CA1042416A - Method and arrangement for positioning a drill boom - Google Patents
Method and arrangement for positioning a drill boomInfo
- Publication number
- CA1042416A CA1042416A CA242,280A CA242280A CA1042416A CA 1042416 A CA1042416 A CA 1042416A CA 242280 A CA242280 A CA 242280A CA 1042416 A CA1042416 A CA 1042416A
- Authority
- CA
- Canada
- Prior art keywords
- angle
- boom
- rock drilling
- drilling apparatus
- elongated rock
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000000034 method Methods 0.000 title claims description 11
- 238000005553 drilling Methods 0.000 claims abstract description 95
- 239000011435 rock Substances 0.000 claims abstract description 67
- 230000000007 visual effect Effects 0.000 claims description 6
- 229920000136 polysorbate Polymers 0.000 claims 1
- 239000000543 intermediate Substances 0.000 description 17
- 230000008602 contraction Effects 0.000 description 4
- 230000000295 complement effect Effects 0.000 description 2
- 238000005422 blasting Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/025—Rock drills, i.e. jumbo drills
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
ABSTRACT
An elongated rock drilling apparatus is turnable about two shafts, which are perpendicular to one another. A desired drilling direction is defined by the turning angles of the elongated rock drilling apparatus about these shafts. The invention provides means for setting values of said turning angles and means for sensing actual values thereof. Error signals are formed from the difference between corresponding set values and actual values. The error signals are indicated visually. The elongated rock drilling apparatus is positioned manually until the actual values coincide with the set ones. To advantage, the improved manual positioning means can be used in drill booms having conventional parallel motion means.
An elongated rock drilling apparatus is turnable about two shafts, which are perpendicular to one another. A desired drilling direction is defined by the turning angles of the elongated rock drilling apparatus about these shafts. The invention provides means for setting values of said turning angles and means for sensing actual values thereof. Error signals are formed from the difference between corresponding set values and actual values. The error signals are indicated visually. The elongated rock drilling apparatus is positioned manually until the actual values coincide with the set ones. To advantage, the improved manual positioning means can be used in drill booms having conventional parallel motion means.
Description
1()4~416 The invention relates to a method and apparatus for manually positioning an elongated rock drilling apparatus to a desired direction, where-in the elongated rock drilling apparatus is swingably carried by a boom, and the boom is turnably and/or swingably mounted on a support. The invention relates further to an arrangement for carrying out the method.
During drilling it is important that the rock drilling apparatus can be positioned correctly to desired positions in simple manner. In tun-nelling as well as bench blasting it is also of great importance that holes drilled side by side are parallel with each other.
Constructions for automatic positioning of a rock drilling apparatus to different drilling positions as well as for parallel displacemen~ thereof between different drilling positions are previously known. In the United States Patent No. 3,896,885 there is disclosed means for automatic positioning and/or parallel displacing of a rock drilling apparatus. In this disclosure, means are provided for automatic positioning of the rock drilling apparatus to a given bearing and to a given angle wi~h respect to the vertical line. In ~ -~ . . . . .
United States Patent No. 3,481,409 there is disclosed a drill boom having a self-correcting electro-hydraulic angular positioning servo system for parallel displacement of the rock drilling apparatus between different dril-ling positions. Drill booms are also known having solely hydraulic or solelymechanical parallel motion means.
It is an object of the present invention to provide a simplified system for indicating the angles of a boom and an elongated rock drilling apparatus carried thereby. For instance, when exchanging a drill bit only the rock drilling apparatus need be tilted, and after the exchange it must be possible to bring the rock drilling apparatus back exactly to its previous ~ ;
position. In drilling of parallel holes it must be possible to move the rock drilling ~pparatus out of its parallel position~ for instance when drilling contour holes, and then bring the rock drilling apparatus back to conformity with the direction of the parallel holes.
~ ' -The invention provides a method of posit:ioning an elongated boom-mounted rock drilling apparatus to a desired drilling direction, relative to a fixed support7 comprising: swinging the elongated rock drilling apparatus relative to the boom by power means about a first axis~ said boom carrying said rock drilling apparatus,swinging or turning said boom about a second axis relative to said fixed support by power means~ said fixed support carrying said boom, the desired drilling direction being defined by the turning angle of the elongated rock drilling apparatus about said first and second axes, said first and second axes being perpendicular to one another~ setting by means of actuator means set values of the turning angle of the elongated rock drilling apparatus about each of said first and second perpendicular axes relative to said fixed support~ sensing by means of angle sensitive ~eans the actual values of the turning angle of the elongated rock drilling apparatus about each of said first and second perpendicular axes relative to said fixed support~ forming error signals from the differences between the sensed actual values of the turning angles and the respective set value, indicating said error signals visually, and swinging or turning manually said elongated rock drilling apparatus or boom until the sensed actual values of the turning angles coincide with the respective set valueO
From another aspectg the invention provides a boom arrangement for positioning an elongated rock drilling apparatus to a desired drilling direction relative to a fixed support, comprising: a boom pivotally mounted on the fixed support about a first pivot axis~ power means for pivoting said boom about said first pivot axis~ an elongated rock drilling apparatus pivotally mounted on said boom about a second pivot axis, said boom pivotally moving said elongated rock drilling apparatus relative to said fixed support about a further pivot axis which is perpendicular to at least one of said first and second axes, setting means for setting set values of the ,i:.
turning angles of the elongated rock drilling apparatus about said perpendi-
During drilling it is important that the rock drilling apparatus can be positioned correctly to desired positions in simple manner. In tun-nelling as well as bench blasting it is also of great importance that holes drilled side by side are parallel with each other.
