CA1167026A - Method and means for aligning a rock drill - Google Patents
Method and means for aligning a rock drillInfo
- Publication number
- CA1167026A CA1167026A CA000401884A CA401884A CA1167026A CA 1167026 A CA1167026 A CA 1167026A CA 000401884 A CA000401884 A CA 000401884A CA 401884 A CA401884 A CA 401884A CA 1167026 A CA1167026 A CA 1167026A
- Authority
- CA
- Canada
- Prior art keywords
- drill
- boom
- angles
- articulation angles
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/006—Means for anchoring the drilling machine to the ground
Abstract
ABSTRACT
A method for aligning the drill stem and bit of a rock drill rig when starting the drill wherein the applied feeding power on the drilling machine of the rig has results in deflection of the direction of the drill stem by deformation of the articulated and extensible drill boom of the rig and of the pivotally supported drill support on the drill boom. The drill rig is of the type which comprises elements for measuring boom lengths and articulation angles, servo means for controlling the lengths and angles and a control unit connected to the measuring elements and servo means for adjusting the drill stem and bit. The various articulation angles which are required to compensate for deformation of the drill boom and drill support are determined as if the drill boom and support were in unloaded condition, using measured values of the boom lengths and articulation angles, set in the control unit in unloaded condition. The adjusted articulation angles are corrected to the determined articulation angles when feeding power is applied. Thus, the drill stem and bit become correctly positioned and directed in the loaded condition also. Apparatus for carrying out the method may comprise a computing device including a mathematic model with a definition of the changes for the articulation angles.
A method for aligning the drill stem and bit of a rock drill rig when starting the drill wherein the applied feeding power on the drilling machine of the rig has results in deflection of the direction of the drill stem by deformation of the articulated and extensible drill boom of the rig and of the pivotally supported drill support on the drill boom. The drill rig is of the type which comprises elements for measuring boom lengths and articulation angles, servo means for controlling the lengths and angles and a control unit connected to the measuring elements and servo means for adjusting the drill stem and bit. The various articulation angles which are required to compensate for deformation of the drill boom and drill support are determined as if the drill boom and support were in unloaded condition, using measured values of the boom lengths and articulation angles, set in the control unit in unloaded condition. The adjusted articulation angles are corrected to the determined articulation angles when feeding power is applied. Thus, the drill stem and bit become correctly positioned and directed in the loaded condition also. Apparatus for carrying out the method may comprise a computing device including a mathematic model with a definition of the changes for the articulation angles.
Description
1 ~fi7026 The present invention relates to a method for aligning the drill stem and bit of a rock drill rig when starting the drill into the rock. The invention also relates to apparatus for carrying out the method.
When holes are drilled into rock for blasting or other purposes it is important that each hole be correctly directed. Nevertheless, the hole may become wrongly directed even when the drill stem has been correctly adjusted before the drilling procedure starts. Such faulty drilling has two main causes. The drill stem and bit may be pushed against the rock at such a high feeding power that the articulated and extensible drill boom and the pivotally supported feed support of the rock drill rig, are bent or deformed.
The drill stem and bit are thus forced askew. Secondly, the drill bit may slip sideways along uneven rock surface and thus the drill stem be deflected from its correct direction. Hence in addition to being incorrectly directed the drill stem may in both cases be subjected to bending which will reduce its life.
Because of the practical geometry of the drill boom proper dlrectional correction of the drill stem and bit requires adjustment about all the axes of the boom. Thls correction is performed manually today, and most ofen done by eye. Instrumentation has hitherto been limited to apparatus that shows the direction of the feed support. Manual adjustment of the drill9 with or without such apparatus, is difficult and the results obtained are to a large extent dependent on the ability and care of the operator. Particularly when drilling the peripheral holes, requirements of the operator are exacting because the direction of the drill stem is then especially important. These holes determine the shape of the cavity blasted out.
When the drill stem has been forced in the wrong direction, in present practice the operator has to adjust the stem by sighting from the 1 16702~
operator's seat on the r~g. In many sltuations when drilling in tunnels, visual observation of the direction and of the bend of the drill stem is almost impossible because of obstruction by the drill boom and support.
