EP0064969B1 - Boring apparatus, particularly gallery boring apparatus, and process for controlling boring apparatuses - Google Patents

Description

Up to now, it has been customary for the setting and control of drilling rigs, in particular of tunnel boring rigs, to use the boom parts or the parts of the drilling mount, i.e. the position or angular position of the individual parts, e.g. To control boom beams, swivel axes, the boom or the drilling carriage to each other, usually working with a pressure medium, preferably cylinders, pistons or the like, via valves, which in turn are controlled by levers usually operated manually by an operator.

If, what is the case with today's requirements, in particular with regard to the accuracy of the drilling of tunnels, tunnels or the like which have a complicated course, the setting and alignment of the rock drill bits that are necessary and as exact as possible can be achieved by the operator only with relatively great effort, in particular time-consuming. For this purpose, it is necessary to mark the respective drilling point directly, to which markings the boom and the drilling mount are to be aligned.

An attempt was therefore made to use a servo system to reduce the difficulties and problems encountered in an exact alignment of the drilling device and the drill in practical operation.

A rock drilling machine is known from DE-A-28 21 112, two electrical instruments measuring the deviation from the vertical being provided for adjusting the inclination of the feed mount, which are firmly connected to the feed mount with a parallel orientation. By setting a certain target value for the inclination of the feed carriage, control signals are generated by the vertical measuring instruments, which are fed to an electronic control device, the output signals of which control electro-hydraulic servo valves, which cause the movement of an actuator for the feed carriage until the desired inclination and direction is preserved.

From FR-A-1 083 476 control of an arm by an arm model is known, the arm being used as a tool carrier, e.g. for pliers or the like. Control rods are provided on both the arm and the arm model, by means of which mechanical valves are controlled, as a result of which hydraulic actuating cylinders can be actuated, so that a desired position is achieved. Such a control is extremely complex and prone to failure and is in no way suitable for rough drilling operations.

For example, AT-A-286 209 describes a drill boom for the angular adjustment of a drill carriage carrying a rock drill, in which an angle adjustment servo system is coupled to the swivel axes, in which an electrical angle position sensor is assigned to each of the swivel axes, for example two angle position sensors being synchronously synchronized are coupled to one another, one of which is connected via an amplifier and a servo valve to the adjacent swivel angle power cylinder of the drill arm in an electro-hydraulic angle-synchronous manner with the setting of the opposite swivel angle power cylinder.

With the device provided there, e.g. the drill carriage can be moved exactly parallel to the bearing. A major disadvantage of this known system lies in its lack of flexibility, which at least makes it difficult to freely adjust the boom and thus also the drill to any desired position.

It has now been found that the disadvantages of such a known servo system for drilling devices can be avoided if the boom is controlled by means of a model which corresponds functionally to this boom and on which any desired position of the boom can be easily adjusted by simple manipulation of the operator. For this purpose, position sensors (measuring sensors) are arranged at the moveable, in particular articulated and / or displaceable, connection points of the cantilever or mount model, for example on its swivel axes or joints, the measurement variables of which are in each case with the measurement variables of at the respective analog connection points position sensors (measuring sensors) arranged on the boom of the drilling device to be used. As long as there is a difference between the measured values supplied by the model and device, servo control, e.g. by means of hydraulics, as long as the position of the boom parts or the parts of the carriage relative to one another is changed until the measured variables of position sensors assigned to one another on the device and model are identical to one another.

The invention is based on a prior art, as given by AT-A 286 209.

The invention accordingly relates to a drilling rig, in particular a tunnel boring rig, in which the position of the cantilever parts or parts of the drilling mount can be changed and adjusted by means of cylinders controlled by electrical valves which can be pressurized with pressure medium, electrical position sensors at the connection points of the parts are provided.

The drilling device is characterized in that, at the connection points, in particular at the joints of a model that corresponds functionally to the boom of the drilling device, the position of the electrical position sensors determining the boom parts or parts of the drilling mount, preferably electrical rotational and / or sliding resistance sensors, are arranged, which are connected via at least one comparison or compensation circuit, preferably a bridge circuit, with, preferably of the same type, electrical position sensors arranged at the connection points analogous to the model, in particular joints, of the cantilever parts or parts of the drilling mount and that by means of the comparison circuit when the position of the parts of the model changes, the electrical valves for controlling the cylinders, preferably in chronological succession, can be acted upon with the pressure medium until all at the connection points, preferably joints, of the Position sensors, preferably rotary and / or sliding resistance sensors, arranged with the drilling device, with which the measured variables determined by the position sensors of the model achieve identical measured variables, preferably identical resistance variables.

As indicated above, joints, joints, pivot bearings, pivot axes or the like, but also telescopically extendable boom parts or the like are indicated. to understand. In or at these connection points of both the model and the drilling device, the respective position, angle or other position is recorded by electrical, e.g. electronic, sensors provided; electrical resistance sensors, e.g. Rotary or slide potentiometers are preferred.

