CN102164714A - Method and arrangement in rock drilling rig - Google Patents
Method and arrangement in rock drilling rig Download PDFInfo
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- CN102164714A CN102164714A CN2009801385776A CN200980138577A CN102164714A CN 102164714 A CN102164714 A CN 102164714A CN 2009801385776 A CN2009801385776 A CN 2009801385776A CN 200980138577 A CN200980138577 A CN 200980138577A CN 102164714 A CN102164714 A CN 102164714A
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- 239000011435 rock Substances 0.000 title claims abstract description 180
- 238000005553 drilling Methods 0.000 title claims abstract description 121
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000009527 percussion Methods 0.000 claims description 69
- 230000006835 compression Effects 0.000 claims description 45
- 238000007906 compression Methods 0.000 claims description 45
- 238000005259 measurement Methods 0.000 claims description 29
- 238000006073 displacement reaction Methods 0.000 claims description 23
- 239000002245 particle Substances 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000007812 deficiency Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 230000003116 impacting effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 238000010010 raising Methods 0.000 description 2
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000013467 fragmentation Methods 0.000 description 1
- 238000006062 fragmentation reaction Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25D—PERCUSSIVE TOOLS
- B25D9/00—Portable percussive tools with fluid-pressure drive, i.e. driven directly by fluids, e.g. having several percussive tool bits operated simultaneously
- B25D9/14—Control devices for the reciprocating piston
- B25D9/26—Control devices for adjusting the stroke of the piston or the force or frequency of impact thereof
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
- E21B44/08—Automatic control of the tool feed in response to the amplitude of the movement of the percussion tool, e.g. jump or recoil
Abstract
A rock drilling rig (1) is provided with a rock drilling machine (6) comprising an impact device (4), a feed device (9) and a tool (7) with a drill bit (8) at the end thereof for breaking rock. The impact device is arranged to cause a stress wave to the tool and from there further to the rock to be drilled. During drilling at least some of the compressive stress wave (si) caused to the tool is reflected as a stress wave (sr) from the rock back to the tool. The method comprises determining a momentum ( Pr ) of the stress wave ( sr) reflected from the rock to the tool and adjusting the operation of the impact device and/or that of the feed device on the basis of the momentum.
Description
Technical field
The present invention relates to control the method for rock drill, rock drill is provided with rock borer, rock borer comprises percussion mechanism, feed arrangement and instrument, the end of instrument has drill bit, be used for fractured rock, and percussion mechanism is configured to instrument is produced stress wave, and the stress wave that instrument is configured to be produced by percussion mechanism is delivered to drill bit as compression stress wave and further be passed to from drill bit and treat rock drilling, and feed arrangement is configured to instrument and drill bit be pushed against and treats on the rock drilling, wherein during Drilling, at least some in the compression stress wave that instrument is produced by percussion mechanism are reflected as from treating that rock drilling gets back to the stress wave of instrument.
The invention still further relates to a kind of equipment relevant with rock drill, rock drill is provided with rock borer, rock borer comprises percussion mechanism, feed arrangement and instrument, the end of instrument has drill bit, be used for fractured rock, and percussion mechanism is configured to instrument is produced stress wave, and the stress wave that instrument is configured to be produced by percussion mechanism is delivered to drill bit as compression stress wave and further be passed to from drill bit and treat rock drilling, and feed arrangement is configured to instrument and drill bit be pushed against and treats on the rock drilling, wherein during Drilling, at least some in the compression stress wave that instrument is produced by percussion mechanism are reflected as from treating that rock drilling gets back to the stress wave of instrument.
Background technology
Rock drill is used to the cutting in underground mining ore deposit, stone pit and the excavation field and bores rock.Known brill rock and method for digging are cutting, fragmentation and bump method, for example.The bump method is that the ragstone type is the most frequently used.The bump method relates to the instrument that makes rock borer and is rotated and clash into.But mainly fractured rock is bump.Rotation great majority are used for guaranteeing that the ball tooth (button) of drill bit of instrument far-end or other cutting part always impact the new point on the rock.Rock borer generally includes the hydraulically operated percussion mechanism, and its impact piston allows instrument is produced necessary compression stress wave.Coming effectively with the bump method, fractured rock needs drill bit to abut against rock in the moment of hitting.The energy relevant with the impact of percussion mechanism produces compression stress wave to instrument, stress wave from instrument further to the drill bit of tool end, and subsequently to rock.Usually, under all Drilling conditions, some that are directed in the compression stress wave of rock reflect back into the instrument of rock borer from rock with the form of stress wave.
