和模组的叶春天的缓冲 (采用)【原文】The ultimate buffer is a cylindrical unit, Figs.【译文】终极的缓冲是一个圆筒形的单位，无花果树。【原文】 5 (right) and 6,【译文】 5(权利) 和 6,【原文】rotating at very low speed (1 rpm), by an asynchronous 380 V【译文】以最低速 (1个转/每分) 替换,藉着非同步的 380 V【原文】electric motor (power:【译文】电的马达 (力量:【原文】 120【译文】 120【原文】 W)【译文】 W)【原文】 joined to a reducer with gear【译文】 叁加到和齿轮的一个减径管【原文】ratio i = 1500.【译文】比 i=1500.【原文】The buffer hosts 13 rods 73 mm diameter and 18 kg mass【译文】缓冲主办 73 毫米 13支竿直径和 18 公斤块【原文】each;【译文】每个;【原文】 the whole capacity of the buffer is not exploited, as an【译文】 缓冲的整个能力不被开发, 当做一【原文】angular sector of 60 width has to be set free to avoid the【译文】60 宽度的有角部门必须被释放避免那【原文】manipulator from hitting some rod during the loading/unloading【译文】操作者在载入/卸货期间从碰撞一些竿【原文】operations, Fig. 6.【译文】操作，图 6.【原文】The buffer consists of a steel shaft (54 mm diameter,【译文】缓冲有一个钢的桥 (54 毫米直径,【原文】1980 mm length) connected to the moto-reducer.【译文】1980 毫米长度)连接到摩托车越野赛预赛-减径管。【原文】 The shaft is【译文】 桥是【原文】supported by two bearings fixed to the drilling cage and upholds【译文】藉着被修理到尖锐的笼，而且维持的二举止支援【原文】two hubs on which both the plates for rods axial constraining【译文】二个毂在之上那两个碟子为竿轴的强迫【原文】and the leaf spring are screwed (see Fig. 6).【译文】而且弹簧板被扭紧。 (见到图 6)【原文】8.【译文】8.【原文】 Rods anchoring systems【译文】 竿吊骨系统【原文】The systems for holding up the rods inside the buffer may be【译文】在缓冲里的竿上面握住的系统可能是【原文】actuated or not actuated.【译文】不管促使与否促使。【原文】 For actuated solutions, a chance is【译文】 为促使解决，一个机会是【原文】using properly shaped plugs endowed with compression【译文】适当地使用作形了与压缩一起捐赠的塞子【原文】springs;【译文】春天;【原文】 the plugs enter the hollow ends of the rods (pushed【译文】 塞子进入竿的空结束 (推动【原文】by the springs) and release the rods once actuated;【译文】在春天之前) 和释放竿曾经促使;【原文】 this solution【译文】 这解决【原文】is quite expensive and unreliable (an actuator could fail and the【译文】相当贵和不可靠 ( 一个主动器可以失败和那【原文】manipulator may try to pick a locked rod).【译文】操作者可能试着摘一支被锁的竿).【原文】For non-actuated solutions, balls and springs, cams, clips,【译文】对于非促使解决，球和春天，凸轮，修剪,【原文】and leaf springs have been analyzed.【译文】而且弹簧板已经被分析。【原文】 Balls and springs:【译文】 球和春天:【原文】 two【译文】 二【原文】different spheres are required as the holes at the ends of the rods【译文】不同的球体在竿结束的时候被需要如洞【原文】have different diameters (30 mm and 60 mm);【译文】有不同的直径 (30 毫米和 60 毫米);【原文】 this implies that【译文】 这暗示那【原文】the rod hits first the bigger ball and then the smaller with【译文】竿首先击中比较大的球然后比较小人由于【原文】misalignment problems;【译文】欠对准问题;【原文】 furthermore, a ring giving a sufficient【译文】 此外, 戒指给一充份的【原文】preload to the springs in all the positions, except the grip ones,【译文】除了紧握一些以外预载到在所有的位置中的春天,【原文】might be adopted.【译文】可能被采用。【原文】 Cams:【译文】 凸轮:【原文】 cams assure the rods are rightly let【译文】 凸轮保证竿端正地被让【原文】loose, but they present difficulties in profile generation;【译文】释放, 但是他们描绘世代的现在困难;【原文】 in【译文】 在【原文】addition, rod loosing is made during buffer motion with the risk【译文】附加, 竿释放在和危险的缓冲运动期间被做【原文】that the rod might fall before the manipulator firmly grasps it.【译文】在操作者坚固抓住它之前 , 竿可能落下。【原文】Clips in harmonic steel:【译文】调和的钢修剪:【原文】 specially shaped springs are placed【译文】 特别地成形春天被放置【原文】inside hosting sockets of the buffer disks.【译文】在缓冲磁盘片的主机租贷插座里。