The comparison or compensation circuit provided in accordance with the invention and connected to the sensors can in principle be constructed according to any known principle and is used to determine the difference between the measurement variables supplied by the respective assigned sensors to the model and device and sets by means of this difference measurement variable - Usually after their corresponding reinforcement - for example, the control valves of the hydraulic cylinders on the boom of the drilling device and thus these cylinders themselves in motion until the difference between the sensors of the model and the boom assigned to each other reaches the value zero. In this way, a subsequent adjustment of the boom of the drilling device can be achieved, which corresponds exactly to the setting of the easy-to-use model boom.

The comparison circuit itself is formed by an electrical or electronic bridge circuit. The amplifier used to control the movement of the cylinders on the boom is advantageously an electronic amplifier.

Usually the number of position sensors on both the model and the device is correct with the number of connection points, such as joints or the like. match. The redundancy in this case in the case of several connection points ensures that even if one of the sensors fails in the known rough drilling operation, the remaining, still intact sensors still ensure an exact match of the position of the parts of the boom or the mount of the model and device are able to care for each other.

However, sensors can also be omitted at connection points between model and device, where they are not essential.

In order to keep the effort of the servo system according to the invention within limits and at the same time to ensure a chronological sequence of the steps of the adjustment of the arm or the drilling mount, a central comparison circuit is advantageously provided, to which all pairs of sensors assigned to one another are connected. The two measured quantities of two corresponding connection points on the position-adjusted model and device to be position-adjusted are compared with one another in chronological succession and, in this process, the respectively associated control element, preferably a cylinder, via its control element (s), e.g. The valve (s) and thus the parts of the boom or the carriage of the device are set in motion until the differential measurement variable on the circuit assumes the value zero. After each manual realignment of the model, all connection points, in particular joints or the like, of the boom of the drilling device are sequentially brought into line with the position of the connection points, in particular joints or the like, on the model. Understandably, a sequence of settings is to be ensured in which a «crossing» of the boom parts or the parts of the drill carriage is avoided.

As already indicated, position sensors based on electrical resistance measurement have proven themselves in practice. However, capacitive or induction sensors can also be used. For the connection from the respective position sensor to the comparison circuit and from this to the control elements, in particular valves, the cylinder of the drilling device, electrical lines have proven effective.

According to the invention, an analog-to-digital converter and / or a digital comparison circuit, in particular a bridge circuit, can also be provided to convert the analog measurement variables of the sensors of the model and the drill into digital variables. This makes it possible to switch on or interpose a computer or microprocessor that controls and controls the setting processes and also their sequence on several drilling devices during drilling operation.

The invention also relates to a method for controlling a drilling device, in particular the drilling device described above, which is characterized in that a desired position of the boom or the drilling mount is set on a functionally corresponding model of the boom or the drilling mount of the drilling device that the position variables determined by the position sensors arranged at the connection points of the parts of the boom or mount model are stored, and for the setting of the parts of the boom or the drill mount of the drill corresponding to the setting of the model these stored model measured variables sequentially with the measured variables, in particular electrical resistance variables, at the analog connection points of the parts of the boom or the The position of the drilling device of the drilling device is compared by means of a comparison circuit, preferably a bridge circuit, that the voltage differences found there are amplified and converted to apply pressure medium to the cylinder of the drilling device and thus to change the position of the parts of the boom or the mounting of the device can be called up to each other until the measurement variables, preferably resistance values, occurring at the position sensors of the connection points of the boom or the drilling mount match the measurement variables, preferably resistance values, occurring at the analog connection points of the positionally adjusted model.

• Es zeigen: Fig. 1 ein vereinfachtes Übersichtsschema des erfindungsgemässen Bohrgerätes und Fig. 2 die Steuerung näher im Detail.

The subject of the invention is explained on the basis of the drawing:

• 1 shows a simplified overview diagram of the drilling device according to the invention, and FIG. 2 shows the control in more detail.

Position sensors 3a, 4a, which are connected to central bridge circuit 12 via electrical lines 3b, 4b, are located on joints 3, 4 of the boom of drilling device 1 shown in FIG. 1. Likewise located on the analog joints 5, 6 of the functionally corresponding model 2 of the boom, preferably identically designed position sensors 5a, 6a, which are also connected to the circuit 12 via lines 5b, 6b. The circuit 12 sequentially compares the measurement quantities supplied by the sensors 5a, 6a of the model 2 manually set to a desired position with the measurement sensors 5a, 6a assigned to the drilling device 1 to be set and assigned to the model sensors 5a, 6a the respective differential measurement variable which is passed on via the amplifier and converter 11 to the control elements, preferably valves 9, 10, of the cylinders 7, 8 of the boom of the drilling device 1; In this way, the strokes of the cylinders 7, 8 and thus the position of the cantilever parts relative to one another are changed until they coincide with the position of the cantilever of the functionally corresponding model cantilever 2 that is brought into the desired position by hand, and the differential measurement value assumes the value zero .