Constructions for automatic positioning of a rock drilling apparatus to different drilling positions as well as for parallel displacemen~ thereof between different drilling positions are previously known. In the United States Patent No. 3,896,885 there is disclosed means for automatic positioning and/or parallel displacing of a rock drilling apparatus. In this disclosure, means are provided for automatic positioning of the rock drilling apparatus to a given bearing and to a given angle wi~h respect to the vertical line. In ~ -~ . . . . .
United States Patent No. 3,481,409 there is disclosed a drill boom having a self-correcting electro-hydraulic angular positioning servo system for parallel displacement of the rock drilling apparatus between different dril-ling positions. Drill booms are also known having solely hydraulic or solelymechanical parallel motion means.
It is an object of the present invention to provide a simplified system for indicating the angles of a boom and an elongated rock drilling apparatus carried thereby. For instance, when exchanging a drill bit only the rock drilling apparatus need be tilted, and after the exchange it must be possible to bring the rock drilling apparatus back exactly to its previous ~ ;
position. In drilling of parallel holes it must be possible to move the rock drilling ~pparatus out of its parallel position~ for instance when drilling contour holes, and then bring the rock drilling apparatus back to conformity with the direction of the parallel holes.
~ ' -The invention provides a method of posit:ioning an elongated boom-mounted rock drilling apparatus to a desired drilling direction, relative to a fixed support7 comprising: swinging the elongated rock drilling apparatus relative to the boom by power means about a first axis~ said boom carrying said rock drilling apparatus,swinging or turning said boom about a second axis relative to said fixed support by power means~ said fixed support carrying said boom, the desired drilling direction being defined by the turning angle of the elongated rock drilling apparatus about said first and second axes, said first and second axes being perpendicular to one another~ setting by means of actuator means set values of the turning angle of the elongated rock drilling apparatus about each of said first and second perpendicular axes relative to said fixed support~ sensing by means of angle sensitive ~eans the actual values of the turning angle of the elongated rock drilling apparatus about each of said first and second perpendicular axes relative to said fixed support~ forming error signals from the differences between the sensed actual values of the turning angles and the respective set value, indicating said error signals visually, and swinging or turning manually said elongated rock drilling apparatus or boom until the sensed actual values of the turning angles coincide with the respective set valueO
From another aspectg the invention provides a boom arrangement for positioning an elongated rock drilling apparatus to a desired drilling direction relative to a fixed support, comprising: a boom pivotally mounted on the fixed support about a first pivot axis~ power means for pivoting said boom about said first pivot axis~ an elongated rock drilling apparatus pivotally mounted on said boom about a second pivot axis, said boom pivotally moving said elongated rock drilling apparatus relative to said fixed support about a further pivot axis which is perpendicular to at least one of said first and second axes, setting means for setting set values of the ,i:.
turning angles of the elongated rock drilling apparatus about said perpendi-
- 2 ~
1~4'~
cular ~xes relativ~ to said fixed support, sensing means for sensing the actual values of the turning angles of the elongated rock drilling apparatus about said perpendicular axes relative to said fixed support, means associated with said setting means and said sensing means for forming error signals corresponding to the differences between the sensed actual values of the turning angles and the respective set values, and means for visual indication of said error signals.
The system can be used as a complement to booms having conventional parallel motion means. In these booms, there are geometric and/or hydraulic faults. Improved accuracy when moving the boom can be obtained by the invention. In hydraulic parallel motion it often occurs that the operator unintentionally mo~es the rock drilling apparatus out of its right position.
Adjustment of the rock drilling apparatus back to this position is a time-consuming ~nexact operation. l~hen using the present system as a complement to the hydraulic parallel motion, such unintentional deviation from the correct direction causes ~ problems. The boom is provided with manual positioning means superior to the ~arallel motion meana~ The manual positioning means can be operated to position the apparatus manually in such a manner that the set values coincide with the respective actual values to enable correction of d~viations from exact parallelism caused by geometric and/or hydraulic faults.
The above and other~purposes of the invention will become obvious from the following description and from the accompanying drawings in which two embodiments are shown by way of example. It should be understood that these embodiments are only illustrative of the invention and that various modifications thereof may be made within the scope of the claims following hereinafterO
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1~42~6 In the drawings, Figure 1 shows a side view of a drill boom accord-ing to the invention.
Figure 2 shows in section an enlarged view of an angle sensitive device for sensing the swing angles of the drill boom about vertical pivot shaftsO
Figure 3 shows the mounting of a device for setting the set values of the side angles.
Figure 4 shows diagrammatically the system for indicating the side angle and the vertical angle of the drill boom.
Figure 5 shows a top view of another embodiment of a drill boom according to the invention.