【原文】 Rods are secured【译文】 竿被保护【原文】thanks to the elastic force of the deformed clips, whereas their【译文】由于不成形的修剪有柔性力量, 然而他们的【原文】release simply requires a thrust strong enough to overcome the【译文】只是释放需要推进强壮的充足克服那【原文】elastic grip.【译文】松紧带紧握。【原文】 Leaf plane springs:【译文】 叶飞机春天:【原文】 they are conceptually similar to【译文】 他们概念地类似【原文】clips and have been adopted for the prototype.【译文】修剪而且已经被为原型采用。【原文】 The holding【译文】 把持【原文】system of a rod consists of two pairs of harmonic steel leaves【译文】一支竿的系统有二双调和的钢树叶【原文】(1 mm thick) screwed to a support and equipped with plastic【译文】(1 毫米厚的) 对支持扭紧而且装备塑料【原文】(Ertalon?)【译文】(Ertalon?)【原文】 blocks at one extremity leaving a gap narrower than【译文】 区段以极端让一个缝隙狭窄的超过【原文】the rod diameter, Fig. 6.【译文】竿直径，图 6.【原文】To load a rod into the buffer, the manipulator pushes it【译文】为了装载一支竿进缓冲之内，操作者推动它【原文】against the gap between the blocks which displaces for elastic【译文】相对于在为松紧带移置的区段之间的缝隙【原文】deformation of the leaf plane springs.【译文】叶飞机的毁坏跳。【原文】 The advantage of this【译文】 这的利益【原文】solution is the absence of actuated locking/unlocking devices,【译文】解决是缺少促使的锁定/开启装置,【原文】with simple design and easy manufacturing.【译文】藉由简单的设计和容易的制造业。【原文】 Further, these【译文】 促进,这些【原文】springs, being modular, possess a good adaptability;【译文】春天,模组,持有一个好适应性;【原文】 if one【译文】 如果一【原文】should need to vary the spring stiffness, has simply to add/【译文】应该需要改变春天坚硬,只是必须增加/【原文】remove leaves or insert/eliminate the calibrated sheets between【译文】距离留下或插入/ 除去被校正的张在【原文】the leaves and their support:【译文】树叶和他们的支持:【原文】 the latter option consents to【译文】 后者选项同意到【原文】manage rods having different diameters, as well.【译文】处理有不同的直径竿,也。【原文】9.【译文】9.【原文】 Rods manipulator【译文】 竿操作者【原文】Since one of the major requirements for Roboclimber is to【译文】因为主要的 Roboclimber 的需求之一是到【原文】reduce human intervention, especially during drilling, it is【译文】减少人类的干涉,在演练期间尤其，它是【原文】necessary that the manipulator has characteristics for obtaining【译文】必需的那个操作者为获得有特性【原文】high reliability during operations.【译文】在操作的时候高可信度。【原文】 As already mentioned, rods【译文】 当做已经提到,竿【原文】have to be handled with high precision to avoid misalignments【译文】必须与高的精密一起处理避免欠对准【原文】which might hinder their right insertion onto the drilling axis【译文】哪一可能在尖锐的轴之上阻碍他们的正确插入【原文】and the subsequent placing back of them inside the buffer.【译文】而且后来的得名次的人在缓冲里的他们背面。【原文】Four solutions have been examined for the manipulator, with【译文】四解决为操作者已经被调查,由于【原文】3 and 2 DOF.【译文】3 和 2 DOF。【原文】9.1.【译文】9.1.【原文】 Manipulators with 3 DOF【译文】 和 3 DOF 的操作者【原文】A first manipulator has one rotational mobility actuated by【译文】一个第一个操作者有一个被促使的回转可动性被【原文】two hydraulic cylinders arranged in sequence (to get three【译文】二个水力的圆筒在序列中安排 ( 拿三【原文】angular positions corresponding to their on/off states) and one【译文】有角的位置符合到他们的 ON/OFF 州) 和一【原文】translation mobility provided by a couple of parallel hydraulic【译文】由一些平行的水力提供的翻译可动性【原文】cylinders acting, at the same time, as guide rails.【译文】圆筒演戏, 同时,如引导者以横木围栏。【原文】 The rod is【译文】 竿是【原文】grasped by two under-actuated hands having two fingers each.【译文】二点之前抓住在-之下促使了有二根手指每个的手。