US3481409A - Electro-hydraulic parallel motion means for drill boom supported rock drilling apparatus - Google Patents

Electro-hydraulic parallel motion means for drill boom supported rock drilling apparatus Download PDF

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Publication number
US3481409A
US3481409A US682256A US3481409DA US3481409A US 3481409 A US3481409 A US 3481409A US 682256 A US682256 A US 682256A US 3481409D A US3481409D A US 3481409DA US 3481409 A US3481409 A US 3481409A
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Prior art keywords
boom
hydraulic
pivot
feed shell
angle
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Expired - Lifetime
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US682256A
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English (en)
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Bengt Arvid Westerlund
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Atlas Copco AB
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Atlas Copco AB
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    • 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

  • This invention relates to drill booms for angular positioning with respect to a boom support of a feed shell provided with a rock drilling apparatus thereon. More particularly the invention relates to a drill boom which over pivot means perpendicular to one another and preferably disposed horizontally and vertically is pivoted to the boom support as well as to the feed shell and is provided with hydraulic actuating means or rams mounted at the pivot means for adjustment of the angle of elevation and angle of lateral swing on the one hand between the boom support and the drill boom and on the other between the drill boom and the feed shell.
  • FIG. 1 shows partly a side view of a drill boom according to the invention, partly and diagrammatically an electro-hydraulic circuitry for the servo control of the drill boom in respect of the elevation angle adjustment of the feed shell.
  • FIG. 2 shows partly a top plan view of the drill boom in FIG. 1, partly the electric part of an electro-hydraulic circuitry for the servo control of the drill boom in respect of the side swing angle adjustment of the feed shell.
  • FIG. 3 is an enlarged section taken substantially on the line 33 in FIG. 1.
  • FIG. 4 is a side view on the line 44 in FIG. 3.
  • the drill boom 10 in FIGS. 1 and 2 includes a jib boom 11 which at its ends is pivoted to intermediate pieces 14, 15 over horizontal pivot means or axles 12, 13.
  • the intermediate piece 14 is by means of a vertical pivot means or axle 16 pivoted to and forms part of a boom support 17.
  • the opposite intermediate piece 15 is by means of a vertical pivot means or axle 18 pivoted to a bracket 19 providing a guide for a conventional feed shell 20 slidable longitudinally thereon and adjustable by the aid of a hydraulic feed displacing ram 21.
  • On the feed shell 20 is slidably guided a rock drill 22 which is fed by power for example by a feed screw driven by a feed motor 23.
  • a hydraulic elevation angle ram or actuating means 24 which extends between an intermediate portion of the jib boom 11 and the lower end of the intermediate piece 14.
  • a hydraulic elevation angle ram or actuating means 25 is pivotally coupled across the horizontal pivot axle 13 of the feed shell 20 extending from an intermediate portion of the jib boom 11 to the intermediate piece 15.
  • the elevation angle A13 of the feed shell 20 can be adjusted relative to the horizontal line through the pivot axle 13.
  • the hydraulic ram 24 is adjustable by being connected to a hydraulic circuit 27 in which there is maintained pressure by a motor driven pump 26.
  • a pair of solenoid valves SV1 and SV2 in association with which an electric holding circuit 28 for the solenoids of the valves must be broken at a pair of switches B1 and B2 for enabling the valves SV1, SV2 to take, by way of being spring loaded, a position designated by a in which the throttle valve T25 is connected to the conduits 47 and the hydraulic ram 25.
  • an angularly positioning servo control system for keeping the divergence between the elevation angles A12 and A13 automatically constant when one changes the elevation angle A12 by the throttle valve T24 and extension or contraction of the hydraulic ram 24. This is equivalent with a parallel translation of the feed shell 20 vertically from drilling position to drilling position.
  • the horizontal pivot axles 12 and 13 are associated each with an electric angular position sensing means R12 and R13, respectively.
  • R12 and R13 respectively.
  • otentiometers, capacitive angle sensing means, angle sensing means of digital type or inductive angle sensing means such as synchros and resolver synchros.
  • resolver synchros mounted within the pivot axles 12, 13 and shown in detail in FIGS. 3 and 4 in connection with the pivot axle 12.
  • the resolver synchro R12 is enclosed in a housing which is mounted in pivot axle 12 made hollow and fixed to the latter by screws 31.
  • the screws 31 pass through a cover member 32 which affixes the stator of the resolver synchro 12 to the housing 30.
