Field of the invention
[0001] The present invention relates to a method and device for controlling the drilling
direction of a rock-drilling rig.
Background of the invention
[0002] In rock-drilling in general and in tunnel drilling in particular, a rock-drilling
rig is often used in which one or more drilling machines are supported by respective
movable arms, so called booms. The booms are usually articulately fastened to a carrier,
such as a vehicle, by one or more joints. Furthermore, the respective drilling machine
is articulately fastened by one or more additional joints to that end of the respective
boom which is facing away from the carrier. The drilling machine is usually fastened
not directly to the boom, but via a feeder along which the drilling machine can be
transported during drilling.
[0003] Usually, a construction is used in which the boom is fastened to the carrier in such
a way that the boom is movable about two joints, and in which manoeuvring about these
two joints, for example, can be realized by a tripod construction having two hydraulic
cylinders disposed substantially parallel with the boom, which are fastened to the
carrier below, and laterally displaced in each respective direction, relative to the
fastening point of the boom, to allow raising/lowering and lateral rotation of the
boom. Such a device according to the preamble of claim 1 is known from
US 4364540. In order to realize the motion of the feeder relative to the other end of the boom,
a corresponding construction is used, yet in which the front cylinders are oppositely
disposed, i.e. fastened to the top side of the boom. In this way, a constant load
direction upon the constituent components is obtained, which has the advantage that
any play within the joints has no or only slight impact upon the boom. In front of
the front joint, furthermore, there is disposed a rotation joint, with which the feeder
can be rotated about the longitudinal axis of the boom. Moreover, a feeder tilt joint
is usually present, with which the feeder can be angled upwards/downwards. This double
tripod construction, however, has the disadvantage that the front tripod is space
requiring and heavy, which results in limitations of boom length and boom rigidity
due to torque restrictions at the point of the fastening of the boom to the carrier.
In order to overcome these problems, a boom construction has therefore been produced,
wherein the front tripod is exchanged for rotation joints. The advantage with this
construction is that the rotation joints reduce the weight at the outer end of the
boom, which in turn means that a both longer and stiffer boom can be used. Moreover,
the mobility of the feeder is increased.
[0004] The double tripod solution has the rotation unit disposed in front of the front tripod,
with the result that a natural relationship between control stick (such as a joystick
or control ball) motion and feeder motion is obtained in all situations if the two
dimensions of the control stick are directly connected to the two joints of the front
tripod. For example, a forward motion of the control stick can be arranged to always
result in the feeder tip (the end of the feeder facing the rock during drilling) being
directed downwards since the forward-backward motion of the control stick is always
connected to the feeder tilt joint.
[0005] With regard to a boom having rotation joints in stead of a front tripod, however,
the reaction of the feeder in relation to manoeuvring of the control stick will vary
in dependence of the position of the feeder in relation to the boom, which results
in undesired effects during drilling. Accordingly, a need for an improved rock-drilling
rig exists.
Summary of the invention
[0006] It is an object of the present invention is to provide a device for feeder direction
control at a rock-drilling rig, which solves the above problem.
[0007] This and other objects are achieved according to the present invention by a rock-drilling
rig as defined in claim 1, a method as defined in claim 8 and a device as defined
in claim 15.
[0008] According to the present invention, a device for feeder direction control at a rock-drilling
rig is provided, wherein said rock-drilling rig comprises a boom having a first end
and a second end ,and a drilling machine arranged at the said boom, wherein said first
end is fastened to a carrier and wherein said drilling machine is fastened to said
carrier by means of said boom and said other end by means of at least a first joint
member and a second joint member, wherein said joint members are arranged to be manoeuvred
by an operator by means of control means for controlling the drilling direction of
said drilling machine. The device comprises means for reading the rotation position
of said first joint means, means for reading control signals from the operator by
means of said control means, and means for determining a rotation of said second joint
means based on the rotation position of said first joint means in such a way that
the influence of said joint means on the motion of said drilling machine corresponds
to a direction indicated by said operator using said control means.
[0009] This has the advantage that instead of connecting the respective dimension of the
control stick against a specific physical joint, the position of the control stick
is instead used as a reference of the direction in which the operator wants the drilling
machine to move, and then a suitable movement for said second joint is calculated
based on said first joint. The motions of the control stick is accordingly released
from the connection to a specific joint according to the prior art and is, instead,
connected to "virtual" joints which act just as if the control stick dimensions were
directly coupled to physical joints.
[0010] Said first and/or second and/or third joint means can be constituted by rotation
joint means such as a rotator comprising a rotation motor. This has the advantage
that the present invention is applicable on joint means by means of which a large
freedom of motion can be obtained.
Brief description of the drawings
[0011]
Fig. 1 discloses a boom for a rock-drilling rig wherein the control stick can be coupled
directly against specific joint means.
Fig. 2 discloses a boom for a rock-drilling rig wherein a direct coupling of the dimensions
of the control stick against physical joint means result in undesired effects.
Fig 3 shows a thread model for a boom according to fig 2.
Fig. 4 shows the boom of fig. 2, wherein the feeder has been rotated to another position.
