Patent Grant
6938702
The invention relates to a method for controlling the operation of a rock drilling apparatus, the rock drilling apparatus comprising a percussion device, a rotating device, a feeding device, a flushing device and a tool and a bit arranged in the tool, and in which rock drilling apparatus the percussion device is arranged to produce impact energy directed to the tool, the rotating device is arranged to rotate the tool in a drill hole, the feeding device is arranged to feed the tool in the drill hole and the flushing device is arranged to supply flushing agent through the tool and the bit for flushing the drilling waste from the hole.
The invention also relates to an equipment for controlling the operation of the rock drilling apparatus, the rock drilling apparatus comprising a percussion device, a rotating device, a feeding device, a flushing device and a tool and a bit arranged in the tool, and in which rock drilling apparatus the percussion device is arranged to produce impact energy directed to the tool, the rotating device is arranged to rotate the tool in a drill hole, the feeding device is arranged to feed the tool in the drill hole and the flushing device is arranged to supply flushing agent through the tool and the bit for flushing the drilling waste from the hole.
Rock drilling apparatuses and rock drill machines arranged therein are used for drilling and excavating rock in mines, quarries and land construction sites, for instance. When holes are drilled in a rock, the drilling conditions may vary in different ways. Layers in the rock mass may vary in hardness, and therefore characteristics affecting the drilling should be adjusted according to drilling resistance. In the drilling, there are simultaneously four different functions in use: rotating the drill in a hole to be drilled, breaking the rock by striking a drill shank with the percussion device as well as drill feed and flushing, by which drilling waste is removed from the drilled hole. When rock is broken by striking the drill shank with the percussion device, impact energy of the percussion device is transmitted by means of drill rods, which conventionally serve as extensions of the drill shank, to a drill bit which strikes on the rock making it break. Rock breakage is thus mainly caused by the effect of the impact and the purpose of the rotation is mainly to ensure that drill buttons of the drill bit, or other working parts, at the outer end of the drill rods always hit a new spot in the rock.
As the drilling conditions vary, the relations between the different drilling functions are crucial to a successful drilling result. Professional skills of the operator play thus a very important role in the successful drilling result, because in varying drilling conditions, in particular, it is extremely difficult to find the correct relations between the different drilling functions, especially, due to highly demanding operating conditions of the rock drilling apparatus, it is very difficult to arrange reliable automated systems, i.e. measuring and control systems, in the rock drilling apparatus and the drilling machine therein. Hence, because the successful drilling result relies to a great extent on the operator, long working experience is required of a good operator. On the other hand, as the operator moves from one device to another, it takes a new training period in the handling of the rock drilling apparatus to achieve a good drilling result.
It is an object of the present invention to provide a novel solution for controlling the operation of a rock drilling apparatus.
The method of the invention is characterized by determining feed force of a feeding device and percussion power of a percussion device and by controlling automatically the feed force of the feeding device and the percussion power of the percussion device on the basis of the feed force of the feeding device and the percussion power of the percussion device.
Further, the equipment of the invention is characterized by comprising means for determining feed force of a feeding device and percussion power of a percussion device and at least one control unit for adjusting the feed force of the feeding device and the percussion power of the percussion device automatically on the basis of the feed force of the feeding device and the percussion power of the percussion device.
The basic idea of the invention is that the operation of the rock drilling apparatus, which comprises a percussion device for producing impact energy to a tool of the rock drilling apparatus, a rotating device for rotating the tool in a drill hole, a feeding device for feeding the tool into the drill hole and a flushing device for supplying flushing agent through the tool and the bit for flushing detached drilling waste from the hole, is controlled by determining the feed force of the feeding device and the percussion power of the percussion device and by adjusting the feed force of the feeding device and the percussion power of the percussion device automatically on the basis of the feed force of the feeding device and the percussion power of the percussion device. One preferred embodiment of the invention comprises setting the highest and the lowest allowed feed forces of the feeding device and the percussion powers of the percussion device, setting the upper and the lower limits for the relation between the feed force of the feeding device and the percussion power of the percussion device, which upper and lower limits serve as limits for a targeted operating area of the mutual relation between the feed force of the feeding device and the percussion power of the percussion device, determining the relation between the feed force of the feeding device and the percussion power of the percussion device on the basis of the feed force of the feeding device and the percussion power of the percussion device and adjusting the feed force of the feeding device and the percussion power of the percussion device such that the relation between the feed force of the feeding device and the percussion power of the percussion device is within the targeted operating area limited by said upper and lower limits.