Good practice when setting the drill against the rock surface, reduces the number of events when the drill bit slips.
~ n object of the present invention is to provide a method for effective correction of faults due to deformation of the drill boom and drill support due to th~ feeding power. A further ob~ect of the invention is to provide apparatus for performing the method automatically.
1~ The present apparatus has a c$ose relationship to an automatically controlled drill rig which comprises elements for measuring boom length snd articulation angles, servo means for controlling the length and ang~es and a control unit connected to the measuring elements and servo means for ad~ustment of the drill stem. The method is characterized in that the various articulation angles which are required to compensate for deformation of the drill boom and feed support are determlned as if these were in a loaded conditlon, based on measured values of boom length and articulation angles which have been registered in the control unit in the unloaded ad~usted conditlon. Further, the ad~usted articulation angles are corrected to the determined articulation angles when full feeding power is applied. Thus, the drill stem and bit are correctly positioned and directed in the loaded condition too. The apparatus for performing the method automatically, includes a control unit comprising an electronic computer, preferably a microprocessor, and is characterized in that the computer includes a mathematical model, preferably a computer program, with a definition of the changes of the articulation angles.
The method and apparatus described have in practical examples -- 2 ~
,~
provided precise corrections or faulty drill hole direction arising from deformation of the drill boom and the drill bit because of the feeding power from the drilling machine.
Specific embodiments of the invention will now be described with reference to the accompanying drawings in which:
Figure 1 diagrammatically shows a drill boom and drill support with drill stem and bit in a rock drill rig, Figure 2 shows a detail of figure 1, and Figure 3 shows the drill boom of figure 1 connected in a control system.
In figure 1 an articulated and extensible drill boom 1 carries a pivotally supported drill support 2 with a drilling machine 3, drill stem 4 and bit 5. The drill support 2 is moved forward and backwards by means of a hydraulic cylinder 6. The drill boom 1 is fixed to a drill rig at a supporting location 7, and is of the type used for drilling and blasting tunnels in rocksO
The drill boom 1 can be turned about axes, horizontally through an angle ~1' and vertical through angle ~1 Additionally, the boom 1 may be rotated through an angle ~ relatively to its rear end support 7 on the rig.
The length L of the boom 1 can be adjusted, which length can be measured by means of any suitable measuring element of a previously known type. Likewise, the drill support 2 can be turned through angles ~2 and ~2 about two mutually perpendicular axes. The drill support 2 may also be rotated through an angle about an axis which is parallel to the support 2, as indicated in figure 2.
The drill boom 1 and drill support 2 are equipped with previously known elements for measuring boom lengths and articulation angles. The rig comprises servo means for controlling the lengths and angles, as indicated in figure 3. Further, the rig is equipped with a control unit in a previously 1 t67026 known manner, which unit is connected to the measuring elements and servo means for adjusting and feeding the drill stem 4, and which can control a number of drill booms 1 and drill supports 2.
In figure 3 is shown a portion of the drill boom 1 in its support 7. The boom l can be moved by means of a hydraulic cylinder 8 which also appears in figure 1. Figure 3 shows an element 9 for the measurement of the angle ~l' and an element lO for the measurement of the angle al. Corresponding elements for measuring the rema~ning ~ngles are omitted for clarity, and also for clarity only one servo means is shown, namely the servo ~alve 11 for ad~usting, among other values, the angle ~l by means of the hydraulic cylinder 8. The servo valve 11 is connected to a hydraulic fluid reservoir tank 12 and a hydraulic pump 13 driven by motor 14.
Electrical signals from at least the angle sensors or elements 9 and 10 are fed to an electronic control unit lS as indicated by the arrows and dots. Electrical signals are supplied to the servo valve 11 as indicated from control unit 15. All measuring elements and servo means are connected to the control un~t 15 which may be in the form of one or more microprocessors.