The drill boom 10 in Figure 1 co]nprises a jib boom 11 which at its ends is pivoted to intermediate pieces 14, 15 over horizontal pivot means or pivot shafts 12~ 13. The intermediate piece 14 forms part of a drill boom support 170 The opposite intermediate piece 15 carries a conventional feed bar 20. On the feed bar 20 is slidably guided a rock drilling machine 22, which is fed by power for instance by means of a feed screw and a feed motor 23 therefor. In the claims, the feed bar 20 and the rock drilling machine 22 are referred to as an elongated rock drilling apparatusO
Across th~ horizontal pivo~ 12 of the boom support 17 is pivotally coupled a hydraulic el~evation angle ram 24 which extends between the inter-mediate portion of ~he jib boom 11 and the lower end of the intermediate piece 14. By extension or contraction of the hydraulic ram 24 the elevation angle of the jib boom 11 can be adjusted relative to the boom support 17 about the pivo~ 12. A hydraulic elevation angle ram 25 is also pivotally coupled across the horizon~al pivot 13 of the feed bar 20 extending from an intermed-iate portion of the jib boom 11 to the intermediate piece 15. By extension or contraction of the hydraulic ram 25 the elevation angle of the intermediate piece and thus also of the feed bar can be adjusted relative to the jib boom 11 about the pivot 130 At opposite side of the jib boom 11 with respect to the hydraulic elevation angle ram 24 is pivotally coupled a hydraulic pilot ram 28 , ~ .
~ tD
extending from an intermediate portion of the Jib boom 11 to the upper end of the intermediate piece 1l~. The hydraulic ram 28 is chosen equal in size with the hydraulic angle ram 25 and the geometric relations between its pivot points and the pivot 12 are made equal with the corresponding arrangement of the pivot points of the hydraulic ram 25 with respect to the pivot 13. The hydraulic ram 25 is slave coupled with the hydraulic pilot ram 28 over a hydraulic vertical adJustment circuit. The vertical ad~ustment circuit com-prises hydraulic passages which connect the opposite cylinder chambers of the hydraulic pilot ram 28 with the cylinder chambers of corresponding volume in the hydraulic ram 25. At the connections of the hydraulic eleva-tion angle ram 25 there are inserted in said passages conventional hydraulic locks of check valve type.
The intermediate piece 14 is by means of a vertical pivot means or -pivot shaft 16 pivoted to the boom support 17. By means of a lateral arm the intermediate piece 14 is pivotally coupled to a hydraulic side angle ram 27 which is fixed at a pivot point on the boom support 17. By extension or contraction of the hydraulic side angle ram 27 is performed a side swing of the jib boom 11 and an adjustment of its side angle at the pivot 16. The intermediate piece 15 at the outer end of the jib boom 11 is pivoted to a bracket 19 by means of a vertical pivot means r pivot shaft 18, the bracket 19 providing a guide for the feed bar 20 for the adjustment thereof in longitudinal direction by the aid of a hydraulic feed displacing ram 21.
Across the vertical pivot 18 is pivotally coupled a hydraulic side angle ram 26 between the intermediate piece 15 and the bracket 19. By extension or contraction of the hydraulic side angle ram 26 the side angle of the feed bar can be adjusted about the pivot lo. The hydraulic ram 26 is slave coupled to a pilot hydraulic ram 29 of identical size. The pilot hydraulic ram is pivotally coupled across the vertical pivot 16 between the boom support 17 and a lateral arm on the intermediate piece 14 opposite to the hydraulic side
1~4'~
cular ~xes relativ~ to said fixed support, sensing means for sensing the actual values of the turning angles of the elongated rock drilling apparatus about said perpendicular axes relative to said fixed support, means associated with said setting means and said sensing means for forming error signals corresponding to the differences between the sensed actual values of the turning angles and the respective set values, and means for visual indication of said error signals.
The system can be used as a complement to booms having conventional parallel motion means. In these booms, there are geometric and/or hydraulic faults. Improved accuracy when moving the boom can be obtained by the invention. In hydraulic parallel motion it often occurs that the operator unintentionally mo~es the rock drilling apparatus out of its right position.
Adjustment of the rock drilling apparatus back to this position is a time-consuming ~nexact operation. l~hen using the present system as a complement to the hydraulic parallel motion, such unintentional deviation from the correct direction causes ~ problems. The boom is provided with manual positioning means superior to the ~arallel motion meana~ The manual positioning means can be operated to position the apparatus manually in such a manner that the set values coincide with the respective actual values to enable correction of d~viations from exact parallelism caused by geometric and/or hydraulic faults.
The above and other~purposes of the invention will become obvious from the following description and from the accompanying drawings in which two embodiments are shown by way of example. It should be understood that these embodiments are only illustrative of the invention and that various modifications thereof may be made within the scope of the claims following hereinafterO
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1~42~6 In the drawings, Figure 1 shows a side view of a drill boom accord-ing to the invention.
Figure 2 shows in section an enlarged view of an angle sensitive device for sensing the swing angles of the drill boom about vertical pivot shaftsO
Figure 3 shows the mounting of a device for setting the set values of the side angles.
Figure 4 shows diagrammatically the system for indicating the side angle and the vertical angle of the drill boom.
Figure 5 shows a top view of another embodiment of a drill boom according to the invention.
