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US3796401A - Self-propelled drilling rings for boring blastholes and small-diameter wells - Google Patents

Self-propelled drilling rings for boring blastholes and small-diameter wells Download PDF

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US3796401A
US3796401A US00296819A US3796401DA US3796401A US 3796401 A US3796401 A US 3796401A US 00296819 A US00296819 A US 00296819A US 3796401D A US3796401D A US 3796401DA US 3796401 A US3796401 A US 3796401A
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slide valve
drilling rig
self
manipulator
servomechanism
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US00296819A
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A Tkachenko
K Mustafin
M Kadyrov
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B17/00—Combinations of telemotor and servomotor systems
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B1/00—Percussion drilling
    • E21B1/36—Tool-carrier piston type, i.e. in which the tool is connected to an impulse member
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/025—Rock drills, i.e. jumbo drills
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/10—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor in which the controlling element and the servomotor each controls a separate member, these members influencing different fluid passages or the same passage

Definitions

  • ABSTRACT A self-propelled drilling rig for boring blastholes and small-diameter wells is dis closed, said rig comprising a carriage mounted on the frame of an undercarriage and provided with a manipulator carrying a boring tool.
  • the drilling rig is provided with a servomechanism having a hydraulic drive with a reduction gear, which is operatively connected to a longitudinally movable slide valve, and a plate attached to the slide valve and co-operating with a pusher rigidly secured to the jib manipulator.
  • BAQIQQROUND. or T.u1-;...1.uveNTI0 jib manipulator is displaceable in vertical and horizontal directions by means of a drive mounted on the carriage.
  • W v The drilling rig is provided with a servomechanism comprising a hydraulic cylinder mounted on the frame,
  • Still another important object of the invention is to increase reliability of the drilling rig in operation.
  • a self-propelled drilling rig for boring blastholes and small-diameter wells said rig comprising a carriage mounted on the undercarriage frame and provided with a reciprocatory drive and a jib manipulator swingably mounted on the carriage and having a drive adapted to displace a feeding mechanism of a boring tool in vertical and horizontal directions, a servomechanism comprising a hydraulic The servomechanism is provided with a flexible link,
  • one end of the link being attached to the manipulator and the other end being fixed to the slide valve, and a pulley mounted on the frame and adapted to cooperate with the flexible link (cf. U.S.S.R. Inventors Certificate No.v 215,170).
  • the known drilling rigs cannot cope with growing requirements of higher efficiency and accuracy of the depth of the blastholes being drilled. Furthermore, they have short service life due to rapid wear of the flexible link.
  • carriage of a selfpropelled rig should move according to the following functional relationship:
  • Al is an amount of movement of the carriage relative to the frame of the self-propelled drilling rig;
  • Z is a length of the manipulator jib; j
  • a is an angle of rotation of the manipulator jib in a vertical plane
  • B is an angle of rotation of the manipulator jib in a horizontal plane.
  • Such self-propelled drilling rig is more reliable in operation and ensures a required accuracy of drilling blastholes at a predetermined depth.
  • the housing of the slide valve of the servomechanism be operatively connected to the reduction gear, while the stem of the slide valve be spring-loaded, the plate adapted to co-operate with the pusher of the jib manipulator being secured to the stem.
  • This embodiment of the servomechanism increases its sensitivity.
  • the stem of the slide valve of the servomechanism be spring-loaded and operatively connected to the reduction gear,while the plate adapted to co-operate with the pusher of the jib manipulator being fixed to the slide valve housing.
  • This embodiment of the servomechanism ensures low inertia thereof.
  • FIG. 1 shows a side elevation view of the selfi propelled drilling rig