~hen the drill bit 5 is pushed against the rock with a feed force F on the drill stem 4, the drill support 2 is bent under the bending moment of the force in the drlll stem 4 and that in the cylinder 6. This deformation of the drill support 2 will occur in a plane through the drill stem 4 and cylinder 6. This deformation may be compensated for by correction or alteration of the angles ~2 and 2' thus:
~21 = K3 F-cos ~21 = K3-F-sin ~
wherein K3 is an experimentally determined rigidityconstantforthe boom 2. For the feed force F a measured or assumed typical value may be used.
1 ~6702~
The supplied feeding force will cause deformation of the drill boom 1. The bending moment is proportional to the force F and the pro~ection of the boom 1 in a plane perpendicular to the drill stem 4. The deformation of the boom 1 may be compensated for in the following two ways:
1) ~1 and ~1 are corrected or changed such that the drill support axes defined by the angles ~2 and ~2 become located in the same positions in space for the bent boom 1, as for the undeformed boom, thus:
a~l = Kl L-F-(sin ~2-cosc~ + sin ~2~ sinc~) ~1 = Kl L F (sin a2 cosc~ + 5in ~2' sin ~) wherein Kl is an experimentally determined rigidity constant for the boom 1.
When holes are drilled into rock for blasting or other purposes it is important that each hole be correctly directed. Nevertheless, the hole may become wrongly directed even when the drill stem has been correctly adjusted before the drilling procedure starts. Such faulty drilling has two main causes. The drill stem and bit may be pushed against the rock at such a high feeding power that the articulated and extensible drill boom and the pivotally supported feed support of the rock drill rig, are bent or deformed.
The drill stem and bit are thus forced askew. Secondly, the drill bit may slip sideways along uneven rock surface and thus the drill stem be deflected from its correct direction. Hence in addition to being incorrectly directed the drill stem may in both cases be subjected to bending which will reduce its life.
Because of the practical geometry of the drill boom proper dlrectional correction of the drill stem and bit requires adjustment about all the axes of the boom. Thls correction is performed manually today, and most ofen done by eye. Instrumentation has hitherto been limited to apparatus that shows the direction of the feed support. Manual adjustment of the drill9 with or without such apparatus, is difficult and the results obtained are to a large extent dependent on the ability and care of the operator. Particularly when drilling the peripheral holes, requirements of the operator are exacting because the direction of the drill stem is then especially important. These holes determine the shape of the cavity blasted out.
When the drill stem has been forced in the wrong direction, in present practice the operator has to adjust the stem by sighting from the 1 16702~
operator's seat on the r~g. In many sltuations when drilling in tunnels, visual observation of the direction and of the bend of the drill stem is almost impossible because of obstruction by the drill boom and support.
Good practice when setting the drill against the rock surface, reduces the number of events when the drill bit slips.
~ n object of the present invention is to provide a method for effective correction of faults due to deformation of the drill boom and drill support due to th~ feeding power. A further ob~ect of the invention is to provide apparatus for performing the method automatically.
1~ The present apparatus has a c$ose relationship to an automatically controlled drill rig which comprises elements for measuring boom length snd articulation angles, servo means for controlling the length and ang~es and a control unit connected to the measuring elements and servo means for ad~ustment of the drill stem. The method is characterized in that the various articulation angles which are required to compensate for deformation of the drill boom and feed support are determlned as if these were in a loaded conditlon, based on measured values of boom length and articulation angles which have been registered in the control unit in the unloaded ad~usted conditlon. Further, the ad~usted articulation angles are corrected to the determined articulation angles when full feeding power is applied. Thus, the drill stem and bit are correctly positioned and directed in the loaded condition too. The apparatus for performing the method automatically, includes a control unit comprising an electronic computer, preferably a microprocessor, and is characterized in that the computer includes a mathematical model, preferably a computer program, with a definition of the changes of the articulation angles.
The method and apparatus described have in practical examples -- 2 ~
,~
provided precise corrections or faulty drill hole direction arising from deformation of the drill boom and the drill bit because of the feeding power from the drilling machine.