The invention has an advantage that the solution can be implemented in a simple manner, because the necessary sensor elements and other equipment can be implemented in a simple manner. Thanks to closed-loop control, i.e. controlling the drilling automatically on the basis of measurements, it is easy to use the rock drilling apparatus also in demanding drilling conditions and the operator can learn easily and quickly how to use different rock drilling apparatuses. By maintaining the drilling within the desired targeted operating area, instead of a given, desired value, it is possible to reduce considerably the vibration risk of the drilling control system associated with the drilling situation. The solution reduces readily and simply the stress, to which the drilling equipment is subjected, and prevents the equipment from getting damaged during the normal operation of the rock drill machine or due to the misuse of the rock drill machine.
In the following the invention will be described in greater detail in the attached drawings, wherein
a and 11b are block diagrams of the operating principle of a normal drilling state of the rock drilling apparatus;
It is very important for successful drilling that different drilling functions, which include rotating the drill in the drill hole, breaking the rock by striking a drill shank or directly the tool 7 with the percussion device and feeding the drill and flushing, are in correct relation to one another. It is particularly important that the mutual relation (FF/PP) of the feed force FF of the feeding device 9 and the percussion power PP of the percussion device 4 is correct. The control of the operation of the rock drilling apparatus 1 according to the invention is advantageously implemented such that for reducing the vibration risk in operating the rock drilling apparatus 1 or the rock drill machine 6 the relation (FF/PP) between the feed force FF of the feeding device 9 and the percussion power PP of the percussion device 4 is maintained within a desired, targeted operating area, instead of accurately aiming for a given, desired, target value. This principle is illustrated schematically in
In the control of the operation of the rock drilling apparatus, the aim is to keep the percussion power PP of the percussion device 4 as high as possible. Consequently, as the relation (FF/PP) of the feed force FF of the feeding device 9 to the percussion power PP of the percussion device 4 is within the targeted operating area limited by the upper limit (FF/PP)OL and the lower limit (FF/PP)UL shown in
Raising or reducing the percussion power PP and the feed force FF can be performed either directly by standard steps or by using P, PI, PID or any other corresponding algorithm. When necessary, each situation can employ either a different algorithm or the same algorithm with different parameters. The highest allowed value PPMAX or the lowest allowed value PPMIN of the percussion power PP is not changed during the drilling. The upper limit FFMAX of the feed force FF can be changed during the drilling, either by the control of the rotating torque MM of the rotating device 5 or the flushing pressure FP of the flushing device 11.
The control of the mutual balance of the feed force FF of the feeding device 9 and the percussion power PP of the percussion device 4 can thus be implemented by the above-described solution. The upper limit FFMAX of the feed force FF can be changed during the drilling, either by the control of the rotating torque MM of the rotating device 5 or the flushing pressure FP of the flushing device 11. A rise in the rotating torque MM and in the flushing pressure FP may reveal either existing or forthcoming problems, such as jamming of the drilling equipment or clogging of the flushing holes in the drill bit. The control of drilling problem situations employs a method, in which the rotating torque MM and the flushing pressure FP are also provided with upper limits ΔMMMAX and ΔFPMAX for the changing rate of said variables ΔMM and ΔFP, in addition to the absolute upper limits of the measured variable MMMAX and FPMAX, which is schematically shown in
In addition to the above-described controls, it is necessary to be able to limit the drilling penetration rate PS, for instance, when drilling into a void or when starting the drilling. For this purpose there is a separate penetration rate PS control, whose operating principle is shown as a block diagram in FIG. 7. As the penetration rate PS exceeds the highest allowed penetration rate PSMAX, drilling is interrupted and a starting state of drilling is proceeded to, where the feed is under speed control and the percussion is at half power. As the penetration rate PS is below the lowest allowed penetration rate PSMIN, drilling is stopped. By preventing the use of the rock drill machine 6 when the penetration rate PS is excessively low, it is possible to reduce equipment damage caused by the excessively low penetration rate PS. Prior to comparing the minima of the penetration rates PS it is possible to adjust the penetration rate PS value by proportioning it with the percussion power PP, whereby it is possible to avoid heating of equipment and joints thereof resulting from excessively high percussion power PP with respect to excessively low penetration rate PS, which makes the drilling equipment break down fairly quickly. The drilling penetration rate PS can be measured with a speed detector 27, for instance, which is arranged in connection with the feeding device 9 or the percussion device 4 and which is arranged to measure the drilling penetration rate PS directly. Alternatively, it is possible to measure a distance travelled by the percussion device 4 on the feed beam 3 in a given time, for instance, with sensor elements arranged in connection with the percussion device, which allows the determination of the drilling penetration rate on the basis of the time lapsed and the distance travelled.