【原文】The fingers can slide inside the hand case in order to avoid【译文】手指为了要避免 , 能在手情形里滑动【原文】collisions with the rods during the positioning operations of the【译文】和竿的冲突在定位行动期间那【原文】manipulator.【译文】操作者。【原文】 The fingers push the rod against the palm so that【译文】 手指推动对抗手掌的竿以便【原文】the positioning of the rod is accurate, the grasp is safe and the【译文】竿的定位是正确的, 把握是保险箱和那【原文】grasping force is constant for rod diameters near the nominal【译文】抓的力量是在标称附近的竿直径的常数【原文】diameter, Fig. 7.【译文】直径，图 7.【原文】To use a simple onoff control for the jacks, the extreme【译文】使用一简单的在控制外的上对于插座,极端【原文】position sets are to be exploited.【译文】位置组即将被开发。【原文】 In its shorter configuration the【译文】 在它的较短结构中那【原文】jack places the rod on the drilling machine axis, while, when【译文】插座放竿在尖锐的机器轴上,当,的时候当【原文】fully extended, it is in the position related to the pick/store of【译文】完全广大, 它是在对精选/ 商店被讲的位置中【原文】rods in the buffer.【译文】缓冲的竿。【原文】 Such manipulator architecture is also feasible【译文】 如此的操作者建筑学也是能实行的【原文】to serve a buffer with rods placed on two circumferences instead【译文】用被改为放置在二圆周上的竿服侍一个缓冲【原文】of one.【译文】一。【原文】9.2.【译文】9.2.【原文】 Manipulators with 2 DOF【译文】 和 2 DOF 的操作者【原文】The first solution of a 2 DOF manipulator consists of a【译文】2 DOF 操作者的第一解决有一【原文】gripper sliding on a rail fixed to the frame between two【译文】在一个栏杆上的夹子滑修理到体格在二之间【原文】columns, Fig. 8.【译文】专栏，图 8.【原文】 It presents noteworthy stiffness, with a direct【译文】 资讯科技呈现值得注目的坚硬, 由于一直接的【原文】fall-off on precision aspects.【译文】落下- 走开在精密方面上。【原文】This manipulator has two degrees of freedom, but, because it【译文】这一个操作者有自由的二度,但是, 因为它【原文】works exploiting the final and initial position sets, it requires an【译文】开发结局和起始位置组的工厂, 它需要一【原文】onoff type control.【译文】在类型控制外的上。【原文】 The first degree of freedom is a translation【译文】 自由的第一个程度是翻译【原文】on a slider running on the milled sides of an off-the-shelf beam,【译文】在一个涉及现货产品光线的被磨细的边滑动器上,【原文】screwed to the structural frame of the drilling unit.【译文】扭紧到尖锐的单位结构体格。【原文】A drawback is the wear of the gibs that causes clearance with【译文】一个不利点是用凹字形楔引起清除的穿着【原文】misalignment errors.【译文】欠对准错误。【原文】 The pick point of the rod is in the plane【译文】 竿的精选点是在飞机中【原文】passing through the buffer axis and the axis of the drilling【译文】通过演练的缓冲轴和轴【原文】machine, because the length of the manipulator (perpendicular【译文】以机器制造, 因为操作者的长度 (垂直线【原文】to the rail) is constant.【译文】到栏杆)是常数。【原文】The extreme positions correspond, respectively, the first, to【译文】极端的位置分别地符合第一个,到【原文】the grasp point for the rods from/to the buffer, the other, to the【译文】为竿的把握点从/到缓冲，另一个, 到那【原文】axis of the drilling machine.【译文】尖锐的机器轴。【原文】 The gripper is composed of two【译文】 夹子组成二【原文】fingers that close contemporarily on the rod (the motion is【译文】手指接近地同时代地在竿上 (运动是【原文】transmitted by two beams pushedpulled by a jack) and have an【译文】藉着被推动的二光线传输藉着一个插座拉) 而且有一【原文】internal shape allowing self-centring.【译文】自我集中的内在形状允许。【原文】During the phases of loading and unloading of the rods, the【译文】在载入的时期时候而且竿的卸货,那【原文】gripper has to open till the fingers are aligned, to avoid【译文】夹子必须打开直到手指被排列, 避免【原文】interference with the other rods and with the drilling head;【译文】和其他竿和尖锐的头冲突;【原文】 the【译文】 那【原文】rod is, in fact, moved through a plane passing between the axis【译文】竿是，事实上，移动过一个飞机在轴之间的通过【原文】of the rotating buffer and the axis of the driller.