Patent Description:
In particular, the machine according to the invention can be used to make holes and drillings in tunnels and to consolidate excavations, for example by injecting filling and anchoring materials into the holes.

Drilling machines, generally of the horizontal type, are known, used to prepare excavations in tunnels, able to make holes in a substantially horizontal direction in the walls to be excavated, and possibly inject filling and anchoring materials in them to consolidate the walls.

It is known that in order to make excavations of a tunnel it is necessary to first of all make a plurality of holes positioned substantially along a circumference, and possibly inject filling materials in them suitable to consolidate the walls and the vault of the tunnel itself, before proceeding with operations to remove the material, such as rock, earth, and suchlike.

These drilling machines are generally provided with a drilling unit comprising a mast, or guide beam, on which a rotating head is mounted, sliding in a longitudinal direction, with which the drilling member is rotated to make the holes.

In known drilling machines, the mast is connected to a fifth wheel positioning device, that is, a gear that allows a rotation of about <NUM>° around a horizontal axis of rotation, and is made to rotate on each occasion so as to make holes disposed radially with respect to the drilling machine itself.

The fifth wheel is pivoted at one end to the mast, and at the opposite end to the frame of the drilling machine and its rotation around the axis of rotation selectively makes the mast move along a circumference arc, with its longitudinal axis disposed in a substantially horizontal direction.

Drilling machines are also known which provide the fifth wheel pivoted in correspondence with one of its central points to the frame, and connected on one side and the other to a respective mast, so as to simultaneously position two drilling members.

The fifth wheel positioning device, although it allows to make holes disposed in a radial pattern, has some disadvantages.

A first disadvantage is that the fifth wheel has few degrees of freedom, and only allows to rotate the mast and not to position it in a lateral direction. In order to correctly align the mast with the excavation front, it is therefore necessary to correctly position the drilling machine with respect thereto, as it is not possible to correct any possible misalignments with the fifth wheel device.

Another disadvantage of fifth wheel devices is the fact that, in order to make holes on circumferences with different radiuses, it is necessary to move the drilling machine itself, or to replace one or more components, causing downtimes and delay in the work.

Another disadvantage is that, although they allow to easily make the holes on a circumference which extends above the drilling machine, fifth wheel devices do not allow to make the holes equally well in a frontal position to the machine.

The fifth wheel, in fact, does not allow to lower the mast frontally, keeping it substantially parallel to the ground, in order to position the drilling member effectively, therefore the holes in the frontal direction are generally made with an inclination accentuated downward instead of substantially horizontal.

Another disadvantage of the solutions that provide to use a fifth wheel is also that they are not very versatile and robust; if the fifth wheel malfunctions or breaks, in particular, it is necessary to interrupt operations and carry out the maintenance or replacements required to continue the work.

Other drilling machines are known from documents <CIT> and <CIT>.

<CIT> describes a multi-use drilling machine for the mining industry comprising a vehicle mounted on tracks with a vertical structure in the front part which supports an elbow-shaped arm on which multi-function tools are installed. The elbow-shaped arm can rotate completely around a horizontal axis and carries actuator cylinders to drive extended tie rods which in turn carry additional cylinders for other arms and the tools themselves. <CIT> describes a drilling machine comprising a frame mobile with respect to the ground, an arm of the tool, a drilling tool operatively mounted on the arm of the tool and defining a drilling end and an actuator of the arm of the tool which can be selectively driven, and which connects the arm of the tool to the frame. The support of the arm of the tool comprises five actuators that respectively allow a rotation of the arm of the tool around a vertical axis, a translation along a first horizontal axis, a translation along a second horizontal axis perpendicular to the first horizontal axis, a rotational displacement on a third horizontal axis, and a rotatable displacement around a fourth horizontal axis.

A drilling machine according to the state of the art is also known from <CIT> which discloses a rock drilling apparatus comprising a substructure, a feed bar adapted for carrying and guiding a rock drill during its longitudinal displacement forward and rearward on the feed bar, and a mounting on a substructure comprising two arms swingable on a transverse axis, the arms supporting the feed bar at opposite sides of the substructure and being movable to move the feed bar parallel to itself.

One purpose of the present invention is to produce a drilling machine which overcomes at least some of the disadvantages of the state of the art.

