Shaft-sinking device and method for sinking a shaft

Abstract

The invention relates to a shaft-sinking device (100) used to sink a shaft, comprising at least one movable arm (130) having a drilling unit (10), which is provided for creating a blast hole (110) on a shaft base (120). The drilling unit (10) has a drill drive (12), which is mounted on a drill carriage (11), for rotationally driving a drill rod (13), which is inserted into the drilling unit (10) and has a drill bit (14), and the drill carriage (11) has a feed (15) and a guide (16) for the drill rod (13). The drilling unit (10) can be positioned at the drilling location (140) of the blast hole (110) via the movable arm (130). The drilling device (100) comprises a control unit which is connected to at least one sensor (200), and the control unit is designed such that control commands for automatically positioning the drilling unit (10) at a drilling location for a blast hole (110) can be output. As a result, at least two blast holes can be drilled in the shaft base (120) in a specified pattern via the control unit.

Description

[0001] KLICKOW & WETZEL

[0002] PARTNERSHIP COMPANY MBB PATENT ATTORNEYS EUROPEAN PATENT AND TRADEMARK ATTORNEYS

[0003] JESSENSTRASSE 4 • 22767 HAMBURG • GERMANY

[0004] Applicant: Herrenknecht AG www.klickow-wetzel.de Schlehenweg 2 Telephone: +49 (0)40 380 8715-0 77963 Schwanau Fax: +49 (0)40 380 8715-25 Germany mail@klickow-wetzel.de

[0005] HKN-237-PCT

[0006] November 27, 2025 / pwi.pwi

[0007] Shaft sinking device and method for sinking a shaft

[0008] The invention relates to a shaft sinking device for sinking a shaft, comprising at least one movable arm and a drilling unit arranged on the movable arm for creating a blast hole on the shaft bottom. The invention further relates to a method for sinking a shaft.

[0009] A conventional shaft sinking rig consists of a robust frame structure designed for use in vertical shafts. It typically includes several moving components, such as booms or arms, to which rock-cutting tools can be attached. The rig is often equipped with drive units, guidance systems, and stabilization devices within the shaft. Additional elements, such as sensors or control panels, may be integrated for monitoring and operation. The structure is designed to withstand the stresses and demands of underground operation.

[0010] In operation, the conventional shaft sinking rig is lowered into the shaft and positioned there. When drilling shafts from solid rock, tools such as drill heads or milling cutters are guided to the desired location on the shaft bottom via movable arms or booms. The shaft sinking rig enables the targeted processing of the rock, for example, by drilling, milling, or other mechanical processes. Control is usually manual or semi-automatic, with the operator monitoring the positioning and use of the tools. After completion of a processing step, the rig can be repositioned or realigned. KLICKOW & WE TZEL

[0011] Vertical shafts are typically constructed from a starting point to a destination point along a distribution line, with the starting point being either above or below ground (blind shaft).

[0012] In the field of underground cavity construction, particularly in shaft sinking, it is common practice to create blast holes using drilling rigs, which are then packed with explosives. These boreholes serve to carry out controlled blasts to fracture or loosen the rock and enlarge the cavity.

[0013] Known systems typically include drilling rigs equipped with at least one drilling unit that rotates a drill rod with a drill bit to create the borehole. After drilling, the drill rod is removed, and the borehole is prepared for the explosive charge, packed with explosive, and then detonated.

[0014] One such drilling device is a so-called shaft drill jumbo, also known as a shaft drill jumbo. A shaft drill jumbo has, for example, at least one movable arm with a drilling unit that drills blast holes, for instance, into the bottom of the shaft being sunk. The at least one drilling unit can be moved to the appropriate drilling locations for the blast holes by moving the movable arm.

[0015] Shaft Drill Jumbos can be lowered into the shaft and braced. An alternative design allows the Shaft Drill Jumbo to be braced in the shaft platforms of the shaft sinking rig. During the subsequent drilling cycle, the blast holes are created using the drilling unit located on at least one arm. Once a drilling cycle is complete, the Shaft Drill Jumbo can be folded up and, for example, pulled upwards by a winch. The blasting cycle then follows.

[0016] One method for sinking vertical shafts is drilling and blasting, whereby the sinking is carried out exclusively using this method, or the shaft can be drilled using a drilling rig with a rotating drill head, either in full or partial cut, with drilling and blasting assisting in sections of hard rock. This may require modification of the drilling rig.

[0017] At the bottom of the shaft, boreholes are drilled in a pattern. These boreholes are then packed with explosives and detonators. The individual detonations in the boreholes are timed according to the detonators. Subsequently, the excavated rock is transported upwards to the shaft opening using special conveying equipment, or downwards through a pilot bore to a lower level, or the excavated rock is drilled out and removed using a drilling rig.

[0018] When drilling and blasting are used, it is desirable to automate this process so that unmanned operation is even possible.

[0019] If it is not possible to pack the drilled borehole with explosives, detonators, and possibly foam plugs immediately after drilling, it is necessary to secure the borehole against clogging. When boreholes are drilled vertically downwards into the ground, the disadvantage is that they can be partially or completely blocked by material located on the ground. Therefore, these areas must be kept clear to allow for the packing of the boreholes after at least part of the drilling has been completed.