【译文】替换缓冲和轴那训练。【原文】A second solution, which has been finally adopted, consists【译文】第二个最后已经被采用的解决组成【原文】of a three-finger unit having only one pivoting finger in order to【译文】三根手指的单位有只有在次序中的一根依枢轴转动手指人到【原文】simplify its design and realization.【译文】单一化它的设计和实现。【原文】 This unit is moved, in a first【译文】 这一个单位被移动,在第一中【原文】version, forth and back by an electric linear actuator (with【译文】版本, 往复地藉着一个电的线主动器 (由于【原文】trapezoid screw);【译文】歪方形螺丝钉);【原文】 due to low reliability of this actuator, an【译文】 由于这一个主动器的低可信度,一【原文】improvement will be made, consisting in the choice of hydraulic【译文】进步将会被做, 在于水力的选择【原文】jacks;【译文】插座;【原文】 the pivoting finger rotates by means of a double-effect【译文】 依枢轴转动手指替换经由一双效果【原文】(onoff) hydraulic jack, Fig. 9.【译文】( 在上走开) 水力的抬起,图 9.【原文】The linear actuator has a speed:【译文】线的主动器有速度:【原文】 10 mm/s, maximum thrust:【译文】 10 毫米/s, 最大值推进:【原文】2500【译文】2500【原文】 N, and it is equipped with three set-position switches.【译文】 N,而且它被装备三个组- 位置开关。【原文】It might seem that two positions would be enough, the rod【译文】资讯科技可能似乎二个位置会是充足，竿【原文】being moved from the buffer to the drilling axis and back;【译文】被从缓冲移到尖锐的轴和后面的;【原文】actually, because the gripper has only one rotating finger, it is【译文】实际上，因为夹子只有一根替换手指人,它是【原文】necessary to go ahead with the fixed fingers of about 25 mm, in【译文】必需的以大约 25 毫米的固定手指前进,在【原文】order to avoid collisions among them and the rod (see sequence【译文】命令避免在他们和竿之中的碰撞 (见到序列【原文】in Fig. 10).【译文】在图 10 中).【原文】10.【译文】10.【原文】 Control system【译文】 控制系统【原文】The hazardous environment where the drilling system has to【译文】危险的环境哪里尖锐的系统有到【原文】be employed requires highly safe operation.【译文】被雇用需要高度安全的操作。【原文】 By this reason, the【译文】 藉着这一个理由,那【原文】drilling operations success also relies on the design and【译文】演练操作的成功也仰赖设计和【原文】implementation of a robust control system architecture within【译文】在里面的强健控制系统建筑学的落实【原文】reasonable safety and operational margins, able to process and【译文】合理的安全和操作的边缘, 聪明的处理和【原文】elaborate in real-time data coming from many sensors and【译文】详细地说明在即时的数据中来自许多感应器的来临和【原文】signals from the video cameras in order to get useful【译文】来自录像机的信号在次序有用【原文】information about the working status of the overall machine【译文】关于全部的机器工作状态的资讯【原文】and its subsystems and to quickly react to any relevant event【译文】而且它的次要系统和很快地对任何的有关事件产生反应【原文】12.【译文】12.【原文】The requirements of the distributed control and of the control【译文】被分配的控制需求和控制【原文】architecture needed the management of the system by means of【译文】建筑学需要了系统的管理经由【原文】an HMI unit, where appropriated displays and tools serve to【译文】一个 HMI 单位, 哪里充用了展览和工具服务到【原文】monitor and command the operations, Fig. 11.【译文】监视器和指令操作，图 11.【原文】 For autonomous【译文】 为自治的【原文】drilling purposes, use of different sensors and the coordination【译文】演练目的,不同感应器和协调的使用【原文】of all actions in real-time are required.【译文】所有行动在即时的被需要。【原文】 So, the control system【译文】 如此,控制系统【原文】processes information from the sensors in order to suitably【译文】程序数据从在次序的感应器到合适地【原文】launch and drive the drilling operations taking into account the【译文】开始和驾车尖锐的操作进入帐户之内轮流那【原文】state of the different units in standard operation mode.【译文】标准的操作模态的不同单位的状态。