EP0016717B1 - Bras-support articulé pour glissière d'appareil de foration - Google Patents

Bras-support articulé pour glissière d'appareil de foration Download PDF

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Publication number
EP0016717B1
EP0016717B1 EP80420036A EP80420036A EP0016717B1 EP 0016717 B1 EP0016717 B1 EP 0016717B1 EP 80420036 A EP80420036 A EP 80420036A EP 80420036 A EP80420036 A EP 80420036A EP 0016717 B1 EP0016717 B1 EP 0016717B1
Authority
EP
European Patent Office
Prior art keywords
arm
axis
motor means
designed
magnitudes
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
Application number
EP80420036A
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German (de)
English (en)
French (fr)
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EP0016717A1 (fr
Inventor
Roger Montabert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Montabert SAS
Original Assignee
Montabert SAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Montabert SAS filed Critical Montabert SAS
Priority to AT80420036T priority Critical patent/ATE3323T1/de
Publication of EP0016717A1 publication Critical patent/EP0016717A1/fr
Application granted granted Critical
Publication of EP0016717B1 publication Critical patent/EP0016717B1/fr
Expired legal-status Critical Current

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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

Definitions

  • the present invention relates to an arm intended to support a slide of a drilling apparatus; it concerns the field of drilling equipment used for advancing mine galleries, for digging tunnels and, more generally, for all underground work.
  • French patent 1,556,244 describes a mount for the angular positioning of a feed device for a hammer drill.
  • a part articulated around a vertical axis supports an arm itself articulated around a horizontal axis.
  • a slide is mounted on a support also carried by means of axes, one horizontal and the other vertical.
  • This device works by direct comparison of angles in a Cartesian coordinate system.
  • this device does not allow the arm or the slide to be pivoted to place the perforator in a position such that a minimum of inclination is only necessary for precise cutting of the gallery.
  • French patent 1,563,343 describes an arm with polar coordinates, that is to say defining the parallel position of the slide in space by an angle and a radius corresponding to the complementary rotations around two axes, under the action hydraulic cylinders.
  • the control of the movements corresponding to the different articulations is obtained using hydraulic cylinders, while the rotation of the arm on itself between the fixed part and the rotating part is obtained using a reduction gear.
  • the present invention aims to provide a slide support arm, of the last mentioned type, making it possible to maintain the slide parallel to itself, realizing the control of the arm using a minimum number of parameters using the conjugation d 'angles by their basic trigonometric functions, and by offering the possibility of maintaining the spindle permanently outside the cradle, which is particularly useful for obtaining a careful cutting of the facings of a gallery or tunnel.
  • this support arm is of the type comprising a base pivot mounted rotating about a substantially vertical axis, a first motor means capable of controlling the rotation of the base pivot around the aforementioned axis, a arm articulated to the base pivot around an axis perpendicular to the first axis cited, a second driving force.
  • a third motor means capable of control the rotation of the support block, a cradle carrying the slide and articulated on the support block around an axis orthogonal to the longitudinal axis of the arm, a fourth motor means intended to control the movement of the cradle around its axis of articulation , manual control means for actuating the first two means, and two displacement sensors capable of locating, permanently, the two position parameters, which result from the movements controlled by the first two motor means.
  • this support arm comprises a control which, by means of the computers, continuously determining the other two position parameters, corresponding, respectively, to the rotation of the support block and to the inclination of the cradle relative to the support block, defining the orientation of the slide, so that it remains parallel to itself, automatically controls the last two motor means.
  • the rotation of the arm on itself very useful for obtaining a careful cutting of the gallery facings, keeping the spindle outside the cradle, that is to say as close as possible to the walls of the gallery, is not an optional parameter, as is usually the case, but one of the four parameters defining the different parallel positions taken by the slide in space.
  • the conduct of the support arm according to the invention is particularly simple, because the operator must act only on the first two motor means which are linked to manual control means, such as distributors if they are cylinders , which defines the value of the first two parameters.
  • the servo-control automatically determines the other two parameters and controls, as a function of these, the last two motor means such as motor and hydraulic cylinder, so as to keep the slide parallel to a fixed direction.
  • Figure 1 shows a support arm according to the invention, generally designated by the reference 1, which supports a slide 2 for a hole punch 3.
  • the support arm 1 is mounted above the chassis of a carrier , this chassis not being represented except by the substantially horizontal axes OX and OY, perpendicular to each other, which define its plane.
  • the axis OX is supposed to represent a direction parallel to the axis of the gallery that we intend to drill using the device.
  • the drilling slide 2 must be positioned parallel to the axis OX, and maintained in this orientation.
  • the support arm 1 comprises a first part 4 called the base pivot, the lower end of which is articulated, by means of a ball bearing 5, on the chassis of the carrier.
  • This base pivot 4 has a substantially vertical axis OZ, the spherical bearing 5 being located at point O.