[0020] If the shaft is drilled using a drilling device with a rotating drill head, either in full or partial cut, this can be done mechanically, for example with a cutting head with a cutting tool mounted on an arm, in an economically viable manner up to a certain limit, such as 80 MPa. In areas where the rock strength exceeds a certain limit, such as 80 MPa, the invention has shown that it is advantageous to pre-damage the rock by means of loosening blasts. This prevents the cutting head of the drilling device from having to remove the material from solid rock, thus making it possible to economically extract even harder rock, such as layers / sections in the existing geology, during shaft construction. This, in turn, increases the application range of such shaft drilling machines, for example, those operating in partial cut.

[0021] In both methods, blast holes are first drilled. This is followed by loading and detonation. The blasts are carried out individually or in groups within the blast holes, one after the other, within fractions of a second. A successful blast requires a favorable arrangement and firing sequence of the individual boreholes. Each blast must be timed to reduce rock tension and facilitate the release of material for the subsequent blast.

[0022] The object of the invention is therefore to provide a drilling device and a drilling method with which the disadvantages of known systems are at least partially overcome and with which automation can be achieved. KLICKOW & WE TZEL

[0023] The problem is solved with respect to the drilling device by the combination of features according to claim 1 and with respect to the method by the combination of features according to claim 12. The invention is further defined by the features of the dependent claims.

[0024] The drilling rig enables the precise creation of blast holes on a shaft floor using a drilling unit mounted on a movable arm. This results in more efficient and accurate hole placement. The movable swivel arm, to which the drilling tool is attached, provides flexibility in positioning and moving the drilling unit.

[0025] The device can be equipped with a control system and sensors that enable automatic positioning of the drilling unit at the drilling locations. This reduces manual effort and increases safety, as less human intervention is required. Furthermore, it increases the efficiency of the drilling process.

[0026] The drilling rig can be used for both drilling blast holes and excavating rock, expanding its range of applications and making it a versatile tool for shaft construction. Automation and precise control of the drilling unit reduce the risk of accidents and misdrilling, thus increasing operator safety. Combining the drilling unit and excavation equipment into a single device can accelerate the entire shaft sinking process by reducing the time required to switch between different machines and tools.

[0027] The ability to drill at least two blast holes in a predetermined pattern ensures a consistent and uniform arrangement of the boreholes, which is advantageous for subsequent blasts.

[0028] The combination of control and sensors enables efficient use of the drilling device, as the drilling unit is positioned quickly and precisely at the desired drilling locations, which increases overall productivity.

[0029] In particular, the invention provides that the shaft sinking device has a control unit in conjunction with at least one sensor, which is configured to issue control commands for automatically positioning the drilling unit at a drilling location for a blast hole, so that at least two blast holes can be drilled in a predetermined pattern in the shaft bottom via the control unit. KLICKOW & WE TZEL

[0030] According to one aspect of the disclosure, a shaft sinking device is provided for sinking a shaft. The shaft sinking device comprises at least one movable arm. A drilling unit, adapted for creating a blast hole on a shaft bottom, is arranged on the movable arm.

[0031] The drilling unit, for example, has a drill drive mounted on a drill rig, which is adapted to drive a drill rod inserted into the drilling unit and equipped with a drill bit. The drill rig has a feed mechanism and a guide for the drill rod. The drilling unit can be positioned at the drilling location of the blast hole via the movable arm. The shaft sinking device has a control unit in conjunction with at least one sensor. The control unit is configured to issue control commands for automatically positioning the drilling unit at a drilling location for a blast hole, so that at least two blast holes can be drilled in a predetermined pattern in the shaft bottom via the control unit.

[0032] A shaft sinking device with a drilling unit mounted on a movable arm precisely positions the drilling unit at a drilling location on a shaft bottom and provides targeted control of the drilling process.

[0033] A control unit in conjunction with at least one sensor controls the automatic arrangement of the drilling unit and increases the accuracy of the borehole placement.

[0034] An arrangement in which at least two blast holes are drilled in a predetermined pattern increases the efficiency and consistency of the drilling operations. In conventional systems, the positioning of the drilling unit is typically done manually and not automatically in a pattern.

[0035] During operation, the control unit interacts with at least one sensor, for example, to determine the position of the drilling unit relative to the bottom of the shaft.

[0036] The control unit issues commands that move the movable arm to a predetermined drilling location. The drilling unit is then used to create a blast hole.

[0037] After completing a drilling operation, the control unit can issue further control commands to position the drilling unit at a second drilling location within a predefined pattern at KLICKOW & WE TZEL and create another blast hole there. This process is repeated until at least two blast holes have been drilled according to the predefined pattern.

[0038] The shaft sinking device preferably comprises at least one movable arm. The movable arm can be designed as a swivel arm or telescopic arm and provides flexible positioning of the drilling unit. The movable arm can be fixed or detachable on the shaft sinking device.

[0039] The drilling unit is mounted on the movable arm and includes a drill drive attached to a drill rig. The drill drive is designed to rotate an inserted drill rod. The drill rod is fitted with a drill bit intended for loosening the rock at the bottom of the shaft. The drill rig includes a feed mechanism and a guide for the drill rod to ensure controlled and straight drilling.

[0040] In the context of this disclosure, the term "drilling unit" may refer to a device suitable for creating a borehole in rock, wherein the drilling unit comprises a drill drive, a drill rig, a drill rod and a drill bit.

[0041] The control unit is arranged in conjunction with at least one sensor. The control unit can be a computer-aided control unit that processes sensor data and generates control commands for positioning the drilling unit.

[0042] The sensor can be a LiDAR sensor, a CCD camera, a time-of-flight sensor, an RTT sensor with a reflector, or a radar sensor. The sensor data is used to determine the spatial position of the drilling unit and the movable arm relative to the bottom of the shaft.