  • FIG. 2 shows a servomechanism in which the pusher of the jib manipulator co-operates with the plate attached to the slide valve stem;
  • FIG. 3 shows a servomechanism in which the pusher of the jib manipulator co-operateswith the plate atsdto.theifis e a vcllqqiek.
  • the self-propelled drilling rig for boring blastholes and small-diameter wells comprises a frame 1 (FIGJ) mr 9atss...9a asadsreerr ase ⁇ fifths sti lness: A--.
  • carriage 3 is mounted on the frame 1, and a jib manipulator 4 is swingably mounted on the carriage and is adapted to carry a feeding mechanism 5 for a borin tool 6.
  • the jib manipulator 4 is displaceable in vertical and horizontal directions by means of drives comprising hydraulic cylinders with slide valves (not shown in the drawings).
  • the drilling rig is provided with a servomechanism comprising a hydraulic cylinder 7 mounted on the frame 1 (F162), the movable part 8 of the cylinder being connected to the carriage 3, and the working chambers 9 and 10 of the cylinder communicating with a slide valve 11, and a hydraulic drive 12 with a reduction gear 13 operatively connected to the longitudinally movable slide valve 11.
  • a servomechanism comprising a hydraulic cylinder 7 mounted on the frame 1 (F162), the movable part 8 of the cylinder being connected to the carriage 3, and the working chambers 9 and 10 of the cylinder communicating with a slide valve 11, and a hydraulic drive 12 with a reduction gear 13 operatively connected to the longitudinally movable slide valve 11.
  • the housing of the slide valve 11 of the servomechanism is operatively connected to the reduction gear 13, while a stem 14 of the slide valve 11 is spring-loaded, and a plate 15 is attached thereto, said plate cooperating with a pusher 16 of the jib manipulator 4.
  • the stem 14 (FIG. 3) of the slide valve 11 of the servomechanism is operatively connected to the reduction gear 13, while the plate 15 is attached to the housing of the slide valve 11, said plate cooperating with the pusher 16 of the jib manipulator 4.
  • the self-propelled drilling rig is provided with a fluid supply source comprising a pump l7, which supplies fluid (oil) from a tank 18 into the slide valve 11 of the servomechanism and conduits 1911); returning position the manipulator at an angle corresponding to the blasthole coordinate. Accordingly, the pusher l6 (FIG.2) is rotated, whereby the stem 14 of the slide valve 11 is pulled out, and fluid is fed out of the slide valve 11 through the apertures thereof into the chamber 9 of the hydraulic cylinder 7 to move the movable part (rod) 8 together with the carriage 3 with respect to the frame 1.
  • a fluid supply source comprising a pump l7, which supplies fluid (oil) from a tank 18 into the slide valve 11 of the servomechanism and conduits 1911); returning position the manipulator at an angle corresponding to the blasthole coordinate. Accordingly, the pusher l6 (FIG.2) is rotated, whereby the stem 14 of the slide valve 11 is pulled out, and fluid is fed out of the slide valve 11 through the
  • the fluid expelled from the chamber 9 is fed into the slide valve 11 and further via the conduit 19 into the tank 18.
  • the hydraulic drive 12 is energized to transmit the motion to the reduction gear 13 which moves the housing of the slide valve 11 following the stem 14 until the apertures of the slide valve 11 are closed.
  • a self-propelled drilling rig for boring blastholes and small-diameter wells said drilling rig comprisingz a-frame mounted on an undercarriage of said drilling rig; a carriage mounted on said frame: a jib manipulator swingably mounted on said carriage for carrying a feeding mechanism of a boring tool; drive means for moving said jib manipulator in vertical and horizontal directions, said drive means comprising hydraulic cylinders with slide valves; and a servomechanism comprising a hydraulic cylinder mounted on said frame, the movable part of said cylinder being connected to said carriage and the working chambers of said cylinder communicating with a longitudinally movable slide valve and with a hydraulic drive provided with a reduction gear operatively connected to said longitudinally movable slide valve, and a plate being attached to said slide valve, said plate cooperating with a pusher rigidly secured to said jib manipulator.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • General Engineering & Computer Science (AREA)
  • Earth Drilling (AREA)

