U.S. patent number 3,870,111 [Application Number 05/395,976] was granted by the patent office on 1975-03-11 for feed rate control for jet piercer.
This patent grant is currently assigned to Reserve Mining Company. Invention is credited to Robert O. Mattila, Gustave W. Schroeder, Robert M. Tuomela.
United States Patent |
3,870,111 |
Tuomela , et al. |
March 11, 1975 |
Feed rate control for jet piercer
Abstract
An automatic drilling feed rate control for a jet piercing
drilling machine. A weight cell generates a signal proportional to
the resistance to penetration force experienced by the jet piercer
burner assembly while piercing a drill hole in a rock formation.
This signal is processed by a transistor amplifier, then is used
for controlling the feed rate of the jet piercer into the drill
hole. Means are provided for automatically adjusting the feed rate
in response to drill tip melt build-up or encoutering a zone of
fractured rock.
Inventors: |
Tuomela; Robert M. (Babbitt,
MN), Schroeder; Gustave W. (Babbitt, MN), Mattila; Robert
O. (Ely, MN) |
Assignee: |
Reserve Mining Company (Silver
Bay, MN)
|
Family
ID: |
23565345 |
Appl.
No.: |
05/395,976 |
Filed: |
September 10, 1973 |
Current U.S.
Class: |
175/11;
175/27 |
Current CPC
Class: |
E21B
19/08 (20130101); E21B 7/14 (20130101) |
Current International
Class: |
E21B
19/00 (20060101); E21B 7/14 (20060101); E21B
19/08 (20060101); E21b 007/14 (); E21b
019/08 () |
Field of
Search: |
;175/27,11-16 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Abbott; Frank L.
Assistant Examiner: Favreau; Richard E.
Attorney, Agent or Firm: Merchant, Gould, Smith &
Edell
Claims
We claim:
1. A jet piercing drilling machine having automatic drilling feed
rate control, comprising, in combination:
a. a frame support member;
b. a frame pivotally attached to the frame support member;
c. a burner assembly;
d. hoist assembly means mounted on the frame for supporting the
burner assembly so that the burner assembly normally
counterbalances the weight of the frame and hoist assembly about
the frame support member;
e. weight cell means associated with the frame and operable to
produce control signals indicative of the resistance to penetration
of the burner assembly, in response to the pivoting of the frame
about the support member;
f. motor means drivably connected to the hoist assembly for raising
and lowering the burner assembly into a drill hole;
g. a motor driving circuit having an input for receiving a speed
command voltage, and having an output connected to the motor means,
the motor driving circuit operable to control the speed and
direction of the motor means in response to a received speed
command voltage;
h. a transistor amplifier normally connected to receive the control
signals from the weight cell means, and connected to the motor
driving circuit for supplying a speed command voltage thereto, the
transistor amplifier operable in a normal mode to vary the speed
command voltage in response to the control signals so as to
maintain the drilling feed rate substantially inversely
proportional to the instantaneous resistance to penetration of the
burner assembly, over a predetermined range of operation; and,
i. means for switching a bias signal into the input of said
transistor amplifier when a predetermined drilling condition is
encountered, whereby a predetermined fixed drilling speed command
voltage is produced in response thereto.
2. Apparatus according to claim 1 wherein said means for switching
includes means for sensing a drill tip melt build-up condition, and
wherein said bias signal corresponds to a minimum resistance to
penetration condition, so that a maximum drilling feed rate is
commanded.
3. Apparatus according to claim 2 wherein said means for switching
includes means for sensing the encounter of an area of cracked
material, and wherein said bias signal corresponds to a maximum
resistance to penetration condition, so that a minimum drilling
feed rate is thereby commanded.
4. Apparatus according to claim 1 wherein the weight cell means
comprises a pneumatic weight cell, a pressure responsive variable
resistor in communication with the pneumatic weight cell, and an
electrical power supply connected to the pressure responsive
variable resistor, whereby the control signals produced by the
weight cell means have a voltage proportional to the resistance to
penetration of the burner assembly.
5. Apparatus according to claim 4 wherein said means for switching
includes means for sensing drill tip melt build-up and a time-delay
relay connected for operation by said sensing means, said
time-delay relay having contacts for connecting the minimum voltage
from said variable resistor to the input circuit of said transistor
amplifier.