[0043] The control unit is configured to issue control commands for the automatic positioning of the drilling unit at a drilling location for a blast hole. This automatic positioning includes calculating the target position and controlling the movable arm to move the drilling unit to the drilling location.

[0044] In the context of this disclosure, the term "control unit" may refer to an electronic or computer-based device capable of processing sensor data and issuing control commands for positioning a drilling unit. KLICKOW & WE TZEL

[0045] The shaft sinking device is designed so that at least two blast holes are drilled in a predetermined pattern in the shaft bottom via the control unit. The pattern can be defined as a geometric arrangement, such as a line, a circle, or a grid. The drilling unit is controlled sequentially or in parallel, depending on the number of movable arms and drilling units.

[0046] In the context of this disclosure, the term “pattern” may refer to a predefined spatial arrangement of drilling locations on a shaft floor intended for the placement of blast holes.

[0047] The interaction between the control unit, the sensor, the movable arm, and the drilling unit consists of the control unit receiving sensor data, determining the current position of the drilling unit, and generating control commands to move the movable arm so that the drilling unit is positioned at a predetermined drilling location within a pattern. The drilling unit is then used to create a blast hole.

[0048] The use of LiDAR sensors, CCD cameras, time-of-flight sensors, RTT sensors and reflectors, and radar sensors enables precise mapping of the environment and the position of the drilling rig. This results in accurate positioning and alignment of the drill rig. Accurate mapping of the environment and the drill position allows for the creation of boreholes with high precision. This is particularly important for subsequent blasting operations, which require precise borehole placement.

[0049] A LiDAR sensor improves the three-dimensional mapping of the shaft environment and increases the accuracy of the drilling unit's positioning. A CCD camera enhances the optical capture of surface features and improves visual inspection of the drilling unit. A time-of-flight sensor improves distance measurement to the shaft bottom and increases the precision of distance determination. An RTT sensor and reflectors improve signal travel time measurement and increase the reliability of position determination. A radar sensor improves structure detection regardless of visibility conditions and increases operational reliability in dust, smoke, or fog.

[0050] In the context of this disclosure, the term "sensor" may refer to a component suitable for acquiring environmental data, the suitability being determined by its ability to measure distances, positions, or surface features. KLICKOW & WE TZEL

[0051] A LiDAR sensor can be designed as a laser-based distance measurement sensor. A CCD camera can be designed as a sensor with a light-sensitive semiconductor structure. A time-of-flight sensor can be designed as a sensor for measuring the travel time of light. An RTT sensor and reflectors can be designed as a system for measuring the signal travel time between a transmitter and a reflector. A radar sensor can be designed as a sensor for detecting objects using electromagnetic waves.

[0052] Furthermore, the disclosure preferably provides that the drilling unit has a drilling drive arranged on a drill carriage for rotating a drill rod inserted into the drilling unit, which is provided with a drill bit, wherein the drill carriage has a feed and a guide for the drill rod, and wherein the drilling unit (10) can be arranged at the drilling location of the blasted borehole via the movable arm.

[0053] The shaft sinking device can comprise at least two movable arms and can each include a drilling unit arranged on the movable arm for creating a blast hole on a shaft bottom.

[0054] The use of at least two movable arms, each with a drilling unit attached, improves drilling efficiency, as multiple blast holes can be created simultaneously or in a coordinated sequence. Working speed increases, and flexibility in positioning the drilling units on the shaft bottom is enhanced. The precision of blast hole creation is improved by the possibility of parallel or coordinated drilling operations.

[0055] In the context of this disclosure, the term “movable arms” may refer to arms that can be positioned relative to the shaft bottom, for example by pivoting, raising or lowering, each arm being dimensioned and designed to accommodate a drilling unit for creating a blast hole.

[0056] The shaft sinking device according to one of the embodiments described above can comprise at least one mining device for extracting rock from a shaft bottom. The at least one mining device can comprise at least one mining tool, wherein the at least one mining tool can be arranged on at least one pivoting arm movable relative to the shaft bottom.

[0057] The integration of a mining device with a mining tool mounted on a movable swivel arm improves the flexibility and precision of rock excavation at the bottom of the shaft for KLICKOW & WE TZEL. The functionality of the shaft sinking device is expanded by the fact that, in addition to drilling blast holes, a mechanical mining operation can also be carried out independently of the drilling unit, particularly for support purposes. This easily extends the operating range of the shaft sinking device with regard to rock hardness.

[0058] The control system can be connected to a digital twin of the shaft sinking rig. Connecting the control system to a digital twin improves the virtual representation and monitoring of the current system state. This is particularly effective and advantageous for shaft sinking and blast drilling with tighter tolerances. Furthermore, it increases the accuracy and adaptability of the control operations and improves the precision of automated positioning and drilling operations. In the context of this disclosure, the term "digital twin" can encompass a digital model that represents and updates the current physical state and operating parameters of the shaft sinking rig in real time or near real time.

[0059] According to one of the embodiments described above, the control unit can be connected to at least one digital drilling pattern. Connecting the control unit to at least one digital drilling pattern improves the precision in controlling and positioning the drilling unit, facilitates automation, and increases the efficiency of implementing predefined drilling patterns. In the context of this disclosure, the term "digital drilling pattern" can refer to a machine-readable data file that includes coordinates, sequences, and parameters for the arrangement of blast holes on the shaft bottom.