One purpose of the present invention is to produce a drilling machine, in particular to prepare excavations in tunnels, which allows the precise positioning of the mast and of the drilling member.

Another purpose of the present invention is to provide a drilling machine which requires lower power and energy consumption than machines known in the state of the art.

Another purpose of the present invention is to provide a drilling machine which allows to make in a horizontal direction both holes on circumferences with a larger radius, as well as holes on circumferences with a smaller radius in a frontal zone of the drilling machine itself.

Another purpose of the present invention is to provide a drilling machine to prepare excavations in tunnels which allows to position on each occasion the mast and the drilling member in a suitable position without the need to move the drilling machine, thus reducing the work time required to perform operations.

Another purpose of the present invention is to produce a drilling machine which is versatile and can also be used, with simple modifications, to make drilling holes in a vertical direction.

Another purpose of the present invention is to produce a drilling machine that is robust and efficient even if some components malfunction.

In accordance with the above purposes, a drilling machine according to the invention comprises, in a known manner, a movement unit to move it, a work member suitable to perform one or more operations, such as for example drilling, and support members suitable to support and position the work member, for example a drilling member, and/or devices to inject consolidation material.

According to some embodiments, the support members comprise a support rod, defined as mast in the specific field, and a rotating head slidable along the mast and to which the work member is connected.

The drilling machine comprises a first positioning unit provided with an articulation device configured to allow the rotation of the mast on a vertical plane around a first horizontal axis of rotation.

According to some embodiments, the drilling machine comprises a second positioning unit connected between the first positioning unit and the mast and configured to allow other movements of the mast with respect to the first positioning unit.

According to some embodiments, the second positioning unit comprises an oblong support element, connected to the articulation device of the first positioning unit and provided with a support surface for the mast.

The second positioning unit also comprises positioning means cooperating with the oblong support element and each suitable to confer at least one degree of freedom to the mast with respect to the support element.

According to some embodiments of the present invention, the drilling machine comprises a swivel actuator connected between the frame and the first positioning unit, and configured to allow a swivel movement of the first positioning unit, and of the components connected thereto.

In this way it is also possible to position the drilling machine in an inclined position with respect to the excavation front, and subsequently to align the mast with respect to it simply by actuating the swivel actuator.

This movement confers a degree of freedom to the mast which cannot be obtained with the known solutions.

According to some embodiments, the second positioning unit is connected to the mast by means of a rotational joint and comprises vertical rotation actuator means suitable to allow a rotation of the mast around a first vertical axis with respect to the support surface.

According to other embodiments, the support surface is inclined with respect to the wall of the support element connected to the positioning unit. This inclination allows to reach more positioning angles of the mast with respect to the horizontal plane, so as to be able to reach all the positions necessary to make the holes to prepare the excavations.

According to other embodiments, the second positioning unit comprises horizontal sliding actuator means configured to move the mast in a linear and planar direction with respect to the support surface.

This allows to position the mast, and therefore the work member, on each occasion in a simple and precise manner with respect to the excavation front.

According to some embodiments, the first positioning unit comprises a fixed body and a body rotatable with respect to the fixed body around the first horizontal axis and horizontal rotation actuator means comprising a pair of linear actuators acting in opposite directions on opposite sides of the fixed body with respect to the first horizontal axis, so as to allow a continuous rotation movement of the rotatable body, and therefore of the mast, along a circumference arc.

This solution allows to reduce the overall weight of the positioning unit with respect to the fifth wheel device, and consequently obtain a reduction in energy consumption.

The provision of a plurality of positioning units which allow movements that are independent of one another, each provided with respective linear actuators, makes the drilling machine according to the invention more robust than known solutions. A malfunction or failure of one of the actuators of the drilling machine can, in fact, be at least partly compensated by actuating the remaining actuators, so as to allow the continuation of the works, possibly in a partly limited operating area.

Embodiments described here also concern a method to position the mast of a drilling machine with respect to an excavation front to make holes in a tunnel.

The method according to the invention provides to position the drilling machine in correspondence with an area to be subjected to drilling, and to move the mast on a vertical plane, around a first horizontal axis of rotation by means of a first positioning unit provided with an articulation device.

The positioning method also provides to move the mast with respect to the first positioning unit by means of a second positioning unit.

