U.S. patent number 3,724,559 [Application Number 05/116,013] was granted by the patent office on 1973-04-03 for drill boom with feed direction sensing and control.
This patent grant is currently assigned to Atlas Copco Aktienbolag. Invention is credited to Axel Stromnes.
United States Patent |
3,724,559 |
Stromnes |
April 3, 1973 |
DRILL BOOM WITH FEED DIRECTION SENSING AND CONTROL
Abstract
A drill boom consisting of a telescopically extendable boom leg,
which is pivotably mounted on a rotatable bracket. A rock drill is
attached to a pivotable boom head at the opposite end of the boom
leg. The boom head is pivotable about an axis which is parallel to
the pivot axis of the boom leg. The rock drill is fed by a pivoting
force and a length changing force simultaneously acting on the
boom. A control system is provided to continuously sense and
correct the rock drill position during drilling whereby the
corrections is accomplished by adjusting of the composite feeding
force direction.
Inventors: |
Stromnes; Axel (Tunabro,
SW) |
Assignee: |
Atlas Copco Aktienbolag (Nacka,
SW)
|
Family
ID: |
20259361 |
Appl.
No.: |
05/116,013 |
Filed: |
February 17, 1971 |
Foreign Application Priority Data
|
|
|
|
|
Feb 19, 1970 [SW] |
|
|
2091/70 |
|
Current U.S.
Class: |
173/4; 173/36;
173/193; 173/38 |
Current CPC
Class: |
E21B
7/022 (20130101); E21B 19/08 (20130101); E21B
7/025 (20130101) |
Current International
Class: |
E21B
15/00 (20060101); E21B 15/04 (20060101); E21B
19/08 (20060101); E21B 19/00 (20060101); E21c
005/11 () |
Field of
Search: |
;173/4,36,38,43 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Purser; Ernest R.
Claims
What I claim is:
1. An extendable drill boom for positioning and feeding a rock
drill along predetermined boring axis pivotally connected to one
end of the boom, the other end of the boom being pivotally
supported on a base comprising:
a. a boom head carried by said drill boom for supporting the rock
drill and being pivotally mounted to rotate about an axis which is
parallel to the pivot axis of the drill boom;
b. force means for producing an extending force component and a
pivoting force component on said drill boom during the feeding
operation;
c. a control system responsive to a sensing device carried by said
boom head for sensing the position of the rock drill relative to
the boring axis and being effective upon said force means to adjust
the two force components and correct deviations of the rock drill
from its boring axis.
2. An extendable drill boom according to claim 1 in which the
control system further includes means for moving the rock drill
parallel to the movement of the drill boom as the latter is pivoted
relative to its base.
3. An extendable drill boom for positioning and feeding a rock
drill along predetermined boring axis pivotally connected to one
end of the boom, the other end of the boom being pivotally
supported on a base comprising:
a. a boom head carried by said drill boom for supporting the rock
drill and being pivotally mounted to rotate about an axis which is
parallel to the pivot axis of the drill boom;
b. force means for producing an extending force component and a
pivoting force component on said drill boom during the feeding
operation;
c. a control system responsive to a sensing device carried by said
boom head for sensing the position of the rock drill relative to
the boring axis and being effective upon said force means to adjust
the two force components and correct deviations of the rock drill
from its boring axis;
d. said sensing device comprising a direction indicating bar
slidably engaging said boom head.
4. A drill boom according to claim 3 characterized in that when the
rock drill (9) is moved parallelly out of alignment with the boring
axis, the direction indicating bar (14) is arranged to be pivoted
about its forward end and thereby be displaced in an angle relative
to the rock drill and the boom head so as to act on a sensing
device (12) which is attached to the boom head (7).
5. A drill boom according to claim 3 characterized in that the
forward end of the direction indicating bar (14) is connected to a
frame work (15) which is substantially parallel to said direction
indicating bar and to the rear end of which is connected a couple
of telescopically extendable and length-wise lockable legs
(19).
6. A drill boom according to claim 5 characterized in that the boom
head (7) surrounds the direction indicating bar (14) as well as the
frame work (15), and means (26-28) are provided to fix the frame
work (15) relative to the boom head (7) during positioning of the
rock drill.