[0060] A processing unit can be provided, which can be configured to calculate target borehole positions from measurement data of at least one sensor and at least one borehole pattern of the shaft bottom and to transmit this data to the control unit. The provided processing unit improves the accuracy of determining target borehole positions by evaluating measurement data from the at least one sensor and a borehole pattern of the shaft bottom. Transmitting the calculated target borehole positions to the control unit increases the automation and flexibility of positioning the drilling unit. This reduces deviations between planned and actual borehole positions and increases the efficiency of the drilling process compared to an operation without this processing unit. Furthermore, this method supports automation.In the context of this disclosure, the term "computing unit" may refer to a device suitable for processing machine-readable data, such as a microprocessor, an FPGA, or an industrial PC. The computing unit is arranged to communicate with at least one sensor and the control unit. The transmission of the target borehole positions includes the transmission of position data in a machine-readable format, for example, as a coordinate vector relative to the shaft coordinate system.

[0061] According to one of the embodiments described above, at least one sensor can be provided for acquiring actual data of the at least one movable arm and the drilling unit arranged on the movable arm, wherein the acquired actual data particularly includes actual coordinates. Acquiring actual coordinates facilitates control in automation processes. Furthermore, it simplifies and improves the accuracy of the automated arrangement at predetermined drilling locations and reduces deviations from the digital drilling pattern. Actual coordinates can be Cartesian coordinates in a machine-fixed or shaft-related coordinate system, for example with the axes X, Y, and Z, wherein the reference plane is the shaft bottom.

[0062] According to one of the embodiments described above, at least one sensor can be provided for acquiring actual data of the at least one movable arm and the drilling unit arranged on the movable arm, wherein the acquired actual data particularly includes actual orientations. Acquiring actual orientations improves the control of the orientation of the movable arm and the drilling unit during positioning and drilling. This increases the agreement between the actual and the predetermined borehole orientation and reduces misdrilling. Actual orientations can be specified as angular values ​​relative to a reference axis, for example, the vertical, or as vectors in a three-dimensional space, adapted to the coordinate system used.

[0063] According to one of the embodiments described above, at least one sensor can be provided for acquiring actual data of the at least one movable arm and the drilling unit arranged on the movable arm, wherein the acquired actual data includes, in particular, actual coordinates and actual orientations. The combined acquisition of actual coordinates and actual orientations improves the complete spatial feedback on the position and orientation of the movable arm and the drilling unit. This increases the precision of the automated control and stabilizes the execution of the drilling pattern on the shaft bottom.

[0064] At least one sensor may be a laser scanner. A laser scanner improves the acquisition of position and orientation data for the KLICKOW & WE TZEL drilling unit and the movable arm. This increases the accuracy of the automatic positioning of the drilling unit at the target positions for blast holes.

[0065] At least one of the sensors may be a joint sensor. A joint sensor improves the detection of the joint positions of the movable arm. This increases the precision of the control and monitoring of the arm movements and the drilling unit in the shaft.

[0066] At least one of the sensors may be an inclinometer. An inclinometer improves the detection of the tilt angle of the movable arm or drilling unit relative to the shaft bottom. This increases the accuracy of the drilling unit's alignment during the drilling process.

[0067] At least one of the sensors may be a gyroscope. A gyroscope improves the detection of rotational movements and changes in position of the movable arm or drilling unit. This stabilizes the position determination and orientation of the drilling unit during automatic positioning.

[0068] Advantageously, a display device can be provided to present the measurement data to the operator in graphical form. The graphical representation of the measurement data improves the clarity and comprehensibility of the current operating parameters for the operator. This increases the precision of monitoring and, if necessary, enables assisted manual control of the shaft sinking device.

[0069] A display device can be provided to show the drilling pattern to the operator in graphical form. The graphical representation of the drilling pattern improves control over the positioning and execution of the drill holes. This increases the accuracy in implementing the specified drilling scheme.

[0070] A display device can be provided to graphically represent deviations between actual and target data for the operator. This graphical representation of deviations improves the detection of positional errors and deviations during the drilling process. This increases the efficiency of correcting and adjusting the drilling operations.

[0071] A display device can be used to graphically represent target positions and deviations between the current position and the target position for the kinematic arm for a KLICKOW & WE TZEL.

[0072] The graphical representation of target positions and deviations for the kinematic arm improves the traceability of movement sequences and the control of arm positioning. This increases the precision in the alignment and positioning of the kinematic arm.

[0073] A display device can be provided to graphically show target positions and deviations between the current position and the target position for the drilling unit to an operator. This graphical representation of target positions and deviations improves monitoring of the drilling unit and control of borehole execution. This increases the accuracy in achieving the drilling objectives.

[0074] In the context of this disclosure, the term "display device" may refer to a device suitable for displaying graphical information to an operator, wherein the graphical form includes, for example, diagrams, maps, schematic representations or other visual representations that enable a machine-readable and operator-understandable evaluation of the measurement data, drilling patterns, deviations or target positions.

