US3721304A - Directional control for rock drill feed support - Google Patents

Directional control for rock drill feed support Download PDF

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Publication number
US3721304A
US3721304A US00140142A US3721304DA US3721304A US 3721304 A US3721304 A US 3721304A US 00140142 A US00140142 A US 00140142A US 3721304D A US3721304D A US 3721304DA US 3721304 A US3721304 A US 3721304A
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Prior art keywords
sensing unit
feed support
pressure fluid
weight
support
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Expired - Lifetime
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US00140142A
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English (en)
Inventor
L Hanson
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Gardner Denver Inc
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Gardner Denver Inc
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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
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/24—Guiding or centralising devices for drilling rods or pipes
    • 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 direction sensing unit is mounted on the feed support and includes a pivotally mounted weight responsive to gravitational force acting thereon to actuate a plurality of pneumatic valves to provide pressure signals.
  • the control circuit includes pneumatically operated control valves which, in response to receiving pneumatic pressure signals from the sensing unit, are operable to valve hydraulic fluid to and from hydraulic positioning cylinders connected to the feed support.
  • prior art directional control systems for rock drill feed supports are subject to error, or example, due to leakage of hydraulic fluid from series connected positioning motors or wear in the mechanical linkage connections for certain types of parallel motion mechanisms.
  • the present invention provides for portable rock drilling apparatus including a movable feed support automatically positionable to provide for drilling a series of parallel blast holes or the like.
  • a series of blast holes may be drilled at a predetermined angle with respect to a plumb line, said holes being virtually parallel and in a predetermined plane.
  • the present invention provides a directional control system for a rock drill feed support which is operable to provide for substantially automatic positioning of the feed support to be properly aligned for drilling a series of spaced parallel holes such as used for presplit cleaving of rock faces.
  • a directional control system for a rock drill feed support which is operable to provide for substantially automatic positioning of the feed support to be properly aligned for drilling a series of spaced parallel holes such as used for presplit cleaving of rock faces.
  • otherwise conventional portable rock drilling apparatus having swingable boom mounted feed supports may be more rapidly and accurately positioned for drilling parallel coplanar holes in the ground.
  • a direction sensing unit responsive to gravitational force to provide pneumatic signals to a pressure fluid control circuit which in turn is operable to control a plurality of pressure fluid positioning motors.
  • the completely pressure fluid operated directional control system of the present invention is operable to utilize pressure fluid normally supplied for use otherwise on portable rock drilling apparatus.
  • the directional control system of the present invention is disclosed in combination with a rock drill apparatus used primarily for drilling on the surface of the earth the directional control system may be advantageously used with rock drill units suited for underground mining and tunneling excavation as well.
  • FIG. 1 is a side elevation of a mobile rock drill rig embodying the directional control system of the present invention.
  • FIG. 2 is a detail plan view of the boom pivot of the rock drill rig of FIG. 1.
  • FIG. 3 is an elevation of the directional sensing unit mounting.
  • FIG. 4 is a plan view of the directional sensing unit mounting.
  • FIG. 5 is a plan view of the rock drill rig of FIG. 1 showing the drilling pattern of a series of presplit blast holes.
  • FIG. 6 is a sketch of a typical cross section of a roadway excavation having presplit sloped sides.
  • FIG. 7 is a center longitudinal section view of the directional sensing unit taken along the line 77 of FIG. 4.
  • FIG. 8 is a section taken along the line 88 of FIG. 7.
  • FIG. 9 is a schematic of the directional sensing unit and control circuit of the present invention.
  • FIG. 10 is a detail view of the feed support mounting.
  • FIG. 11 is a detail taken along the line 11--11 of FIG. 7
  • the rock drill rig 10 includes a crawler undercarriage 12 including a pair of crawler assemblies 14 pivotally connected to a frame 16.
  • the frame 16 is adapted to support an elongated movable support or boom 18 by means of a bracket 20 which is pivotally connected to the frame 16 for movements about a substantially vertical pivot axis 22 and includes a clevis 24 for pivotal attachment of the boom to the bracket 20.