Specific embodiments of the invention will now be described with reference to the accompanying drawings in which:
Figure 1 diagrammatically shows a drill boom and drill support with drill stem and bit in a rock drill rig, Figure 2 shows a detail of figure 1, and Figure 3 shows the drill boom of figure 1 connected in a control system.
In figure 1 an articulated and extensible drill boom 1 carries a pivotally supported drill support 2 with a drilling machine 3, drill stem 4 and bit 5. The drill support 2 is moved forward and backwards by means of a hydraulic cylinder 6. The drill boom 1 is fixed to a drill rig at a supporting location 7, and is of the type used for drilling and blasting tunnels in rocksO
The drill boom 1 can be turned about axes, horizontally through an angle ~1' and vertical through angle ~1 Additionally, the boom 1 may be rotated through an angle ~ relatively to its rear end support 7 on the rig.
The length L of the boom 1 can be adjusted, which length can be measured by means of any suitable measuring element of a previously known type. Likewise, the drill support 2 can be turned through angles ~2 and ~2 about two mutually perpendicular axes. The drill support 2 may also be rotated through an angle about an axis which is parallel to the support 2, as indicated in figure 2.
The drill boom 1 and drill support 2 are equipped with previously known elements for measuring boom lengths and articulation angles. The rig comprises servo means for controlling the lengths and angles, as indicated in figure 3. Further, the rig is equipped with a control unit in a previously 1 t67026 known manner, which unit is connected to the measuring elements and servo means for adjusting and feeding the drill stem 4, and which can control a number of drill booms 1 and drill supports 2.
In figure 3 is shown a portion of the drill boom 1 in its support 7. The boom l can be moved by means of a hydraulic cylinder 8 which also appears in figure 1. Figure 3 shows an element 9 for the measurement of the angle ~l' and an element lO for the measurement of the angle al. Corresponding elements for measuring the rema~ning ~ngles are omitted for clarity, and also for clarity only one servo means is shown, namely the servo ~alve 11 for ad~usting, among other values, the angle ~l by means of the hydraulic cylinder 8. The servo valve 11 is connected to a hydraulic fluid reservoir tank 12 and a hydraulic pump 13 driven by motor 14.
Electrical signals from at least the angle sensors or elements 9 and 10 are fed to an electronic control unit lS as indicated by the arrows and dots. Electrical signals are supplied to the servo valve 11 as indicated from control unit 15. All measuring elements and servo means are connected to the control un~t 15 which may be in the form of one or more microprocessors.
~hen the drill bit 5 is pushed against the rock with a feed force F on the drill stem 4, the drill support 2 is bent under the bending moment of the force in the drlll stem 4 and that in the cylinder 6. This deformation of the drill support 2 will occur in a plane through the drill stem 4 and cylinder 6. This deformation may be compensated for by correction or alteration of the angles ~2 and 2' thus:
~21 = K3 F-cos ~21 = K3-F-sin ~
wherein K3 is an experimentally determined rigidityconstantforthe boom 2. For the feed force F a measured or assumed typical value may be used.
1 ~6702~
The supplied feeding force will cause deformation of the drill boom 1. The bending moment is proportional to the force F and the pro~ection of the boom 1 in a plane perpendicular to the drill stem 4. The deformation of the boom 1 may be compensated for in the following two ways:
1) ~1 and ~1 are corrected or changed such that the drill support axes defined by the angles ~2 and ~2 become located in the same positions in space for the bent boom 1, as for the undeformed boom, thus:
a~l = Kl L-F-(sin ~2-cosc~ + sin ~2~ sinc~) ~1 = Kl L F (sin a2 cosc~ + 5in ~2' sin ~) wherein Kl is an experimentally determined rigidity constant for the boom 1.
2) ~2 and ~2 are corrected or changed such that the direction of the drill support 2 is the same even if the outermost end of the boom 1 has changed direction through deformation, thus:
a~22 ~ K2-L-F- sin ~2 ~22 = K2-L-F sin ~2 wherein K2 is an experimentally determined rigidity constant for the boom 1.