  • the rotor of the resolver synchro R12 passes with an axle 33 a central journal in the cover member 32 and carries an adjusting lever 34.
  • the adjusting lever 34 coincides with a radial slot 35 on a setting disk 36.
  • the disk 36 is provided with are shaped grooves 37 passed by screws 38 by which the setting disk 36 can be tightened fast in the desired angular position to an inner flange on a hub 39.
  • the hub 39 is affixed by means of screws to the end of the jib boom 11 journalled on the pivot axle 12.
  • the hub 39 and the setting disk 36 thus partake in the rotation and the turning movement is transmitted via the radial slot 35 and the adjusting lever 33 directly to the rotor of the resolver synchro R12.
  • Fine rotor adjustment of the resolver synchro R12 with respect to the stator may be had by screwing ofi an enclosing cover 29 and changing of the tightening position of the screws 38 in the are shaped grooves 37.
  • the windings of the resolver synchro R12 are connected to a cable 40 which is drawn through the pivot axle 12 and the interior of the jib boom 11.
  • the synchro resolvers R12, R13, mounted in analogous manner in both pivot axles 12 and 13, are for the sake of clearness illustrated in FIG. 1 diagrammatically in a disposition adjacent to the drill boom 10 and the various electric and hydraulic leads and conduits connected to the drill boom are illustrated in developed plan view.
  • the stator windings of the two resolver synchros R12 and R13 may be electrically directly interconnected in per se known manner.
  • resolver synchros R12, R13 electrically a differential resolver synchro DRH which suitably is placed on the control panel, not shown, of the drill boom together with the throttle valves T24, T25 and the switches B1,
  • the resolver synchro R12 which operates as a transmitter resolver synchro, is connected with its stator windings to the stator windings of the diflerential resolver synchro DRH and the latter with the rotor windings thereof to the stator windings of the resolver synchro R13, which operates as a transformer synchro.
  • the construction of the differential resolver synchro DRH is suitably analogous with the embodiment in FIG. 3 except for the setting disk 36 being graduated and journalled for manual turning adjustment by means of a turning knob 42, FIG. 1, placed on the control panel.
  • One rotor winding of the transmitter resolver synchro R12 is short-circuited while the other is connected to a power unit 43 fed by alternating current.
  • One rotor winding of the transformer resolver synchro R13 is not utilized while the other via leads 44 is connected to an amplifier 45 which is fed by the power unit 43 and by means of leads 46 is connected to the operating motor in an electrohydraulic servo valve HSV intended for elevation angle adjustments.
  • the servo valve HSV is connected to the circuit 27 of the hydraulic pump 26 in parallel with the throttle valve T25. Between the servo valve HSV and the hydraulic ram 25 the solenoid valves SV1 and SV2 are coupled similarly to the arrangement thereof in connection with the throttle valve T25.
  • the electric holding circuit 28 is energized and the valves SV1 and SV2 are moved to the position b against the action of the valve spring load as illustrated in FIG. 1.
  • the throttle valve T28 is coupled off and the hydraulic ram 25 is controlled by the servo valve HSV.
  • the angular turning of this field causes a correspond ing turning of the electromagnetic field induced by the rotor in the stator windings of the transmitter resolver synchro R12, and the turning of the stator field causes in its turn, since full reproduction of the field turning takes place in the differential resolver synchro DRH, being zero adjusted with respect to the output field angle difference, a turning to an equal extent of the electromagnetic field generated by the currents in the stator windings of the transformer resolver synchro R13.
  • the angular orientation of the alternating electromagnetic field of the stator windings R13 will in the new angular position divert in such manner from the starting value that there is induced an error voltage in the windings of the transformer resolver synchro R13 connected to the leads 44 which error voltage corresponds in magnitude to the change in angle.
  • the error voltage is transmitted via the leads 44 to the amplifier 45 fed by the power units 43, in which amplifier 45 the error voltage is amplified and detected as to its phase position with respect to the voltage by which the rotor in the transmitter resolver synchro R12 is fed in order finally to be rectified so that the polarity of the direct current thus created will be dependent upon in which sense the rotor in the transmitter resolver synchro R12 had been turned.
  • the error voltage thus rectified is fed via the leads 46 to the operating motor in the electro-hydraulic servo valve HSV which thus performs a control movement from its neutral position in such direction that the hydraulic ram 25 via the intermediate piece 15 will turn the 'feed shell in the direction necessary for again making the angle A13 equal to the angle A12.