  • the boom 18 is operable to be elevated about the pivot connection 24 by means of a hydraulic cylinder 26 and to be swung about the pivot axis 22 of the bracket 20 by a hydraulic cylinder 28.
  • the boom 18 is of a telescopic type already known in the art of rock drill apparatus and includes a portion 30 which may be extended with respect to the portion 32.
  • the distal end of the boom portion 30 includes a positioner mechanism 34 pivotally connected thereto.
  • a hydraulic positioning motor in the form of the cylinder 36 is provided for pivoting the positioner 34 about a first axis 38.
  • the positioner comprises a bracket 40 which is adapted to have mounted thereon an elongated support 42 for reversibly feeding a percussion rock drill motor 44 therealong.
  • the bracket 40 is pivotally mounted with respect to the positioner 34 to be pivoted about a second axis 46 which is perpendicular to the first pivot axis 38.
  • Pivotal movement of the bracket 40 with respect to the positioner, about the axis 46, is accomplished by means of the fluid operated positioning motor 48 comprising a hydraulic cylinder attached to the bracket at 50 and having a piston rod pivotally connected to the positioner at 52, FIG. 10.
  • the fluid operated positioning motor 48 comprising a hydraulic cylinder attached to the bracket at 50 and having a piston rod pivotally connected to the positioner at 52, FIG. 10.
  • the feed support 42 includes a fluid operated feed motor 54 mounted thereon and operable to reversibly feed the drill motor 44 along the feed support.
  • the drill motor is operable to deliver percussive blows to an elongated drill rod 56 which has a bit 58 attached to one end and is chucked in the drill motor at its opposite end.
  • the drill rod 56 is held in desired alignment with respect to the feed support by a centralizer 60.
  • the rock drill rig 10 hereinbefore described is of a type generally well known in the art of earth drilling apparatus and is adapted to provide for drilling blast holes in a wide range of directions.
  • Such rigs are provided with fluid operated motors such as the motors 61, FIGS. 1 and 5, whereby they may be moved about from one work location to another. It is conventional to provide such rigs with self contained power plants for providing a source of pressure fluid or in the case of the exemplary rig 10 a portable compressor or pump, not shown, is connected to the rig by suitable, flexible conduits. Conversion of pressure fluid energy from pneumatic to hydraulic form or vice versa may be accomplished by suitable motor-pump units on board the rig.
  • the rock drill rig 10 is adapted to include a control system for positioning the feed support 42 to provide a predetermined direction of the longitudinal axis of the drill rod 56, FIG. 1.
  • This predetermined direction is defined with respect to a reference which, with the directional control system of the present invention, comprises a plumb line 64 or a straight line through the gravitational center ofthe earth.
  • the directional control system of the present invention includes direction sensing means comprising a sensing unit mounted on the feed support 42 and generally designated by the numeral 66.
  • the sensing unit 66 is characterized by a substantially spherically shaped housing 68 which is mounted on a bracket 70 attached to the feed support and having a hinged portion 72.
  • the hinged portion of the bracket 70 includes a mounting plate 74 attached thereto and cooperable with the plate 76 to movably clamp the sensing unit 66.
  • the plate 76 is secured to the plate 74 by bolt and nut assemblies 78.
  • the hinged portion 72 is movable with respect to the feed support 42 in response to the actuation of the double acting hydraulic cylinder 80 having its rod end attached to the plate 74.
  • the opposite end of the cylinder 80 is pivotally connected to the mounting bracket at 82.
  • the hydraulic cylinder 80 is interconnected to a hydraulic cylinder 84, as shown schematically in FIG. 4, by conduits 86 and 88.
  • the hydraulic cylinder 84 is pivotally connected to the frame 16 at one end and at its rod end is pivotally connected to the pivot bracket 20 which supports the boom 18, FIG. 2.
  • the cylinders 80 and 84 are arranged at their respective locations and interconnected by the conduits 86 and 88 such that displacement of fluid from either end of the cylinder 84 in response to pivotal movement of the bracket 20 will result in fluid being forced into the corresponding end of the cylinder 80 to produce equal movement of the cylinder 80 and, accordingly, angular movement of the hinged portion 72 about its pivot substantially equal to the angular movement of the boom 18 about the pivot axis 22 of the bracket 20.