Fig. 5 shows a flow chart of an exemplary method according to the present invention.
Detailed description of preferred embodiments
[0012] In Fig. 1, a rock-drilling rig 1 is shown. The rock-drilling rig 1 comprises a boom
2, one end 2a of which is fastened to a carrier 10, such as a vehicle 10, and at the
other end 2b of which there is disposed a feeder 3 supporting a drilling machine 4.
The drilling machine 4 is displaceable along the feeder 3. The rock-drilling rig 1
can further be remote-controlled by an operator via a control device which is connected
to the rock-drilling rig 1 by means of a cable (not shown) and in which control means
in the form of, for example, one or more control sticks (such as joysticks or track
balls) can be used to control the drilling direction of the drilling machine 4. The
control device can also be wirelessly connected to the rock-drilling rig. Alternatively,
the rock-drilling rig can be controlled by an operator located in a cab (not shown)
disposed on the carrier/vehicle 10. The shown rock-drilling rig is depicted as only
comprising one drilling boom, but can comprise two, three, four or more drilling booms,
each boom supporting a respective drilling machine.
[0013] As previously mentioned, the boom(s) 2 is/are usually articulated fastened to the
carrier 10 by one or more joints. In Fig. 1, these joints are constituted by a tripod
construction, in which two hydraulic cylinders 6, 7 are fastened to the carrier 10
somewhat below and laterally displaced relative to the point of attachment of the
boom, so that the three points of attachment form the shape of a triangle in which
the points of attachment of the hydraulic cylinders 6, 7 define the base of the triangle.
The other ends of the hydraulic cylinders 6, 7 are fastened to the bottom side of
the boom 2. Control of the cylinders 6, 7 allows the boom 2 to be raised/lowered and
guided in the lateral direction. Usually, the said control device is provided with
a separate control stick for this purpose, in which the boom 2 is raised/lowered by
moving the control stick backwards/forwards. In the same way, the boom is guided to
the right/left by moving the control stick to the right/left.
[0014] Accordingly, there is a direct coupling between the two dimensions of the control
stick and the two joints of the boom motion.
[0015] Furthermore, the drilling machine 4 is articulately fastened to that end 2b of the
boom 2 which is facing away from the vehicle by a correspondingly working device having
two cylinders 8, 9, which are fastened to the top side of the boom and then, in corresponding
manner to the cylinders 6, 7, in the shape of a tripod with the apex, i.e. the attachment
of the boom, downwards. With the aid of the cylinders 8, 9, therefore, the feeder
3, and hence the drilling machine 4, can be angled forwards/backwards and rotated
about an axis running transversely to the longitudinal axis of the drilling boom.
In other words, the feeder can constantly be kept parallel, at the same time as the
boom is raised/lowered and/or turned to the right/left. The feeder can also be turned
in the lateral direction with the aid of the cylinders 8, 9. Furthermore, the feeder
with drilling machine can be rotated about the said tripod attachment by means of
a rotation joint 11. Moreover, a feeder tilt joint 12 is present, which is used to
angle the feeder about its fastening point. In this case also, the dimensions of a
control stick can be directly coupled against the feeder tilt joint and feeder swing,
respectively, by means of cylinders 8, 9. Accordingly, an operator will always be
familiar with the manner in which the feeder will behave for any control stick position.
This will also be true when the feeder is rotated using the rotational joint 11, since
the axis of this joint is also influenced by the movement of the cylinders 8, 9. Therfore,
when using this conventional boom 2, it is a simple task for an operator to control
the direction of the feeder, and thereby the direction of the drilling machine 4,
so that drilling in a desired direction can be performed.
[0016] As was previously mentioned, however, this boom has a plurality of disadvantages.
In particular, the front tripod is space requiring and heavy, which is why the boom
22 shown in fig. 2 has been developed, which with regard to the fastening of the boom
22 to the carrier 10 is functioning in the same manner as the boom in fig. 1, with
a tripod functioning in the same manner, having hydraulic cylinders 27, 28, wherein
the motion of the boom up/down and laterally can be controlled entirely according
to the above. With regard to the front tripod and rotational joint 11, however, these
have been exchanged for two rotation joints 23 (feeder rotation), 24 (feeder swing),
which together with 25 (feeder tilt) can be used to provide the same or better possibilities
to control the feeder in different directions, and thereby replaces the front tripod
(hydraulic cylinders 8, 9), rotational joint 11 and hydraulic cylinder joint 12. The
rotation joints 23, 24 are, in this embodiment, arranged substantially at right angles
in relation to each other, wherein the rotation joint 23 is fastened to the boom 22
and thereby allows rotation about the longitudinal axis of the boom 22. Rotation by
means of rotation joint 23 therefore results in the feeder being rotated about the
longitudinal axis of the boom. The rotation joint 24 is arranged at a right angle
with respect to the rotation joint 23, and thereby allows rotation of the feeder about
a, in relation to the boom, transversal axis. Further, the feeder can be rotated about
a feeder tilt joint 25 in the same manner as in fig. 1.