  • One thus receives an automatic parallel keeping means of the feed shell regardless of the elevation angle setting at the hydraulic ram 24 and the pivot axle 12.
  • the side swing angle A18 of the feed shell 20 can be adjusted.
  • the pivot axles 16 and 18 there are, similarly to the embodiment in FIG. 1, mounted resolver synchros R16 and R18 and also in the case of FIG. 2 there is provided a hydraulic system, not shown, analogous with the embodiment in FIG. 1.
  • the resolver synchros R16 and R18 are here, as well, connected electrically to a dilferential resolver synchro DRS provided with a turning knob 50 placed at the control panel of the drill boom.
  • the rotor Winding of the resolver synchro R18 is via a lead 51 connected to an amplifier 52 which similarly to the embodiment in FIG. 1 controls an electro-hydraulic servo valve HSS intended for side. angle adjustment and forming part of the hydraulic system.
  • the automatic servo .control of the side angle A18 in dependence upon the adjustment of the side angle A16 will be fully analogous with the above described servo control of the elevation angle A13.
  • an electro-hydraulic wiring diagram which in rinciple is similar to the above described system with resolver synchros. If it is desired on the other hand to use Potentiometers, digital angular position sensing means, or such means of capacitive type, the electric parts ofthe servo control should be adapted. to the type of angular position sensing means chosen in a manner per servo valve can be arranged for operation in on-off control with full deflection from the neutral position when the incoming error signal exceeds a certain threshold value.
  • a drill boom comprising a boom support, an elongated feed shell, a feed motor on said feed shell, a rock drill slidably supported on said feed shell and operatively connected to said feed motor for reciprocal movement along said feed shell, a jib boom having parallel pivot axles at the opposed ends thereof connecting said jib boom pivotally to the boom support as well as to the feed shell, hydraulic rams pivotally coupled to said jib boom and respectively to said support and shell across said parallel pivot axles, manually actuatable hydraulic control means connected to each ram for adjustment of the angles at said axles on the one hand between the boom support and the jib boom and on the other between the jib boom and the feed shell, and an angularly positioning self-correcting servo control system including means associated with said parallel pivot axles for sensing the angular setting at said pivot means and for controlling automatically the actuation of one of said rams in response to actuation of the other in such manner that the difference in angle at the pivot axles remains substantially unchanged
  • a drill boom comprising a boom support, an elongated feed shell, a feed motor on said feed shell, a rock drill slidably supported on said feed shell and operatively connected to said feed motor for reciprocal movement along said feed shell, a jib boom having parallel pivot axles at the opposed ends thereof connecting said jib boom pivotally to the boom support as well as to the feed shell, hydraulic rams pivotally coupled to said jib boom and respectively to said support and shell across said parallel pivot axles for adjustment of the angles at said axles on the one hand between the boom support and the jib boom and on the other between the jib boom and the feed shell, and an angularly positioning servo control system including means associated with said parallel pivot axles for sensing the angular setting at said pivot means and for controlling automatically the actuation of one of said rams in response to actuation of the other in such manner that the difierence in angle at the pivot axles remains substantially unchanged regardless of the angle of adjustment-chosen at the pivot axle across
  • a drill boom according to claim 3 in which an angularly adjustable differential transmitter synchro is included in the electric connection between said transmitter and control transformer synchros for selective setting as to size and direction of the difference in angle to be kept substantially unchanged at said parallel pivot axes.
  • a drill boom comprising a boom support, an elongated feed shell, a feed motor on said feed shell, a rock drill slidably supported on said feed shell and operatively connected to said feed motor for reciprocal movement along said feed shell, a jib boom having horizontal pivot means at the opposed ends thereof connecting said jib boom vertically pivotally to the boom support as well as to the feed shell, hydraulic actuating means coupled to said jib boom and respectively said support and shell at said pivot means for adjustment of the angle of elevation on the one hand between the boom support and the jib boom and on the other between the jib and boom and the feed shell, and an electro-hydraulic angularly positioning servo control system including a transmitter synchro associated with said pivot means at said boom support and a control transformer synchro associated with said pivot means at said feed shell for sensing the angular setting at said pivot means and for controlling automatically the hydraulic actuating means coupled to said feed shell in response to hydraulic actuation of the hydraulic actuating means coupled to said boom support in