  • Such arrangements of fluid cylinders are believed to be generally well known in the art of fluid power servomechanisms and the purpose of such an arrangement in regard to the directional control system of the present invention is to provide means for controlling the position of the sensing unit 66 with respect to a reference as will be explained further herein.
  • the conduits 86 and 88 interconnecting the cylinders 80 and 84 are also flow connected to conduits 90 and 92 which in turn are connected to a three position normally closed valve 94 represented schematically in FIG. 4 in accordance with USA. Standard fluid power symbols.
  • the valve 94 is in communication with a source of hydraulic fluid, not shown.
  • the valve 94 isoperable to communicate pressure fluid to either end of the cylinder 80 to effect angular positioning of the hinged portion 72 of the bracket 70 independently of any movement of the boom pivot bracket 20. In the arrangement of the rig 10, as shown in FIGS. 1 and 2, this independent positioning of the bracket portion 72 is possible due to the fact that fluid pressure acting on the cylinder 84 is not sufficient to overcome the holding force of the boom swing cylinder 28.
  • the sensing unit 66 as previously stated, includes a spherically shaped housing 68 having a hollow interior 96 and a threaded portion 98 which is adapted to receive a base 100.
  • the base 100 is adapted to include an elongated rectangular tube 102 extending downwardly therefrom.
  • the base 100 further includes a plurality of four cylindrical bores 104 spaced equidistant one from the other along first and second centerlines 106 and 108 which intersect at right angles.
  • cylindrical seats 110 containing ball valve elements 114a, 114b, 1140, and 114d.
  • the ball valve elements are operable to be seated over the ends of passages 115 in the seat elements 110 to prevent fluid flow through the passages into the hollow interior 96.
  • the sensing unit 66 also includes means responsive to gravitational force comprising a weight 116 pivotally mounted above the valve elements 114a, 114b, 1140, and 114d on a pedestal 118 having a substantially spherical shape except for the flat surface portion 120.
  • the pedestal is supported in the socket 122 in the base 100, the socket 112 being located at the intersection of the centerlines 106 and 108.
  • the pedestal 118 as well as the seat elements 110 are retained on the base 100 by a plate 124 suitably secured to the base by threaded fasteners 126.
  • the weight 116 also includes a dome portion 128 operable to be engaged by a spring biased piston lock 130 movable in the stepped bore 132 in the housing 68.
  • the piston 130 is movable in the bore 132, in response to pressure fluid being admitted to the interior 96, against the bias of the spring 134 to allow the weight 116 to be free to tilt with respect to the centerline 136 about the spherical pedestal 118.
  • the centerline 136 passes through the intersection of the centerlines 106 and 108 and is perpendicular to the centerlines 106 and 108.
  • the piston 130 includes an O-ring 138 forming a seal between the piston and the bore 132.
  • the piston In response to pressure fluid acting on the face 140, the piston is movable upward in the bore 132 until the O-ring 138 passes the lower edge of the V-shaped notches 142, FIG. 1 1, allowing pressure fluid to vent from the interior 96 through clearance provided between the piston 130 and the bore 132 and out through the notches 142.
  • the spring 134 is of a predetermined size to permit the piston to move upward a sufficient amount to release its holding force on the weight 116 and allow the escape of pressure fluid from the interior 96.
  • Pressure fluid is supplied to the interior of the housing 68 through conduits 1440, 144b, 1440, and 144d in com munication with the valves 144a, 144b, 1440, and 14411, respectively.
  • the weight 116 is retained in the position shown in FIG. 7 by the piston lock 130 to prevent unwanted movement of the weight when the direction sensing unit 66 is not in use.
  • the ball valve elements With pressure fluid supplied through the conduits to the passages 115 in the valve seats 110, the ball valve elements will be raised off the seats to engage the surface 146 on the weight and allow the flow of pressure fluid into the interior 96. Pressure fluid acting on the piston 130 will cause the piston to move upward unlocking the weight 116.