The actual controller is implemented as a 5-state controller, the states including stopping state of drilling, starting state, normal drilling state, jamming state of equipment and clogging state of flushing holes. In addition, the controller comprises an emergency stop state for stopping the drilling quickly in case of emergency. The upper level operating principle of the controller is shown as a block diagram in FIG. 8.
The operating principle of the stopping state is shown as a block diagram in FIG. 9. In the stopping state, the mutual stopping order and timing of different operations can be determined freely, i.e. each operation can be stopped at a desired time instant. Advantageously, the operations are stopped in the following order: feed, percussion, rotation, flushing. A counter controlling the stopping sequence employs an overflow buffer, whereby the counter counts up to its maximum value and remains in the maximum value until being reset in connection with a stopping state exit.
The starting state is used when drilling is started from the beginning or in the middle of drilling a hole after a manually performed interruption, as well as when restarting the drilling after drilling into a void. The operating principle of the starting state of the drill machine is shown as a block diagram in FIG. 10. In the starting state, the controls of the rotating torque MM and the flushing pressure PF are on, but the drilling feed is under speed control. A transfer from the starting state to the drilling state takes place on the basis of a signal indicating the balance between the percussion power PP and the feed force FF.
The operating principle of a normal drilling state is shown schematically in
flushing flow=a1×penetration rate+b1×percussion power.
Likewise, the set value RSSET of the rotating rate RS can be maintained constant or changed as a function of percussion frequency, for instance. For each drill bit there is a specific, optimal slewing angle between two successive percussions. This slewing angle varies to some extent according to the rock hardness. Mathematically expressed
rotating rate=a2×impact frequency+b2×percussion power.
When a jamming risk of equipment is detected, either the absolute value of the rotating torque MM or the changing rate value ΔMM of the rotating torque exceeding the set limit value, a jamming state of drilling is adopted, the operating principle of which is shown as a block diagram in FIG. 12. In the jamming state the aim is to detach the equipment by running the feed backwards either for a given preset distance or up to the return limit. At the same time the set value RSSET of the rotating rate RS and the percussion power PP are set to the maximum values. The equipment being detached, the drilling is restarted. If the equipment cannot be detached within the time limit set for a counter monitoring the jamming of the equipment, the drilling will be stopped.
The operating principle of the clogging state of flushing holes is shown as a block diagram in FIG. 13. When there is a risk that the flushing holes will clog, the same procedure is adopted as in the case of the jamming state, but instead of changing the set value RSSET of the rotating rate RS, the set value of the flushing pressure FP or the flushing flow FS will be changed.
For implementing the solution of the invention the rock drill machine 1 comprises a control unit 28, which may be a microprocessor, a signal processor, a programmable logic circuit or a similar data processing unit, which can implement the required functions described above. The control unit 28 determines control variables FFCO, PPCO, MMCO and FPCO on the basis of the measured data, or data determined therefrom by further processing, for controlling a motor 12a driving a feed pump 12, a motor 13a driving a percussion pump 13, a motor 14a driving a rotation pump 14 and a motor 21a driving a flushing pump 21. The control unit 28 is also used for setting the set values and the limit values, i.e. the highest and the lowest allowed values for the variables to be controlled and monitored. There may be a plurality of control units 28, and in that case the operations for controlling the rock drilling apparatus 1 can be distributed to different control units, which can communicate via data transmission buses provided between them.
The solution of the invention is applicable as such for drilling short and long holes alike. The solution can be implemented in a simple manner, because the necessary sensor elements and other equipment can be implemented in a simple manner. Thanks to closed-loop control, i.e. controlling the drilling automatically on the basis of measurements, it is easy to use the rock drilling machine also in demanding drilling conditions and the operator can learn easily and quickly how to use different rock drilling machines. The solution reduces in a simple manner the stress, which the impacts of the percussion device produce and to which the drilling equipment is subjected, and prevents the equipment from getting damaged or jammed, or the flushing holes of the bit from clogging during the normal operation of the rock drilling apparatus or due to the misuse of the rock drilling apparatus.
The drawings and the relating specification are only intended to illustrate the inventive idea. The details of the invention may vary within the scope of the claims. The pressure medium used is preferably pressure fluid, such as hydraulic oil or water, for instance. However, the pressure medium used can also be compressed air, whereby the structure of the rock drilling apparatus corresponds to that of a typical pneumatic rock drilling apparatus, but the operating principle and the controlling principle remain in accordance with the solution described.
| Number | Date | Country | Kind |
|---|---|---|---|
| 20012418 | Dec 2001 | FI | national |
| Filing Document | Filing Date | Country | Kind | 371c Date |
|---|---|---|---|---|
| PCT/FI02/00997 | 12/5/2002 | WO | 00 | 10/28/2004 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO03/05038 | 6/19/2003 | WO | A |
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| Number | Date | Country | |
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