6. Apparatus according to claim 4 wherein said means for switching
includes means for sensing the encountering of a zone of fractured
material, and a time-delay relay connected for operation by said
sensing means, said time-delay relay connected for operation by
said sensing means, said time-delay relay having contacts for
applying the maximum voltage for said variable resistor to the
input circuit of said transistor amplifier.
7. Apparatus according to claim 1 wherein the transistor amplifier
includes a transistor connected in common emitter configuration,
and further including a variable resistor in the base circuit of
the transistor for adjusting the minimum drilling feed rate.
8. Apparatus according to claim 7 further including a second
variable resistor connected across the transistor from collector to
emitter for adjusting the maximum drilling feed rate.
Description
BACKGROUND OF THE INVENTION
This invention relates generally to the field of jet piercing
drilling machines capable of forming blast holes in rock or ore
formations by spalling or melting the rock or ore. More
particularly, this invention pertains to apparatus for controlling
the rate at which the jet piercer burner is lowered into a drill
hole.
For a number of years jet piercing drilling machines have been used
in the mining industry for making vertical blast holes in hardd
rock or ore formations. After a pattern of vertical blast holes
have been formed in the formation, explosives are placed in the
holes and detonated to break up the ore for removal from the mine.
Instead of chopping or abrading holes in the rock as is normally
done with conventional drills, a jet piercer directs a high
velocity, high temperature flame against the rock fromation causing
disintegration by spalling or melting action. In order to achieve
optimum performance from a jet piercing drilling machine, the rate
at which the burner is lowered to form the drill hole must be
carefully controlled. Maximum efficiency results when the tip of
the burner is about 3 inches from the bottom of the hole, because
it is this distance that the high velocity flame is the most
effective. If the burner is lowered too quickly, the burner comes
to close to the bottom of the hole resulting in reduced efficiency,
or the rotating burner parts may contact the bottom or sides of the
hole clogging it with debris. On the other hand, if the burner is
lowered too slowly, drilling speed will be reduced resulting in a
lowered productivity.
Because most rock formations vary considerably in chemical
compositions and physical characteristics from one drill location
to another, and also at different levels in the same drill hole, it
is necessary that the drilling feed rate be continuously monitored
and adjusted if optimum efficiency is to be attained. Often
drilling speed is controlled manually by an operator who adjusts a
rheostat in response to a resistance to penetration meter and other
machine parameters. However, manual control in general is not
satisfactory because of inherent lags in the operator's response to
the changing conditions.
Accordingly, automatic drilling feed rate controls have been used
in an attempt to increase efficiency. These prior art automatic
controls are electro-mechanical devices in which the drilling feed
rate is controlled by a motor driven potentiometer, which in turn
is activated by switches operated by a resistance to penetration
sensor. With this type of arrangement, a low resistance to
penetration activates a switch which causes the motor driven
potentiometer to turn in a first direction, causing the burner to
accelerate in downward travel. When the burner catches up with the
bottom of the hole because of too high a feed rate, the resistance
to penetration increases causing activation of another switch. This
switch causes the motor driven potentiometer to turn in the
opposite direction which causes the burner to decelerate. Thus it
is readily apparent that a major disadvantage of this prior art
automatic control is that it continually hunts for the optimum
drilling rate by a continuous acceleration-deceleration cycle, but
that it is incapable of finding or maintaining the optimum feed
rate. Further it is incapable of precisely tracking the optimum
feed rate which continues to vary while the hole is being
formed.
The present invention overcomes these problems by providing an
electronic automatic drilling feed rate control which is capable of
maintaining the optimum feed rate and precisely tracking the
optimum feed rate as drilling progresses. The present invention
uses a solid state amplifier to provide proportional feed rate
control to the burner in response to instantaneous variations in
the resistance to penetration.