[0075] The method may comprise the following steps: providing a shaft sinking device in a shaft with a shaft wall and a shaft bottom, with at least one arm movable by means of at least one actuator, and a drilling unit movably arranged on the movable arm by means of at least one actuator for creating a blast hole on a shaft bottom, and with at least one control unit configured to align the arm and the drilling unit with respect to the shaft bottom so that a blast hole can be drilled in the shaft bottom with the drilling unit; defining a machine-bound coordinate system for the shaft sinking device;Drilling out a shaft bottom and removing the excavated material with a mining tool arranged on at least one pivoting arm movable relative to the shaft bottom, the pivoting arm being movably mounted on the shaft sinking device, the at least one mining device comprising at least one mining tool; or blasting blast holes created in a shaft bottom and packed with explosives, and removing the material loosened by the blast; scanning the shaft bottom and / or the shaft wall with at least one sensor; transmitting the measurement data to a processing unit; creating a pattern for boreholes for creating blast holes based on the measurement data, the machine-bound coordinate system, and at least one digitally stored blast hole pattern as target coordinates; determining the actual coordinates of the at least one arm and the at least one drilling unit;Output of control commands from the control unit to at least one KLICKOW & WE TZEL;

[0076] Arm and at least one drilling unit to move the at least one arm and at least one drilling unit from the actual coordinates to the target coordinates of a blast hole, so that the drilling unit is positioned and aligned over a borehole to be drilled so that the borehole can be drilled; Repeat the steps of determining the actual coordinates and issuing control commands until the target data are reached; Drill the blast hole; Repeat the steps of determining the actual coordinates, issuing control commands and drilling for the next blast hole; After completion of drilling the blast holes of the drilling pattern, charge the blast holes with explosives and detonators; Remove the shaft sinking device from the blast area; Blasting; Position the shaft sinking device at the next drilling position and repeat the drilling / blasting steps until positioning.

[0077] Implementing this method with the aforementioned steps improves process integration and automation during shaft sinking. Digital acquisition of the shaft bottom and / or wall, transmission of the measurement data to a processing unit, and algorithmic creation of a borehole pattern enable automation and increase the precision of borehole positioning. Iterative coordinate determination and control of the drilling unit reduce deviations between target and actual positions. The combination of automated control, adaptive repetition, and digital pattern creation increases the efficiency, safety, and traceability of the drilling and blasting process. The option to choose between mechanical excavation and blasting expands the method's applicability to different rock strengths and operational scenarios. The explicit removal of the shaft sinking equipment before blasting minimizes hazards to machinery and personnel.The cyclical repetition of the steps at new drilling positions stabilizes the overall process and enables continuous shaft progress monitoring.

[0078] Using the measurement data from at least one sensor, a 3D model of the shaft bottom can be created. Creating a 3D model of the shaft bottom improves the accuracy of the digital acquisition of the shaft bottom geometry. This increases the precision in positioning and controlling the drilling unit for subsequent drilling and blasting processes.

[0079] In the context of this disclosure, the term "3D image" may refer to a digitally generated, machine-readable representation of the spatial geometry of the shaft base, wherein the representation includes at least Cartesian coordinate points calculated from the measurement data of the at least one sensor. KLICKOW & WE TZEL

[0080] Using the measurement data from at least one sensor, a 3D model of the shaft wall can be created. Creating a 3D model of the shaft wall improves the accuracy of the digital acquisition of the shaft wall geometry. This increases the precision of navigating and aligning the drilling unit along the shaft wall for subsequent drilling and blasting operations.

[0081] In the context of this disclosure, the term “3D image” may refer to a digitally generated, machine-readable representation of the spatial geometry of the shaft wall, wherein the representation includes at least Cartesian coordinate points calculated from the measurement data of the at least one sensor.

[0082] Between the steps of excavation or blasting and scanning the shaft bottom, the following step may be provided: cleaning the shaft bottom before scanning it to remove liquids and dust.

[0083] Cleaning the shaft bottom before scanning improves the quality and accuracy of the measurement data captured by the sensor. Removing liquids and dust increases the precision of the 3D mapping of the shaft bottom and reduces measurement errors, thereby improving the planning and execution of subsequent drilling operations.

[0084] Cleaning can be carried out mechanically, pneumatically, or hydraulically, depending on the type of liquids and dust present on the shaft floor. The sequence of steps is designed so that cleaning is performed immediately before scanning the shaft floor.

[0085] The invention is explained in more detail below with reference to a preferred embodiment in conjunction with a drawing. The drawing shows...

[0086] Figure 1 shows a first embodiment of a shaft sinking device according to the invention in the form of a partial-face cutting machine with a drilling unit according to the invention for creating a blast borehole when creating an underground cavity,

[0087] Figure 2 shows an embodiment of a drilling unit according to the invention,

[0088] Figure 3 shows a second embodiment of a shaft sinking device according to the invention in the form of a drill jumbo in three alternative embodiments with a drilling unit according to the invention for creating a blast borehole when creating an underground cavity, KLICKOW & WE TZEL

[0089] Figure 4 shows a process flow according to the invention for the first embodiment of a shaft sinking device according to the invention,

[0090] Figure 5 shows a spatial view of a shaft floor scanned according to the invention as a graphically represented cloud, a drilling unit according to the invention.

[0091] Figure 6 shows a top view of numbered borehole positions in a grid.

[0092] Figure? A 3D surface of the shaft bottom with drilling unit and target indicator of a borehole.

[0093] Figure 8 shows a spatial representation of a shaft abbey device according to the first embodiment with two drilling units in a shaft with blast hole bores shown, and

[0094] Figure 9 shows different approach positions of a drilling unit according to the invention with a movable arm on a shaft floor.

[0095] Figures 1 and 8 show a shaft sinking device 100, which represents the lowest part of the sinking device for the cavity, preferably a shaft 300. The units above it, such as bracing, lining of the shaft 300, or removal of the excavated material, are not shown.