  • a drill boom comprising a boom support, an elongated feed shell, a feed motor on said feed shell, a rock drill slidably supported on said feed shell and operatively connected to said motor for reciprocal movement along said feed shell, a jib boom having horizontal and vertical pivot axles at the opposed ends thereof connecting said jib boom pivotally in respectively vertical and horizontal directions to the boom support as well as to the feed shell, hydraulic rams pivotally coupled to said jib boom and respectively to said support and shell across said pivot axles, manually actuatable hydraulic control means connected to each ram for adjustment of the angle of eleva tion and angle of lateral swing on the one hand between the boom support and the jib boom and on the other between the jib boom and the feed shell, and first and second angularly positioning self-correcting servo control systems with the first of them associated with the horizontal pivot axles and the second with the vertical pivot axles for sensing the angular setting at said pivot axles and for controlling automatically the actuation of respectively the elevation
  • a drill boom comprising a boom support, an elongated feed shell, a feed motor on said feed shell, a rock drill slidably supported on said feed shell and operatively connected to said motor for reciprocal movement along said feed shell, a jib boom having horizontal and vertical pivot axles at the opposed ends thereof connecting said jib boom pivotally in respectively vertical and horizontal directions to the boom support as well as to the feed shell, hydraulic rams pivotally coupled to said jib boom and respectively to said support and shell across said pivot axles, for adjustment of the angle of elevation and angle of lateral swing on the one hand between the boom support and the jib boom and on the other between the jib boom and the feed shell, and first and second angularly positioning servo control systems with the first of them associated with the horizontal pivot axles and the second with the vertical pivot axles for sensing the angular setting at said pivot axles and for controlling automatically the actuation of respectively the elevation and side swing angle rams at said feed shell in response to actuation of respectively the
  • a drill boom according to claim 10 in which an angularly adjustable differential resolver synchro is included in each servo system in the electric connection be-. tween the two resolver synchros thereof for selective setting as to size and direction of the diiference in angle to be kept substantially unchanged at said parallel pivot axles.
  • a drill boom comprising a boom support, an elongated feed shell, a feed motor on said feed shell, a rock drill slidably supported on said feed shell and operatively connected to said feed motor for reciprocal movement along said feed shell, a jib boom having parallel pivot axles at the opposed ends thereof connecting said jib boom pivotally to the boom support as well as to the feed shell, hydraulic rams pivotally coupled to said jib boom and respectively to said support and shell across said parallel pivot axles for adjustment of the angles at said axles on the one hand between the boom support and the jib boom and on the other between the jib boom and the feed shell, and an angularly positioning servo control system including means associated with said parallel pivot axles for sensing the angular setting at said pivot axles, means for synchronizing said sensing means to an angular adjustment corresponding to a predetermined desirable ditference in angle at said pivot axles, and means responsive to angular error during said synchronization for controlling automatically the extension or contraction of one
  • a drill boom comprising a boom support, an elongated feed shell, a feed motor on said feed shell, a rock drill slidably supported on said feed shell and operatively connected to said motor for reciprocal movement along said feed shell, a jib boom having horizontal and vertical pivot axles at the opposed ends thereof connecting said jib boom pivotally in respectively vertical and horizontal directions to the boom support as well as to the feed shell, hydraulic rams pivotally coupled to said jib boom and respectively to said support and shell across said pivot axles for adjustment of the angle of elevation and angle of lateral swing on the one hand between the boom support and the jib boom and on the other between the jib boom and the feed shell, and first and second angularly positioning servo control systems with the first of them including means associated with the horizontal pivot axles and the second including means associated with the vertical pivot axles for sensing the angular setting at said pivot axles in both said servo control systems, each said servo control system further including means for synchronizing said sensing means thereof