  • the rotation of the base pivot 4 around its axis OZ, symbolized by the arrow 6, is here controlled by a first cylinder 7 , mounted between a fixed point 8 and a yoke 9 projecting from the side of the base pivot 4.
  • the forearm 15 is slidably mounted inside the arm 10, the assembly formed by the arm 10 and the forearm 15 constituting a telescopic structure.
  • the length of this assembly can be modified by means of a telescoping jack 16.
  • the forearm 15 carries, at its free end, a shaft 17 along its longitudinal axis and used for mounting a rotating intermediate support block 18
  • the rotation of the support block 18 around its axis, symbolized by the arrow 19, is here controlled by a motor 20, for example housed in a housing 21 secured to the forearm 15 and coupled to the support block 18 by via gears 22, as shown in FIG. 1.
  • a continuous rotation mechanism with rotating joint for the passage of the circuits, without dead center.
  • a cradle 23 is articulated on the intermediate support block 18, the articulation axis of this cradle 23 being orthogonal to the longitudinal axis of the telescopic assembly formed by the arm 10 and the forearm 15.
  • the pivoting of the cradle 23 around its axis of articulation, movement symbolized by the arrow 24, is here controlled by a jack 25 which connects the support block 18 to a yoke 26 provided under the cradle 23.
  • the slide 2 is finally linked to the cradle 23 by means of a jack 27 called an anchor jack, making it possible to control the advance or the backward movement of the runner 2.
  • the slide 2 carries a last jack 28 which, via a hauled chain 29, controls the movement of the perforator 3 along said slide, to advance or retract the foil of mine 30 relative to the drilling front, which is located in a plane parallel to the YOZ plane.
  • the arrangement of the basic pivot 4 and of the arm proper 10, as well as the arrangement of the jacks 7 and 12 for controlling the pivots according to the respective arrows 6 and 11, is not modified.
  • the forearm 15 ' is mounted in the extension of the arm 10, and so as to be able to describe, as symbolized by the arrow 19', a rotational movement around the longitudinal axis of the arm 10. This movement is here controlled by a motor 20 ', for example housed in a housing 21' integral with the arm 10 and coupled to the forearm 15 'by means of gears 22'.
  • the forearm 15 ' is formed by two elements 15a and 15b which are slidably mounted one inside the other, so as to produce a telescopic structure, the length of this assembly being modifiable by means of a telescoping jack. 16 '.
  • any position of the slide 2 corresponds to determined values of the four angles ⁇ 1, a2, ⁇ 3 and a4, which are not modified by the telescoping movement which is not taken into account here.
  • the four angle values in question are linked together by the following relationships: involving the basic trigonometric functions of the angles a1, ⁇ 2, a3 and a4. If the values of the two angles a1 and ⁇ 2 are known, it is possible to deduce those of the two other angles a3 and a4, using for example the relations (I) and (II). This process is implemented by the electro-hydraulic control represented, in diagram form, by FIG. 4.
  • Two hydraulic distributors 31 and 32 with manual control are provided, respectively for controlling the supply of the jack 7 and that of the jack 12, therefore the rotation of the base pivot 4 and the inclination of the arm 10, according to the arrows 6 and 11.
  • the angles a1 and a2 are thus given directly by the command imposed by the operator.
  • the values of the angles ⁇ 1 and a2 are identified at all times by respective sensors 33 and 34.
  • the first sensor 33 placed for example at the top of the base pivot 4 (see FIGS. 1 and 2), has a mechanical connection, symbolized at 35 in FIG. 4, with the member moved by the jack 7. It provides an electrical quantity, such as a voltage V1, directly linked to the value of the angle a1.
  • the second sensor 34 placed for example on the articulation of the arm 10 to the base pivot 4 (see FIGS. 1 and 2), has a mechanical connection, symbolized at 36 in FIG. 4, with the member moved by the jack 12. It provides an electrical quantity, such as a voltage V2, directly linked to the value of the angle a2.
  • the two sensors 33 and 34 are displacement sensors of the potentiometer type, with variable reluctance or the like; advantageously, these are known sensors of the type delivering output quantities directly proportional to the trigonometric functions of the measured angular displacement values.
  • the system comprises two electronic computers 37 and 38, which each receive, at their inputs, the quantity V1 and the quantity V2 representing, respectively, the angle a1 and the angle a2.
  • the first computer 37 delivers, at its output, an electrical quantity Ve3, such as a voltage, which represents the value of the angle a3 deducing from a1 and a2 from the relation (II) indicated above.
  • the second computer 38 delivers, at its output, an electrical quantity Ve4, such as a voltage, which represents the value of the angle a4 deducing from a1 and a2 from the relation (I) indicated above.
  • the two computers 37 and 38 thus continuously determine the values a3 and a4 which must be observed, as a function of those a1 and a2, in order to obtain that the slide 2 is moved while remaining parallel to itself.
  • a first operator 39 receiving at one of its inputs the quantity Ve3 which represents the desired angle a3, controls a distributor 40 which automatically controls the supply of the motor 20 (or 20 ′), here assumed to be hydraulic, therefore the angular position of the support block 18 (or of the forearm 15 'with the support block 18').
  • a third sensor 41 having a mechanical connection symbolized at 42 with the part displaced by the motor 20 (or 20 ′), supplies an electrical quantity, such as a voltage Vs3, directly linked to the real value of the angle a3 at every moment.
  • the sensor 41 is mounted, as the case may be, on the shaft 17 carrying the support block 18 (see FIG. 1) or at the junction of the arm 10 and the forearm 15 ′ (see FIG. 2).