[0096] The shaft sinking device 100 has a mining device 150 in a mining chamber within the shaft. The mining device 150 has a swivel arm 151. This swivel arm 151, also referred to as a milling arm, has a mining tool 152 at its free end, for example, in the form of a milling drum. The milling drum has, for example, a drum body that is rotatably mounted and rotationally driven. For example, chisels are provided on the drum body with which the rock at the bottom of a shaft 120, the deepest area of ​​the shaft, is loosened. In the illustrated example according to the invention, the rock is loosened in a so-called partial cut.

[0097] If the rock to be loosened is too hard, an intermediate step in the form of drilling and blasting can be used in addition to drilling with the mining device 150, as shown in Figure 4. For this purpose, as shown by way of example in Figure 2, drilling units 10 are movably mounted on drill arms 130 KLICKOW & WE TZEL. The drilling units are set up to create a blast borehole 110.

[0098] The drilling device 100 comprises a drilling unit 10, as shown by way of example in Figure 2, which is arranged on a movable arm 130. It is possible to provide several arms 130 with drilling units 10.

[0099] The drilling unit 10 is equipped with a drill drive 12, which is mounted on a drill rig 11. The drill drive 12 serves to rotate a drill rod 13 inserted into the drilling unit 10, which is fitted with a drill bit 14. The drill bit loosens the rock to create the blasted borehole 110.

[0100] The drill carriage 11 has a feed mechanism 15 and a guide 16 for the drill rod 13.

[0101] At the lower end, an engagement / spacer element 17 is provided, which may preferably also be equipped with a contact sensor (not shown).

[0102] Figure 1 also shows a sensor unit 200 above the drilling unit 10. The sensor unit 200 makes it possible to determine the position of the drilling unit 10 in the cavity, particularly in the shaft space, above the base 120. For this purpose, sensors and reflectors are provided on the drilling unit. Preferably, the sensor 200 is at least one radar sensor for measuring the shaft base 120. Furthermore, additional sensors are provided above the drilling unit to determine its position and the position and setting of the segment of the movable arm 130. Thus, the exact position of the drilling unit above the base 120 can be determined via these additional sensors on the arm 130.

[0103] Examples of sensors include LIDAR sensors, CCD cameras, Time-of-Flight sensors, RTT (Round Trip Time) sensors and reflectors, and radar sensors.

[0104] Figure 3 shows a shaft sinking device 100 as a shaft drilling jumbo / shaft jumbo, which represents the lowest part of the sinking device for the cavity, preferably a shaft. The units above it, such as bracing, shaft lining, or removal of the excavated material, are not shown.

[0105] If the rock to be extracted is hard, shaft drilling jumbos / shaft jumbos can be used. Mining progress then takes place in the form of drilling and blasting. For this purpose, as KLICKOW & WE TZEL show in Figure 2, drilling units 10 are movably mounted on drill arms 130. The drilling units are set up to create a blast hole.

[0106] The shaft sinking device 100 comprises a drilling unit 10, which is arranged on a movable arm 130. It is possible to provide several arms 130 with drilling units 10. Furthermore, in a shaft sinking device 100, as shown in the center of Figure 3, the unit can be arranged on a large shaft drilling rig. Alternatively, movable units can be provided as shaft sinking devices 100, as shown on the left and right in Figure 3. These stand, for example, on the shaft bottom 120 with a support structure 131 and disappear into the shaft 300 with tension frames 132.

[0107] The drilling unit 10 is equipped with a drill drive 12, which is mounted on a drill rig 11. The drill drive 12 serves to rotate a drill rod 13 inserted into the drilling unit 10, which is fitted with a drill bit 14. The drill bit loosens the rock to create the blasted borehole 110.

[0108] The drill carriage 11 has a feed mechanism 15 and a guide 16 for the drill rod 13.

[0109] At the lower end, an engagement / spacer element 17 is provided, which may preferably also be equipped with a contact sensor (not shown).

[0110] Furthermore, a sensor unit 200 can be provided above the drilling unit 10. The sensor unit 200 makes it possible to determine the position of the drilling unit 10 in the cavity, particularly in the shaft space, above the base 120.

[0111] For this purpose, sensors and reflectors are provided on the drilling unit. Furthermore, additional sensors are provided above the drilling unit to determine its position. Additional sensors on arm 130 then allow the precise position of the drilling unit above the base 120 to be determined.

[0112] Examples of sensors include LIDAR sensors, CCD cameras, Time-of-Flight sensors, RTT (Round Trip Time) sensors and reflectors, and radar sensors.

[0113] Figure 4 schematically shows the method for sinking a shaft 300. It comprises steps to be carried out in any meaningful order: providing a shaft sinking device 100 in a shaft 300 with a shaft wall and a shaft bottom 120 with at least one arm 130 movable by means of at least one actuator KLICKOW & WE TZEL and a drilling unit 10 movable on the movable arm 130 by means of at least one actuator for creating a blast borehole 110 on a shaft bottom 120 at a drilling location 140.

[0114] The left image shows the drilling of the blast holes 110.

[0115] After completion of drilling the blast holes 110 of the drilling pattern 500, the blast holes 110 are filled with explosives and detonators; the shaft sinking device 100 is removed from the blast area; blasting.

[0116] The second illustration, located to the right of the first, shows the blasting and the raised shaft sinking device 100 in shaft 300.

[0117] The shaft sinking device 100 is lowered to the disturbed area 160 of the shaft bottom 120. The loosened material is dislodged by the shaft sinking device (100) and transported away. The release of the explosive gases is symbolically represented by an exhaust plume 170 in the third figure.