7. A drill boom according to claim 6 characterized in that the
fixing means (26-28) are arranged to be disengaged at the same
moment as the rock drill starts working, whereby the frame work
(15) is released from the boom head (7), permitting working of the
control system.
8. A drill boom according to claim 3 characterized in that the
direction indicating bar (14) consists of a box-girder (114) which
is provided with a spur (118) and a drill centralizer (117) at its
forward end and which is connected to a couple of legs (119) at its
rear end.
9. A drill boom according to claim 8 characterized in that the boom
head (7) is provided with pneumatic press plungers (127, 128) by
means of which the box-girder (114) is arranged to be fixed
relative to the boom head (7) during positioning of the rock drill
(9).
10. A drill boom according to claim 9 characterized in that the
press plungers (127 and 128) are arranged to be disengaged at the
same moment as the rock drill starts working, whereby the
box-girder (114) is released from the boom head (7), permitting
working of the control system.
11. A drill boom according to claim 5 characterized in that the
boom supporting base (3) is rotatably mounted on a shaft, which is
provided with a crank pin (42) upon which are alternately acting
two hydraulic cylinders (40, 41) for making the base rotate.
Description
This invention relates to a drill boom for mechanized positioning
and feeding of a rock drill, said boom being extendable and
pivotably connected to a boom supporting bracket at its rear
end.
A conventional drill boom, supporting a feed shell at its forward
end, constitutes together with the feed shell a rigid unit for
guiding the rock drill. In order to establish a thorough guiding of
the rock drill this unit must be very rigid, which necessitates a
very solid and heavy drill boom. The purpose of the invention is to
eliminate the fixed rock drill guide so as to reduce the rigidness
requirements. Such a drill boom can be made slender and light and
because of that specially suitable for working in narrow drifts and
tunnels.
The invention will be more closely described with references made
to the accompanying drawings, in which
FIG. 1 is a perspective view of a drill boom according to the
invention.
FIG. 2 is an elevational view of the drill boom shown in FIG. 1 and
is schematically illustrating two alternative positions of the
same.
FIG. 3 is a top plan view of the forward end of the boom.
FIG. 4 is a longitudinal section of the forward end of the boom and
shows the components of a control system attached to the boom.
FIG. 5 is a cross sectional view along line V--V in FIG. 4.
FIG. 6 shows schematically the drill boom and its control
system.
FIG. 7 is a longitudinal section of a locking device for a drill
boom supporting leg.
FIGS. 8-10 show a drill boom according to another embodiment of the
invention, whereof FIG. 8 is a longitudinal elevation section of
the forward end of the boom and shows the components of the control
system. FIG. 9 is a sectional view along line IX--IX in FIG. 8 and
FIG. 10 shows schematically the drill boom and its control
system.
As being appearent from FIGS. 1 and 2, the drill boom consists of a
telescopically extendable leg 1, the rear end of which is pivotally
mounted on an axle 2 on a boom supporting bracket 3. The boom
supporting bracket 3 is rotatably arranged on a frame 4, which is
intended to be mounted for instance on a mobile base. (Not shown.)
Between an attachment 5 on the boom leg 1 and the boom supporting
bracket 3 there is provided a hydraulic cylinder 6 by means of
which the boom is pivotable relative to the boom supporting
bracket. The boom leg 1 is telescopically extendable and consists,
as as shown in FIG. 6, of three telescopic tubes 1a, 1b, 1c which
are slidably arranged relative to each other. Extension of the boom
leg 1 is accomplished by compressed air whereas damping of the boom
leg extension movement as well as contraction of the boom leg is
accomplished hydraulically. Alternatively, the extension movement
could be accomplished hydraulically too. At the forward end of the
boom leg 1 there is mounted a boom head 7 which is pivotable about
a transverse stub axle 8 for pivoting in the same plan as the boom.