【原文】 If【译文】 如果【原文】something goes wrong the control shifts in emergency mode【译文】某事出毛病控制紧急的模态变化【原文】and informs the tele-operator through the HMI about the【译文】而且告知电视- 操作员经过 HMI 有关那【原文】reckoned wrong status.【译文】计算了错误的状态。【原文】With respect to hardware, the solution is based on industrial【译文】有关于硬件，解决为基础工业的【原文】PC (so assuring heavy duty use and low cost) with the required【译文】个人计算机 (如此保证耐用使用和低点费用) 由于那必需的【原文】performance.【译文】表现。【原文】 The Roboclimber overall control architecture has【译文】 Roboclimber 全部的控制建筑学有【原文】three major subsystems, one applied to the drilling operations,【译文】三个主要的次要系统, 一适用于尖锐的操作,【原文】the second for motion control planning of the robot 13, and the【译文】为运动控制机械手的计划秒 13, 和那【原文】third devoted to the HMI.【译文】第三投入于到 HMI。【原文】 All tasks are processed by the main【译文】 所有的工作被主要部份处理【原文】system CPU and supervised by an HMI-located operator which【译文】系统处理器而且被一个 HMI 位于的操作员监督【原文】receives the necessary feedback:【译文】接受必需的回应:【原文】 in such a way the user is【译文】 以如此的一方式使用者是【原文】capable of taking decisions to operate efficiently the machine【译文】有能力的轮流决定有效率地操作机器【原文】from a remote distance.【译文】从遥远的距离。【原文】The control (Fig. 12) is distributed between the robotic【译文】控制 (图 12) 被分配在那之间机器人的【原文】platform and the HMI unit.【译文】月台和 HMI 单位。【原文】 The robotic platform can be【译文】 机器人的月台能是【原文】governed by the end-user, standing in a 【译文】藉着使用者统治, 站立在一 -【原文】 safe 【译文】 保险箱 -【原文】 remote【译文】 遥远的【原文】location, thanks to the wireless connection between the HMI unit【译文】位置,谢谢到 HMI 单位之间的无线连结【原文】and the on-board control unit.【译文】而且那在-之上董事会控制单位。【原文】 The HMI unit has been designed【译文】 HMI 单位已经被设计【原文】to be light and compact to help the end-user freely move around【译文】是轻的和紧凑在附近自由地帮助使用者移动【原文】the working area.【译文】工作区域。【原文】 The HMI unit is powered by batteries into a【译文】 HMI 单位被电池使有力量进入一之内【原文】rucksack, while theHMI unit is in the users hands.【译文】背包,当 theHMI 单位是在使用者的手中时候。【原文】 The user can【译文】 使用者能【原文】control all operations using a set of industrial buttons, switches【译文】控制所有的操作使用一组工业的钮扣，开关【原文】and joysticks and can read the telemetry, sensor output, video【译文】而且游戏操纵杆而且能读遥感勘测，感应器输出，录象机【原文】camera and navigation output on the screen of a tablet PC, used【译文】在平板电脑的荧屏上的照相机和航行输出,用【原文】also to change the configuration parameters of the HMI.【译文】也改变 HMI 的结构叁数。【原文】 The【译文】 那【原文】WiFi antenna for the wireless connection with the robotic unit【译文】为和机器人的单位无线的连接 Wi Fi 天线【原文】is integrated into the tablet PC.【译文】进入平板电脑之内被整合。【原文】 The on-board control unit and the【译文】 那在-之上董事会控制单位和那【原文】linkedWiFi hotspot are powered directly from the ground by a【译文】linkedWi Fi 热点被从地面直接地使有力量被一【原文】dedicated connection.【译文】热衷的连接。【原文】The control system integrates not only external sensors, but【译文】控制系统整合不但外部的感应器 , 而且【原文】also HMI and the control of both positioning and drilling【译文】也 HMI 和定位和演练的控制【原文】operation, including specific modules for safety management【译文】操作,为安全管理包括特定的组件【原文】14,15.【译文】14,15.