[0118] In the fourth figure on the far right of Figure 4, the loosening and conveying process with the dismantling device 150 and the conveying of the disturbed area 160 is completed, and the process is continued again in the first figure on the left.

[0119] It is advantageous that the blast holes 110 are positioned at a distance from the borehole wall in order to avoid weakening the borehole wall or the area of ​​the hoisted borehole wall. This area is then preferably cut cleanly by the mining tool 152 during loosening and hoisting to provide a clean borehole wall and a clean transition from the shaft bottom to the borehole wall.

[0120] Furthermore, during the cutting of the loosened area 160, a clean shaft base 21 is cut, which is then measured by the sensor unit and 200. This provides a clean shaft base 21, onto which the drilling pattern 500 is then calculated according to the prevailing conditions after scanning with the sensor unit 200.

[0121] Alternatively, if a shaft sinking device 100 in the form of a drilling spider (Figure 3) is used, the excavated section 160 is removed with a conveying device (not shown). KLICKOW & WE TZEL

[0122] Figures 5, 6, and 7 show a graphical operator view on a display 400 of a shaft sinking device 100 according to one embodiment. Figure 5 shows a perspective view of the scanned shaft bottom 120, created from a point cloud, with a digital twin 700 of the shaft sinking device 100, including a kinematic arm 130, a digital drilling pattern 500 (Figure 6), and a color-coded deviation indicator 600 (Figures 6 and 7) between the actual position 610 and the target position 620 above the blast hole 110 to be drilled.

[0123] The 3D model of shaft base 120 is displayed as a color-coded surface and shows the current geometry of shaft base 120 as recorded by sensor data and represented in the digital twin model 700. This surface serves as the basis for the planning and execution of the drilling pattern 500.

[0124] The operator view on a display 400 is designed as a graphical user interface and enables the monitoring and control of the shaft sinking device 100. The display preferably includes, for example, all relevant information on the positioning, deviation and target achievement of the drilling unit 10 and the kinematic arm 130.

[0125] The interaction of the elements shown enables the automated navigation and positioning of the drilling unit 10 on the movable arm 130 according to the digital drilling pattern 500. The sensor unit 200 provides the measurement data for creating the 3D image of the shaft base 120, the digital twin model 700 represents the machine structure and the shaft geometry, and the graphic display device 400 shows the deviations between the actual position 610 and the target position 620 to the operator. Control is based on the sensor data and the digital drilling pattern 500, whereby the target positions for the drilling unit 10 and the kinematic arm 130 are calculated and visualized.

[0126] Alternative embodiments include the use of different sensor types for detecting the shaft bottom 120, the integration of additional display devices 400 for showing additional measurement data, or the extension of the digital drilling pattern 500 to include more complex geometric patterns. The illustrated arrangement shows the main embodiment with digital twin 700, kinematic arm 130, and graphical operator view; other variants are to be considered as optional alternatives.

[0127] In particular, Figure 6 shows a shaft base 120 with a digital drilling pattern 500 according to one embodiment. Figure 6 shows a graphical operator view with a schematic KLICKOW & WE TZEL

[0128] Representation of the borehole positions 140 and the automated navigation of the drilling unit 10 on the movable arm 130 to a predetermined drilling location 140.

[0129] The shaft base 120 is represented as a circular area on which the numbered borehole positions are arranged as individual circles. The shaft base 120 forms the basis for the placement of the blast boreholes 120 and serves as a reference surface for the navigation and positioning of the drilling unit 10.

[0130] The drilling unit 10 is positioned on the movable arm 130 and visualized as a graphic symbol within the drilling pattern 500. The drilling unit 10 is depicted as being moved to the respective drilling location 140 to create a blast hole 110. The relationship between the drilling unit 10 and the movable arm 130 is represented by its spatial arrangement within the pattern 500 and its graphical connection to its current position.

[0131] Drilling location 140 is highlighted as the target position within the drilling pattern and marked as such by the number "67". The target position 620 is indicated by the color highlighting and the graphical connection to the actual position 610 of drilling unit 10. The relationship between drilling location 140 and drilling unit 10 is clarified by the direction of movement 630 and the deviation display.

[0132] The drilling pattern 500 is represented as a circular arrangement of numbered borehole positions 140 and comprises all possible blast boreholes 110 on the shaft bottom 120. The individual borehole positions 140 are marked by circles with numbers and form the basis for the automated navigation and control of the drilling unit 10.

[0133] The actual position 610 of the drilling unit 10 and the movable arm 130 is visualized as the current graphic position 610 within the drilling pattern 500. The relationship to the target position 620 is represented by a colored connecting line 630, which indicates the deviation between the current and target positions.

[0134] An analogous representation is also provided in Figure 7.

[0135] Figure 9 shows a shaft sinking device 100 according to the invention with two drilling units 10 on a movable arm 130 at two different drilling locations 140, in order to illustrate the possible degrees of freedom of the arms 130 and the drilling unit 10. For example, it is possible to fix the drilling unit 10 on the radius 640 and to approach different drilling locations 140 by rotating the shaft sinking device 100.