Upon the boom head 7 there is rigidly attached a rock drill 9. The
pivoting movement of the boom head 7 relative to the boom leg 1 is
controlled by a parallel movement establishing device which
constitutes an integral part of the control system. The parallel
movement establishing device consists of two flow connected
hydraulic cylinders 10 and 11, one of which is attached between the
boom leg 1 and the boom supporting bracket 3, constituting pilot
means 10, whereas the other one is attached between the boom leg 1
and the boom head 7, constituting slave means 11. The advantage
obtained by this device is that the rock drill 9 is always moved
parallelly when the boom leg 1 is pivoted about the stub axle 8 on
the boom supporting bracket 3. However, the rock drill may be
positioned in different angles relative to the rotation axis of the
boom supporting bracket 3 for drilling of slanted holes and is
always retaining this angle relative to said axis when pivoting the
boom. (This angle-setting of the rock drill will be described
herebelow in connection with the control system.)
The rock drill is arranged to be fed along a certain boring axis by
a feeding force which consists of pivoting and extension forces
applied to the boom leg. Hereby, the rock drill movement is
controlled by continuous sensing of the rock drill position
relative to the boring axis. Corrections of this position are
carried out by changing the direction of the composite feeding
force. In the embodiments of the invention described herein changes
in the feeding force direction is accomplished by keeping the
extension force constant and increasing or decreasing the pivoting
force so that the rock drill is being fed linearly along the boring
axis. The control system comprises not only the parallel movement
establishing device but also means for sensing of the rock drill
position relative to the boring axis and means for correcting this
position in accordance with the impulses given by the sensing
means. The control system which is shown in FIGS. 4 and 6 comprises
a sensing device 12 which is mounted on the boom head 7. In the
described embodiment of the invention this sensing device consists
of a pneumatic valve. Alternatively, there can be used different
types of pneumatic valves, air stream contacts, electrical limit
switches and photocells.
As shown in FIGS. 4 and 5 the boom head 7 is provided with a
through channel 13 in which a direction indicating bar 14 is
arranged. The forward end of the direction indicating bar 14 is
kept in a predetermined position relative to the boring axis by
means of a frame work 15. The direction indicating bar 14 is
pivotably mounted about an axle 16 at the forward end of the frame
work. At its forward end, the frame work 15 is provided with a
drill rod centralizer 17 and a spur 18. The purpose of the drill
rod centralizer is to keep the forward end of the frame work 15 at
a predetermined distance relative to the drill rod. At its rear
end, the frame work is fixed by a couple of telescopically
extendable and to the boom supporting bracket 3 connected support
legs 19. These legs 19 can be locked against changes in length by
means of lock devices 20 which are adapted to be activated by
compressed air. Such a locking device is shown in FIG. 7 and
consists of a wedge means 21 which is disposed within the smaller
telescopic tube and is arranged to force a number of balls 23
against the wider telescopic tube inner wall. The wedge means 21 is
activatable by means of a piston 22. As the rock drill starts
working, compressed air is supplied to the locking devices so as to
fix the frame work 15 in its proper position. Another purpose of
the legs 19 is to prevent twisting of the boom head 7 and the rock
drill 9 about the longitudinal axis of the boom leg 1. Thus, the
telescopic tubes of the boom leg do not have to be provided with
any twist preventing means.
The direction indicating bar 14 as well as the side members of the
frame work 15 are surrounded by the boom head 7. Between the frame
work and the boom head 7 there is arranged a gap large enough to
allow a slight transverse movement of the boom head relative to the
boring axis. During such a movement the boom head 7 only has
contact with the direction indicating bar 14 via a couple of
backing rollers 24 and a fork 25 which is connected to the sensing
device 12. Thus, the frame work 15 and the legs 19 have no positive
guiding function for the rock drill during drilling but its only
purpose is to constitute a supporting device for the direction
indicating bar 14. During positioning of the rock drill, before the
rock drill starts working, the frame work 15 is fixed relative to
the boom head 7. This fixing is accomplished by wedge-formed
guiding heels 26 and 27 and a latch 28 which are displaced at the
rear end of the frame work and which means are cooperating with the
boom head as the latter is withdrawn to its rear-most position.