According to some embodiments, the method provides to support the mast with an oblong support element connected to the articulation device and to drive positioning means cooperating with the oblong support element to move the mast with respect thereto.

According to some embodiments, the method provides to incline said oblong support element with respect to said articulation device making it rotate around a second horizontal axis of rotation by means of inclination adjustment actuator means.

According to other embodiments, the method provides to swivel the first positioning unit, and with it the second positioning unit and the mast, on a horizontal plane, around a vertical axis of rotation lying on the longitudinal median plane of the drilling machine by means of a swivel linear actuator connected between the frame and the articulation device, so as to allow a correct positioning of the mast with respect to the excavation front even in the case where the drilling machine is not aligned with it.

According to other embodiments, the method provides to rotate the mast around the first horizontal axis of rotation by means of an articulated device, by rotating a rotatable body of the latter with respect to a fixed body thereof by means of horizontal rotation actuator means comprising a pair of linear actuators acting in opposition to each other on opposite sides of the horizontal axis of rotation. This allows to continuously move the mast along a circumference arc to make the holes necessary to prepare the excavations in the positions desired on each occasion.

Embodiments described here with reference to <FIG> concern a drilling machine <NUM>, of the type suitable to prepare excavations in tunnels, in particular to make holes or perforations and/or to inject filling and consolidation materials therein.

The drilling machine <NUM> comprises a frame <NUM> mounted on a slider <NUM>, for example with tracks, and provided with stabilizing brackets <NUM> able to rest on the ground to prevent the slider <NUM> from moving when the drilling machine <NUM> is in operation.

The drilling machine <NUM> also comprises a drilling unit <NUM> comprising a mast or guide beam <NUM>, along which a rotation head <NUM> is mounted sliding and able to make the work tools (not shown) rotate.

The work tools can comprise, for example, a drilling member, injection means suitable to inject consolidating material into the holes to prepare the excavations, or other tools.

The drilling machine <NUM> comprises a first positioning unit <NUM> configured to allow a movement of the mast <NUM> with respect to the frame <NUM>, in particular a rotation of the mast <NUM> on a vertical plane around a first horizontal axis X1 in the direction indicated by arrows G1.

The first positioning unit <NUM> comprises an articulation device <NUM> suitable to allow a rotation around the horizontal axis X1.

The first positioning unit <NUM> also comprises a first support arm <NUM> connected between the articulation device <NUM> and the frame <NUM>, and a second support arm <NUM> connected to the articulation device <NUM> on the opposite side of the frame <NUM> and configured to support the mast <NUM>.

The drilling machine <NUM> according to the invention also comprises a second positioning unit <NUM> connected between the first positioning unit <NUM> and the mast <NUM> and configured to allow another movement of the latter with respect to the first positioning unit <NUM>.

In particular, the second positioning unit <NUM> comprises an oblong support element <NUM>, suitable to be connected to the second support arm <NUM> of the first positioning unit <NUM>, and provided with a head <NUM> provided with an upper surface suitable to define a support base <NUM> for the mast <NUM>.

According to some embodiments, the second positioning unit <NUM> also comprises positioning means <NUM>, <NUM>, <NUM>, <NUM>, <NUM> cooperating with the support base <NUM> and each suitable to confer at least one degree of freedom to the mast <NUM> with respect thereto.

The positioning means comprise a rotatable joint <NUM>.

According to other embodiments, the positioning means also comprise a gripping element <NUM> attached in a stable manner to the mast <NUM>, and a block <NUM> suitable to support the mast <NUM> in a sliding manner.

According to some embodiments, the rotatable joint <NUM> is disposed on the support base <NUM> of the oblong support element <NUM>, and the gripping element <NUM> is connected to the rotatable joint <NUM>, so that the mast <NUM> rests on and is supported by both.

According to some embodiments, the rotatable joint <NUM>, the gripping element <NUM> and the block <NUM> cooperate to support the mast <NUM> on a support plane parallel to the support base <NUM>.

According to some embodiments, the second positioning unit <NUM> comprises vertical rotation actuator means, or first actuator means <NUM>, suitable to allow a rotation of the mast <NUM> in cooperation with the rotatable joint <NUM> around a first vertical axis of rotation Y1 substantially orthogonal to the support base <NUM>.