【原文】 These features are of special relevance, due to the【译文】 这些特征是特别中肯, 适当的到那【原文】importance on the safety of the machine processes and its【译文】在机器程序的安全方面的重要和它的【原文】components, and so, the development for the control architecture【译文】成份, 和如此, 发展对于控制建筑学【原文】is based on a system capable of making decisions while working【译文】当工作的时候，以能够作出决定的一个系统为基础【原文】and informing the user in a real-time based structure about the【译文】而且在即时的基础结构中告知使用者有关那【原文】warnings or problems and even to decide how to solve problems.【译文】警告或问题和甚至决定该如何解决问题。【原文】In this hierarchical structure the basic levels of decisions are【译文】在阶层的结构中决定的程度是的基本【原文】based on the information given to the machine from the sensors【译文】基于给来自感应器的机器数据【原文】where the capability of making decisions is crucial for the【译文】作出决定的能力是决定性的哪里对那【原文】movement of the different actuators.【译文】不同的主动器的运动。【原文】 All these functions are【译文】 所有的这些功能是【原文】assured by using real-time object-oriented modelling.【译文】藉由使用即时的物体定向的做模型保证。【原文】One relevant and very important element for the control【译文】为控制的一种有关的和非常重要的元素【原文】system to be robust and with industrial characteristics is the【译文】系统是强健的和与工业的特性是那【原文】design and realization of special control boards ready to【译文】特别控制的设计和实现董事会预备到【原文】implement their counterparts in the overall architecture.【译文】实现全部的建筑学的他们类似版本。【原文】 Digital【译文】 数传【原文】PIDs with position feedback and with PWM (Pulse Width【译文】和位置回应和 PWM 的 PIDs(脉膊宽度【原文】Modulation) output transformed to an analog signal of 10 V【译文】调音)输出对 10 V 的类比信号转换【原文】necessary to control the hydraulic power units and other【译文】必需的控制水力的力量单位和另外地【原文】interfacing requirements have been used.【译文】接口需求已经被用。【原文】 This kind of electronic【译文】 这种电子的【原文】cards has other useful advantages.【译文】卡片有其他的有用利益。【原文】 The first advantage is that【译文】 第一个利益是那【原文】with only one command the card is able to control various【译文】与唯一的命令卡片能够控制各种不同的【原文】actuators simultaneously and with autonomy:【译文】主动器同时地和由于自治:【原文】 this property【译文】 这财产【原文】reduces significantly computational power.【译文】减少重要计算的力量。【原文】 Another benefit is【译文】 另外的一种利益是【原文】the implementation of digital and analog inputs and outputs;【译文】数传和类比输入和输出的落实;【原文】 in【译文】 在【原文】this case, this property is very useful for the sensoring process【译文】这一个情形,这财产对感应器程序是非常有用的【原文】and to control external devices.【译文】而且控制外部的装置。【原文】10.1.【译文】10.1.【原文】 On-board control unit【译文】 在-之上董事会控制单位【原文】The drilling control system is hosted in the on-board control【译文】尖锐的控制系统被主办在那在-之上董事会控制【原文】unit that is responsible to start/stop hydraulic engines, to control【译文】有责任开始/ 停止水力的引擎单位, 控制【原文】the valves, and to read the signal from the sensors.【译文】活瓣, 和读来自感应器的信号。【原文】 The same unit【译文】 相同的单位【原文】is used to read the video signal from the navigation system.【译文】用来读来自航行系统的电视信号。【原文】Finally, being powered on a dedicated line, the PC controller can【译文】最后,在一条热衷的线上被使有力量, 个人计算机控制器能【原文】shut down the output lines of the on-board electric panel in case【译文】停工输出线那在-之上董事会电的嵌板以防万一【原文】of emergency stop without losing the wireless connection with【译文】紧急停止不损失无线的连接【原文】the remote HMI unit.【译文】遥远的 HMI 单位。【原文】 The single control unit is composed of a【译文】 单一控制单位组成一【原文】CPU, control card, data acquisition unit, electric power supplies【译文】处理器，控制卡片，数据获得单位, 电力补给【原文】and power conversion.【译文】而且力量转变。【原文】 A real-time based operation system is【译文】 一个即时的基础操作系统是【原文】used to make the reading and the data processing of all sensors【译文】过去一直制造阅读和所有感应器的数据处理【原文】and to control the different actuators in real-time.