Abstract

A self-propelled drilling rig for boring blastholes and smalldiameter wells is disclosed, said rig comprising a carriage mounted on the frame of an undercarriage and provided with a manipulator carrying a boring tool. The drilling rig is provided with a servomechanism having a hydraulic drive with a reduction gear, which is operatively connected to a longitudinally movable slide valve, and a plate attached to the slide valve and cooperating with a pusher rigidly secured to the jib manipulator.

Description

United States Patent [191 Tkachenko et al.
[11] 3,796,401 1 Mar. 12, 1974 1 SELF-PROPELLED DRILLING RINGS FOR BORING BLASTI-IOLES AND SMALL-DIAMETER WELLS [76] Inventors: Artem Mikhailovich Tkachenko, kv. 20 II, linia, 198; Karl Batyrbekovich Mustafin, 54, kv. 46; Marat Udetovich Kadyrov, 22 ulitsa Khaliulina, all of Alma-Ata, U.S.S.R.
22 Filed: Oct. 12, 1972 21 Appl. No.: 296,819
[52] U.S. Cl 248/2, 91/433, 173/43 [51] Int. Cl E210 5/ll,E2lc 9/OO,E2lc 11/00 [58] Field of Search 248/2; 173/43; 91/388,
[ 56] References Cited UNITED STATES PATENTS 3,216,511 l1/l965 Ladd et a1 173/43 X 3/1969 Hayner ct al. 1. 91/388 X 3,481,409 12/1969 Westerlund 173/43 3,648,564 3/1972 Burton 1. 91/388 X 3,665,806 5/1972 Heath l 91/388 X 3,721,304 3/1973 Primary Examiner J. Franklin Foss Attorney, Agent, or Firm-Holman & Stern 57] ABSTRACT A self-propelled drilling rig for boring blastholes and small-diameter wells is dis closed, said rig comprising a carriage mounted on the frame of an undercarriage and provided with a manipulator carrying a boring tool. The drilling rig is provided with a servomechanism having a hydraulic drive with a reduction gear, which is operatively connected to a longitudinally movable slide valve, and a plate attached to the slide valve and co-operating with a pusher rigidly secured to the jib manipulator.
3 Claims, 3 Drawing Figures Hanson 173/43 X PATENTEDHAR 1 2 19m 3; 796401 sum 2 0F 2 seam 1 SELF-PROPELLED DRILLING RINGS FOR. nonmc BLASTHOLES AND SMALL-DIAMETER .wsLLs a,
"BAQIQQROUND. or T.u1-;...1.uveNTI0 jib manipulator is displaceable in vertical and horizontal directions by means of a drive mounted on the carriage. W v The drilling rig is provided with a servomechanism comprising a hydraulic cylinder mounted on the frame,
the movable part of which being connected. to the carriage, and the working chambers of the cylinder communicating with the chambers of a slide valve.
whereby uniform crushing of the exploded rock is achieved andtlie face advance per unit of the length of the blasthole being drilled is increased.
Still another important object of the invention is to increase reliability of the drilling rig in operation.
These and other objects are accomplished by the provision of a self-propelled drilling rig for boring blastholes and small-diameter wells said rig comprising a carriage mounted on the undercarriage frame and provided with a reciprocatory drive and a jib manipulator swingably mounted on the carriage and having a drive adapted to displace a feeding mechanism of a boring tool in vertical and horizontal directions, a servomechanism comprising a hydraulic The servomechanism is provided with a flexible link,
one end of the link being attached to the manipulator and the other end being fixed to the slide valve, and a pulley mounted on the frame and adapted to cooperate with the flexible link (cf. U.S.S.R. Inventors Certificate No.v 215,170).
However, the known drilling rigs cannot cope with growing requirements of higher efficiency and accuracy of the depth of the blastholes being drilled. Furthermore, they have short service life due to rapid wear of the flexible link.
In boring blastholes from lower levels the jib of the manipulator comes into contact with the flexible link andwears it, whereby the servomechanism fails. These frequent interruptions result in time being wasted for repair and replacement of the flexible link.
In orderto obtain a predetermined accuracy of the 40 depth of the blastholes being drilled, carriage of a selfpropelled rig should move according to the following functional relationship:
Al=Z(1-CosaCosB),-
wherein:
Al is an amount of movement of the carriage relative to the frame of the self-propelled drilling rig; Z is a length of the manipulator jib; j
a is an angle of rotation of the manipulator jib in a vertical plane;
B is an angle of rotation of the manipulator jib in a horizontal plane.
The experience has shown that the kinematic structure of the known drilling rigs cannot ensure the movement of the carriage according to the above-mentioned relationship. As a result, a yield of outsize material of the exploded rock is increased and a rate of advance is It is a main object of the invention to provide a selfpropelled drillingrig for boring blastholes and small- 6 cylinder mounted on the frame, the movable part of which being connected to the carriage and the working chambers of the cylindei c ommunicating with the chambers of a slide valve of the servomechanism, and a supply source comprising a pump adapted to supply fluid from a tank into said slide valve and conduits for returning the fluid back into the tank, wherein according to the invention the servomechanism is provided with a hydraulic drive with a reduction gear operatively connected to a longitudinally movable slide valve, a plate being attached to said slide valve, which plate co-operates with a pusher rigidly secured to the jib manipulator.
Such self-propelled drilling rig is more reliable in operation and ensures a required accuracy of drilling blastholes at a predetermined depth.
It is expedient that the housing of the slide valve of the servomechanism be operatively connected to the reduction gear, while the stem of the slide valve be spring-loaded, the plate adapted to co-operate with the pusher of the jib manipulator being secured to the stem.
This embodiment of the servomechanism increases its sensitivity.