  • the direction sensing unit is oriented such that the resultant force of gravity on the weight 116 acts along the centerline 136, which comprises a reference axis for aligning the sensing unit so that the centerline 136 is coincident with a plumb line, the weight will be balanced to remain in the position shown in FIG. 7.
  • the sensing unit is tilted in any direction the resultant force of gravity on the weight will cause the weight to tilt to engage one or possibly two adjacent ball valves forcing the valves against their respective seats and closing off the flow of pressure fluid through the respective passages.
  • the shutoff of fluid flow produces a signal in the form of a pressure increase in the respective conduits leading to the closed valves. This pressure increase is used as a control signal to effect the positioning of the feed support 42 to assume a predetermined direction in accordance with the operation of the control system of the present invention.
  • a small passage 149 is provided in the housing 68 to vent pressure fluid trapped in the interior 96.
  • the control system of the present invention includes a pressure fluid control circuit illustrated schematically in FIG. 9 substantially in accordance with USA. Standard fluid power symbols.
  • the control circuit of FIG. 9 includes a pressure fluid supply line 150, preferably using compressed air as the pressure fluid, having a shutoff valve 152 interposed therein.
  • the supply line is connected to each of the conduits 144a, 144b, 1440, and 144d for supplying pressure fluid to the respective valves 114a, 114b, 114C, and 114d.
  • Flow restrictors 154 are provided for limiting the flow of fluid to each valve.
  • the control system also includes a hydraulic control circuit including the positioning motor 36 having conduits 156 and 158 leading to opposite ends thereof and the positioning motor 48 having conduits 160 and 162 leading to its opposite ends.
  • the conduits leading to the positioning motors 36 and 48 are operable to be connected to a source of hydraulic pressure fluid such as the pump 164 and to a reservoir 166 depending on the position of control valves 168 and 170 interposed in the circuit.
  • the control valves 168 and 170 represented schematically in FIG. 9 are of a type which may be actuated by pressure fluid or manually to positions a and b and are normally in the blocked position 0 in response to balanced actuating forces or no actuating force. As shown in FIG.
  • valves 114a and 114b are respectively connected to the position a and b actuators of control valve 168 for controlling the operation of positioning motor 48 and valves 114d and 114C are respectively connected to the position a and b actuators of control valve 170 for controlling the operation of positioning motor 36.
  • the control valves 168 and 170 and the control circuit shutoff valve 152 may be suitably located on the feed support 42 or at an operator control station on the undercarriage 12.
  • the control circuit of FIG. 9 is operable to actuate the positioning motors 36 and 48 to position the feed support 42 so that the drill rod axis 62 assumes a predetermined attitude or direction.
  • the valves 114a, 114b, 1140, and 114d will allow fluid to flow into the interior 96 of the housing 68 to actuate the piston lock 130 to release the weight 116 to be free to tilt about the spherical pedestal base 118.
  • the sensing unit is positioned such that the force of gravity acting on the weight 116 is substantially along the centerline 136 the weight will remain in the position of FIG. 7 and all of the ball valves will be open.
  • the flow restrictors 154 will provide for a uniform reduced pressure in all conduits and with equal pressure on the position a and b actuators of control valves 168 and 170 these valves will remain closed or in position 0.
  • the weight 116 would tilt to engage one of the ball valve elements 114a, 114b, 114C or 114d to block the flow of pressure fluid through its associated conduit.
  • the position of the sensing unit 66 in the mounting bracket 72 on the feed support 42 may be assumed to be that shown in FIG. 3. If the feed support 42 should be swung out of the vertical as indicated by the dotted line position of FIG. 9 the weight 116 would tilt to engage and closed ball valve 114a thereby causing a pressure increase in conduit 144a and actuation of control valve 168 to position a. In position a control valve 168 would supply pressure fluid to the rod end of positioning motor 48 causing the feed support to swing about the pivot axis 46 back to a substantially vertical position whereupon the gravitational force acting on weight 116 would cause the weight to resume the position of FIG.