  • the quantity Vs3 is fed back to an input of the operator 39, which controls the distributor 40 by a signal W3 as a function of the difference between the set value, constituted by the quantity Ve3, and the quantity Vs3.
  • a second operator 43 receiving at one of its inputs the quantity Ve4 which represents the desired angle a4, controls a hydraulic distributor 44 which automatically controls the supply of the jack 25, therefore the pivoting of the cradle 23.
  • a fourth sensor 45 placed on the articulation axis of the cradle 23 to the support block 18 (or 18 ′), has a mechanical connection symbolized at 46 with the part displaced by the jack 25. It provides a electrical quantity, such as a voltage Vs4, directly linked to the real value of the angle a4 at each instant.
  • the quantity Vs4 is fed back to an input of the operator 43, which controls the distributor 44 by a signal W4 as a function of the difference between the set value, constituted by the quantity Ve4, and the quantity Vs4.
  • the hydraulic circuits 47, 48, 49 and 50 which respectively supply the jacks 7 and 12, the motor 20 (or 20 ′) and the jack 25, are produced in a conventional manner and represented with the usual symbols.
  • the part comprising the manually operated distributors 31 and 32 and the sensors 33 and 34, which deliver the quantities V1 and V2 representative of the angles a1 and a2, is not modified.
  • two computers 37 'and 38 are provided, to determine the theoretical values of the other angles a3 and a4.
  • the computer 38 also receives, at its inputs, the quantity V1 and the quantity V2 which represent, respectively, the angle a1 and the angle a2.
  • This computer delivers, at its output, an electrical quantity Ve4, such as a voltage, which represents the value of the angle a4 deducing from a1 and a2 from the relation (I) indicated above.
  • the computer 38 thus continuously determines the value a4 which must be observed, as a function of those ⁇ 1 and a2, in order to obtain that the slide 2 is moved while remaining parallel to itself.
  • an electrical quantity Ve4 such as a voltage
  • the jack 25 is slaved to the computer 38 by virtue of a looped-in circuit and comprising an operator 43, an automatically controlled distributor 44, and a sensor 45 which provides a quantity Vs4 directly related to the actual value of the angle a4 at any time.
  • the computer 37 ′ receives at its inputs, on the one hand, the quantity V1, which represents the angle a1 and, on the other hand, the quantity Vs4, which represents the angle a4.
  • this quantity Vs4 is not only fed back into the operator 43, but also brought to the computer 37 '.
  • the latter can then deliver, at its output, an electrical quantity Ve3, such as a voltage, which represents the value of the angle a3 deducing from ⁇ 1 and a4 from the relation (III) indicated above.
  • the computer 37 ′ thus continuously determines the value a3 which must be observed, as a function of those ⁇ 1 and a2 but passing through the intermediary of a4, in order to obtain that the slide 2 is moved while remaining parallel to itself.
  • the motor 20 (or 20 ′) is slaved to the computer 37 ′ thanks to a looped circuit on it- even and comprising an operator 39, an automatically controlled distributor 40, and a sensor 41 which supplies a quantity Vs3 directly linked to the real value of the angle a3 at all times.
  • the invention also makes it possible to envisage an improvement with respect to the anterior support arms, concerning the initial setting of the slide 2 (or of the different slides) of the drilling apparatus, for placing in position parallel to the axis of the gallery.
  • the usual means consists in adjusting the slide (or slides) of a drilling apparatus by adjusting the position of the whole of the apparatus by a complex set of jacks, using considerable forces, equivalent to the weight of the device, which is literally “lifted off the ground and moved until its axis coincides with that of the gallery, materialized for example by a laser beam.
  • each support arm of a device so as to initially place the slide 2 parallel to the axis of the gallery, by providing the pivot axis OZ substantially vertical. , an angular adjustment allowing it to take any position inside a cone 51 of vertical axis, centered at point O (see Figures 1 to 3).
  • this adjustment is ensured by means of two auxiliary hydraulic cylinders 52 and 53, of orthogonal axes, mounted between fixed points 54 and 55 and the top of the basic pivot 4, these two cylinders being controlled separately, thanks to an independent control, to achieve the desired positioning.
  • the spherical bearing 5 is provided inter alia to allow this adjustment.
  • Another possibility of adjusting the initial setting of the slide relative to the axis of the gallery may consist of adjusting the axis of the slide using the different movements of the support arm 1, without involving the servo controls, for the bring in a direction parallel to the axis of the gallery, concretized for example by a laser beam.
  • the parameters a3 and a4 are variable independently of the parameters a1 and a2, the electro-hydraulic control being put “off-circuit”.
  • the motor 20 (or 20 ′) and the jack 25 are in this case supplied by means of two additional distributors respectively 56 and 57, associated with auxiliary hydraulic members, such as in particular circuit selectors 58 to 61, indicated in the figures. 4 and 5.
  • the return to automatic parallelism can be effected either by resetting the parameters a1, a2, a3 and a4, obtained by locating these particular positions on the jacks 7 and 12 and on the members driven in rotation by the motor 20 (or 20 ′), as well as by the abutment of the jack 25, either by reinjection, into the servo loops, of the set values a1 and a2, set beforehand in memory before interrupting the work in automatic parallelism.
  • this support arm can be mounted on a carrier which moves on rails, on tires, on tracks or on skids, it can support a rotary rotary hammer or a rotary hammer, and it is actuable not only by jacks and hydraulic motors but also, more generally, by all motor means.