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  • Engineering & Computer Science (AREA)
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  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
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  • General Life Sciences & Earth Sciences (AREA)
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US682256A 1966-11-14 1967-11-13 Electro-hydraulic parallel motion means for drill boom supported rock drilling apparatus Expired - Lifetime US3481409A (en)

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SE15513/66D SE364091B (fi) 1966-11-14 1966-11-14

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US (1) US3481409A (fi)
AT (1) AT286209B (fi)
CH (1) CH467928A (fi)
DE (1) DE1583847A1 (fi)
FI (1) FI52242C (fi)
FR (1) FR1556244A (fi)
GB (1) GB1157915A (fi)
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Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3711047A (en) * 1970-12-14 1973-01-16 Bradley Pulverizer Co Rock drill positioning machine
US3796401A (en) * 1972-10-12 1974-03-12 A Tkachenko Self-propelled drilling rings for boring blastholes and small-diameter wells
US3896885A (en) * 1970-12-11 1975-07-29 Skanska Cementgjuteriet Ab System for automatically aligning and/or moving in a parallel movement path a guide seating structure adapted for guiding the movement of a tool mounted thereon
US3973747A (en) * 1973-10-24 1976-08-10 Atlas Copco Aktiebolag Method of and arrangement for controlling the speed of the movements of hydraulic booms
US4000873A (en) * 1976-02-12 1977-01-04 The Steel Engineering Company Limited Mounting for rock drills
US4067398A (en) * 1975-06-04 1978-01-10 Atlas Copco Aktiebolag Ring drilling rig
US4088200A (en) * 1975-11-18 1978-05-09 John Laing And Son Limited Lifting apparatus
US4113033A (en) * 1974-12-19 1978-09-12 Atlas Copco Aktiebolag Method and arrangement for positioning a working tool to a predetermined direction and/or a predetermined point
US4116409A (en) * 1975-07-02 1978-09-26 Compair Construction And Mining Limited Hydraulic levelling systems for drilling machines, etc.
US4232849A (en) * 1978-04-11 1980-11-11 Atlas Copco Aktiebolag Drill boom arrangement
US4240511A (en) * 1977-06-07 1980-12-23 Toyo Kogyo Co., Ltd. Drilling machine centering arrangement
US4266749A (en) * 1978-04-11 1981-05-12 Atlas Copco Aktiebolag Drill boom arrangement
US4267892A (en) * 1979-04-30 1981-05-19 Cooper Industries, Inc. Positioning control system for rock drill support apparatus
US4360182A (en) * 1980-06-25 1982-11-23 The United States Of America As Represented By The Secretary Of The Navy High-agility reflector support and drive system
US4364540A (en) * 1979-03-26 1982-12-21 Etablissements Montabert S.A. Support-arm assembly for a drill or borer, particularly for subterranean applications
US4410049A (en) * 1977-06-21 1983-10-18 Atlas Copco Aktiebolag Directional valve means for positioning machine units
US4484637A (en) * 1979-01-19 1984-11-27 Cooper Industries, Inc. Positioning control system for rock drill support apparatus
US4498544A (en) * 1977-06-21 1985-02-12 Atlas Copco Aktiebolag Method for rock drilling
US4858700A (en) * 1987-06-26 1989-08-22 Shafer James P Articulated apparatus for positioning rock drills
AT394090B (de) * 1988-06-03 1992-01-27 Tampella Oy Ab Verfahren und anordnung zum bohren eines lochs in einen felsen
WO1996007012A1 (en) * 1994-08-30 1996-03-07 Tamrock Oy Arrangement for controlling boom for rock drilling unit
US6752221B1 (en) * 2002-12-19 2004-06-22 Danny Morissette Self-supporting pneumatic hammer positioner with universal joint
US20040178004A1 (en) * 2001-10-09 2004-09-16 Macdonald Claude Multi-functional drilling vehicle
US20080044236A1 (en) * 2006-08-17 2008-02-21 Deep Foundations Contractors Inc. Automatic spotter with electronic control system for pile driving and continuous flight auger drilling leads
CN1987040B (zh) * 2006-12-20 2013-03-27 四川宏华石油设备有限公司 石油钻机井架和底座液压升降同步控制装置
US20160281430A1 (en) * 2015-03-27 2016-09-29 Caterpillar Inc. Drilling System and Method of Operation for Same
CN106194023A (zh) * 2016-09-26 2016-12-07 辽宁工程技术大学 一种用于综采工作面过断层的吊装式钻孔装置及使用方法
CN106320979A (zh) * 2016-09-26 2017-01-11 辽宁工程技术大学 一种用于综采工作面过断层的固定式钻孔装置及使用方法
CN115613966A (zh) * 2022-11-30 2023-01-17 湖南创远高新机械有限责任公司 一种具有掘进掏槽功能的钻机