SUMMARY OF THE INVENTION
According to the present invention, there is provided an automatic
drilling feed rate control for a jet piercing drilling machine
having weight cells means associated with the drilling machine for
producing control signals indicative of the resistance to
penetration, a variable speed driving circuit for controlling the
motor which lowers the burner into the drill hole, and a transistor
control circuit for receiving signals from the weight cell means,
processing them, and delivering them to the driving circuit so as
to control the drilling feed rate in response to the instantaneous
resistance to penetration experienced by the burner. Additional
circuit elemlents associated with the transistor control circuit
cooperate therewith to provide additional modes of operation in the
event that a zone of fractured material is encountered, or that
drill tip melt build-up is experienced.
DESCRIPTION OF THE DRAWINGS
In FIG. 1 there is shown a schematic drawing of the jet piercing
drilling machine;
FIG. 2 shows a block diagram of a control system incorporating the
present invention, for use on the machine of FIG. 1;
FIG. 3 is a schematic drawing of the automatic drilling feed rate
control of the present invention; and
FIG. 4 is a graph of pertinent wave forms illustrating the
operation of the present invention.
DESCRIPTION OF THE PREFERRED EMBODIMENT
In FIG. 1, reference numeral 10 generally designates a jet piercing
drilling machine. Drilling machine 10 comprises a support member
11, and a frame member 12 which is connected to support member 11
by a pivoting joint 13. Frame 12 supports a hoist assembly 14 which
comprises a cable drum 15, a high speed electric motor 16, and a
low speed electric motor 17. Motors 16 and 17 are drivably
connected to drum 15 via clutches and suitable gearing (not shown).
A mast 18 supports a pulley 19 which carries a cable 20 from hoist
14 to the top of a blowpipe 21. At the tip of blowpipe 21 is a
burner assembly 22 which provides the flame for the piercing
operation. An electric motor and suitable drive gearing (not shown)
are included with blowpipe 21 to provide rotary motion to the
burner assembly. For operation, suitable conduits are provided (not
shown) for supplying fuel, oxygen, and cooling water to the
blowpipe, and electrical power to the rotary drive motor.
Also mounted on frame 12 is a power cabinet 23 which receives three
phase AC power from transmission lines 69, for distribution to
various electrical equipment on the drill. A control panel 24 is
also mounted on frame 12, and contains the automatic and manual
controls for operation of the machine, including a rheostat 25, and
a meter 26, the functions of which are described in a subsequent
paragraph.
During normal drilling operation, blowpipe 21 is suspended above
the bottom of the drill hole 27 so that substantially all of its
weight is supported by cable 20. Under these conditions, the weight
of blowpipe 21 acting upon hoist 14 exerts a clockwise moment about
pivot 13. This moment is normally balanced by a counterclockwise
moment about pivot 13 due to the weight of frame 12 and the
equipment attached to it. A bias spring 28 is provided for making
adjustments so that the two moments balance. Bias spring 28 exerts
force on the frame 12 and on a retaining nut 29 which is threaded
on a strut 30. Strut 30 is anchored at its lowered end to a member
31 which is attached to the lower end of support 11, and which may
be the main frame of the machine.
A weight cell 32 is mounted on member 31, and has a movable shaft
33 attached to frame 12. Line 34 conveys a pneumatic pressure
output generated by weight cell 32 to meter 26 which is the
resistance to penetration meter. In operation, with the full weight
of blowpipe 21 being supported by cable 20, retaining nut 29 is
adjusted so that the moments about pivot 13 are in balance. At this
point meter 26 is calibrated to indicate zero resistance to
penetration. If during operation burner assembly 22 approaches the
bottom of drill hole 27, increasing resistance to penetration
forces support a portion of the weight of blowpipe 21, and the
tension on cable 20 decreases. In this situation, the weight of
frame 12 and attached equipment causes it to pivot downwardly
pushing shaft 33 and registering an increasing resistance to
penetration on meter 26.