Thus, the total correction becomes:
for ~2' ~2 ~21 + ~ 22 and for ~ ~2' ~2 ~21 + ~22 In a preferred embodiment of the invention a simplified mathematical model of the geometry and rigidity of the drill boom 1 and drill support 2 has been realized in accordance with the considerations described above, as follows:
~1 = Kl-L-F-(sin ~2- cos C~+ sin ~2- sin ~) ~l = Kl L F (sin ~2- cos ~ + sin ~2- sin ~) ~2 = K3 F cos ~ + K2-L-F- sin ~2 2 K3 F sin ~ + K2-L-F- sin ~2 1 ~67Q2~
The drill boom 1 is often shaped such thst the angles C~ and ~
equal zero, whereby the simplified mathematical model above can be simplified still further.
Briefly~ the method compriseæ the following process steps:
- The drill stem is adjusted to correct position and direction in unloaded condition.
- The boom lengths and articulation angles are recorded in the unloaded condition.
- The various boom lengths and articulation angles required to compensate for the deformations which the drill boom and drill support will acquire when loaded at full feed force are calculated based on the lengths and angles recorded.
- The boom lengths and articulation angles are corrected when full feed force is applied, to the determined lengths and angles whereby the drill stem is also correctly positioned and directed in the loaded condition.
The mathematical model may be realized physically in the form of one or more microprocessors or other more simple electronic devices 16 which are encompassed by the control unit 15. The fixed values in the mathematical model, such as the formulas for the angle-changes, may be hard w-ired or lncorporated in the components in accordance with known technology. The variable values may also be set in the form of a table of possible values, or they may be in firmware or software programmed in the microprocessors mentioned above.
When using an automatically controlled drill rig it has become apparent that good procedure for setting the drill in the starting position, may reduce the number of events when the drill bit slips sideways during setting, to below 10 per cent. In the remaining events the drill may be 1~L6~026 correctly aligned, even after initial skewing, in a simple way by means of the 2 method and apparatus described herein.
a~22 ~ K2-L-F- sin ~2 ~22 = K2-L-F sin ~2 wherein K2 is an experimentally determined rigidity constant for the boom 1.
Thus, the total correction becomes:
for ~2' ~2 ~21 + ~ 22 and for ~ ~2' ~2 ~21 + ~22 In a preferred embodiment of the invention a simplified mathematical model of the geometry and rigidity of the drill boom 1 and drill support 2 has been realized in accordance with the considerations described above, as follows:
~1 = Kl-L-F-(sin ~2- cos C~+ sin ~2- sin ~) ~l = Kl L F (sin ~2- cos ~ + sin ~2- sin ~) ~2 = K3 F cos ~ + K2-L-F- sin ~2 2 K3 F sin ~ + K2-L-F- sin ~2 1 ~67Q2~
The drill boom 1 is often shaped such thst the angles C~ and ~
equal zero, whereby the simplified mathematical model above can be simplified still further.
Briefly~ the method compriseæ the following process steps:
- The drill stem is adjusted to correct position and direction in unloaded condition.
- The boom lengths and articulation angles are recorded in the unloaded condition.
- The various boom lengths and articulation angles required to compensate for the deformations which the drill boom and drill support will acquire when loaded at full feed force are calculated based on the lengths and angles recorded.
- The boom lengths and articulation angles are corrected when full feed force is applied, to the determined lengths and angles whereby the drill stem is also correctly positioned and directed in the loaded condition.
The mathematical model may be realized physically in the form of one or more microprocessors or other more simple electronic devices 16 which are encompassed by the control unit 15. The fixed values in the mathematical model, such as the formulas for the angle-changes, may be hard w-ired or lncorporated in the components in accordance with known technology. The variable values may also be set in the form of a table of possible values, or they may be in firmware or software programmed in the microprocessors mentioned above.
When using an automatically controlled drill rig it has become apparent that good procedure for setting the drill in the starting position, may reduce the number of events when the drill bit slips sideways during setting, to below 10 per cent. In the remaining events the drill may be 1~L6~026 correctly aligned, even after initial skewing, in a simple way by means of the 2 method and apparatus described herein.