Claims

KLICKOW & WETZEL PARTNERSHIP COMPANY MBB PATENT ATTORNEYS EUROPEAN PATENT AND TRADEMARK ATTORNEYS JESSENSTRASSE 4 22767 HAMBURG GERMANY Applicant: Herrenknecht AG www.klickow-wetzel.de Schlehenweg 2 Telephone: +49 (0)40 380 8715-0 77963 Schwanau Fax: +49 (0)40 380 8715-25 Germany mail@klickow-wetzel.de HKN-237-PCT November 27, 2025 / pwi.pwi Patent claims 1. Shaft sinking device (100) for sinking a shaft with at least one movable arm (130) and a drilling unit (10) arranged on the movable arm for creating a blast hole (110) on a shaft bottom (120), characterized in that the shaft sinking device (100) has a control unit in conjunction with at least one sensor (200) which is configured so that control commands for an automatic positioning of the drilling unit (10) at a drilling location for a blast hole (110) can be issued, so that at least two blast holes in a predetermined pattern can be drilled via the control unit in the shaft bottom (120).

2. Shaft sinking device according to claim 1, characterized in that the drilling unit (10) has a drilling drive (12) arranged on a drill carriage (11) for rotating a drill rod (13) inserted into the drilling unit (10), which is provided with a drill bit (14), wherein the drill carriage (11) has a feed (15) and a guide (16) for the drill rod (13), and wherein the drilling unit (10) can be arranged at the drilling location (140) of the blast borehole (110) via the movable arm (130).

3. Shaft sinking device according to claim 1 or 2, characterized in that the at least one sensor (200) is a LIDAR sensor, a CCD camera, a time-of-flight sensor, an RTT (round trip time) sensor and reflector, and / or a radar sensor.

4. Shaft sinking device according to one of claims 1 to 3, characterized in that the shaft sinking device (100) has at least two movable arms (130) and each has one attached to the KLICKOW & WE TZEL has a movable arm arranged drilling unit (10) for creating a blast borehole (110) on a shaft bottom (120).

5. Shaft sinking device according to one of claims 1 to 4, characterized in that the shaft sinking device (100) comprises at least one mining device (150) for mining rock at a shaft bottom (120), wherein the at least one mining device has at least one mining tool (152) which is arranged on at least one pivot arm (151) movable relative to the shaft bottom (120).

6. Shaft sinking device according to one of claims 1 to 5 characterized in that the control system is connected to a digital twin of the shaft sinking device (100).

7. Shaft sinking device according to one of claims 1 to 6 characterized in that the control unit is connected to at least one digital drilling pattern.

8. Shaft sinking device according to one of claims 1 to 7 characterized in that a computing unit is provided which is configured to calculate borehole target positions from measurement data of the at least one sensor and at least one borehole pattern of the shaft bottom and to transfer them to the control unit.

9. Shaft sinking device according to one of claims 1 to 8 characterized in that at least one sensor is used to detect actual data of the at least one movable arm (130) and the drilling unit (10) arranged on the movable arm, in particular actual coordinates and / or actual orientations, 10. Shaft sinking device according to claim 9, characterized in that the at least one sensor is a laser scanner, joint sensor, inclinometer or gyroscope.

11. Shaft sinking device according to one of claims 1 to 10, characterized in that a display device for showing the measurement data, the drilling pattern, the deviations of the actual data from the target data, and / or of target positions and deviations between current position and target position for the kinematic arm and / or the drilling unit (10) in graphical form for an operator.

12. Method for sinking a shaft, preferably with a shaft sinking device according to one of claims 1 to 11, comprising the steps to be carried out in any meaningful order: KLICKOW & WE TZEL a) Providing a shaft sinking device (110) in a shaft with a shaft wall and a shaft base (120) with at least one arm (130) movable by means of at least one actuator and a drilling unit (10) movably arranged on the movable arm by means of at least one actuator for creating a blast borehole (110) on a shaft base (120) and with at least one control unit which is configured to align the arm and the drilling unit with respect to the shaft base (120) so that a blast borehole (110) can be drilled in the shaft base with the drilling unit (10); b) Defining a machine-bound coordinate system of the shaft sinking device;c) Drilling out a shaft bottom and removing the loosened material with a mining tool (152) arranged on at least one pivoting arm (151) movable relative to the shaft bottom (120), wherein the pivoting arm (151) is movably provided on the shaft sinking device, wherein the at least one mining device has at least one, or blasting blast holes (110) created in a shaft bottom (120) and packed with explosives and removing the material loosened by the blast; d) Scanning the shaft bottom and / or the shaft wall with at least one sensor; e) Transferring the measurement data to a processing unit; f) Creating a pattern for boreholes for creating blast holes based on the measurement data, the machine-bound coordinate system and at least one digitally stored blast hole pattern as target coordinates; g) Determining the actual coordinates of the at least one arm (130) and the at least one drilling unit (10);h) Issuing control commands from the control unit to the at least one arm (130) and the at least one drilling unit (10) to move the at least one arm (130) and the at least one drilling unit (10) from the actual coordinates to the target coordinates of a blast hole, so that the drilling unit (10) is positioned and aligned over a borehole to be drilled, enabling the borehole to be drilled; i) Repeating steps g) and h) until the target data are reached; j) Drilling the blast hole; k) Repeating steps g) to j) for the next blast hole; l) After completion of drilling the blast holes of the drilling pattern, packing the blast holes with explosives and detonators; m) Removing the shaft sinking device from the blast area; n) Blasting; o) Positioning the shaft sinking device at the next drilling position and repeating steps c) to o); KLICKOW & WE TZEL 13. Method according to claim 12, characterized in that a 3D image of the shaft base and / or the shaft wall is created using the measurement data from the at least one sensor. 14 Method according to claim 12 or 13, characterized in that the following step is provided between steps c) and d): cleaning the shaft bottom before scanning the shaft bottom to remove liquids and dust.

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