[0017] In fig. 3 is shown a link model for the boom disclosed in fig. 2. As can be seen,
and according to the above, the boom comprises five degrees of freedom with regard
to rotation, wherein Z1 is constituting boom swing, Z2 boom lift, Z4 feeder rotation,
Z5 feeder swing and Z6 feeder tilt. Furthermore, the disclosed boom comprises a degree
of freedom with regard to translation Z3, i.e., the boom can be prolonged/shortened
in a telescopical manner. Further, there is an additional degree of freedom with regard
to translation Z7, since the feeder usually can be displaced relative to the boom.
With regard to the drilling machine, this can also be displaceable in relation to
the boom. The use of a displaceable feeder and/or drilling machine, has the result
that the feeder must not continuously be moved forward as the drilling progresses.
When the feeder is in a position as shown in fig. 2 a backwardly directed motion of
the control stick will, when the dimensions of a control means (e.g. a control stick)
are directly connected to the rotation joint 24 and feeder tilt joint 25, result in
the feeder being rotated about the feeder tilt joint 25 in such a manner that the
feeder tip 26a move in the direction of arrow A. Furthermore, a movement of the control
stick to the right (left) will, just as before, result in a corresponding movement
of the feeder tip 26a to the right (left) by rotation of the rotation joint 24. Therefore,
in this case also, a direct connection between the dimensions of the control stick
and the rotation joint 24 and feeder tilt 25, respectively, could be used. If, however,
the feeder is in a position such as shown in fig. 4, i.e., the feeder 26 has been
rotated 180° by means of the rotational joint 23, the position of the control stick
will result in directly opposite reactions of the feeder tilt 26a. For example, a
manoeuvre to the right using the control stick will result in the feeder tip 26a moving
to the left. In a corresponding manner the feeder tip 26a will, when the control stick
is moved backwards, move in the direction of arrow B. Consequently, the feeder, (feeder
tip) will, in this position, behave in a completely other manner than what is expected
by the operator, which can result in undesired consequences.
[0018] Furthermore, if the feeder has been rotated to a position in between the positions
shown in fig. 2 and 4, respectively, by means of the rotation joint 23, effects of
the control stick influence on the feeder, which are really difficult to master, will
result, with the result that an operator being familiar with drilling using a boom
of the kind shown in fig. 1, will receive even more unusual effects for practiced
control stick movements. This has as result that the operator cannot switch from a
machine having the one boom type to a machine having the other boom type without "learning"
how the machine behaves at various control stick positions. This is not desired since
feeder movements (and thereby drilling) takes longer time, and there is a risk of
damaging drilling machine or other equipment if the feeder is moving in another direction
than what is intended.
[0019] The present invention solves this problem by, instead of connecting the respective
dimension of the control stick to a specific physical joint, using the position of
the control stick as a reference for the direction in which the operator wishes the
feeder to move, and then calculate a suitable movement for the rotational joint 24
and feeder tilt joint 25. Accordingly, this means that the movement of the control
stick is disengaged from the connection to a specific joint and is instead connected
to "virtual" joints.
[0020] An example of the manner in which the calculation of the movement for the rotation
joint 24 and feeder tilt joint 25 can be carried out will now be described for the
boom disclosed in fig. 2. The example will be described with reference to the flow
chart in fig. 5. In step 501, control signals from the operator of the rock-drilling
rig is read, the control signals can be generated using a control means, e.g. a control
stick such as a joystick, a control ball, a track pad or manoeuvre buttons, and for
example constitute a two-dimensional direction indicator (lifting or lowering the
feeder tilt at the same time as manoeuvring it to the right or the left). In step
502, the various rotation positions of the boom joints are read, i.e., rotation position
of boom swing, boom lift, feeder rotation, feeder swing and feeder tilt. The rock-drilling
rig is, in a conventional manner, provided with sensors for detecting the various
rotation positions of the joints. Therefore, the reading of the positions will not
be described more in detail herein. After reading the positions of the boom joints,
the turned position p
0 of the feeder is, in step 503, calculated in the coordinate system according to fig
3. This calculation can be carried out using standardized coordination transformations
and the read (angular) positions of the boom joints.
[0021] In step 504, the direction vector p
0 is rotated about the coordinate axes x, y, z according to the control signal from
the operator. The rotation can be carried out in various manners, e.g., the rotation
of the direction vector p
0 about the coordinate axes can be carried out in various orders. Consequently, what
is stated below merely constitutes an exemplary method of obtaining a desired result.
The corresponding result can also be obtained in a plurality of other ways. Further,
the functions can be varied based on a manner in which the signal from control means
desirably should influence the change in direction of the feeder, e.g., whether movement
of the control stick forwards is to raise or lower the feeder tip. In the calculations,
the following variables are used:
p0 = original direction vector of the feeder
rotX = angle for rotation about the Z-axis
rotY = angle for rotation about the Y-axis
RotZ = angle for rotation about the Z-axis
xi, yi = signal from control means
t = direction vector after rotations corresponding to a desired change in direction
of the feeder has been applied to po.