The drill boom 10 in Figure 1 co]nprises a jib boom 11 which at its ends is pivoted to intermediate pieces 14, 15 over horizontal pivot means or pivot shafts 12~ 13. The intermediate piece 14 forms part of a drill boom support 170 The opposite intermediate piece 15 carries a conventional feed bar 20. On the feed bar 20 is slidably guided a rock drilling machine 22, which is fed by power for instance by means of a feed screw and a feed motor 23 therefor. In the claims, the feed bar 20 and the rock drilling machine 22 are referred to as an elongated rock drilling apparatusO
Across th~ horizontal pivo~ 12 of the boom support 17 is pivotally coupled a hydraulic el~evation angle ram 24 which extends between the inter-mediate portion of ~he jib boom 11 and the lower end of the intermediate piece 14. By extension or contraction of the hydraulic ram 24 the elevation angle of the jib boom 11 can be adjusted relative to the boom support 17 about the pivo~ 12. A hydraulic elevation angle ram 25 is also pivotally coupled across the horizon~al pivot 13 of the feed bar 20 extending from an intermed-iate portion of the jib boom 11 to the intermediate piece 15. By extension or contraction of the hydraulic ram 25 the elevation angle of the intermediate piece and thus also of the feed bar can be adjusted relative to the jib boom 11 about the pivot 130 At opposite side of the jib boom 11 with respect to the hydraulic elevation angle ram 24 is pivotally coupled a hydraulic pilot ram 28 , ~ .
~ tD
extending from an intermediate portion of the Jib boom 11 to the upper end of the intermediate piece 1l~. The hydraulic ram 28 is chosen equal in size with the hydraulic angle ram 25 and the geometric relations between its pivot points and the pivot 12 are made equal with the corresponding arrangement of the pivot points of the hydraulic ram 25 with respect to the pivot 13. The hydraulic ram 25 is slave coupled with the hydraulic pilot ram 28 over a hydraulic vertical adJustment circuit. The vertical ad~ustment circuit com-prises hydraulic passages which connect the opposite cylinder chambers of the hydraulic pilot ram 28 with the cylinder chambers of corresponding volume in the hydraulic ram 25. At the connections of the hydraulic eleva-tion angle ram 25 there are inserted in said passages conventional hydraulic locks of check valve type.
The intermediate piece 14 is by means of a vertical pivot means or -pivot shaft 16 pivoted to the boom support 17. By means of a lateral arm the intermediate piece 14 is pivotally coupled to a hydraulic side angle ram 27 which is fixed at a pivot point on the boom support 17. By extension or contraction of the hydraulic side angle ram 27 is performed a side swing of the jib boom 11 and an adjustment of its side angle at the pivot 16. The intermediate piece 15 at the outer end of the jib boom 11 is pivoted to a bracket 19 by means of a vertical pivot means r pivot shaft 18, the bracket 19 providing a guide for the feed bar 20 for the adjustment thereof in longitudinal direction by the aid of a hydraulic feed displacing ram 21.
Across the vertical pivot 18 is pivotally coupled a hydraulic side angle ram 26 between the intermediate piece 15 and the bracket 19. By extension or contraction of the hydraulic side angle ram 26 the side angle of the feed bar can be adjusted about the pivot lo. The hydraulic ram 26 is slave coupled to a pilot hydraulic ram 29 of identical size. The pilot hydraulic ram is pivotally coupled across the vertical pivot 16 between the boom support 17 and a lateral arm on the intermediate piece 14 opposite to the hydraulic side
3 angle ram 27. A detailed description of the drill boom and its positioning to different drilling positions is to be found in our Canadian Patent No. 886,975.
:
.: , , ~4~16 Figure Z shows in section -the mounting of an angle sensitive device for sensing the side angle of the jib boom ll relative to the boom support 17.
The intermediate piece 14 is attached to the tubular pivot 160 The intermed-iate piece 14 and the pivot 16 are turnablyjournalled in the boom support 17 by means of bushings 30, 31. An end plate 32 is attached to the boom support 170 The end plate 32 carries a cup-shaped holder 33. In the holder 33 is an inductive angle sensitive device 39 mounted. The device 39 is protected by a cover 35. Another cup-~shaped holder 36 is attached to the tubular pivot 16.
The shaft of the device 39 is conn0.cted with the bottom of the holder 36 via a flexible metallic bellows 370 The angle sensitive device 39, which consists of a synchro in the embodiment shown by way of example, transmits in known manner a signal~ the amplitude andsign of which represent the turning of the shaft of the synchro, and thus the turning of the jib boom 11 relative to the boom support 170 In the same manner is a Synchro 40 connected to the pivot 18 for determining the turning of the bracket 19 relative to the jib boom 11.