For example, according to some embodiments, the first actuator means <NUM> comprise a pair of first linear actuators 31a, 31b connected to the rotatable joint <NUM>, in opposite positions to one another with respect to the mast <NUM>.

According to some embodiments, the first linear actuators 31a, 31b can be connected between the gripping element <NUM> and the rotatable joint <NUM>.

The first linear actuators 31a, 31b can be driven in counter-position, that is, one can be extended and the other retracted, and vice versa, to allow the rotation of the mast <NUM> with respect to the first vertical axis of rotation Y1 in the direction indicated by arrows F1 in <FIG>, <FIG>.

For example, according to some embodiments, the first linear actuators 31a, 31b can allow a rotation of about +/- <NUM>° with respect to a central position of alignment.

In this way it is possible to accurately position the mast <NUM> with respect to the excavation front even if the drilling machine <NUM> is not perfectly aligned therewith, allowing to make the drilling holes with the correct alignment.

According to other embodiments, the second positioning unit <NUM> also comprises horizontal sliding actuator means, or second actuator means <NUM> configured to allow the mast <NUM> to slide with respect to the support base <NUM> and to the block <NUM> in the direction indicated by arrows F2.

According to some embodiments, the second actuator means <NUM> comprise a pair of second linear actuators 32a, 32b disposed parallel to each other on opposite sides of the mast <NUM>, connected at one end to the mast <NUM> by the gripping element <NUM>, and at the other end to the block <NUM>, in opposite positions to each other.

The second linear actuators 32a, 32b can be driven in the same direction, to allow the mast <NUM> to slide with respect to the block <NUM>, forward or backward with respect to the drilling machine <NUM> and the excavation front. For example, <FIG> show two different operating positions of the mast <NUM> with respect to the support base, in which in <FIG> the second linear actuators 32a, 32b are in a condition close to the maximum end-of-travel, while in <FIG> they are in a partly retracted condition.

This sliding movement allows to precisely position the mast <NUM> in proximity to, or in contact with, the excavation front, so as to allow the drilling member to make a first hole, and subsequently to move the mast <NUM> away from it by acting solely with the second positioning unit <NUM>, keeping the first positioning unit <NUM> stationary.

According to other embodiments, sliding means <NUM>, <NUM> can be provided between the first positioning unit <NUM> and the second positioning unit <NUM> and configured to allow the sliding of the latter with respect to the former.

The sliding means can comprise, for example, sliding blocks <NUM> disposed between the second support arm <NUM> and the oblong support element <NUM>, suitable to allow a sliding of the latter in the direction indicated by arrows F3 in the drawings.

According to some embodiments, the sliding means comprise vertical sliding linear actuator means, or third linear actuator means <NUM>, configured to move the oblong support element <NUM> along the support arm <NUM> of the articulation device <NUM>.

According to some embodiments, the vertical sliding linear actuator means <NUM> comprise at least one linear actuator 33a connected at one end to the support arm <NUM> and at the other end to the head <NUM>. The third linear actuator 33a can be extended or retracted respectively, to make the oblong support element <NUM> slide upward or downward, and as a consequence lift or lower the mast <NUM>.

According to some embodiments, the support base <NUM> is inclined by an angle α with respect to a direction orthogonal to the longitudinal development of the oblong support element <NUM>, for example comprised between <NUM>° and approximately <NUM>°. This inclination allows a greater versatility in positioning the mast <NUM>.

According to possible variant embodiments, adjustment means (not shown) can be provided, configured to adjust the inclination of the head <NUM> and therefore of the support base <NUM> with respect to the oblong support element <NUM>.

The articulation device <NUM> of the first positioning unit <NUM> comprises a fixed body <NUM> and a rotatable body <NUM>, pivoted to the fixed body <NUM>.

According to some embodiments, the fixed body <NUM> is connected to the first supporting arm <NUM> and the rotatable body <NUM> is connected to the second support arm <NUM> and is configured to make it rotate together with it around the first horizontal axis of rotation X1.

The articulation device <NUM> can also comprise horizontal rotation actuator means, or fourth actuator means <NUM>, each connected between the fixed body <NUM> and the rotating body <NUM> on opposite sides with respect to the first horizontal axis of rotation X1.

The horizontal rotation actuator means <NUM> are configured to rotate the rotatable body <NUM> on a vertical lying plane.