Families Citing this family (5)

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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
NO150451C (no) * 1981-04-29 1984-10-24 Furuholmen As Ing Thor Fremgangsmaate for oppretting av fjellbor
AT375148B (de) * 1981-05-07 1984-07-10 Ver Edelstahlwerke Ag Bohrgeraet, insbesondere stollenbohrgeraet, und verfahren zur steuerung von bohrgeraeten
US4542795A (en) * 1983-04-04 1985-09-24 Kabushiki Kaisha Komatsu Seisakusho Leader angle control device
CA2958703C (en) 2014-08-18 2022-06-14 R.N.P. Industries Inc. Improved self-supporting pneumatic hammer positioner with universal joint

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US3338316A (en) * 1964-12-30 1967-08-29 Joy Mfg Co Adjustable mounting for rock drills
FR1498152A (fr) * 1966-11-03 1967-10-13 Tampella Oy Ab Perfectionnements aux flèches à guidage hydraulique pour foreuses ou machines analogues
US3374975A (en) * 1964-07-09 1968-03-26 Ingersoll Rand World Trade Boom for drilling machines

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3374975A (en) * 1964-07-09 1968-03-26 Ingersoll Rand World Trade Boom for drilling machines
US3338316A (en) * 1964-12-30 1967-08-29 Joy Mfg Co Adjustable mounting for rock drills
FR1498152A (fr) * 1966-11-03 1967-10-13 Tampella Oy Ab Perfectionnements aux flèches à guidage hydraulique pour foreuses ou machines analogues