It is desirable that the stem of the slide valve of the servomechanism be spring-loaded and operatively connected to the reduction gear,while the plate adapted to co-operate with the pusher of the jib manipulator being fixed to the slide valve housing.
This embodiment of the servomechanism ensures low inertia thereof.
Theinvention will be better understood from the following examples of specific embodiments of a selfpropelled drilling rig for boring blastholes and smalldiameter wells with reference to the accompanying drawin h F E BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows a side elevation view of the selfi propelled drilling rig;
FIG. 2 shows a servomechanism in which the pusher of the jib manipulator co-operates with the plate attached to the slide valve stem;
FIG. 3 shows a servomechanism in which the pusher of the jib manipulator co-operateswith the plate atsdto.theifis e a vcllqqiek.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT V The self-propelled drilling rig for boring blastholes and small-diameter wells comprises a frame 1 (FIGJ) mr 9atss...9a asadsreerr ase {fifths sti lness: A--.
carriage 3 is mounted on the frame 1, and a jib manipulator 4 is swingably mounted on the carriage and is adapted to carry a feeding mechanism 5 for a borin tool 6.
The jib manipulator 4 is displaceable in vertical and horizontal directions by means of drives comprising hydraulic cylinders with slide valves (not shown in the drawings).
The drilling rig is provided with a servomechanism comprising a hydraulic cylinder 7 mounted on the frame 1 (F162), the movable part 8 of the cylinder being connected to the carriage 3, and the working chambers 9 and 10 of the cylinder communicating with a slide valve 11, and a hydraulic drive 12 with a reduction gear 13 operatively connected to the longitudinally movable slide valve 11.
The housing of the slide valve 11 of the servomechanism is operatively connected to the reduction gear 13, while a stem 14 of the slide valve 11 is spring-loaded, and a plate 15 is attached thereto, said plate cooperating with a pusher 16 of the jib manipulator 4. lnanother embodiment the stem 14 (FIG. 3) of the slide valve 11 of the servomechanism is operatively connected to the reduction gear 13, while the plate 15 is attached to the housing of the slide valve 11, said plate cooperating with the pusher 16 of the jib manipulator 4.
The self-propelled drilling rig is provided with a fluid supply source comprising a pump l7, which supplies fluid (oil) from a tank 18 into the slide valve 11 of the servomechanism and conduits 1911); returning position the manipulator at an angle corresponding to the blasthole coordinate. Accordingly, the pusher l6 (FIG.2) is rotated, whereby the stem 14 of the slide valve 11 is pulled out, and fluid is fed out of the slide valve 11 through the apertures thereof into the chamber 9 of the hydraulic cylinder 7 to move the movable part (rod) 8 together with the carriage 3 with respect to the frame 1.
The fluid expelled from the chamber 10 of the hydraulic cylinder 7 is fed into the hydraulic drive 12 and fur e n) the sl valv 1 andq ia t Conduit 19 i into the tank 18. This putsin operation the hydraulic drive 12 which transmits the motion to the reduction ea 1. I0 r1 22? h h u ng of thes de v l e. t l.-
lowing the stem 14 until the apertures of the slide valve 7 11 are closed, whereafter the movement of the carriage 3 and the housing of the slide valve 11 is stopped.
During the rotation of the pusher 16 into horizontal position, the plate 15 together with the stem 14 are retracted into the housing of the slide valve ilj whereby the apertures of the slide valve are open, and fluid from the tank 18 is fed by means of the pump 17 into the hydraulic drive 12 and into the chamber 10 of the hydraulic cylinder 7 to move the rod 8 together with the carriage 3 with respect to the frame 1.
The fluid expelled from the chamber 9 is fed into the slide valve 11 and further via the conduit 19 into the tank 18. At the same time the hydraulic drive 12 is energized to transmit the motion to the reduction gear 13 which moves the housing of the slide valve 11 following the stem 14 until the apertures of the slide valve 11 are closed.
After that the movement of the carriage 3 with respect to the frame 1 and the movement of the slide valve 11 are stopped.
What is claimed is:
, 1. A self-propelled drilling rig for boring blastholes and small-diameter wells, said drilling rig comprisingz a-frame mounted on an undercarriage of said drilling rig; a carriage mounted on said frame: a jib manipulator swingably mounted on said carriage for carrying a feeding mechanism of a boring tool; drive means for moving said jib manipulator in vertical and horizontal directions, said drive means comprising hydraulic cylinders with slide valves; and a servomechanism comprising a hydraulic cylinder mounted on said frame, the movable part of said cylinder being connected to said carriage and the working chambers of said cylinder communicating with a longitudinally movable slide valve and with a hydraulic drive provided with a reduction gear operatively connected to said longitudinally movable slide valve, and a plate being attached to said slide valve, said plate cooperating with a pusher rigidly secured to said jib manipulator.
2. A self-propelled drilling rig as claimed in claim 1, wherein the housing of said slide valve of said servomechanism is operatively connected to said reduction gear, while a stem of said slide valve is spring-loaded, and plate cooperating withsaid pusher of said jib manipulator is attached to said stem.
3. A self-propelleddrilling rig-as-claimed-inclaim 1,
wherein a stem of said slide valve of said servomechanism is operatively connected to said reduction gear, while a plate cooperating with said pusher of said jib manipulator is attached to the housing of said slide