FIG. 2 shows a block diagram of the controls for the jet piercing
drilling machine of FIG. 1. In FIG. 2, weight cell 32 connects
through pneumatic line 34 to meter 26, as in FIG. 1. In addition,
line 34 branches to connect to the automatic feed rate control 50
and an automatic retract control 35. The output of automatic feed
rate control 50 connects through lead 51 to one terminal of
manual-automatic switch 36. Manual control rheostat 25 connects
through a lead 37 to another terminal of switch 36. The output
terminal of switch 36 connects through lead 38 to a low speed motor
driver 39. Low speed motor driver 39, which may include a thyratron
circuit, functions to vary the amount of power delivered to low
speed motor 17 via leads 40 in response to speed command signals
received from lead 38, either from automatic feed rate control 50
or from manual control 25, depending upon the position of switch
36. Low speed motor 17 operates the hoist during the drilling
operation through suitable clutches and gearing which are indicated
in FIG. 2 by reference numeral 41. Similarly, a high speed motor
driver 42 is provided for supplying power to high speed motor 16
through leads 43. High speed motor 16 is also capable of operating
the hoist when connected thereto through clutches and gearing 41. A
master control 44 is provided for controlling low speed motor
driver 39, clutch and gears 41, and high speed motor driver 42
through leads 45, 46 and 47, respectively. The automatic retract
control 35 is connected to master control 44 by lead 49.
Also shown in FIG. 2 is a rotary ammeter 54 which connects to
automatic feed rate control 50 via lead 55, and a water pressure
switch 56 which connects to the automatic feed rate control through
a lead 57, and to master control 44 through a lead 58. The
functions of automatic retract control 35, rotary ammeter 54, and
water pressure switch 56 are described following the description of
automatic feed rate control 50.
FIG. 3 is a schematic diagram of automatic feed rate control 50 of
FIG. 2. In FIG. 3, a lead 60 is connected to the positive terminal
of a suitable DC power supply (not shown). The negative terminal of
the power terminal of the power supply is connected to signal
ground, as indicated by reference numeral 61. A resistor 62 is
connected to lead 60. Connected between resistor 62 and signal
ground is a potentiometer 63. Potentiometer 63 is a pressure
responsive potentiometer, and it is connected through conduit 34 to
weight cell 32 (FIG. 1), so that its wiper arm 64 (FIG. 2) moves in
response to varying pressures on the weight cell.
A transistor 70 has its emitter connected to signal ground, and its
base connected to wiper arm 64 by the series connection of resistor
71, and variable resistors 72 and 73. The collector of transistor
70 is connected by a resistor 74 to the positive power supply on
lead 60. The output terminal of automatic feed rate control 50 is
lead 51, which connects to the collector of transistor 70. As shown
in FIG. 2, output lead 51 connects through switch 36 to low speed
motor driver 39. A variable load resistor 75 is connected from
collector to emitter of transistor 70. A second output load
resistor 76 connects from the emitter of transistor 70 to normally
open the contacts 82, which in turn are connected to the collector
of the transistor. The normally closed relay contacts 83 are
connected across variable resistor 72. The operation of relay
contacts 82 and 83 is controlled by relay 81, which is energized by
timer 80. Timer 80, which may be an electronic timer, is connected
by leads 87 to a suitable source of electrical power. The input of
timer 80 is controlled by a set of relay contacts 85. When
triggered, timer 80 functions to energize relay 81 which is
connected to its output, and to maintain relay 81 in an energized
state for a predetermined time interval.
A time delay relay 84 is controlled by lead 55 from the rotary
ammeter 54 of FIG. 2. Relay 84 controls one set of contacts 85
associated with timer 80, previously described, and another set of
normally open contacts 86 which is connected from the junction of
resistors 62 and 63 to the junction of resistors 71 and 72. The
last mentioned circuit mode is also connected to signal ground by a
normally open set of relay contacts 88. Relay contacts 88 are
operated by a time delay relay 87, which in turn is connected by
lead 57 to the water pressure switch 56 of FIG. 2.
The automatic feed rate control of FIG. 3 is capable of operating
in several different modes and of automatically switching from one
mode to another as different drilling conditions are encountered.
During normal drilling operations, the automatic feed rate control
circuit of FIG. 3 functions to provide speed command signals at
lead 51 for operating the low speed motor driver, in response to
control signals received by wiper arm 64 from the weight cell. The
drilling feed rate is thus controlled, between predetermined
maximum and minimum values, in inverse proportion to the
instantaneously experienced resistance to penetration. The normal
mode of operation is as follows.