[0022] The signal from the control means can, apart from including an indication of a direction,
also be determined in magnitude in order to indicate the desired speed of the change
in direction. The size of the signal should, however, be adapted to limitations of
motions speeds of those joints that are to be controlled for accomplishing a desired
change in direction. The control means can also be arranged such that when, for example,
it is constituted by a control stick, the control stick can be of a non-springback
type, so that the control stick can be set to a certain position, which then represent
the direction into which the feeder is to be directed. I.e., instead of using the
control stick to set a desired motion direction of the feeder, the final direction
into which the feeder is to be directed is set instead. For example, in the neutral
position of the control stick, the feeder can, for example, be arranged to be set
as horizontal and parallel to the boom or to the longitudinal axis of the carrier.
[0023] The rotational angles can be calculated according to the following:
wherein sign stands for the sign.
[0024] The direction vector t of the feeder in the coordinate system shown in fig. 3 can
then be calculated as:
t=Rz,rotZ, Ry,roty, Rx,rotXP0, wherein Rn,m constitutes the rotational matrix for a rotation about an axis by the angle m. Rotation
matrixes are well described in literature and will therefore not be described further
here.
[0025] In the next step (505), the movements of the feeder swing (FS) joint and feeder tilt
(FT) joint are calculated. This is performed using the following equations, wherein
the following abbreviations are used:
BS0 = read angle for boom swing before change in direction
BL0 = read angle for boom lift before change in direction
FR0 = read angle for feeder rotation before change in direction
FS0 = read angle for feeder swing before change in direction
FT0 = read angle for feeder tilt before change in direction FSrotated, FTrotated = calculated angle for feeder swing and feeder tilt, respectively, in order for the
direction of the feeder to correspond to the desired direction according to the direction
vector t.
[0026] FT
rotated can be calculated as
wherein B can be calculated as:
Furhter, FS
rotated can be obtained as
wherein A and C can be calculated as:
[0027] As is appreciated by a person skilled in the art, this results in a plurality of
possible solutions for FS
rotated and FT
rotated. From these solutions, those angles of FS
rotated and FT
rotated being closest to the original angles of FS
0 and FT
0, respectively, are selected. Further, the above equations are specific for the boom
shown in fig. 2. These equations will, of course, look different for other kinds of
booms having other joint configurations.
[0028] In conclusion, the movements of feeder swing and feeder tilt can be calculated as
FS
rotated - FS
0 and FT
rotated - FT
0, respectively, provided that the input signals have been adapted to limitations in
motion speeds of the joints concerned. The above method is finalised in step 506 by
carrying out the calculated movements.
[0029] Controlling the joints in this manner, allows that a device that can be arranged
to behave similar to the boom shown in fig. 1 can be obtained as a result. Thereby,
an operator can change from drilling with booms according to fig. 1 to drilling with
booms according to fig. 2 without any difference in the behaviour of the feeder. The
present invention can, therefore, be said to provide virtual joints for feeder swing
and feeder tilt which corresponds to the dimensions of the control stick and which
ensure that the feeder, and thereby the drilling machine, moves exactly as in the
operators mind, which is important in order to be able to position the drill bit,
i.e. feeder, into a correct position and correct angular direction in relation to
the rock in order to produce the desired hole. This is particularly important when
positioning for drilling contour holes during tunnel drilling, i.e. the outermost
row of holes. These holes often all have different directions, and require that feeder
and drilling machine are positioned very close to the surrounding rock.
[0030] In the above description, the invention has been described for a specific configuration
of various joints. The invention, however, can also be used in other types of booms,
wherein the described phenomenon occurs. For example, the boom can be fixedly fastened
to the carrier. In this case there is no boom lift or boom swing, and these parameters
can, in this case, be reduced from the above equations or be replaced by constants.
Further, other kinds of joints can be used, e.g. the second rotation joint and feeder
tilt joint can be replaced by a spherical joint, wherein calculation of a movement
of the spherical joint can be calculated based on the position of the first rotation
joint, wherein the above equations are adjusted in accordance therewith. Alternatively,
the two rotation joints described above and the feeder tilt joint can be exchanged
with one or more spherical joints, or, alternatively, more than two rotation joints,
wherein the above equations in a similar manner are adjusted in accordance therewith.
[0031] As is appreciated by the person skilled in the art the present invention can, of
course, also be used in a boom wherein the rear tripod also, or instead of, the front
tripod has been exchanged for rotation joints, in which case motions are calculated
for both the front and rear joints.
[0032] Further, instead of the above described tripod construction, a solution in which
the boom at the carrier is movable using a cylinder working substantially in parallel
to the longitudinal axis of the boom for raising/lowering the boom, and a cylinder
working substantially transversal to said longitudinal axis, can be used.
1. Rock-drilling rig (1) comprising at least one boom (22) having a first end and a second
end and a drilling machine arranged at said boom (22), wherein said first end is attached
to a carrier (10), and wherein said drilling machine is attached to said other end
by means of a first joint means (23) and a second joint means (24), wherein said joint
means (23, 24) are arranged to be manoeuvred by an operator by means of control means
for controlling the drilling direction of said drilling machine, characterized in that the rock-drilling rig comprises means for determining a rotation of said second joint
means (24) on the basis of the rotation position of said first joint means (23) in
such a manner that the influence of said joint means (23, 24) on the movement of said
drilling machine corresponds to a direction indicated by the operator using said control
means.