  • FIG. 6 illustrates a schematic cross section of a road right of way 172 comprising the sloping sides 174 and 176 to be formed through the hill 178.
  • the presplit holes 180, FIG. 5, are drilled along the intersection 182 of the plane of the slope 176 with the surface of the hill 178 and are desired to be parallel.
  • the undercarriage 12 is desirably positioned as shown in FIG. with respect to the intersection line 182 and the feed support 42 is positioned so that the drill rod axis 62 is in the plane of the slope 176.
  • the alignment of the drill rod may be initially set by conventional methods such as with the use of a level protractor or clinometer.
  • the feed support 42 is initially positioned to provide the desired angle of the drill rod axis 62 with respect to the vertical or a plumb line 64, FIG. 1, by manually actuating the control valves 168 and to operate the respective positioning motors 48 and 36.
  • the sensing unit 66 When the desired direction of the drill rod axis 62 has been predetermined by positioning the feed support 42 the sensing unit 66 is positioned so that the centerline 136, FIG. 7, is coincident with a plumb line. This may be accomplished by releasing the clamping plate 76 and aligning the tubular extension 102 with a suitable indicator such as a clinometer or a plumb line attached to the bracket 72. The pivoted bracket 72 is also aligned so that the centerline 108 of the sensing unit 66 is parallel to the intersection line 182, and therefore also the plane of the slope 176, by actuating the valve 94 to move the cylinder 80.
  • the control valves 168 and 170 are manually actuated along with suitable controls for swinging and extending the telescoping boom portion 30 until the feed support 42 is in the approximate location and attitude for drilling.
  • the sensing unit 66 is then actuated by opening valve 152. If the sensing unit is not in an attitude which places the centerline 136 coincident with the vertical, the weight 116 will tilt to actuate the control circuit as aforedescribed until the positioning motors 36 and 48 have oriented the sensing unit 66 so that the centerline 136 is vertical.
  • the sensing unit 66 is aligned so that the centerline 108 is parallel to the intersection line 182 and the plane of the slope 176.
  • This alignment is maintained with sufficient accuracy by the pressure fluid circuit including the cylinders 80 and 84 as the boom is pivoted about the axis 22 and is necessary to assure proper positioning of the feed support by the positioning motor 48.
  • the ball valves 114a, 114b, 1140 and 114d maintain their proper orientation with respect to the feed support 42 it is necessary to prevent rotation of the sensing unit 66 about the axis or centerline 136.
  • a slot 186 is formed on the periphery of the housing 68 in a plane through the centerline 136.
  • a cylindrical pin 188 mounted on the bracket portion 72 projects into the slot 186 in a plane perpendicular to the centerline 36 and through the center of the spherical housing 68.
  • the arrangement of the pin 188 and slot 186 provides for movement of the sensing unit in any direction within the envelope of a conical surface of revolution about the centerline 136 as shown in FIG. 3 by the dotted line positions of the tubular extension 102.
  • the rig undercarriage 12 be positioned with respect to the intersection line 182 as illustrated in FIG. to enable the drilling of a series of substantially parallel and coplanar holes.
  • the bracket portion 72 may be aligned parallel to the intersection line 182 even though the undercarriage is not oriented as shown in FIG. 5.
  • the directional control system of the present invention may be used to substantially improve the speed and accuracy of drilling a plurality of blast holes not only for presplit or preshearing work but for tunnel face drilling and room and pillar mine excavation as well. Furthermore, the directional control system of the present invention may be advantageously used with virtually any type of drilling apparatus havlng a feed support operable to be pivotally moved about two axes perpendicular to one another.