A vertical angle sensitive device 38 is attached to the bracket l9o .-The device 38 may be of any suitable type. One type of vertical angle sensi-tive devices is shown in the United States Patent No. 3 113 283. In the pres-ent embodiment, however, the vertical angle sensitive device consists of a synchro of the same type as the side angle sensitive devices, wherea~ a pendulum is mounted on the shaft of the synchroO
The system for indicating the side angles and the vertical angle, Figure 3 comprises the synchros 393 40 and a synchro 41 for setting the set value of the side angle of the desired drilling direction relative to a refer-ence directionO There is also an electronics central which comprises an oscillator 4~ for generating a suitable supply voltage to the synchros, about 6 V, 700HzD The oscillator 42 is supplied with 24 V DC from an accumulatorO
A phase de~ector 43 is provided for phase detection of the summed signal from the synchros 39, 40, 41. The reference input of the phase detector 43 is supplied with the output voltage of the oscillator 430 The summed signal from side angle sensitive synchros 39, 40, 41 is transmitted from the rotor winding of the synchro 40 and the signal input of the detector 43 is supplied with this sur~med signal. From the output of' the detector 43 there is obtained a smoothed direct-current voltage, which illustrates the amplitude and sign of the divergence from the sum angle O . The angular divergence is supplied to an indicating instrument 45 which shows linearily the divergence within for instance ~10 .
The set value of the vertical angle of the desired drilling direction is set by means of a synchro 47. The summed signal from the synchro 47 and the vertical angle sensitive device 38 is supplied to the signal input of a phase detector 44. From the output of the detector 44 there is obtained a smoothed direct-current voltage, whichshowsthe amplitude and sign o~ the divergence from the sum angle O . The angular divergence is supplied to an indicator instrument 46 which shows linearily the divergence.
In a preferred embodiment of the invention the reference direction in the horizontal plane is the direction of tunnelling or drifting. The correction angle between the direction of the supporting frame, which carries the boom support 17, and the reference direction is set by means of an operating knob 48, Figure 3, which is connected with the synchro 41 via a chain, not shown. The desired drilling angle relative to the direction of tunnelling is set by means of an operating knob 49~ which is mounted on the shaft of the synchro 41. The turning angle of the knob 48 can be read on a scale 51. The turning angle of the knob 49 and the shaft of the elgon 41 relative to the elgon 41 can be read on a scale 50.
In Figure 5, another embodiment of a drill boom according to the invention is shown. For the sake of simplicity, corresponding members in Figures 1 and 5 are given the same reference numerals. By means of a diagrammatically indicated turning device 52 the boom support 17 is turnable 360 about a geometric polar axis 53 which traverses the centre line of a shaft 54 incorporated in the turning device 52. A more detailed description of the drill boom is to be found in the Canadian Patent 989,815.
Angle sensitive devices 39, 40 are connected to the pivots 16~ 18.
A vertical angle sensitive device 38 is connected to the shaft 54 and shows the turning of the shaft 5ll about the polar axis 53. The feed bar 20 is A~
swingable in ~ plane which traverses the polar axis 53. By means of the angle sensitive devices 39, 40 a signal is obtained which represents the position of the feed bar 20 in this plane. The vertical angle sensitive device 38 shows the turning of said plane about the polar axis 53. l'he set values of respec-tively the position of the feed bar in said plane and the turning angle of - said plane are set by means of synchros 41 and 47 respectively. The angle sensitive devices for the actual values and the set values are connected as shown in Figure 4 and the difference between corresponding actual and set values is indicated by means of pointer instruments 45, 46.
The invention may of course be applied in other types of drill booms, such as booms comprising several pivotally connected members.
:
.: , , ~4~16 Figure Z shows in section -the mounting of an angle sensitive device for sensing the side angle of the jib boom ll relative to the boom support 17.
The intermediate piece 14 is attached to the tubular pivot 160 The intermed-iate piece 14 and the pivot 16 are turnablyjournalled in the boom support 17 by means of bushings 30, 31. An end plate 32 is attached to the boom support 170 The end plate 32 carries a cup-shaped holder 33. In the holder 33 is an inductive angle sensitive device 39 mounted. The device 39 is protected by a cover 35. Another cup-~shaped holder 36 is attached to the tubular pivot 16.
The shaft of the device 39 is conn0.cted with the bottom of the holder 36 via a flexible metallic bellows 370 The angle sensitive device 39, which consists of a synchro in the embodiment shown by way of example, transmits in known manner a signal~ the amplitude andsign of which represent the turning of the shaft of the synchro, and thus the turning of the jib boom 11 relative to the boom support 170 In the same manner is a Synchro 40 connected to the pivot 18 for determining the turning of the bracket 19 relative to the jib boom 11.
A vertical angle sensitive device 38 is attached to the bracket l9o .-The device 38 may be of any suitable type. One type of vertical angle sensi-tive devices is shown in the United States Patent No. 3 113 283. In the pres-ent embodiment, however, the vertical angle sensitive device consists of a synchro of the same type as the side angle sensitive devices, wherea~ a pendulum is mounted on the shaft of the synchroO
The system for indicating the side angles and the vertical angle, Figure 3 comprises the synchros 393 40 and a synchro 41 for setting the set value of the side angle of the desired drilling direction relative to a refer-ence directionO There is also an electronics central which comprises an oscillator 4~ for generating a suitable supply voltage to the synchros, about 6 V, 700HzD The oscillator 42 is supplied with 24 V DC from an accumulatorO
A phase de~ector 43 is provided for phase detection of the summed signal from the synchros 39, 40, 41. The reference input of the phase detector 43 is supplied with the output voltage of the oscillator 430 The summed signal from side angle sensitive synchros 39, 40, 41 is transmitted from the rotor winding of the synchro 40 and the signal input of the detector 43 is supplied with this sur~med signal. From the output of' the detector 43 there is obtained a smoothed direct-current voltage, which illustrates the amplitude and sign of the divergence from the sum angle O . The angular divergence is supplied to an indicating instrument 45 which shows linearily the divergence within for instance ~10 .