【译文】而且控制不同的主动器在即时的。【原文】Use of many sensors and real-time coordination of all actions【译文】许多感应器和所有行动的即时协调的使用【原文】are required:【译文】被需要:【原文】 the control system has to process information from【译文】 控制系统必须处理数据从【原文】the sensors in order to perform drilling and consolidation work【译文】感应器在次序运行演练和巩固工作【原文】while maintaining the system in the correct position and【译文】当在正确的位置中维持系统的时候和【原文】orientation 16.【译文】定方位 16.【原文】10.2.【译文】10.2.【原文】 HMI control unit【译文】 HMI 控制单位【原文】The HMI control unit is the interface between the industrial【译文】HMI 控制单位是在企业家之间的接口【原文】control panel (made of buttons, switches, joysticks) and the【译文】控制嵌板 (钮扣，开关制造,游戏操纵杆) 和那【原文】signal manager that drives the communications with the onboard【译文】向经理作信号以驾驶的沟通那在板子上【原文】control PC 9.【译文】控制个人计算机 9.【原文】 A single micro is used and it is connected【译文】 一个单一微被用，而且它被连接【原文】through a bus to seven general purpose port expanders, each of【译文】经过一辆公共汽车到七个般用途移植扩张之物, 每个【原文】them with several analogical and digital channels that can be【译文】他们与一些 analogical 和数传频道能是【原文】programmed as input or output lines.【译文】规划如输入或输出线。【原文】 Simple LEDs are used to【译文】 简单的引导习惯于【原文】indicate the status of the commands and of the main components【译文】指出指令的状态和主要的成份【原文】on the robotic platform.【译文】在机器人的月台上。【原文】 Two analogical inputs are used to read【译文】 二 analogical 输入用来读【原文】the signal from 2 joysticks controlling the head rotation and head【译文】来自 2个游戏操纵杆的信号控制头旋转和头【原文】translation of the drilling unit:【译文】尖锐的单位翻译:【原文】 a precise control of these two【译文】 这些的一精确控制二【原文】parameters is critical during the drilling operation.【译文】叁数在尖锐的操作期间是紧要关头的。【原文】10.3.【译文】10.3.【原文】 Drilling remote control【译文】 尖锐的遥远控制【原文】To control the drilling operations different macros and single【译文】控制尖锐的操作不同的句集并且选出【原文】commands can be issued by the user:【译文】指令能被使用者发行:【原文】 the more sophisticated【译文】 愈更复杂【原文】macros are applied in standard operative mode for automatic【译文】句集对于自动机械在标准的动作模态中被应用【原文】driving of the drilling operations.【译文】尖锐的操作驾驶。【原文】 In case of unexpected events【译文】 假使料想不到的事件【原文】the drilling control is shifted to the tele-operator:【译文】尖锐的控制被改变到电视-操作员:【原文】 in the【译文】 在那【原文】following it is described as the logic of the manual control of【译文】跟随它被描述为人工控制的逻辑【原文】head rotation and head translation being this critical in operative【译文】领导旋转而且领导翻译是这紧要关头的在职员中【原文】conditions.【译文】情况。【原文】10.3.1.【译文】10.3.1.【原文】 Head translation【译文】 头翻译【原文】During the hole drilling process the head translates at the【译文】在洞的时候演练头翻译的程序在那【原文】maximum speed the hammer drilling may accept, depending on【译文】最大的速度演练的槌可能接受,仰赖【原文】the local condition of rock and terrain.【译文】岩石和地带的地方情况。【原文】 During the two rods【译文】 在二支竿的时候【原文】assembly and disassembly operation the translation speed has to【译文】集会和不集会行动翻译速度有到【原文】be very low and carefully tuned to the head rotational speed to【译文】对头是非常低的和小心调谐回转的速度到【原文】facilitate the threads joining.【译文】促进线参加。【原文】 The control is able to rapidly【译文】 控制能够到快速地【原文】switch from standard (full autonomous) to emergency mode if【译文】从标准 ( 充满的自治) 转换为紧急的模态如果【原
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