Announce that WO 2006/126933 discloses based on the method for controlling Drilling from the energy that is reflected back into the stress wave of instrument by rock drilling.According to this method, defined at least one parameter value and represented from the energy of the stress wave of rock reflected back.And, utilize this parameter value to regulate the duration and/or the rise time of the stress wave that produces by the impulse generator of percussion mechanism.This parameter value also allows to regulate the amplitude of the stress wave that is produced by impulse generator.Thereby the efficient of energy that the purpose of the solution of this announcement is a minimum reflected returns and raising Drilling system.
But a shortcoming of this system is that the stress wave energy of reflected back is difficult to measure.Fig. 2 is illustrated in the compression stress wave that enters rock during the Drilling and from the schematic diagram of the stress wave of rock reflected back.In the stress wave of the reflected back of Fig. 2, be represented as positive and tensile stress for negative from treating compression stress that rock drilling reflects back into instrument.Compression stress wave σ by the impulse generator generation
iEnergy can calculate with following formula,
And from treating that rock drilling reflects back into the stress wave σ of instrument
rEnergy then can calculate with following formula,
Wherein A is the cross-sectional surface of instrument (being drilling rod), and Y is an elastic modelling quantity, and c is the wave velocity in the instrument, and ti enters the compression stress wave σ that treats rock drilling from instrument
iDuration, and tr is from treating that rock drilling reflects back into the stress wave σ of instrument
rDuration.Formula (2) is clearly shown that, power (involution) in the stress wave energy calculation of reflected back causes the symbolic information of the stress wave of reflected back to be lost, and which of the stress wave energy of reflected back partly to be that compression stress and which partly are the information of tensile stress about promptly.
In addition, the energy of reflected back fails to illustrate reliably dominant ROCK CONDITIONS.If Drilling enters cavity suddenly, then the compression stress wave that is produced by the impulse generator of percussion mechanism entirely reflects as the tensile wave of the reflected back rock end from instrument.Thereby the efficient of stress wave is 0% certainly.When just at the extremely hard rock of Drilling, compression stress wave almost all reflects with the form of compression stress wave.And in this situation, efficient is almost 0%.In other words, under above-mentioned two kinds of situations, the energy of compression stress wave almost all is reflected, and no matter the Drilling conditionally complete is different and need antipodal adjusting come Drilling.
Therefore, the percussion mechanism control of operation can not be based on from treating that the energy that rock drilling reflects back into the stress wave of instrument is provided with reliably under different Drilling conditions.
Summary of the invention
The novel solution that the purpose of this invention is to provide the operation of controlling rock borer.
Method of the present invention is characterised in that, measure expression from treating that rock drilling reflects back at least one measuring-signal of the stress wave of instrument, based on measuring-signal determine from treat rock drilling reflect back into instrument stress wave momentum or represent the parameter of described momentum, and based on from treat rock drilling reflect back into instrument stress wave momentum or represent that the parameter of described momentum regulates the operation of percussion mechanism and/or the operation of feed arrangement.
Equipment of the present invention is characterised in that, this equipment also comprises at least one measurement mechanism, measurement mechanism is configured to measure expression and reflects back at least one measuring-signal of the stress wave of instrument from treating rock drilling, and this equipment also comprises at least one control and data processing unit, described control and data processing unit be configured to based on the measuring-signal of measurement mechanism determine from treat rock drilling reflect back into instrument stress wave momentum or represent the parameter of described momentum, and described control and data processing unit be configured to based on from treat rock drilling reflect back into instrument stress wave momentum or represent that the parameter of described momentum regulates the operation of percussion mechanism and/or the operation of feed arrangement.
The method of control rock drill, wherein rock drill is provided with rock borer, rock borer comprises percussion mechanism, feed arrangement and end have the instrument of drill bit, be used for fractured rock, and percussion mechanism is configured to instrument is produced stress wave, instrument is configured to treat rock drilling with being produced by percussion mechanism that stress wave is delivered to drill bit as compression stress wave and further being passed to from drill bit, and feed arrangement is configured to instrument and drill bit be pushed against and treats on the rock drilling, wherein during Drilling, in the compression stress wave that instrument is produced by percussion mechanism at least some are reflected as from treating that rock drilling reflects back into the stress wave of instrument, this method comprises: measure expression from treating that rock drilling reflects back at least one measuring-signal of the stress wave of instrument, based on measuring-signal determine from treat rock drilling reflect back into instrument stress wave momentum or represent the parameter of described momentum, and based on from treat rock drilling reflect back into instrument stress wave momentum or represent that the parameter of described momentum regulates the operation of percussion mechanism and/or the operation of feed arrangement.