Claims (4)
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. In a drill rig comprising, a drill stem, an adjustable length drill boom, means mounting said drill boom to said rig for articulated angular movement and adjustable length therein, a drill support, means for mounting a drill stem in said drill support for drilling into a work face, means mounting said drill support for articulated angular movement on said boom, the method of aligning the drill stem for predetermined drilling direction in said work face under full feeding force comprising the steps of, aligning said drill stem with said work face for predetermined drilling direction in unloaded condition, measuring adjusted boom length and articulation angles in said unloaded condition, determining correction angles for said articulation angles for full feeding force condition, and adjusting said articulation angles by said correction angles while supplying full feeding force to said drill stem and drilling into said work face.
2. A method as defined in claim 1, said drill support being mounted for angular movement through two articulation angles about axes mutually at right angles, determining correction angles for said drill support articulation angles for full feeding force condition in absence of correction of the articulation angles for said boom and adjusting said drill support articulation angles while supplying full feeding force to said drill stem and drilling into said work face.
3. A method as defined in claim 1, said drill boom being mounted for articulated angular movement about two mutually perpendicular axes including the step of determining correction angles for said articulation angles of said boom for full feeding force condition, wherein said means mounting said drill support is brought to undeflected position in space by compensating angular movement of said boom.
4. A drill rig comprising, a drill stem, an adjustable length drill boom, means mounting said drill boom to said rig for angular movement therein, a drill support, means for mounting a drill stem in said drill support for drilling into a work face, means mounting said drill support for angular movement on said boom, means for measuring adjusted length of said boom and articulation angles of said boom and said drill support with respect to said boom, servo means for setting the length of said boom and for setting said articulation angles, means connected to said measuring means for determining adjusted length of said boom and adjusted articulation angles of said boom and of said drill support with respect to said boom, means for determining correction angular amounts for said articulation angles based on predetermined known deflection of said drill stem under predetermined full feeding drilling force, and means for feeding said correction amounts to said servo means for adjusting said articulation angles by said determined correction amounts under full feeding force between said drill stem and a work face.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO811460A NO150451C (en) | 1981-04-29 | 1981-04-29 | PROCEDURE FOR CREATING A MOUNTAIN DRILL |
| NO811,460 | 1981-04-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1167026A true CA1167026A (en) | 1984-05-08 |
Family
ID=19886049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000401884A Expired CA1167026A (en) | 1981-04-29 | 1982-04-28 | Method and means for aligning a rock drill |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US4542794A (en) |
| CA (1) | CA1167026A (en) |
| GB (1) | GB2103969B (en) |
| NO (1) | NO150451C (en) |
| SE (1) | SE453313B (en) |
| ZA (1) | ZA822732B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0631527B2 (en) * | 1985-04-30 | 1994-04-27 | マツダ株式会社 | Boom positioning device for drilling machine |
| FI79884C (en) * | 1988-06-03 | 1990-03-12 | Tampella Oy Ab | Method and apparatus for drilling a hole in rock |