Thereby, the frame work is brought into a position parallel with
the boring axis. The spur 18 is then resting against the rock
surface. Just as the rock drill is started the legs 19 are axially
locked. At the same moment the boom head 7 and the rock drill 9 are
released and the control system starts working. The latch 28 is
disengaged by means of a pneumatic cylinder 29 which is activated
at the same time as the rock drill starts working (see schedule in
FIG. 6). From now on the boom head 7 is in contact with the
direction indicating bar 14 only.
The direction indicating bar 14 which is kept in its position by
the frame work 15 and by the boom head 7 via the backing rollers 24
is parallel with the boom head channel 13 as the rock drill is
positioned in alignment with the boring axis. However, the
extension force applied to the boom tends continuously to displace
the rock drill upwardly (see FIG. 2). By influence of the parallel
movement establishing device such a displacement will always be
parallel. When an upward displacement of the rock drill occurs, the
direction indicating bar, the forward end of which is kept
stationary at its original level, will at its rear end be displaced
upwardly together with the rock drill. Accordingly, the direction
indicating bar 14 will extend an angle relative to the boom head.
As a result, the direction indicating bar is pivoted about the axle
16 and the rollers 24 and displaces the valve body of the valve 12
out of its neutral position by means of the fork 25. Thereby, the
valve 12 allows compressed air to pass from a supply conduit 30 to
a pneumatically shiftable hydraulic valve 31 which then opens to
allow hydraulic fluid to flow from a pressure accumulator 32, FIG.
6, through a conduit 33 into the rear part of the cylinder 6 so as
cause lowering of the boom. Though, the boom is lowered until the
direction indicating bar has returned the valve body to its neutral
position by means of the fork. The extension force acts constantly
on the boom anyhow and will again displace the rock drill and the
boom head upwardly causing the direction indicating bar to shift
the valve body downwardly accomplishing another lowering of the
boom. By means of suitable restrictions 34-35 put into the
hydraulic conduits and by means of sensitive sensing means the
above described step by step steering process will be rectified so
that a substantially linear feeding of the rock drill is
obtained.
Accordingly, during withdrawal of the drill rod from the drilled
hole the direction indicating bar will be tilted, but as the
contraction force acting on the boom is constant, the rock drill
will be pulled backwardly and downwardly. (This position is shown
in FIG. 4). Thereby, the direction indicating bar will shift the
valve body upwardly so that the valve will supply hydraulic fluid
to the forward end of the cylinder 6 via the pneumatically operated
hydraulic valve 31 and the conduit 36 to raise the boom. As the
boom is raised high enough the valve body will reoccupy its neutral
position and the raising operation is interrupted. However, the
contraction force of the boom pulls the boom head downwardly
constantly whereby the valve body is displaced upwardly again and
the boom is again raised. This step by step process is rectified
too, so that a substantial linear withdrawal of the drill rod is
obtained.
In FIGS. 8-10 there is shown a drill boom according to another
embodiment of the invention. The drill boom according to this
embodiment is specially adapted for drilling in connection with
shaft sinking. This boom is intended to be mounted hanging from the
frame 4 with a vertical rotation axis. This version of the drill
boom is different from the above described embodiment as the frame
work and the direction indicating bar is substituted by a
longitudinal box-girder 114 (see FIG. 9). The forward end of this
box-girder is provided with a spur 118 and a drill rod centralizer
117 and is connected to a couple of legs 119 at its rear end. The
box-girder is surrounded by the boom head 107 and is adjustable
relative to the latter by means of pneumatic press plungers 127 and
128. Such adjustment is made during positioning of the rock drill.
Thus, these press plungers have the same purpose as the guide heels
26-27 and the latch 28 in the above described embodiment.
For sensing and correction of the rock drill position relative to
the boring axis, the box-girder 114 is arranged to be pivoted about
its forward end and thereby be displaced at an angle relative to
the boom head 107 as the rock drill is parallelly displaced out of
its proper position. (Compare the earlier described embodiment). At
such a pivoting the box-girder also pivots about the rollers 124 of
the boom head and acts upon one of the two sensing means 112a, 112b
on the boom head. These means consist of pneumatic valves which
acted upon are opened to let compressed air flow to a pneumatically
shiftable hydraulic valve 131. Depending on which of the valves
being actuated the hydraulic valve will be shifted to cause
pivoting of the boom either to or from its vertical rotation axis.