  • drill motor means including elongated drill rod means having a longitudinal axis, said drill motor means being mounted on said feed support and operable to be reversibly driven therealong;
  • pressure fluid actuated positioning motor means operably connected to said movable support and said feed support for moving said feed support with respect to said movable support;
  • control means including a direction sensing unit mounted on said feed support for movement therewith and characterized by a weight mounted on said sensing unit for movement with respect to said sensing unit in response to gravitational force acting on said weight, a pressure fluid control circuit for producing pressure fluid signals in response to movement of said weight with respect to said sensing unit, a pressure fluid control circuit including control valves interposed therein and responsive to receiving pressure fluid signals from said first mentioned control circuit for valving pressure fluid to said positioning motor means to move said feed support to maintain said drill rod axis in a predetermined directional attitude in response to movement of said movable support, and fluid operated locking means on said sensing unit for locking said weight to prevent movement of said weight with respect to said sensing unit.
  • pivotal connection means between said feed support and said movable support providing for movement of said feed support with respect to said movable support about first and second pivot axes;
  • drill motor means including elongated drill rod means having a longitudinal axis, said drill motor means being mounted on said feed support and operable to be reversibly driven therealong;
  • pressure fluid actuated positioning motor means operably connected to said movable support and said feed support for moving said feed support with respect to said movable support about said first and second pivot axes;
  • control means including a direction sensing unit mounted on said feed support for movement therewith and characterized by a weight mounted on said sensing unit for movement with respect to said sensing unit in response to gravitational force acting on said weight, signal producing means for producing signals in response to the movement of said weight with respect to said sensing unit, and a pressure fluid control circuit including control valves interposed therein and responsive to receiving signals from said signal producing means for valving pressure fluid to said positioning motor means to move said feed support about said first and second pivot axes to maintain said drill rod axis in a predetermined directional attitude.
  • said first pivot axis is substantially perpendicular to said second pivot axis and said control means is operable to actuate said positioning motor means to pivot said feed support about said first and second pivot axes simultaneously.
  • said signal producing means comprises a pressure fluid control circuit including a plurality of pressure fluid valves mounted on said sensing unit and operable to be engaged with and actuated by said weight in response to the movement of said weight to produce a pressure fluid signal for operating said control valves.
  • said plurality of valves operable to be engaged by said weight includes at least two valves arranged along a first centerline and at least two valves arranged along a second centerline perpendicular to said first centerline, and said weight is located on said sensing unit with respect to a reference axis substantially perpendicular to said first and second centerlines whereby when said drill rod axis is positioned in said predetermined directional attitude the direction of a resultant gravitational force acting on said weight is substantially coincident with said reference axis.
  • said feed support includes a mounting bracket for mounting said sensing unit in a plurality of positions whereby said reference axis may be positioned in a predetermined direction with respect to said drill rod axis.
  • said positioning motor means includes a first pressure fluid actuated positioning motor for pivoting said feed support about said first pivot axis and a second pressure fluid actuated positioning motor for pivoting said feed support about said second pivot axis.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (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)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)
US00140142A 1971-05-04 1971-05-04 Directional control for rock drill feed support Expired - Lifetime US3721304A (en)

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US14014271A 1971-05-04 1971-05-04

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US (1) US3721304A (de)
JP (1) JPS5248922B1 (de)
AU (1) AU460374B2 (de)
CA (1) CA950893A (de)
DE (1) DE2205521C3 (de)
FR (1) FR2135537B1 (de)
GB (1) GB1325240A (de)
IT (1) IT947550B (de)
NO (1) NO134712B (de)
SE (1) SE380867B (de)
ZA (1) ZA717403B (de)

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US3796401A (en) * 1972-10-12 1974-03-12 A Tkachenko Self-propelled drilling rings for boring blastholes and small-diameter wells
US3809344A (en) * 1971-12-08 1974-05-07 Anlegg & Maskin As Mobile drill rig
US4022284A (en) * 1975-03-17 1977-05-10 Dresser Industries, Inc. Automatic alignment system for earth boring rig
US4037671A (en) * 1973-07-03 1977-07-26 Atlas Copco Aktiebolag Drill boom with hydraulic parallel motion means
US4040584A (en) * 1975-02-26 1977-08-09 Dobson Park Industries Limited Mounting arrangements for mineral displacing tools
US4116409A (en) * 1975-07-02 1978-09-26 Compair Construction And Mining Limited Hydraulic levelling systems for drilling machines, etc.