| SE500903C2 (en) * | 1989-12-20 | 1994-09-26 | Atlas Copco Constr & Mining | Rock drilling rig |
| FI90905C (en) * | 1992-09-11 | 1994-04-11 | Tamrock Oy | Arrangement for measuring the position of the feed bar of a rock drilling machine and / or for measuring the position of a drilling machine |
| FI99042C (en) * | 1994-08-30 | 1997-09-25 | Tamrock Oy | Device for mounting side swing cylinders in the boom of the rock drill |
| US5814038A (en) | 1995-06-07 | 1998-09-29 | Sri International | Surgical manipulator for a telerobotic system |
| FI107182B (en) | 1998-12-09 | 2001-06-15 | Tamrock Oy | Method and rock drilling device for correcting mounting errors |
| FI118052B (en) * | 2005-06-27 | 2007-06-15 | Sandvik Tamrock Oy | A method and software product for positioning a drilling unit and a rock drilling machine |
| FI117570B (en) * | 2005-06-29 | 2006-11-30 | Sandvik Tamrock Oy | A method for positioning a rock drilling device at a drilling site and a rock drilling machine |
| US7575398B2 (en) * | 2006-08-17 | 2009-08-18 | Deep Foundations Contractors, Inc | Automatic spotter with electronic control system for pile driving and continuous flight auger drilling leads |
| FI20075523L (en) | 2007-07-06 | 2009-01-07 | Sandvik Mining & Constr Oy | Method and apparatus for drilling a hole in rock |
| US7979160B2 (en) * | 2007-07-31 | 2011-07-12 | Spirit Aerosystems, Inc. | System and method for robotic accuracy improvement |
| FI123405B (en) * | 2011-07-08 | 2013-03-28 | Sandvik Mining & Constr Oy | Method for Calibrating Drilling Device Sensors |
| ES2729786T3 (en) | 2012-10-24 | 2019-11-06 | Sandvik Mining & Construction Oy | Rock drilling apparatus and method to control the orientation of the feed feed beam |
| CN113700437B (en) * | 2021-09-01 | 2023-12-08 | 中交第二航务工程局有限公司 | Soft rock tunnel pipe shed and pipe following drilling device and construction method |
| CN114135224B (en) * | 2021-11-30 | 2024-02-02 | 江苏徐工工程机械研究院有限公司 | Geotechnical engineering machine and working arm deflection compensation method thereof |
| CN116181229B (en) * | 2023-05-04 | 2023-07-14 | 张家口宣化华泰矿冶机械有限公司 | Four-arm umbrella drill and drilling method thereof |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE364091B (en) * | 1966-11-14 | 1974-02-11 | Atlas Copco Ab | |
| SE363873B (en) * | 1967-04-07 | 1974-02-04 | L Arcangeli | |
| SE395743B (en) * | 1974-12-19 | 1977-08-22 | Atlas Copco Ab | PROCEDURE AND DEVICE FOR INSTALLING A MOUNTAIN DRILL |
| 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 |
| SE403814B (en) * | 1977-06-21 | 1978-09-04 | Atlas Copco Ab | WAY TO GUIDE A DRILL BAR ALONG A SPECIFIC DRILLING AXLE AND DRILL BOOM FOR PERFORMING THE KIT |
| NO151381C (en) * | 1977-06-21 | 1985-03-27 | Atlas Copco Ab | DEVICE FOR PARALLEL GUIDE OF MACHINE UNITS. |
| US4190117A (en) * | 1978-09-12 | 1980-02-26 | Maclean Donald R | Support and positioner for rock drill |
| SE7811159L (en) * | 1978-10-27 | 1980-04-28 | Atlas Copco Ab | DEVICE FOR ADJUSTING THE SLEEP AND / OR DIRECTION OF A STILL DRILLING MACHINE |
| US4267892A (en) * | 1979-04-30 | 1981-05-19 | Cooper Industries, Inc. | Positioning control system for rock drill support apparatus |
-
1981
- 1981-04-29 NO NO811460A patent/NO150451C/en unknown
-
1982
- 1982-04-21 ZA ZA822732A patent/ZA822732B/en unknown
- 1982-04-23 GB GB08211902A patent/GB2103969B/en not_active Expired
- 1982-04-26 US US06/372,236 patent/US4542794A/en not_active Expired - Fee Related
- 1982-04-28 CA CA000401884A patent/CA1167026A/en not_active Expired
- 1982-04-28 SE SE8202646A patent/SE453313B/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| NO150451C (en) | 1984-10-24 |
| GB2103969A (en) | 1983-03-02 |
| SE8202646L (en) | 1982-10-30 |
| ZA822732B (en) | 1983-03-30 |
| NO811460L (en) | 1982-11-01 |
| US4542794A (en) | 1985-09-24 |
| SE453313B (en) | 1988-01-25 |
| NO150451B (en) | 1984-07-09 |
| GB2103969B (en) | 1984-12-19 |
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