Resistor 62 is a current limiting resistor to control the current
through potentiometer 63. Together, resistor 62 and potentiometer
63 comprise a voltage divider so that the voltage picked off by
wiper arm 64 varies between zero and some maximum value determined
by the values of the resistances. This voltage is coupled to the
base of transistor 70 through resistor 71, normally closed relay
contacts 83, and variable resistor 73. The position of wiper arm 64
thus controls the base current to transistor 70, which in turn
controls the collector current, the voltage drop across resistor
74, and hence the output voltage at terminal 51.
When wiper arm 64 is at the bottom of its travel, corresponding to
low resistance to penetration, the base of transistor 70 is
grounded and the transistor is cut off. At this point the speed
command voltage appearing at lead 51 on the collector of transistor
70 is determined by the relative values of the collector load
resistance 74 and variable resistor 75. In practice, variable
resistor 75 is adjusted to provide an output voltage corresponding
to the desired maximum drilling feed rate which the automatic
control can command.
As the resistance to penetration increases, wiper arm 64 moves
upward increasing the voltage and base current applied to the
transistor. During this increase, the collector current through the
transistor increases causing an increasing voltage drop across the
collector load resistor 74. The speed command voltage on lead 51
therefore decreases. When the resistance to penetration has reached
a predetermined maximum value, wiper 64 is at the top of
potentiometer 63. Variable resistor 73 is adjusted so that the base
of transistor 64 will receive enough current at this point to drive
the transistor into saturation. At this point the voltage on output
lead 51 will be equal to the saturation collector to emitter
voltage drop of the transistor, corresponding to the minimum
drilling feed rate.
The normal mode of operation of the automatic feed rate control
described above would be adequate if only "normal" drilling
conditions were encountered. However, the lack of uniformity in the
rock or ore to be drilled creates nonuniform drilling conditions
which require additional modes of operation of the drilling
apparatus. For example, the hardness and resistance to piercing of
a particular layer of rock may be so great that even the minimum
drilling feed rate is too fast. In this case, the automatic retract
control 35 of FIG. 2 comes into operation. When the resistance to
penetration has increased to the point that wiper arm 64 has
reached the top of travel, resulting in the automatic feed rate
control 50 commanding its minimum feed rate, if the resistance to
penetration should continue to increase beyond a predetermined
threshold, automatic retract control 35 is energized by a pressure
responsive switch contained therein which is in communication with
weight cell 32 by way of pneumatic conduit 34. When energized,
automatic retract control 35 causes master control 44 to engage
high speed motor 16 momentarily to lift the drill a few inches
above the obstruction and hold it there for a predetermined time
interval, usually a few seconds, while the flame can burn away the
obstruction. At the end of this time interval, control of the
drilling feed rate is returned to automatic feed rate control 50,
operating in conjunction with low speed motor driver 39.
Other drilling conditions requiring special modes of operation
occur when the jet drill encounters an area of cracked or fractured
material, or in the case of build-up of melted rock on the drill
tip. These two conditions are normally handled by a crack-and-melt
control subsystem within master control 44. The automatic drilling
feed rate control of the present invention is particularly adapted
to operate in conjunction with the crack-and-melt control subsystem
as follows.
If the jet drill encounters an area of cracked or fractured
material, rotary ammeter 54 of FIG. 2 will detect an increase in
current flowing to the motor which rotates the blowpipe, reflecting
the increased load on the motor caused by the cracked or fractured
rock. The required response to this condition is a decrease in the
drilling feed rate, which is accomplished by the automatic feed
rate control as follows. The high current level detected by rotary
ammeter 54, causes it to energize time delay relay 84 (FIG. 3),
closing contacts 85 and 86. Closure of contacts 85 triggers timer
80, which energizes relay 81, closing contacts 82 and opening
contacts 83. In this configuration, wiper arms 64 is bypassed and
full voltage from the top of potentiometer 63, corresponding to
maximum resistance to penetration, is applied to contacts 86,
resistors 72 and 73 to the base of transistor 70. Resistor 72 is
introduced by the opening of contacts 83, and is adjusted to take
the place of resistor 71 which is switched out of the base circuit.
Transistor 70 is driven to saturation, resulting in a minimum feed
rate command at lead 51. This situation is maintained for the
duration of the time delay of relay 84, which in the preferred
embodiment is 30 seconds. During this interval, the drill blowpipe
is lowered at the minimum feed rate to clear the fractured
zone.