According to some embodiments, the fourth actuator means comprise a pair of fourth linear actuators 34a, 34b, for example of the piston <NUM> and cylinder <NUM> type, suitable to be driven in counter-position to each other to allow the rotation of the rotatable body <NUM> with respect to the fixed body <NUM>.

By way of example, the rotatable body <NUM> can rotate continuously by an angle of about +/- <NUM>° with respect to the fixed body <NUM>, thus allowing to make the holes to prepare the excavations along a circumference arc.

For example, <FIG> show an operating position of the drilling machine <NUM> in which the base of the mast <NUM> is aligned on a substantially horizontal plane, and the fourth linear actuators 34a, 34b have substantially the same extension, while <FIG> show an operating position in which the mast <NUM> is rotated by about <NUM>° around the first horizontal axis of rotation X1 with respect to <FIG>, and its base lies on a substantially vertical plane; in this case the linear actuator 34a facing the direction of rotation will be in the condition close to the maximum end-of-travel, while the other linear actuator 34b will be in the condition close to the minimum end-of-travel.

According to possible embodiments, for example, the articulation device <NUM> can rotate the mast <NUM> by an angle of about +/- <NUM>° with respect to an intermediate position.

In accordance with some solutions, the fourth linear actuators 34a, 34b are rotatably connected to the fixed body <NUM> and to the rotatable body <NUM>. For example, the cylinders <NUM> and the pistons <NUM> can be pivoted by hinge means, or pins <NUM>, respectively to the fixed body <NUM> and to the rotatable body <NUM>.

In this way the cylinders <NUM> of the fourth linear actuators 34a, 34b can oscillate with respect to the fixed body <NUM> during the opposite actions of extension or retraction of the respective pistons <NUM>.

The rotatable body <NUM> is connected to the second support arm <NUM> by pivoting means <NUM>, defining a second horizontal axis of rotation X2 of the support arm <NUM> with respect to the fixed body <NUM>.

Inclination adjustment actuator means, or fifth actuator means <NUM>, are provided, connected with one end to the rotatable body <NUM> and with the opposite end to the support arm <NUM>, defining with them a triangle shape. The fifth actuator means <NUM> can comprise one, or a pair of linear actuators 45a, 45b which can be extended, or retracted, to incline the oblong support element <NUM> respectively toward the excavation front or toward a vertical position.

According to some embodiments, it can be provided that the linear actuators 45a, 45b have an extension travel suitable to rotate the oblong support element <NUM> by about <NUM>°, and the mast <NUM> connected thereto with respect to the second horizontal axis of rotation X2 in the direction indicated by arrows G2 in the drawings.

According to other embodiments, the first support arm <NUM> of the first positioning unit <NUM> is connected to the frame <NUM> by pivoting means <NUM> defining a third axis of rotation X3.

According to some embodiments, the third horizontal axis of rotation X3 is parallel to the second horizontal axis of rotation X2.

According to some embodiments, the projections of the first X1 and of the second horizontal axis of rotation X2 on a horizontal plane can be orthogonal to one another.

According to possible solutions, the first positioning unit <NUM> comprises a vertical movement linear actuator, or a sixth linear actuator <NUM>, connected with one end to the frame <NUM> and with the opposite end to the articulation device <NUM> by respective pivoting means <NUM>.

In particular, the sixth linear actuator <NUM> can be driven respectively to lift, or lower, the articulation device <NUM>, and therefore the second positioning unit <NUM> and the mast <NUM>, moving it on a substantially vertical plane, for example in the direction indicated by arrows G3 in the drawings.

<FIG> and <FIG> show examples of operating positions of the mast <NUM> at different heights, wherein in <FIG> the sixth linear actuator <NUM> is in a condition close to the maximum end-of-travel, while in <FIG> the sixth linear actuator <NUM> is in a condition close to the minimum end-of-travel.

According to other embodiments, the sixth linear actuator <NUM> can be connected to the articulation device <NUM> by other intermediate connection members <NUM>, for example integral with the first support arm <NUM>, or connected thereto in a stable and fixed manner.

According to possible variants, it can be provided that the intermediate connection members <NUM> are connected with play, so as to allow greater degrees of freedom between the first support arm <NUM> and the articulation device <NUM>.