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  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Fluid Mechanics (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Earth Drilling (AREA)
  • Manipulator (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Drilling And Exploitation, And Mining Machines And Methods (AREA)
  • Drilling And Boring (AREA)
  • Pit Excavations, Shoring, Fill Or Stabilisation Of Slopes (AREA)
EP80420036A 1979-03-26 1980-03-19 Bras-support articulé pour glissière d'appareil de foration Expired EP0016717B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT80420036T ATE3323T1 (de) 1979-03-26 1980-03-19 Gelenk-stuetzarm fuer bohrlafette.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR7908169 1979-03-26
FR7908169A FR2452587A1 (fr) 1979-03-26 1979-03-26 Bras-support articule pour glissiere d'appareil de foration

Publications (2)

Publication Number Publication Date
EP0016717A1 EP0016717A1 (fr) 1980-10-01
EP0016717B1 true EP0016717B1 (fr) 1983-05-11

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ID=9223800

Family Applications (1)

Application Number Title Priority Date Filing Date
EP80420036A Expired EP0016717B1 (fr) 1979-03-26 1980-03-19 Bras-support articulé pour glissière d'appareil de foration

Country Status (12)

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US (1) US4364540A (enrdf_load_stackoverflow)
EP (1) EP0016717B1 (enrdf_load_stackoverflow)
JP (1) JPS55129589A (enrdf_load_stackoverflow)
AT (1) ATE3323T1 (enrdf_load_stackoverflow)
AU (1) AU534269B2 (enrdf_load_stackoverflow)
CA (1) CA1132530A (enrdf_load_stackoverflow)
DE (1) DE3063035D1 (enrdf_load_stackoverflow)
ES (1) ES489875A1 (enrdf_load_stackoverflow)
FI (1) FI800908A7 (enrdf_load_stackoverflow)
FR (1) FR2452587A1 (enrdf_load_stackoverflow)
NO (1) NO800859L (enrdf_load_stackoverflow)
ZA (1) ZA801678B (enrdf_load_stackoverflow)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT390647B (de) * 1989-01-10 1990-06-11 Tobler Johann Bohrwagen mit bohrarm samt lafette

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EP0016717A1 (fr) 1980-10-01
DE3063035D1 (en) 1983-06-16
NO800859L (no) 1980-09-29
FI800908A7 (fi) 1981-01-01
JPS55129589A (en) 1980-10-07
FR2452587B1 (enrdf_load_stackoverflow) 1983-04-22
AU534269B2 (en) 1984-01-12
FR2452587A1 (fr) 1980-10-24
ZA801678B (en) 1981-03-25
ES489875A1 (es) 1980-09-16
AU5685680A (en) 1980-10-02
US4364540A (en) 1982-12-21
ATE3323T1 (de) 1983-05-15
CA1132530A (fr) 1982-09-28

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