Fig. 2 shows the control using a pair of mutually associated position sensors in detail. The variable rotational resistance 5a forming the angular position sensor in the joint 5 of the boom model 2 set in a desired position and a similar sensor 3a in the joint 3 of the boom of the drilling device 1 to be brought into a desired position form two in the one supplied by the voltage source 121 Bridge circuit 12 mutually connected branches of this circuit, while the resistors 122, 123, which are preferably of equal size, form the other two branches of this circuit. The bridge located between points a and b is connected to an electronic amplifier 11, which in turn is connected to the actuating motor of an electro-hydraulic servo valve 9. This valve 9 is supplied with pressure medium via hydraulic lines 9a, 9b and controls the inflow or outflow of the pressure medium via lines 7a, 7b to and from the cylinder 7 on the boom of the drilling machine 1. If the position of two is over that with the angular position -Sensor 5a provided joint 5 interconnected parts of the boom of model 1 changed to each other, so between points a and b on the bridge of the circuit, a voltage difference or a change in voltage occurs, which - amplified by amplifier 11 - a change in Position, e.g. Opening, closing, which causes inflow and outflow valves in the servo valve 9, whereby, fed via the hydraulic lines 9, 9a, pressure medium is supplied or discharged via the cylinder lines 7a, 7b and thus the cylinder 7 is actuated as long until, due to the change in position of the parts of the boom of the drilling device 1, the resistance occurring at the sensor 3a has the same value as the resistance at the sensor 5a at the analog joint 5 of the model 2. If this state is reached, the points a and b occur the bridge of the circuit 12 no more voltage, and then the valves of the servo valve 9 provided for the cylinder control are closed. The parts of the boom of the drilling device are then kept constant in the same position relative to one another in which the boom parts of the model are set; an exact setting of the drilling device 1 is achieved on the basis of a desired setting on the model 2. If the setting of model 2 is changed again, the process just described runs again.

Claims (5)

1. Drilling apparatus, in particular drift drilling apparatus, in which the position of the arm parts or the parts of the drill mounting can be altered and set by means of cylinders which are controlled via electrical valves and which can be acted upon by pressure medium, electrical position sensors (3a, 4a) being provided at the connection points, in particular joints (3, 4) of the parts, characterised in that at the connection points, in particular at the joints (5, 6), of a model (2) which corresponds in its function to the arm of the drilling apparatus (1), there are arranged electrical position sensors (5a, 6a), preferably electrical rotary and/or slide resistance sensors, which determine the position of the arm parts or the parts of the drill mounting, and which are connected via at least one comparator or compensating circuit (12), preferably a bridge circuit, to preferably similarly designed electrical position sensors (3a, 4a) which are arranged at the connection points, in particular joints (3, 4), analogous to the model, of the arm parts or parts of the drill mounting (1), and when the position of the parts of the model is altered, the electrical valves (9, 10) can be acted upon by means of the comparator circuit (12) in each case by pressure medium to control the cylinders (7, 8), preferably in succession, until measured variables, preferably resistance values, which are identical to the measured variables determined by the position sensors (5a, 6a) of the model (2), are obtained at all position sensors (3a, 4a), preferably rotary and/or slide resistance sensors, arranged at the connection points, preferably joints (3, 4), of the drilling apparatus (1).

2. Drilling apparatus according to claim 1, characterised in that the comparator circuit (12) is connected to the position sensors (3a, 4a, 5a, 6a) of the drilling apparatus (1) and of the drilling apparatus model (2) via electrical leads (3b, 4b, 5b, 6b).

3. Drilling apparatus according to claim 1 or 2, characterised in that the position sensors (5a, 6a, 3a, 4a) on the model (2) and the drilling apparatus (1) are capacitive or inductive sensors.

4. Drilling apparatus according to any one of the claims 1 to 3, characterised in that it has an analogue-digital converter (11) for converting the measured variables of the sensors (5a, 6a, 3a, 4a) of the model (2) and the drilling apparatus (1) into digital values, and/or a digital comparator circuit, preferably a bridge circuit (12).

5. A method of guiding a drilling apparatus, in particular a drift drilling apparatus, into any desired position, in accordance with any one of the claims 1 to 4, characterised in that a desired position of the arm or the drill mounting is set on a model which corresponds in its function to the arm or the drill mounting of the drilling apparatus, the measured variables, in particular electrical resistance values, which are determined by electrical position sensors arranged at the connection points, more particularly joints, of the parts of the arm or mounting model, are stored and, in order to set the parts of the arm or the drill mounting of the drilling apparatus so as to correspond to the setting of the model, these stored measured variables are sequentially compared with the measured variables, in particular electrical resistance values, of position sensors arranged at the similar connection points, more particularly joints, of the parts of the arm or the mounting of the drilling apparatus by means of a comparator circuit, preferably a bridge circuit, the differences in voltage determined at this point are recalled via an amplifier and converter for acting on the cylinders of the drilling apparatus by pressure medium and thereby for altering the position of the parts of the arm or the mounting of the apparatus with respect to one another, until the measured variables, preferably resistance values, arising at the position sensors of the connection points, more particularly joints, of the arm or the drill mounting correspond to the measured variables, preferably resistance values, arising at the sensors arranged at the similar connection points, more particularly joints, of the model whose position has been set.

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