From treating that momentum that rock drilling reflects back into the stress wave of instrument is keeping the stress wave about reflected back is the information of expression tensile stress or expression compression stress.In other words, the momentum of the stress wave of reflected back allows to discern at any time corresponding to concrete Drilling Drilling condition constantly, thereby allow correctly to control or regulate the operation of rock borer or even the operation of whole rock drill based on dominant Drilling condition, and can not cause unnecessary strain to drilling equipment.
According to embodiment,, increase the centripetal force of feed arrangement when momentum hour.The situation of little momentum representation feeding deficiency, the centripetal force that increases feed arrangement thus allows to realize normal Drilling situation.
According to second embodiment, when momentum hour, increase the duration or the length of the stress wave that produces by percussion mechanism, and/or reduce the amplitude or the intensity of the stress wave that produces by percussion mechanism.Therefore, if the increase of the centripetal force of feed arrangement does not influence the momentum of the stress wave of reflected back, then the conclusion that can draw is that little momentum is to be caused by the tensile stress that causes because of soft rock, and this tensile stress can reduce by the amplitude or the intensity of the stress wave that reduces to be produced by percussion mechanism.As a result, the amplitude of tensile stress ripple reduce and drilling equipment on strain reduce.At this moment, can increase the duration or the length of the stress wave that is produced by percussion mechanism, this allows the reduction of compensation by the drill chisel speed that reduces to cause of stress wave amplitude.
According to the 3rd embodiment, when momentum is big, reduce length, and increase the stress intensity of wave that produces by percussion mechanism by the stress wave of percussion mechanism generation.The reducing to have reduced of the length of the stress wave that is produced by percussion mechanism is directed into treats rock drilling and from the length of the compression stress wave for the treatment of the rock drilling reflected back, thereby improves Drilling efficient.The increase of the intensity of the shock pulse of percussion mechanism causes the increase of the amplitude of compression stress wave, thereby increases the Drilling enter rock and deeply spend (penetration).
Description of drawings
The more detailed with reference to the accompanying drawings some embodiments of the present invention of having discussed, in the accompanying drawings:
Fig. 1 is the schematic side elevation of rock drill, has wherein used described solution;
Fig. 2 enters the compression stress wave for the treatment of rock drilling and from the schematic diagram of the stress wave of rock reflected back;
Fig. 3 enters the compression stress wave for the treatment of rock drilling and from the schematic diagram of the corresponding stress wave of rock reflected back;
Fig. 4 is the schematic diagram of the momentum corresponding with the stress wave of Fig. 3;
Fig. 5 is the schematic diagram of the tool displacement corresponding with Fig. 3 and Fig. 4;
Fig. 6 enters second compression stress wave for the treatment of rock drilling and from the schematic diagram of the corresponding stress wave of rock reflected back;
Fig. 7 is the schematic diagram of the tool displacement corresponding with the stress wave of Fig. 6.
For the sake of clarity, simplified the embodiment of the present invention shown in the accompanying drawing.In whole accompanying drawing, identical parts are represented with identical Reference numeral.
The specific embodiment
The side view schematic and that obviously simplify of the rock drill 1 that Fig. 1 may be utilized for solution of the present invention.The rock drill 1 of Fig. 1 is provided with arm 2, and an end of arm 2 has feed beam 3, and this feed beam 3 is provided with the rock borer 6 with percussion mechanism 4 and whirligig 5.Whirligig 5 is delivered to instrument 7 with continuous revolving force, thereby the drill bit 8 that makes the instrument of being connected to 7 changes its position and impact new point on the rock next time when impacting after impacting.Percussion mechanism 4 is provided with impact piston usually, this impact piston move under the effect of pressure medium and impact the upper end of the instrument of being set to 7 or be arranged on instrument 7 and percussion mechanism 4 between middleware.Naturally, the percussion mechanism 4 of different structure also is possible.Thereby the stress wave that is directed into instrument also can for example produce by the pressure pulse that is passed to pressure medium, perhaps by producing based on electromagnetic device, does not move and do not need impact piston to produce machinery.In this article, term " percussion mechanism " also refers to the percussion mechanism based on this specific character.The near-end of instrument 7 is connected to rock borer 6, and the far-end of instrument 7 is provided with the fixing or dismountable drill bit 8 that is used for fractured rock.The near-end of instrument 7 with dashed lines in Fig. 1 is schematically illustrated.In the Drilling process, utilize feed arrangement 9 that drill bit 8 is pushed against on the rock.Feed arrangement 9 is set to feed beam 3, and rock borer 6 is provided with movably about feed beam 3.Although other drill bit structure also is possible, drill bit 8 typically is known as the drill bit that is provided with ball tooth 8a.When utilizing segmented drilling rod Drilling (being also referred to as the slotted hole Drilling), according to the degree of depth to be holed, a plurality of drilling rod 10a to 10c are connected between drill bit 8 and the rock borer 6, and these drilling rods form instrument 7.