2. Rock-drilling rig according to claim 1, characterized in that said drilling machine, apart from said first and second joint means (23, 24) further
is attached to said boom by means of at least third joint means (25), wherein the
rock-drilling rig further comprises means for determining a rotation of said third
joint means (25) on the basis of the rotation position of said first joint means (23)
in such a manner that the influence of said joint means (23, 24, 25) on the movement
of said drilling machine corresponds to a direction indicated by the operator using
said control means.
3. Rock-drilling rig according to claim 1 or 2, characterized in that said first (23) and/or second (24) and/or third (25) joint means is/are constituted
by rotation joint means.
4. Rock-drilling rig according to claim 3, characterized in that said first (23) and/or second (24) and/or third (25) joint means is/are constituted
by a rotator comprising a rotation motor.
5. Rock-drilling rig according to any of the preceding claims, characterized in that said drilling machine is arranged to be attached to boom (22) by means of a feeder
(26), and wherein said joint means (23, 24, 25) influence the direction of said feeder
(26).
6. Rock-drilling rig according to any of the claims 1-5, characterized in that said boom (22) further is attached to the carrier (10) by means of at least fourth
joint means (27, 28), wherein said rotation of said second (24) and/or third (25)
joint means are arranged to also be determined on the basis of the rotation position
of said fourth (27, 28) joint means.
7. Rock-drilling rig according to any of the preceding claims, characterized in that the said direction given by the control means consists of a two-dimensional direction.
8. Method for controlling feeder direction at a rock-drilling rig (1), wherein said rock-drilling
rig (1) comprises a boom (22) having a first end and a second end and a drilling machine
arranged at said boom, wherein said first end is attached to a carrier (10), and wherein
said drilling machine is attached to said carrier (10) by means of the other end of
the boom (22) by means of at least a first joint means (23) and a second joint means
(24), wherein said joint means (23, 24) are arranged to be manoeuvred by an operator
using control means for controlling the drilling direction of said drilling machine,
characterized in that the method comprises the steps of:
- reading (502) the rotation position of said first joint means (23),
- reading (501) control signals from the operator by means of said control means,
- determining (505) a rotation for said second joint means (24) on the basis of the
rotation position of said first joint means (23) in such a manner that the influence
of said joint means (23, 24) on the movement of said drilling machine corresponds
to a direction indicated by the operator using said control means.
9. Method according to claim 8, wherein said drilling machine, apart from said first
and second joint means (23, 24) further is attached to said boom by means of at least
a third joint means (25), wherein the method further comprises the step of determining
a rotation for said third joint means (25) on the basis of the rotation position of
said first joint means (23) in such a manner that the influence of said joint means
(23, 24, 25) on the movement of said drilling machine corresponds to a direction indicated
by the operator using said control means.
10. Method according to claim 8 or 9, wherein said first (23) and/or second (24) and/or
third (25) joint means are constituted by rotation joint means.
11. Method according to claims 10, characterized in that said first (23) and/or second (24) and/or third (25) joint means are constituted
by a rotator comprising a rotation motor.
12. Method according to any of the claims 8-11, wherein said drilling machine is arranged
to be attached to said boom by means of a feeder (26), and wherein said joint means
(23, 24, 25) influence the direction of said feeder (26).
13. Method according to any of the claims 8-12, wherein said boom (22) further is attached
to the carrier by means of at least a fourth joint means (27, 28), wherein said rotation
of said second (24) and/or third (25) joint means is also determined on the basis
of the rotation position of said fourth joint means (27, 28).
14. Method according to any of the claims 8-13, wherein said direction indicated by means
of the control means consists of a two-dimensional direction.
15. Device for a controlling a feeder direction at a rock-drilling rig, wherein said rock-drilling
rig (1) comprises a boom (22), having a first end and a second end and a drilling
machine arranged at said boom, wherein said first end is arranged to be attached to
a carrier (10) and wherein said drilling machine is arranged to be attached to said
carrier (10) by means of the other end of said boom (22) by means of at least a first
joint means (23) and a second joint means (24), wherein said joint means (23, 24)
are arranged to be manoeuvred by an operator using control means for controlling the
drilling direction of said drilling machine,
characterized in that the device comprises:
- means for reading the rotation position of said first joint means,
- means for reading control signals from the operator by means of said control means,
- means for determining a rotation of said second joint means (24) on the basis of
the rotation position of said first joint means (23) in such a manner that the influence
of said first joint means (23, 24) on the movement of said drilling machine corresponds
to a direction given by the operator using said control means.