US4230189A (en) * 1977-06-07 1980-10-28 Toyo Kogyo Co., Ltd. Drilled hole end adjusting arrangement
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
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US4410049A (en) * 1977-06-21 1983-10-18 Atlas Copco Aktiebolag Directional valve means for positioning machine units
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
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US20100006337A1 (en) * 2008-07-10 2010-01-14 Dragan Kosoric Apparatus for drilling machine alignment
US20110162296A1 (en) * 2008-09-19 2011-07-07 Atlas Copco Drilling Solutions Llc Pivotable tower for angled drilling
CN102996063A (zh) * 2012-12-26 2013-03-27 张家口宣化华泰矿冶机械有限公司 矿山凿岩掘进用钻孔机构
EP1989393B1 (de) 2006-02-28 2016-04-13 Atlas Copco Rock Drills AB Verfahren und vorrichtung zur steuerung der bohrrichtung eines gesteinsbohrgeräts
EP2806098A3 (de) * 2013-05-23 2016-07-06 Power Tools Spräckutrustning I Herrljunga AB Bohrgestell
US20170275947A1 (en) * 2014-08-18 2017-09-28 R.N.P. Industries Inc. Improved self-supporting pneumatic hammer positioner with universal joint
CN107328898A (zh) * 2017-07-18 2017-11-07 招商局重庆交通科研设计院有限公司 穿越断层隧道开挖模拟实验装置
WO2020009790A1 (en) * 2018-07-06 2020-01-09 Caterpillar Global Mining Equipment Llc Mast with hydraulic circuit for assist cylinder
US10633930B2 (en) 2017-12-19 2020-04-28 Caterpillar Global Mining Equipment Llc Platform based drill capable of negative angle drilling
CN112096365A (zh) * 2020-10-27 2020-12-18 安百拓（南京）建筑矿山设备有限公司 控制双工况凿岩台车显示界面的方法、系统及凿岩台车
CN112192580A (zh) * 2020-09-07 2021-01-08 安徽恒创智能装备有限公司 一种立桶库清结皮清渣机器人
US11603708B2 (en) 2019-12-17 2023-03-14 Caterpillar Global Mining Equipment LLC. Linkage assembly for drilling machine

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ZA777581B (en) * 1977-12-21 1979-05-30 L Herron Improvements in or relating to rock drilling rigs
FI88426C (fi) * 1990-10-08 1993-05-10 Tampella Oy Ab Foerfarande och anordning foer riktande av borrmaskins matarbalk
DE10032303A1 (de) 2000-07-04 2002-01-17 Basf Ag Metallischse Hydrierkatalysatoren
CN111395953B (zh) * 2020-04-07 2021-11-23 江苏复容科技创业孵化管理有限公司 一种石油开采用地表岩石破碎多位旋钻机械
CN117248828B (zh) * 2023-11-15 2024-02-20 西昌学院 一种建筑物地基施工用基桩钻孔设备

Cited By (37)

* Cited by examiner, † Cited by third party
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US3809344A (en) * 1971-12-08 1974-05-07 Anlegg & Maskin As Mobile drill rig
US3796401A (en) * 1972-10-12 1974-03-12 A Tkachenko Self-propelled drilling rings for boring blastholes and small-diameter wells
US4037671A (en) * 1973-07-03 1977-07-26 Atlas Copco Aktiebolag Drill boom with hydraulic parallel motion means
US4040584A (en) * 1975-02-26 1977-08-09 Dobson Park Industries Limited Mounting arrangements for mineral displacing tools
US4022284A (en) * 1975-03-17 1977-05-10 Dresser Industries, Inc. Automatic alignment system for earth boring rig
US4116409A (en) * 1975-07-02 1978-09-26 Compair Construction And Mining Limited Hydraulic levelling systems for drilling machines, etc.