The set value of the vertical angle of the desired drilling direction is set by means of a synchro 47. The summed signal from the synchro 47 and the vertical angle sensitive device 38 is supplied to the signal input of a phase detector 44. From the output of the detector 44 there is obtained a smoothed direct-current voltage, whichshowsthe amplitude and sign o~ the divergence from the sum angle O . The angular divergence is supplied to an indicator instrument 46 which shows linearily the divergence.
In a preferred embodiment of the invention the reference direction in the horizontal plane is the direction of tunnelling or drifting. The correction angle between the direction of the supporting frame, which carries the boom support 17, and the reference direction is set by means of an operating knob 48, Figure 3, which is connected with the synchro 41 via a chain, not shown. The desired drilling angle relative to the direction of tunnelling is set by means of an operating knob 49~ which is mounted on the shaft of the synchro 41. The turning angle of the knob 48 can be read on a scale 51. The turning angle of the knob 49 and the shaft of the elgon 41 relative to the elgon 41 can be read on a scale 50.
In Figure 5, another embodiment of a drill boom according to the invention is shown. For the sake of simplicity, corresponding members in Figures 1 and 5 are given the same reference numerals. By means of a diagrammatically indicated turning device 52 the boom support 17 is turnable 360 about a geometric polar axis 53 which traverses the centre line of a shaft 54 incorporated in the turning device 52. A more detailed description of the drill boom is to be found in the Canadian Patent 989,815.
Angle sensitive devices 39, 40 are connected to the pivots 16~ 18.
A vertical angle sensitive device 38 is connected to the shaft 54 and shows the turning of the shaft 5ll about the polar axis 53. The feed bar 20 is A~
swingable in ~ plane which traverses the polar axis 53. By means of the angle sensitive devices 39, 40 a signal is obtained which represents the position of the feed bar 20 in this plane. The vertical angle sensitive device 38 shows the turning of said plane about the polar axis 53. l'he set values of respec-tively the position of the feed bar in said plane and the turning angle of - said plane are set by means of synchros 41 and 47 respectively. The angle sensitive devices for the actual values and the set values are connected as shown in Figure 4 and the difference between corresponding actual and set values is indicated by means of pointer instruments 45, 46.
The invention may of course be applied in other types of drill booms, such as booms comprising several pivotally connected members.
Claims (15)
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. A method of positioning an elongated boom-mounted rock drilling apparatus to a desired drilling direction, relative to a fixed support, comprising: swinging the elongated rock drilling apparatus relative to the boom by power means about a first axis, said boom carrying said rock drilling apparatus, swinging or turning said boom about a second axis relative to said fixed support by power means, said fixed support carrying said boom, the desired drilling direction being defined by the turning angle of the elongated rock drilling apparatus about said first and second axes, said first and second axes being perpendicular to one another, setting by means of actuator means set values of the turning angle of the elongated rock drilling apparatus about each of said first and second perpendicular axes relative to said fixed support, sensing by means of angle sensitive means the actual values of the turning angle of the elongated rock drilling apparatus about each of said first and second perpendicular axes relative to said fixed support, forming error signals from the differences between the sensed actual values of the turning angles and the respective set value, indicating said error signals visually, and swinging or turning manually said elongated rock drilling apparatus or boom until the sensed actual values of the turning angles coincide with the respective set value.
2. A method according to claim 1, comprising indicating the amplitude and sign of the error signals by means of pointer instruments having a central zero point.
3. A method according to claim 1 comprising: setting by means of first actuator means the set value of a first angle of the desired drilling direction relative to a reference direction, setting by means of a second actuator means the value of a second angle of the desired drilling direction, said second angle being perpendicular to said first angle.
sensing by means of angle sensitive means the actual value of said first angle of a given plane through the elongated rock drilling apparatus relative to the reference direction, forming a first error signal of the difference between the sensed actual value of said first angle and the set value thereof, indicating visually said first error signal, sensing by means of a further angle sensitive means the actual value of said angle of the elongated rock drilling apparatus in said given plane, forming a second error signal corresponding to the difference be-tween the sensed actual value of said second angle and the set value thereof, indicating visually said second error signal, and swinging or turning manually said elongated rock drilling apparatus or said boom until the sensed actual values of said angles coincide with the respective set value.
sensing by means of angle sensitive means the actual value of said first angle of a given plane through the elongated rock drilling apparatus relative to the reference direction, forming a first error signal of the difference between the sensed actual value of said first angle and the set value thereof, indicating visually said first error signal, sensing by means of a further angle sensitive means the actual value of said angle of the elongated rock drilling apparatus in said given plane, forming a second error signal corresponding to the difference be-tween the sensed actual value of said second angle and the set value thereof, indicating visually said second error signal, and swinging or turning manually said elongated rock drilling apparatus or said boom until the sensed actual values of said angles coincide with the respective set value.
4. A method according to claim 3 wherein said first angle is a side angle in a horizontal plane, said second angle is a vertical angle and said given plane is a vertical plane.