For example, an intermediate connection member <NUM> can be provided connected to the first support arm <NUM>, to the articulation device <NUM> and to the sixth linear actuator <NUM>.

According to other embodiments, the first support arm <NUM>, or the possible intermediate connection member <NUM>, are connected to the articulation device <NUM> by pivoting means <NUM>, defining a fourth horizontal axis of rotation X4.

According to these embodiments, an inclination modification actuator, or seventh linear actuator <NUM>, can be provided configured to modify the inclination of the articulation device <NUM> toward the excavation front or toward a vertical position, respectively.

The seventh linear actuator <NUM> can be connected at one end to the frame <NUM> in a rotatable manner, and at the end opposite to the articulation device <NUM>.

The seventh linear actuator <NUM> can be connected directly or indirectly to the frame <NUM> and/or to the articulation device <NUM>.

According to some embodiments, a second intermediate connection member <NUM> can be provided, connected to the first support arm <NUM> and to the frame <NUM> in correspondence with the common pivoting means <NUM>, and with the seventh linear actuator <NUM> by respective pivoting means <NUM>.

According to some embodiments, the drive of the seventh linear actuator <NUM> allows a rotation of the articulation device <NUM>, and of the components connected thereto, on a vertical plane, around the fourth axis of rotation X4, in the direction indicated by arrows G4 in <FIG>.

According to other embodiments, the first positioning means <NUM> comprise a swivel linear actuator, or eighth linear actuator <NUM>, hinged at one end to the frame <NUM> and at the opposite end to the articulation device <NUM> and configured to rotate the latter around a second vertical axis of rotation Y2 lying on a longitudinal median plane M of the drilling machine <NUM>, in the direction indicated by arrows G4 in <FIG>.

The longitudinal median plane M of the drilling machine <NUM> can be defined as the median plane of the frame <NUM>.

In particular, the eighth linear actuator <NUM> is connected laterally to the articulation device <NUM>, so as to allow a swivel motion thereof with respect to the longitudinal median plane M.

According to some embodiments, the eighth linear actuator <NUM> can be extended, and respectively retracted to allow a rotation of the mast <NUM> on a substantially horizontal plane, so that its terminal end rotates on a circumference arc.

<FIG> show by way of example an operating position of the drilling machine <NUM> in which the mast <NUM> is positioned inclined with respect to the longitudinal median plane M by an angle β.

By way of example, a travel of the eighth linear actuator <NUM> can be provided, suitable to allow a rotation of the mast <NUM> by an angle β of about +/- <NUM>° with respect to the longitudinal median plane M.

Providing the articulations and linear actuators <NUM>-<NUM>, <NUM>-<NUM> hinged by pivoting means <NUM>-<NUM>, <NUM>-<NUM>, confers on the first <NUM> and second positioning unit <NUM> many degrees of freedom which therefore make the drilling machine <NUM> very versatile, allowing to position the mast <NUM> in a plurality of different positions.

Furthermore, providing the use of pairs of linear actuators <NUM>, <NUM>, <NUM>, <NUM>, <NUM> instead of single linear actuators allows on the one hand to decrease the overall power required, thus reducing consumption, and on the other hand to optimize the movement of the mast <NUM>.

Embodiments described here also concern a method to position the mast <NUM> of a drilling machine <NUM> with respect to an excavation front, in particular to make holes to prepare tunnel excavations.

The method according to the invention provides to position the drilling machine <NUM> in correspondence with an area to be subjected to drilling, and to move the mast <NUM> on a vertical plane, around a first horizontal axis of rotation X1, by means of a first positioning unit <NUM>.

The positioning method also provides to move the mast <NUM> with respect to the first positioning unit <NUM> by means of a second positioning unit <NUM>.

According to some embodiments, the method provides to support the mast <NUM> on a support base <NUM> defined by a head <NUM> of an oblong support element <NUM> constrained to the first positioning unit <NUM> and to move the mast <NUM> with respect thereto by means of suitable actuator means <NUM>, <NUM>.

According to some embodiments, the method provides to rotate the mast <NUM> with respect to a first vertical axis of rotation Y1 substantially orthogonal to the support base <NUM> and passing through it, by means of vertical rotation actuator means, or first actuator means <NUM>, to allow a correct alignment of the mast <NUM> with respect to the excavation front.