Claims (3)

1. A self-propelled drilling rig for boring blastholes and small-diameter wells, said drilling rig comprising: a frame mounted on an undercarriage of said drilling rig; a carriage mounted on said frame; a jib manipulator swingably mounted on said carriage for carrying a feeding mechanism of a boring tool; drive means for moving said jib manipulator in vertical and horizontal directions, said drive means comprising hydraulic cylinders with slide valves; and a servomechanism comprising a hydraulic cylinder mounted on said frame, the movable part of said cylinder being connected to said carriage and the working chambers of said cylinder communicating with a longitudinally movable slide valve and with a hydraulic drive provided with a reduction gear operatively connected to said longitudinally movable slide valve, and a plate being attached to said slide valve, said plate cooperating with a pusher rigidly secured to said jib manipulator.
2. A self-proPelled drilling rig as claimed in claim 1, wherein the housing of said slide valve of said servomechanism is operatively connected to said reduction gear, while a stem of said slide valve is spring-loaded and said plate cooperating with said pusher of said jib manipulator is attached to said stem.
3. A self-propelled drilling rig as claimed in claim 1, wherein a stem of said slide valve of said servomechanism is operatively connected to said reduction gear, while said plate cooperating with said pusher of said jib manipulator is attached to the housing of said slide valve.
US00296819A 1972-10-12 1972-10-12 Self-propelled drilling rings for boring blastholes and small-diameter wells Expired - Lifetime US3796401A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4364540A (en) * 1979-03-26 1982-12-21 Etablissements Montabert S.A. Support-arm assembly for a drill or borer, particularly for subterranean applications

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3216511A (en) * 1963-01-16 1965-11-09 Little Giant Crane & Shovel In Drop hammer
US3433126A (en) * 1966-10-19 1969-03-18 Sanders Associates Inc Hydraulic feedback system
US3481409A (en) * 1966-11-14 1969-12-02 Atlas Copco Ab Electro-hydraulic parallel motion means for drill boom supported rock drilling apparatus
US3648564A (en) * 1970-04-03 1972-03-14 Honeywell Inc Hydraulic fluidic servoactuators
US3665806A (en) * 1968-09-30 1972-05-30 Lucas Industries Ltd Fluid operated servomechanism
US3721304A (en) * 1971-05-04 1973-03-20 Gardner Denver Co Directional control for rock drill feed support

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3216511A (en) * 1963-01-16 1965-11-09 Little Giant Crane & Shovel In Drop hammer
US3433126A (en) * 1966-10-19 1969-03-18 Sanders Associates Inc Hydraulic feedback system
US3481409A (en) * 1966-11-14 1969-12-02 Atlas Copco Ab Electro-hydraulic parallel motion means for drill boom supported rock drilling apparatus
US3665806A (en) * 1968-09-30 1972-05-30 Lucas Industries Ltd Fluid operated servomechanism
US3648564A (en) * 1970-04-03 1972-03-14 Honeywell Inc Hydraulic fluidic servoactuators
US3721304A (en) * 1971-05-04 1973-03-20 Gardner Denver Co Directional control for rock drill feed support

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4364540A (en) * 1979-03-26 1982-12-21 Etablissements Montabert S.A. Support-arm assembly for a drill or borer, particularly for subterranean applications

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