1. Gesteinbohrgerät (1), umfassend mindestens einen Ausleger (22) mit einem ersten Ende
und einem zweiten Ende und einer Bohrmaschine, die an dem Ausleger (22) angeordnet
ist, wobei das erste Ende an einem Träger (10) befestigt ist, und wobei die Bohrmaschine
an einem anderen Ende mittels eines Verbindungsmittels (23) und eines zweiten Verbindungsmittels
(24) befestigt ist, wobei die Verbindungsmittel (23, 24) angeordnet sind, um durch
einen Bediener mittels eines Steuermittels zum Steuern der Bohrrichtung der Bohrmaschine
betätigt zu werden, dadurch gekennzeichnet, dass das Gesteinbohrgerät Mittel zum Bestimmen einer Drehung des zweiten Verbindungsmittels
(24) auf Grundlage der Drehposition des ersten Verbindungsmittels (23) auf solche
Weise umfasst, dass der Einfluss der Verbindungsmittel (23, 24) auf die Bewegung der
Bohrmaschine einer Richtung entspricht, die von dem Bediener mithilfe des Steuermittels
angegeben wird.
2. Gesteinbohrgerät nach Anspruch 1, dadurch gekennzeichnet, dass die Bohrmaschine neben dem ersten und dem zweiten Verbindungsmittel (23, 24) ferner
mittels eines dritten Verbindungsmittels (25) an einem Ausleger befestigt ist, wobei
das Gesteinbohrgerät ferner Mittel zum Bestimmen einer Drehung des dritten Verbindungsmittels
(25) auf Grundlage der Drehposition des ersten Verbindungsmittels (23) umfasst, sodass
der Einfluss der Verbindungsmittel (23, 24, 25) auf die Bewegung der Bohrmaschine
einer Richtung entspricht, die durch den Bediener mithilfe des Steuermittels angegeben
wird.
3. Gesteinbohrgerät nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das erste (23) und/oder zweite (24) und/oder dritte (25) Verbindungsmittel aus Drehverbindungsmittel/n
besteht/bestehen.
4. Gesteinbohrgerät nach Anspruch 3, dadurch gekennzeichnet, dass das erste (23) und/oder zweite (24) und/oder dritte (25) Verbindungsmittel aus einem
Rotator besteht/bestehen, der einen Rotationsmotor umfasst.
5. Gesteinbohrgerät nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass die Bohrmaschine zum Befestigen am Ausleger (22) mittels eines Zuführers (26) angeordnet
ist, wobei die Verbindungsmittel (23, 24, 25) die Richtung des Zuführers (26) beeinflussen.
6. Gesteinbohrgerät nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass der Ausleger (22) ferner mittels mindestens vierter Verbindungsmittel (27, 28) an
dem Träger (10) befestigt ist, wobei die Drehung des zweiten (24) und/oder dritten
(25) Verbindungsmittel angeordnet ist, um ebenfalls auf Grundlage der Drehposition
des vierten (27, 28) Verbindungsmittels bestimmt zu werden.
7. Gesteinbohrgerät nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die durch das Steuermittel vorgegebene Richtung eines zweidimensionale Richtung ist.
8. Verfahren zum Steuern der Zuführrichtung eines Gesteinbohrgeräts (1), wobei das Gesteinbohrgerät
(1) einen Ausleger (22) mit einem ersten Ende und einem zweiten Ende und eine Bohrmaschine
umfasst, die am Ausleger angeordnet ist, wobei das erste Ende an einem Träger (10)
befestigt ist und wobei die Bohrmaschine mittels des anderen Endes des Auslegers (22)
mittels mindestens eines ersten Verbindungsmittels (23) und eines zweiten Verbindungsmittels
(24) an dem Träger (10) befestigt ist, wobei die Verbindungsmittel (23, 24) angeordnet
sind, um von einem Bediener mithilfe eines Steuermittels zum Steuern der Bohrrichtung
der Bohrmaschine betätigt zu werden,
dadurch gekennzeichnet, dass das Verfahren die Schritte umfasst:
- Lesen (502) der Drehposition des ersten Verbindungsmittels (23),
- Lesen (501) der Steuersignale durch den Bediener mittels des Steuermittels,
- Bestimmen (505) einer Drehung für das zweite Steuermittel (24) auf Grundlage der
Drehposition des ersten Verbindungsmittels (23) derart, dass der Einfluss des ersten
Verbindungsmittels (23, 24) auf die Bewegung der Bohrmaschine einer Richtung entspricht,
die von dem Bediener mithilfe des Steuermittels angegeben wird.
9. Verfahren nach Anspruch 8, wobei die Bohrmaschine neben dem ersten und dem zweiten
Verbindungsmittel (23, 24) ferner mittels mindestens eines dritten Verbindungsmittels
(25) am Ausleger befestigt ist, wobei das Verfahren ferner den Schritt des Bestimmens
einer Drehung des dritten Verbindungsmittels (25) auf Grundlage der Drehposition des
ersten Verbindungsmittels (23) umfasst, sodass der Einfluss der Verbindungsmittel
(23, 24, 25) auf die Bewegung der Bohrmaschine einer Richtung entspricht, die durch
den Bediener mithilfe des Steuermittels angegeben wird.
10. Verfahren nach Anspruch 8 oder 9, dadurch gekennzeichnet, dass das erste (23) und/oder zweite (24) und/oder dritte (25) Verbindungsmittel aus Drehverbindungsmitteln
besteht/bestehen.