5. A method according to claim 3, comprising:
measuring the direction of the support relative to the reference direction, setting by means of a first operating means the measured direction of the support, setting by means of a second operating means the desired drilling direction relative to the reference direction, forming the sum of the angles set by means of said first and second operating means for obtaining the set value of the side angle of the drilling direction relative to the support.
sensing by means of angle sensitive means the side angles between the elongated rock drilling apparatus and the boom and between the boom and the support, said angle sensitive means being connected to vertical pivots between the elongated rock drilling apparatus and the boom and between the boom and the support, forming the sum of the actual values sensed by said angle sensitive means for obtaining the actual value of the side angle of the drilling direc-tion relative to the support, and swinging at least one of the elongated rock drilling apparatus and boom until said actual value coincides with said set value.
measuring the direction of the support relative to the reference direction, setting by means of a first operating means the measured direction of the support, setting by means of a second operating means the desired drilling direction relative to the reference direction, forming the sum of the angles set by means of said first and second operating means for obtaining the set value of the side angle of the drilling direction relative to the support.
sensing by means of angle sensitive means the side angles between the elongated rock drilling apparatus and the boom and between the boom and the support, said angle sensitive means being connected to vertical pivots between the elongated rock drilling apparatus and the boom and between the boom and the support, forming the sum of the actual values sensed by said angle sensitive means for obtaining the actual value of the side angle of the drilling direc-tion relative to the support, and swinging at least one of the elongated rock drilling apparatus and boom until said actual value coincides with said set value.
6. A method according to claim 1, wherein the elongated rock drilling apparatus is turnable about an axis which is parallel with the swinging plane of the elongated rock drilling apparatus, and the desired drilling direction is defined by the turning angle of the elongated rock drilling apparatus and by the turning angle of the swinging plane about said parallel axis and also by the turning angle of the elongated rock drilling apparatus in the swinging plane, the method further comprising:
setting by means of actuator means the set values of the turning angles of the elongated rock drilling apparatus about the parallel axis and about the axis which is perpendicular thereto, sensing the actual values of the turning angles of the elongated rock drilling apparatus about said perpendicular axes, forming error signals corresponding to the differences between the sensed actual values of the turning angles and the respective set value, indicating visually said error signals, and swinging or turning manually said elongated rock drilling apparatus or said boom until the sensed actual values of the turning angles coincide with the respective set value.
setting by means of actuator means the set values of the turning angles of the elongated rock drilling apparatus about the parallel axis and about the axis which is perpendicular thereto, sensing the actual values of the turning angles of the elongated rock drilling apparatus about said perpendicular axes, forming error signals corresponding to the differences between the sensed actual values of the turning angles and the respective set value, indicating visually said error signals, and swinging or turning manually said elongated rock drilling apparatus or said boom until the sensed actual values of the turning angles coincide with the respective set value.
7. A boom arrangement for positioning an elongated rock drilling apparatus to a desired drilling direction relative to a fixed support compri-sing:
a boom pivotally mounted on the fixed support about a first pivot axis, power means for pivoting said boom about said first pivot axis, an elongated rock drilling apparatus pivotally mounted on said boom about a second pivot axis, said boom pivotally moving said elongated rock drilling apparatus relative to said fixed support about a further pivot axis which is perpendi-cular to at least one of said first and second axes, setting means for setting set values of the turning angles of the elongated rock drilling apparatus about said perpendicular axes relative to said fixed support, sensing means for sensing the actual values of the turning angles of the elongated rock drilling apparatus about said perpendicular axes re-lative to said fixed support, means associated with said setting means and said sensing means for forming error signals corresponding to the differences between the sensed actual values of the turning angles and the respective set values, and means for visual indication of said error signals.
a boom pivotally mounted on the fixed support about a first pivot axis, power means for pivoting said boom about said first pivot axis, an elongated rock drilling apparatus pivotally mounted on said boom about a second pivot axis, said boom pivotally moving said elongated rock drilling apparatus relative to said fixed support about a further pivot axis which is perpendi-cular to at least one of said first and second axes, setting means for setting set values of the turning angles of the elongated rock drilling apparatus about said perpendicular axes relative to said fixed support, sensing means for sensing the actual values of the turning angles of the elongated rock drilling apparatus about said perpendicular axes re-lative to said fixed support, means associated with said setting means and said sensing means for forming error signals corresponding to the differences between the sensed actual values of the turning angles and the respective set values, and means for visual indication of said error signals.
8. A boom arrangement according to claim 7, wherein said pivot axes include both vertical and horizontal axes, said setting means being adapted to set the values of a side angle of the desired drilling direction relative to a reference direction, angle sensitive means connected to each vertical pivot axis and means for visual indication of an error signal corresponding to the difference between said set side angle set value and the sum of the angles sensed by said angle sensitive means.
9. A boom arrangement according to claim 8, wherein the setting means for setting said side angle set value comprises means for setting the side angle of the support relative to the reference direction and means for setting the side angle of the desired drilling direction relative to the reference direction.