Cited By (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3896885A (en) * 1970-12-11 1975-07-29 Skanska Cementgjuteriet Ab System for automatically aligning and/or moving in a parallel movement path a guide seating structure adapted for guiding the movement of a tool mounted thereon
US3711047A (en) * 1970-12-14 1973-01-16 Bradley Pulverizer Co Rock drill positioning machine
US3796401A (en) * 1972-10-12 1974-03-12 A Tkachenko Self-propelled drilling rings for boring blastholes and small-diameter wells
US3973747A (en) * 1973-10-24 1976-08-10 Atlas Copco Aktiebolag Method of and arrangement for controlling the speed of the movements of hydraulic booms
US4113033A (en) * 1974-12-19 1978-09-12 Atlas Copco Aktiebolag Method and arrangement for positioning a working tool to a predetermined direction and/or a predetermined point
US4067398A (en) * 1975-06-04 1978-01-10 Atlas Copco Aktiebolag Ring drilling rig
US4116409A (en) * 1975-07-02 1978-09-26 Compair Construction And Mining Limited Hydraulic levelling systems for drilling machines, etc.
US4088200A (en) * 1975-11-18 1978-05-09 John Laing And Son Limited Lifting apparatus
US4000873A (en) * 1976-02-12 1977-01-04 The Steel Engineering Company Limited Mounting for rock drills
US4240511A (en) * 1977-06-07 1980-12-23 Toyo Kogyo Co., Ltd. Drilling machine centering arrangement
US4410049A (en) * 1977-06-21 1983-10-18 Atlas Copco Aktiebolag Directional valve means for positioning machine units
US4499953A (en) * 1977-06-21 1985-02-19 Atlas Copco Aktiebolag Apparatus for drilling rock
US4498544A (en) * 1977-06-21 1985-02-12 Atlas Copco Aktiebolag Method for rock drilling
US4232849A (en) * 1978-04-11 1980-11-11 Atlas Copco Aktiebolag Drill boom arrangement
US4266749A (en) * 1978-04-11 1981-05-12 Atlas Copco Aktiebolag Drill boom arrangement
US4484637A (en) * 1979-01-19 1984-11-27 Cooper Industries, Inc. Positioning control system for rock drill support apparatus
US4364540A (en) * 1979-03-26 1982-12-21 Etablissements Montabert S.A. Support-arm assembly for a drill or borer, particularly for subterranean applications
US4267892A (en) * 1979-04-30 1981-05-19 Cooper Industries, Inc. Positioning control system for rock drill support apparatus
US4360182A (en) * 1980-06-25 1982-11-23 The United States Of America As Represented By The Secretary Of The Navy High-agility reflector support and drive system
US4858700A (en) * 1987-06-26 1989-08-22 Shafer James P Articulated apparatus for positioning rock drills
AT394090B (de) * 1988-06-03 1992-01-27 Tampella Oy Ab Verfahren und anordnung zum bohren eines lochs in einen felsen
WO1996007012A1 (en) * 1994-08-30 1996-03-07 Tamrock Oy Arrangement for controlling boom for rock drilling unit
AU684385B2 (en) * 1994-08-30 1997-12-11 Tamrock Oy Arrangement for controlling boom for rock drilling unit
US5896936A (en) * 1994-08-30 1999-04-27 Tamrock Oy Arrangement for controlling boom for rock drilling unit
US20040178004A1 (en) * 2001-10-09 2004-09-16 Macdonald Claude Multi-functional drilling vehicle
US6896072B2 (en) * 2001-10-09 2005-05-24 Macdonald Claude Multi-functional drilling vehicle
US6752221B1 (en) * 2002-12-19 2004-06-22 Danny Morissette Self-supporting pneumatic hammer positioner with universal joint
US20040118577A1 (en) * 2002-12-19 2004-06-24 Danny Morissette Self-supporting pneumatic hammer positioner with universal joint
US20080044236A1 (en) * 2006-08-17 2008-02-21 Deep Foundations Contractors Inc. Automatic spotter with electronic control system for pile driving and continuous flight auger drilling leads
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CN1987040B (zh) * 2006-12-20 2013-03-27 四川宏华石油设备有限公司 石油钻机井架和底座液压升降同步控制装置
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CN106194023A (zh) * 2016-09-26 2016-12-07 辽宁工程技术大学 一种用于综采工作面过断层的吊装式钻孔装置及使用方法
CN106320979A (zh) * 2016-09-26 2017-01-11 辽宁工程技术大学 一种用于综采工作面过断层的固定式钻孔装置及使用方法
CN106194023B (zh) * 2016-09-26 2018-03-30 辽宁工程技术大学 一种用于综采工作面过断层的吊装式钻孔装置及使用方法
CN115613966A (zh) * 2022-11-30 2023-01-17 湖南创远高新机械有限责任公司 一种具有掘进掏槽功能的钻机

Also Published As

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FI52242B (fi) 1977-03-31
GB1157915A (en) 1969-07-09
NO119982B (fi) 1970-08-10
AT286209B (de) 1970-11-25
CH467928A (de) 1969-01-31
DE1583847A1 (de) 1970-10-15
FR1556244A (fi) 1969-02-07
SE364091B (fi) 1974-02-11
FI52242C (fi) 1977-07-11

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