At the end of the 30 second time period, relay 84 returns to
normal, opening contacts 86. However, relay 81 remains energized
for an additional period of time controlled by timer 80. In the
preferred embodiment, timer 80 is adjusted to provide an additional
two minute time delay. During this 2 minute time delay, contacts 86
are open, allowing transistor 70 to follow the movements of wiper
arm 64. However, relay contacts 82 remain closed, paralleling
resistance 76 with resistance 75. The maximum feed rate is thus
reduced to an intermediate value which is less than the normal
maximum value. After timer 80 completes its cycle, the feed rate
control returns to normal operation. Thus, in the case of a cracked
or fractured zone of rock, the drilling feed rate is automatically
reduced to minimum for 30 seconds, after which automatic feed rate
control is resumed with the restriction that the maximum possible
drilling feed rate is held to an intermediate value for a period of
2 minutes.
In the event that an area of drill tip melt (liquid rock) build-up
is incurred, the required response is an increase in the rotary
speed of the blowpipe, and an increased drilling feed rate to
"punch through" the area in which melt exists. The indication that
an area of melt build-up has been encountered is a drop in the rate
of water flow to the blowpipe. This drop in water flow is detected
by water pressure switch 56 (FIG. 2) which communicates via control
line 58 to the crack and melt control subsystem of master control
44, to cause an increase in the rotary speed. At the same time
water pressure switch 56 communicates via control line 57 to the
automatic feed rate control 50.
In FIG. 3, actuation of the water pressure switch causes
energization of time delay relay 87, resulting in the closing of
relay contacts 88. Closure of contacts 88 effectively grounds the
base of transistor 70, corresponding to a minimum resistance to
penetration condition. With transistor 70 cut off, the speed
command signals appearing at lead 51 will correspond to the maximum
drilling feed rate or to the intermediate feed rate, depending upon
conditions encountered just prior to the melt build-up. For
example, if an area of cracked or fractured material has been
encountered prior to the melt build-up, timer 80 and relay 81 may
still be energized, placing resistor 76 in the output circuit. In
this case, the closing of relay contacts 88 will result in the
intermediate feed rate output. However, if normal drilling
conditions were encountered prior to the melt build-up, relay
contacts 82 would have been open, and the energization of time
delay relay 87 upon encounter of melt build-up will result in
commanding the maximum drilling feed rate. Time delay relay 87
remains energized so long as the rate of water flow is low. After
the water flow returns to normal, upon clearing of the melt
condition, time delay relay 87 remains energized for an additional
thirty seconds. The purpose of this time delay is to prevent
control cycling which could otherwise occur. For example, if the
automatic drilling feed rate control were allowed to return to
normal operation immediately after clearing the melt build-up,
another melt build-up sequence could immediately occur. Repeated
cycling from normal mode to melt build-up mode and back to normal
mode could occur. The use of the time delay avoids excess control
cycling by mantaining operation in the melt build-up mode for an
additional 30 seconds to insure that the drilling punches through
the melt zone.
Operation of the jet piercing drilling machine incorporating the
present invention will now be explained. The machine operator using
the master control 44 (FIG. 2) to control high speed motor 16 and
clutch and gears 41 to quickly lower the blowpipe to the place
where drilling is to begin. At this point, the operator uses master
conrol 44 to energize low speed motor driver 39, and control the
clutch and gears 41 so that low speed motor 17 is engaged for
lowering the blowpipe. At this point, the burner is lit and
drilling begins. If switch 36 (FIG. 2) is in manual position, the
operator controls the drilling feed rate by varying rheostat 25
based upon his observation of resistance to penetration meter 26.
If automatic feed rate control is desired, switch 36 is placed in
the automatic position bringing automatic feed rate control 50 into
the control loop.