10. A boom arrangement according to claim 8, comprising means for setting the set value of the vertical angle of the desired drilling direction, vertical angle sensitive means for sensing the actual value of the vertical angle of the elongated rock drilling apparatus, and means for visual indication of an error signal corresponding to the difference between the vertical angle set value and the sensed actual value of said vertical angle.
11. A boom arrangement according to claim 7, wherein the elongated rock drilling apparatus is turnable about an axis which is parallel with the swinging plane of the elongated rock drilling apparatus, and the desired drilling direction is defined by the turning angle of the elongated rock drilling apparatus and thus also the turning angle of the swinging plane about said parallel axis and further by the turning angle of the elongated rock drilling apparatus in the swinging plane, comprising setting means for setting set values of the turning angles of the elongated rock drilling apparatus about the parallel axis and about the axis which is perpendicular thereto, and sensing means for sensing the actual values of the turning angles of the elongated rock drilling apparatus about said perpendicular axes.
12. A boom arrangement according to claim 7, wherein said means for visual indication comprises at least one pointer instrument having a central zero point.
13. A boom arrangement according to claim 7, wherein the boom is pro-vided with parallel motion means for automatically displacing the elongated rock drilling apparatus between mutually substantially parallel positions during swinging of the boom, and wherein the boom further is provided with manual positioning means, said manual positioning means being superior to said parallel motion means and being adapted for manual positioning of the elongated rock drilling apparatus in such manner that said set value or values coincide with the respective actual value for correcting the deviations from exact parallelism caused by inaccuracies of the parallel motion means when swinging the boom from a first position to a second position.
14. A boom arrangement according to claim 9, comprising means for setting the set value of the vertical angle of the desired drilling direction, vertical angle sensitive means for sensing the actual value of the vertical angle of the elongated rock drilling apparatus, and means for visual indica-tion of the error signal corresponding to the difference between said set vertical angle value and the sensed actual value of said vertical angle.
15. A boom arrangement according to claim 7 wherein said first and second pivot axes are vertical axes, and said further pivot axes is a horizon-tal pivot axis.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE7416214A SE395744B (en) | 1974-12-23 | 1974-12-23 | PROCEDURE AND DEVICE FOR AIRING A DRILL BOOM |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1042416A true CA1042416A (en) | 1978-11-14 |
Family
ID=20323105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA242,280A Expired CA1042416A (en) | 1974-12-23 | 1975-12-22 | Method and arrangement for positioning a drill boom |
Country Status (8)
| Country | Link |
|---|---|
| AU (1) | AU505055B2 (en) |
| CA (1) | CA1042416A (en) |
| DE (1) | DE2557338A1 (en) |
| FI (1) | FI753621A (en) |
| FR (1) | FR2296084A1 (en) |
| NO (1) | NO754273L (en) |
| SE (1) | SE395744B (en) |
| ZA (1) | ZA757906B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103244058A (en) * | 2013-06-04 | 2013-08-14 | 重庆市能源投资集团科技有限责任公司 | Skid-mounted positioning drilling machine underground coal mine |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4274494A (en) * | 1977-05-16 | 1981-06-23 | Atlas Copco Aktiebolag | Method and device for setting the direction and/or the inclination of an elongated rock drilling apparatus |
| US4484637A (en) * | 1979-01-19 | 1984-11-27 | Cooper Industries, Inc. | Positioning control system for rock drill support apparatus |
| FI79884C (en) * | 1988-06-03 | 1990-03-12 | Tampella Oy Ab | Method and apparatus for drilling a hole in rock |
| FI107182B (en) * | 1998-12-09 | 2001-06-15 | Tamrock Oy | Method and rock drilling device for correcting mounting errors |
-
1974
- 1974-12-23 SE SE7416214A patent/SE395744B/en not_active IP Right Cessation
-
1975
- 1975-12-16 NO NO754273A patent/NO754273L/no unknown
- 1975-12-18 ZA ZA757906A patent/ZA757906B/en unknown
- 1975-12-19 DE DE19752557338 patent/DE2557338A1/en not_active Withdrawn
- 1975-12-22 CA CA242,280A patent/CA1042416A/en not_active Expired
- 1975-12-22 FI FI753621A patent/FI753621A/fi not_active Application Discontinuation
- 1975-12-22 AU AU87769/75A patent/AU505055B2/en not_active Expired
- 1975-12-23 FR FR7539482A patent/FR2296084A1/en active Granted
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103244058A (en) * | 2013-06-04 | 2013-08-14 | 重庆市能源投资集团科技有限责任公司 | Skid-mounted positioning drilling machine underground coal mine |
| CN103244058B (en) * | 2013-06-04 | 2015-06-17 | 重庆市能源投资集团科技有限责任公司 | Skid-mounted positioning drilling machine underground coal mine |
Also Published As
| Publication number | Publication date |
|---|---|
| AU505055B2 (en) | 1979-11-08 |
| FR2296084B3 (en) | 1979-05-11 |
| FI753621A (en) | 1976-06-24 |
| SE7416214L (en) | 1976-06-24 |
| DE2557338A1 (en) | 1976-06-24 |
| FR2296084A1 (en) | 1976-07-23 |
| SE395744B (en) | 1977-08-22 |
| AU8776975A (en) | 1977-06-30 |
| NO754273L (en) | 1976-06-24 |
| ZA757906B (en) | 1976-11-24 |
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