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
US4230189A (en) * 1977-06-07 1980-10-28 Toyo Kogyo Co., Ltd. Drilled hole end adjusting arrangement
US4498544A (en) * 1977-06-21 1985-02-12 Atlas Copco Aktiebolag Method for rock drilling
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
US4364540A (en) * 1979-03-26 1982-12-21 Etablissements Montabert S.A. Support-arm assembly for a drill or borer, particularly for subterranean applications
US4858700A (en) * 1987-06-26 1989-08-22 Shafer James P Articulated apparatus for positioning rock drills
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
EP1989393B1 (de) 2006-02-28 2016-04-13 Atlas Copco Rock Drills AB Verfahren und vorrichtung zur steuerung der bohrrichtung eines gesteinsbohrgeräts
US7789167B2 (en) * 2008-04-16 2010-09-07 The Boeing Company Power assist lever arm attachment
US20090261231A1 (en) * 2008-04-16 2009-10-22 The Boeing Company Power assist lever arm attachment
US20090314547A1 (en) * 2008-06-13 2009-12-24 Erwin Emil Stoetzer Construction apparatus with extendable mast and method for operating such a construction apparatus
US8397833B2 (en) * 2008-06-13 2013-03-19 Bauer Maschinen Gmbh Construction apparatus with extendable mast and method for operating such a construction apparatus
US8122974B2 (en) * 2008-07-10 2012-02-28 Dragan Kosoric Apparatus for drilling machine alignment
US20100006337A1 (en) * 2008-07-10 2010-01-14 Dragan Kosoric Apparatus for drilling machine alignment
US8782968B2 (en) * 2008-09-19 2014-07-22 Atlas Copco Drilling Solutions Llc Pivotable tower for angled drilling
US20110162296A1 (en) * 2008-09-19 2011-07-07 Atlas Copco Drilling Solutions Llc Pivotable tower for angled drilling
CN102996063A (zh) * 2012-12-26 2013-03-27 张家口宣化华泰矿冶机械有限公司 矿山凿岩掘进用钻孔机构
EP2806098A3 (de) * 2013-05-23 2016-07-06 Power Tools Spräckutrustning I Herrljunga AB Bohrgestell
US10557309B2 (en) * 2014-08-18 2020-02-11 R.N.P. Industries Inc. Self-supporting pneumatic hammer positioner with universal joint
US20170275947A1 (en) * 2014-08-18 2017-09-28 R.N.P. Industries Inc. Improved self-supporting pneumatic hammer positioner with universal joint
CN107328898A (zh) * 2017-07-18 2017-11-07 招商局重庆交通科研设计院有限公司 穿越断层隧道开挖模拟实验装置
US10633930B2 (en) 2017-12-19 2020-04-28 Caterpillar Global Mining Equipment Llc Platform based drill capable of negative angle drilling
WO2020009790A1 (en) * 2018-07-06 2020-01-09 Caterpillar Global Mining Equipment Llc Mast with hydraulic circuit for assist cylinder
US10774589B2 (en) 2018-07-06 2020-09-15 Caterpillar Global Mining Equipment Llc Mast with hydraulic circuit for assist cylinder
US11603708B2 (en) 2019-12-17 2023-03-14 Caterpillar Global Mining Equipment LLC. Linkage assembly for drilling machine
CN112192580A (zh) * 2020-09-07 2021-01-08 安徽恒创智能装备有限公司 一种立桶库清结皮清渣机器人
CN112096365A (zh) * 2020-10-27 2020-12-18 安百拓（南京）建筑矿山设备有限公司 控制双工况凿岩台车显示界面的方法、系统及凿岩台车

Also Published As

Publication number Publication date
CA950893A (en) 1974-07-09
FR2135537A1 (de) 1972-12-22
IT947550B (it) 1973-05-30
FR2135537B1 (de) 1973-06-29
SE380867B (sv) 1975-11-17
ZA717403B (en) 1973-06-27
DE2205521B2 (de) 1973-05-10
GB1325240A (en) 1973-08-01
DE2205521C3 (de) 1975-10-30
DE2205521A1 (de) 1972-11-16
NO134712B (de) 1976-08-23
AU460374B2 (en) 1975-04-24
JPS5248922B1 (de) 1977-12-13
AU3533871A (en) 1973-05-10

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