FIG. 4 shows pertinent wave forms which illustrate the operation of
the automatic feed rate control, throughout its various modes of
operation. In all three graphs of FIG. 4, the horizontal axis
represents the commmon time basis for all of the graphs. In the
first graph, the vertical axis represents the resistance to
penetration experienced by the burner assembly, as measured by
weight cell 32 of FIG. 2. The second graph shows the output of the
transistor amplifier at lead 51 (FIGS. 2 and 3). The third graph
shows the drilling feed rate, which equals the rate at which the
burner is lowered into the drilling hole in response to speed
command signals generated by the automatic feed rate control. In
the first graph, broken line 91 represents a lower threshold value
of the resistance to penetration, and broken line 92 represents the
maximum speed command voltage output of the transistor amplifier,
which corresponds to this lower resistance to penetration
threshold. Broken line 93 represents the maximum drilling feed
rate, corrresponding to the maximum output voltage 92. Broken line
94 represents an upper threshold of the resistance to penetration.
Broken line 95 represents the minimum speed command voltage output
of the amplifier corresponding to threshold 94, and broken line 96
represents the minimum drilling feed rate, corresponding to minimum
voltage 95.
For purposes of illustration, assume that drilling has begun under
automatic control. From time t.sub.0 to time t.sub.1, the burner is
encountering generally decreasing resistance to penetration, which
might result for example from a layer of softer rock. During this
time interval the output of the transistor amplifier is
correspondingly increasing in inverse proportion to a decreasing
resistance to penetration. The drilling feed rate is increasing in
proportion to the transistor amplifier output. At time t.sub.1, the
resistance to penetration has reached the minimum threshold 71. At
this point, wiper arm 65 (FIG. 3) has reached the bottom of its
travel, and the transistor has reached a cut off condition,
resulting in a maximum voltage output. From time t.sub.1 to time
t.sub.2 the resistance to penetration briefly dips below threshold
91, but since the transistor amplifier is in cut off, the output
voltage remains constant at the maximum value, and the drilling
feed rate remains maximum. From time t.sub.2 to time t.sub.3, the
resistance to penetration is increasing, which might result from
the burner encountering a harder layer of rock. During this time
interval the amplifier output in the drilling feed rate decreases,
in inverse proportion to the increasing resistance to penetration.
At time t.sub.3 the resistance to penetration reaches the upper
threshold 94, corresponding to the maximum upward travel of wiper
amr 64 of FIG. 3. At this point the transistor reaches saturation,
thereby commanding the minimum drilling feed rate. From time
interval t.sub.3 to t.sub.4 the amplifier output and drilling feed
rate remain at minimum value even though the resistance to
penetration continues to increase.
At time t.sub.4, the resistance to penetration reaches the upper
threshold 97 which activates the automatic retract control 35.
Initiation of the automatic retract cycle results in lifting of the
blowpipe, as indicated by the negative value of the drilling feed
rate from interval t.sub.4 to t.sub.5. At t.sub.5 normal drilling
resumes, with resistance to penetration at a minimum value since
the burner has been lifted a distance from the bottom of the hole.
At time t.sub.6 the lowering blowpipe again begins to encounter an
increasing resistance to penetration which exceeds the minimum
threshold 91 at time t.sub.7. From t.sub.7 to t.sub.8, the
transistor amplifier output and drilling feed rate once again track
the resistance to penetration.
At time t.sub.8 a zone of cracked or fractured material is
encountered, resulting in energization of relays 84 and 81 of FIG.
3. Time delay relay 84 remains energized until time t.sub.9. During
the interval t.sub.8 to t.sub.9, transistor 70 is maintained in
saturation, and the transistor amplifier output and drilling feed
rate are held at the minimum values. At t.sub.9 relay 84
de-energizes, but relay 81 remains energized for an additional time
period, to t.sub.10. During this additional time period, the
transistor amplifier output and the drilling feed rate are
maintained at the intermediate value. At time t.sub.10, relay 81 is
de-energized, and normal drilling operation is resumed with the
transistor amplifier output and the drilling feed rate tracking the
resistance to penetration.
At time t.sub.11, a melt build-up is encountered, resulting in the
energization of time delay relay 87 of FIG. 3. This in turn, causes
maximum output of the transistor amplifier and maximum drilling
feed rate for the duration of the time delay of relay 87. At time
t.sub.12, relay 87 de-energizes, and normal drilling mode resumes.
From the time interval t.sub.12 to t.sub.13, the transistor
amplifier output and the drilling feed rate once again track the
resistance to penetration, in inverse proportion thereto.
* * * * *