According to other embodiments, the method provides to translate the mast <NUM> in a linear direction on a plane parallel to the support base <NUM> by means of horizontal sliding actuator means, or second actuator means <NUM>, so as to bring it closer to or farther away from the excavation front to allow a correct positioning of the work tool.

According to other embodiments, the method provides to slide the second positioning unit <NUM> with respect to the first positioning unit <NUM> in a direction parallel to the longitudinal development of the oblong support element <NUM> by means of vertical sliding actuator means, or third actuator means <NUM>, cooperating with sliding blocks <NUM>.

According to other embodiments, the method provides to rotate the first positioning unit <NUM>, and with it the second positioning unit <NUM> and the mast <NUM> on a horizontal plane, around a second vertical axis of rotation Y2 lying on the longitudinal median plane M of the drilling machine <NUM> by means of a swivel linear actuator, or eighth linear actuator <NUM>.

According to other embodiments, the method provides to rotate the mast <NUM> around the first horizontal axis of rotation X1 by means of an articulation device <NUM>, by rotating a rotatable body <NUM> of the latter with respect to a fixed body <NUM> thereof by means of horizontal rotation actuator means <NUM>, comprising a pair of fourth linear actuators <NUM> acting in counter-position to each other on opposite sides of the horizontal axis of rotation X1.

According to other embodiments, the method provides to incline the oblong support element <NUM> with respect to the articulation device <NUM> causing it to rotate around a second horizontal axis of rotation X2 by means of inclination adjustment actuator means, for example a fifth linear actuator <NUM>.

According to some embodiments, the method provides to move vertically, that is, to lift and/or lower the articulation device <NUM>, and with it the second positioning unit <NUM> and the mast <NUM>, by the action of a vertical movement linear actuator, or sixth linear actuator <NUM>.

According to other embodiments, the method provides to modify the inclination of the articulation device <NUM> with respect to the frame <NUM>, together with the second positioning unit <NUM> and the mast <NUM>, by making the articulation device <NUM> rotate around a fourth horizontal axis of rotation X4 by the action of an inclination modification actuator, or seventh linear actuator <NUM>.

Claim 1:
Drilling machine comprising a frame (<NUM>) mounted on a slider (<NUM>), a drilling unit (<NUM>) comprising a mast or guide beam (<NUM>), along which a rotation head (<NUM>) is mounted sliding and able to make the work tools rotate, and a first positioning unit (<NUM>) provided with an articulation device (<NUM>) suitable to allow the rotation of said mast (<NUM>) on a vertical plane around a first horizontal axis of rotation (X1), and with a first support arm (<NUM>) connected between said articulation device (<NUM>) and said frame (<NUM>) and a second support arm (<NUM>) connected to said articulation device (<NUM>) on the opposite side thereof with respect to said frame (<NUM>), and a second positioning unit (<NUM>), connected between said first positioning unit (<NUM>) and said mast (<NUM>), and provided with an oblong support element (<NUM>), connected to said articulation device (<NUM>) by means of said second support arm (<NUM>) and suitable to support said mast (<NUM>), and with positioning means (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>) cooperating with said oblong support element (<NUM>) and each suitable to confer at least one degree of freedom on said mast (<NUM>) with respect thereto, wherein, said articulation device (<NUM>) comprises a fixed body (<NUM>), a rotatable body (<NUM>) pivoted to said fixed body (<NUM>) and connected to said second support arm (<NUM>) by pivoting means (<NUM>) defining a second horizontal axis of rotation (X2), and said drilling machine comprises inclination adjustment actuator means (<NUM>) connected with one end to said rotatable body (<NUM>) and with the opposite end to said second support arm (<NUM>) and configured to rotate said oblong support element (<NUM>) with respect to said second axis of rotation (X2) respectively toward the excavation front or toward a vertical position and said positioning means comprise a rotatable joint (<NUM>) disposed between a support base (<NUM>) of said oblong support element (<NUM>) and said mast (<NUM>), and vertical rotation actuator means (<NUM>) acting on said rotatable joint (<NUM>) and suitable to allow a rotation of said mast (<NUM>) around a vertical axis of rotation (Y1) substantially orthogonal to said support base (<NUM>).