It is quite little with respect to the structure of actual rock borer 6 that Fig. 1 illustrates rock drill 1.For the sake of clarity, 1 of the rock drill of Fig. 1 has an arm 2, feed beam 3, rock borer 6 and feed arrangement 9, but obviously, rock drill is provided with a plurality of arms 2 with feed beam 3 usually, arranges rock borer 6 and feed arrangement 9 in the end of each arm 2.Also clearly, rock borer 6 generally comprises and prevents drill bit 8 by the flusher of caulked, but not shown flusher among Fig. 1 for the sake of clarity.Rock borer 6 can be operated by hydraulic method, but also can be by the method operation of Pneumatic method or electricity.
The stress wave that is produced by percussion mechanism 4 transmits towards the drill bit 8 at the place, end of the drilling rod 10c of outermost end along drilling rod 10a to 10c with the form of compression stress wave.When compression stress wave ran into drill bit 8, drill bit 8 and its ball tooth 8a impacted material to be bored, thereby cause big compression stress, formed the crack owing to this big compression stress in treating rock drilling.If too powerful with respect to the hardness of rock by the stress wave that percussion mechanism 4 transmits, then the problem of Chu Xianing is that this has caused unnecessary high tensile stress level to drilling equipment.For example, continue to pierce the permanent damages that soft rock for example causes the screw terminals wearing and tearing between the drilling rod 10a to 10c and/or causes drilling equipment owing to fatigue with too much impact energy.
In order to control or regulate the operation of rock drill and rock borer, particularly, determine from treating that rock drilling reflects back into the stress wave σ of instrument
rMomentum or represent the parameter of described momentum and based on this momentum or represent that the parameter of this momentum controls or regulate the operation of percussion mechanism 4 and/or feed arrangement 9.From instrument 7 to the compression stress wave σ that treats rock drilling
rMomentum P
iCan calculate with following formula,
Wherein A is the cross section of instrument 7 (being drilling rod 10a to 10c), and ti is compression stress wave σ
iDuration.Conversely, reflect back into the stress wave σ of instrument 7 from rock
rMomentum P
rThen can calculate by following formula,
Wherein tr is from treating that rock drilling reflects back into the stress wave σ of instrument 7
rDuration.Formula (4) clearly show that the stress wave σ of reflected back
rMomentum P
rCalculating how to have kept the symbolic information of the stress wave of reflected back, promptly kept about which of the stress wave of reflected back and represented that partly compression stress and which partly represent the information of tensile stress.As momentum P
rWhen big, the stress wave of reflected back mainly is made up of compressive reflexes, and as momentum P
rHour, the tension force reflection is then related to most.As momentum P
rWhen obtaining null value, reflect back into the stress wave σ of instrument 7 from rock
rThe tensile stress and the compression stress of expression isodose.
Along with from treating that rock drilling reflects back into the stress wave σ of instrument 7 (promptly reflecting back into one or more drilling rod 10a to 10c the situation of Fig. 1)
rAdvance to the end of rock borer 6 backward from the end of instrument 7, its end at instrument 7 causes displacement.If mainly comprise tensile stress from the stress wave of rock reflected back, then stress wave makes the end of instrument move to the Drilling direction.If mainly comprise compression stress from the stress wave of rock reflected back, then stress wave makes the end of instrument move towards rock borer.Based on this information, the momentum of the tensile wave of reflected back or represent that the parameter of this momentum can determine in every way.