11. Verfahren nach Anspruch 10, dadurch gekennzeichnet, dass das erste (23) und/oder zweite (24) und/oder dritte (25) Verbindungsmittel aus einem
Rotator besteht/bestehen, der einen Rotationsmotor umfasst.
12. Verfahren nach einem der Ansprüche 8 bis 11, wobei die Bohrmaschine zum Befestigen
am Ausleger mittels eines Zuführers (26) angeordnet ist, wobei die Verbindungsmittel
(23, 24, 25) die Richtung des Zuführers (26) beeinflussen.
13. Verfahren nach einem der Ansprüche 8 bis 12, wobei der Ausleger (22) ferner mittels
mindestens vierter Verbindungsmittel (27, 28) an dem Träger befestigt ist, wobei die
Drehung des zweiten (24) und/oder dritten (25) Verbindungsmittels ebenfalls auf Grundlage
der Drehposition des vierten Verbindungsmittels (27, 28) bestimmt wird.
14. Verfahren nach einem der Ansprüche 8 bis 13, wobei die Richtung, die mittels des Steuermittels
angegeben wird, aus einer zweidimensionalen Richtung besteht.
15. Vorrichtung zum Steuern einer Zuführrichtung eines Gesteinbohrgeräts, wobei das Gesteinbohrgerät
(1) einen Ausleger (22) mit einem ersten Ende und einem zweiten Ende und eine Bohrmaschine
umfasst, die am Ausleger angeordnet ist, wobei das erste Ende an einem Träger (10)
angeordnet ist, um an einem Träger (10) befestigt zu werden, und wobei die Bohrmaschine
angeordnet ist, um an dem Träger mittels des anderen Endes des Auslegers (22) mittels
mindestens einem ersten Verbindungsmittel (23) und einem zweiten Verbindungsmittel
(24) befestigt zu werden, wobei die Verbindungsmittel (23, 24) angeordnet sind, um
von einem Bediener mithilfe eines Steuermittels zum Steuern der Bohrrichtung der Bohrmaschine
betätigt zu werden,
dadurch gekennzeichnet, dass die Vorrichtung umfasst:
- Mittel zum Lesen der Drehposition des ersten Verbindungsmittels,
- Mittel zum Lesen der Steuersignale durch den Bediener mittels des Steuermittels,
- Mittel zum Bestimmen einer Drehung des zweiten Steuermittels (24) auf Grundlage
der Drehposition des ersten Verbindungsmittels (23) derart, dass der Einfluss des
ersten Verbindungsmittels (23, 24) auf die Bewegung der Bohrmaschine einer Richtung
entspricht, die von dem Bediener mithilfe des Steuermittels vorgegeben wird.
1. Appareil (1) de forage de roches comportant au moins une flèche (22) présentant une
première extrémité et une deuxième extrémité et une machine de forage disposée sur
ladite flèche (22), ladite première extrémité étant fixée à un support (10), et ladite
machine de forage étant fixée à ladite autre extrémité au moyen d'un premier moyen
(23) d'articulation et d'un deuxième moyen (24) d'articulation, lesdits moyens (23,
24) d'articulation étant disposés de façon à être manoeuvrés par un opérateur à l'aide
d'un moyen de commande servant à commander la direction de forage de ladite machine
de forage, caractérisé en ce que l'appareil de forage de roches comporte des moyens servant à déterminer une rotation
dudit deuxième moyen (24) d'articulation d'après la position angulaire dudit premier
moyen (23) d'articulation de telle manière que l'influence desdits moyens (23, 24)
d'articulation sur le mouvement de ladite machine de forage corresponde à une direction
indiquée par l'opérateur en utilisant ledit moyen de commande.
2. Appareil de forage de roches selon la revendication 1, caractérisé en ce que ladite machine de forage, à part lesdits premier et deuxième moyens (23, 24) d'articulation,
est en outre fixée à ladite flèche à l'aide d'au moins un troisième moyen (25) d'articulation,
l'appareil de forage de roches comportant en outre des moyens servant à déterminer
une rotation dudit troisième moyen (25) d'articulation d'après la position angulaire
dudit premier moyen (23) d'articulation de telle manière que l'influence desdits moyens
(23, 24, 25) d'articulation sur le mouvement de ladite machine de forage corresponde
à une direction indiquée par l'opérateur en utilisant ledit moyen de commande.
3. Appareil de forage de roches selon la revendication 1 ou 2, caractérisé en ce que lesdits premier (23) et / ou deuxième (24) et / ou troisième (25) moyens d'articulation
est / sont constitués par des moyens d'articulation de rotation.
4. Appareil de forage de roches selon la revendication 3, caractérisé en ce que lesdits premier (23) et / ou deuxième (24) et / ou troisième (25) moyens d'articulation
est / sont constitués par un rotateur comportant un moteur de rotation.
5. Appareil de forage de roches selon l'une quelconque des revendications précédentes,
caractérisé en ce que ladite machine de forage est disposée de façon à être fixée à la flèche (22) au moyen
d'un dispositif (26) d'avance, et en ce que lesdits moyens (23, 24, 25) d'articulation influencent la direction dudit dispositif
(26) d'avance.