By such a continuous sensing and correction of the rock drill
position relative to the boring axis there is obtained a
substantial linear movement of the rock drill during feeding and
withdrawal of the drill rod.
Moreover, the drill boom according to the invention is provided
with manually operated control valves by means of which the boom is
manually controlled. The control systems of the two described
embodiments are identical (see FIG. 6 and FIG. 10). Yet, the drill
boom according to the last described embodiment is provided with an
extra control valve 180 for alternative supply of compressed air to
the sensing means and the press plungers.
In positioning the rock drill for drilling along a certain boring
axis the boom is pivoted about the axle 2 on the boom supporting
bracket 3 by means of a cylinder 6 and is extended by movement of
the boom leg telescopic device for positioning of the rock drill on
the proper radius relative to the rotation axis of the boom
supporting bracket 3. Moreover, the boom and the boom supporting
bracket is rotatable for moving the rock drill along an arc the
center of which is coincident with the rotation axis of the boom
supporting bracket.
To establish manual pivoting of the boom about the boom supporting
bracket there is provided pneumatic valves 37, 38. These valves can
be opened for compressed air supply to the pneumatically shiftable
hydraulic valve 31 and depending on which of these valves being
opened the hydraulic valve supplies the cylinder 6 with hydraulic
fluid via the conduits 33 and 36 establishing pivoting of the boom
either to or from the rotation axis of the boom supporting bracket
3.
Manual operating of the extension and contraction movements of the
boom leg is accomplished by a hydraulic valve 39. By means of this
valve the forward facing piston surfaces of the telescopic device
are alternatively connectable to a pressure fluid source or to the
exhaust. The backward facing piston surfaces of the telescopic
device are permanently connected to the compressed air source.
Whereby the extension and contraction movements of the boom leg are
controlled by regulating of the flow in the hydraulic circuit. This
regulating is carried out by means of the valve 39. Moreover, the
feeding force rate is changable by regulating the compressed air
pressure in the telescopic device. Means for this regulating
purpose are not shown.
The rotation of the boom is accomplished by two hydraulic cylinders
40 and 41 alternately acting on a crank pin 42 on the rotation axle
of the boom supporting bracket 3. (See FIGS. 1, 6 and 10.) The
alternating order of the hydraulic cylinders is controlled by two
control valves 43, 44 which are acted upon by a cam disc 45
attached to the rotation axle. The hydraulic fluid supply to these
valves and cylinders are controlled by a valve 46.
The drill boom according to the invention makes it also possible to
position the rock drill for drilling holes which form angles with
the rotation axis of the boom. This positioning possibility is
obtained by changing the relationship between the hydraulic
cylinders 10 and 12 of the parallel movement establishing device
and is carried out by operating the valve 47.
In the embodiments of the invention shown in the drawings the
pressure fluid source of the drill boom hydraulic systems consists
of a hydraulic pump 48 which is driven by a pneumatic motor 49. The
hydraulic circuit is, however, not directly connected to the
hydraulic pump 48. In this circuit there is a pressure accumulator
42 the purpose of which is to extend the working intervals of the
pump. Principally, this pressure accumulator consists of a
piston-cylinder device one end of which is connected to the
hydraulic pump. At the other end of the accumulator there is
enclosed a gas volume which acts as a spring means. Thus, the
accumulator is loaded by the hydraulic pump and is drained by means
of the expansion force of the enclosed gas volume. Compressed air
is supplied to the control system through a conduit 50.
The invention is not limited to the described embodiments but can
be freely varied within the scope of the claims. For instance, the
boom may be designed for establishing a longer feed movement by
increasing its pivot range. According thereto the boom is pivotable
from a rear start position in which the boom leg is constituting an
obtuse angle with the boring axis. During the initial part of the
feed movement the boom leg will be contracted and, having passed
its perpendicular position relative to the boring axis, the boom
leg starts to extend. The length changing of the boom is controlled
by the control system so that the rock drill will be fed linear
along the boring axis when the boom is pivoted about the boom
supporting bracket.
* * * * *