6. Appareil de forage de roches selon l'une quelconque des revendications 1-5, caractérisé en ce que ladite flèche (22) est en outre fixée au support (10) au moyen d'au moins un quatrième
moyen (27, 28) d'articulation, et en ce qu'il est fait en sorte que ladite rotation desdits deuxième (24) et / ou troisième (25)
moyens d'articulation soit également déterminée d'après la position angulaire dudit
quatrième moyen (27, 28) d'articulation.
7. Appareil de forage de roches selon l'une quelconque des revendications précédentes,
caractérisé en ce que ladite direction donnée par le moyen de commande consiste en une direction bidimensionnelle.
8. Procédé de commande de la direction d'un dispositif d'avance sur un appareil (1) de
forage de roches, ledit appareil (1) de forage de roches comportant une flèche (22)
présentant une première extrémité et une deuxième extrémité et une machine de forage
disposée sur ladite flèche, ladite première extrémité étant fixée à un support (10),
et ladite machine de forage étant fixée audit support (10) au moyen de l'autre extrémité
de la flèche (22) au moyen d'au moins un premier moyen (23) d'articulation et d'un
deuxième moyen (24) d'articulation, lesdits moyens (23, 24) d'articulation étant disposés
de façon à être manoeuvrés par un opérateur à l'aide d'un moyen de commande servant
à commander la direction de forage de ladite machine de forage,
caractérisé en ce que le procédé comporte les étapes consistant à :
- lire (502) la position angulaire dudit premier moyen (23) d'articulation,
- lire (501) des signaux de commande provenant de l'opérateur au moyen dudit moyen
de commande,
- déterminer (505) une rotation dudit deuxième moyen (24) d'articulation d'après la
position angulaire dudit premier moyen (23) d'articulation de telle manière que l'influence
desdits moyens (23, 24) d'articulation sur le mouvement de ladite machine de forage
corresponde à une direction indiquée par l'opérateur en utilisant ledit moyen de commande.
9. Procédé selon la revendication 8, ladite machine de forage, à part lesdits premier
et deuxième moyens (23, 24) d'articulation étant en outre fixée à ladite flèche au
moyen d'au moins un troisième moyen (25) d'articulation, le procédé comportant en
outre l'étape consistant à déterminer une rotation dudit troisième moyen (25) d'articulation
d'après la position angulaire dudit premier moyen (23) d'articulation de telle manière
que l'influence desdits moyens (23, 24, 25) d'articulation sur le mouvement de ladite
machine de forage corresponde à une direction indiquée par l'opérateur en utilisant
ledit moyen de commande.
10. Procédé selon la revendication 8 ou 9, lesdits premier (23) et / ou deuxième (24)
et / ou troisième (25) moyens d'articulation étant constitués par des moyens d'articulation
de rotation.
11. Procédé selon la revendication 10, caractérisé en ce que lesdits premier (23) et / ou deuxième (24) et / ou troisième (25) moyens d'articulation
sont constitués par un rotateur comportant un moteur de rotation.
12. Procédé selon l'une quelconque des revendications 8-11, ladite machine de forage étant
disposée de façon à être fixée à ladite flèche au moyen d'un dispositif (26) d'avance,
et lesdits moyens (23, 24, 25) d'articulation influençant la direction dudit dispositif
(26) d'avance.
13. Procédé selon l'une quelconque des revendications 8-12, ladite flèche (22) étant en
outre fixée au support au moyen d'au moins un quatrième moyen (27, 28) d'articulation,
ladite rotation desdits deuxième (24) et / ou troisième (25) moyens d'articulation
étant également déterminée d'après la position angulaire dudit quatrième moyen (27,
28) d'articulation.
14. Procédé selon l'une quelconque des revendications 8-13, ladite direction indiquée
au moyen du moyen de commande consistant en une direction bidimensionnelle.
15. Dispositif destiné à commander la direction d'un dispositif d'avance sur un appareil
de forage de roches, ledit appareil (1) de forage de roches comportant une flèche
(22), présentant une première extrémité et une deuxième extrémité et une machine de
forage disposée sur ladite flèche, ladite première extrémité étant disposée de façon
à être fixée à un support (10) et ladite machine de forage étant disposée de façon
à être fixée audit support (10) au moyen de l'autre extrémité de ladite flèche (22)
au moyen d'au moins un premier moyen (23) d'articulation et d'un deuxième moyen (24)
d'articulation, lesdits moyens (23, 24) d'articulation étant disposés de façon à être
manoeuvrés par un opérateur à l'aide d'un moyen de commande pour commander la direction
de forage de ladite machine de forage,
caractérisé en ce que le dispositif comporte :
- un moyen servant à lire la position angulaire dudit premier moyen d'articulation,
- un moyen servant à lire des signaux de commande provenant de l'opérateur au moyen
dudit moyen de commande,
- un moyen servant à déterminer une rotation dudit deuxième moyen (24) d'articulation
d'après la position angulaire dudit premier moyen (23) d'articulation de telle manière
que l'influence dudit premier moyen (23, 24) d'articulation sur le mouvement de ladite
machine de forage corresponde à une direction donnée par l'opérateur en utilisant
ledit moyen de commande.