For example, the momentum of the tensile stress of reflected back can be determined by the displacement from the direct survey tool 7 in end or middle part of instrument 7.For example.Schematically shown in Figure 1, measurement mechanism 11 can be arranged near near being right after or being connected in this is right after of rock borer 6 these ends of instrument 7, to measure expression from treating that rock drilling reflects back into the stress wave σ of instrument 7
rMeasuring-signal MS.Such measurement mechanism 11 can for example be the induction type range sensor, and this sensor passes is represented the voltage or the power message of the stress wave of reflected back, as measuring-signal MS.The measuring-signal MS that is measured by measurement mechanism 11 is passed to control and data processing unit 12, and the measuring-signal MS that this control and data processing unit 12 are measured based on measurement mechanism 11 determines stress wave σ
rMomentum P
rOr represent the parameter of this momentum, as the displacement of instrument 7.Advance from the end of instrument 7 when getting back to the rock borer end when the stress wave of reflected back, it makes tool displacement.If what relate generally to is the tensile stress of reflected back, then instrument or drilling rod move to the Drilling direction by the impact of back wave.If the back wave major part is made up of compression stress, then drilling rod moves towards rock borer.Can be by the degree of following formula displacement calculating,
Wherein, d
iBe the displacement that causes to the stress wave for the treatment of rock drilling by from instrument, d
rBe the displacement that the stress wave by reflected back causes, v
iBe by the particle velocity that causes to the stress wave for the treatment of rock drilling from instrument, v at point of observation
rBe the particle velocity that the stress wave by reflected back causes, c is the stress wave propagation velocity in instrument or the drilling rod, and ρ is the density of tool materials.The displacement d that causes by the stress wave of reflected back
rConsidered symbolic rule, according to this symbolic rule, the stress wave of reflected back is corresponding to negative velocity.
Based on formula (5) and (6), with the momentum P of the stress wave of reflected back
rThe displacement that is defined as instrument is easy.In other words, tool displacement d
rIt is the parameter of momentum of the stress wave of expression reflected back.When measuring the tool displacement with respect to the end of instrument, also must consider the again reflection of stress wave when arranging measurement mechanism 11 from rock borer 6 these ends of instrument 7.
Control can be control that separates and the data processing unit that is exclusively used in rock borer 6 and only controls the operation of rock borer 6 with data processing unit 12, and perhaps it can be the unit of the operation of controlling rock drill 1 on the whole.The control and the operational example of data processing unit 12 are as can be based on PLD, but it is included in different calculating and the different microprocessor of control operation and the devices of signal processor of execution under the software control typically.And, control and data processing unit 12 comprise plural separate but the device that interconnects be fine, each device is implemented as the task that they limit, for example, a device is determined the momentum of the stress wave of reflected back, and another device is carried out the necessary control operation based on determined momentum.
In the example of Fig. 1, can also be by being that instrument 7 is provided with the stress wave σ that hydraulic pressure servicing unit 13 (schematically showing) is determined reflected back in Fig. 1 at rock borer 6 these ends
rMomentum P
r, wherein the displacement of instrument 7 ends causes and the proportional pressure of displacement.By arranging that measurement mechanism 11 is with gaging pressure, promptly when measurement mechanism 11 is pressure gauge or sensor type or similar device, the pressure that is caused by the stress wave that reflects back into the hydraulic pressure servicing unit from rock can be by measurement mechanism 11 with based on the momentum of the pressure wave of these measurement mechanism 11 determined reflected backs or represent that the parameter of this momentum is measured
Be used for determining the stress wave σ of reflected back
rMomentum P
rThe example of another possibility be directly to measure the change of causing for instrument 7 by stress wave from instrument 7.This for example can be undertaken by the strain of survey tool 7, and for example, in this case, measurement mechanism 11 can be the deformeter that for example is set to instrument 7.But because the rotation of instrument 7, the contact measurement of the type is because the required cable of transmission measurement signal MS former thereby can be problematic.Alternatively, the momentum of the stress wave of reflected back can be determined by heed contacted measure, for example, promptly determine by certain particle or the speed of certain part on the direct of travel of the stress wave of reflected back of survey tool 7 by the particle velocity of survey tool 7 on the direct of travel of stress wave.The stress wave of particle velocity and reflected back in direct ratio.For example, measurement mechanism 11 can be the laser instrument of permission with the optical method for measuring particle velocity.For example, measurement mechanism 11 also can be the coil of the variation of permission on the magnetic field that is caused by the stress wave to be measured in the instrument 7.
Based on from treating the stress wave σ of rock drilling reflected back
rMomentum P
rOr the parameter of representing this momentum can for example followingly be carried out the control or the adjusting of rock borer 6.When momentum hour, it is not enough or when treating that rock drilling is soft, the result of above-mentioned two kinds of situations is that the stress wave of reflected back is corresponding with tensile stress perhaps to relate to feeding.In the situation of feeding deficiency, the drill bit 8 at place, the end of drill bit or instrument 7 suitably is not resisted against rock in impact process.Therefore, between drill bit 8 and rock, form the gap, produce the tensile stress ripple according to the free end boundary condition.In the situation of soft rock, drill bit 8 is followed the free end boundary condition basically in the beginning that is directed to instrument 7 and is directed to the stress pulse of drill bit thus at least, and the result also produces the stress wave of the reflected back that comprises tensile stress most ofly.
There is extremely simple mode to distinguish the situation of the soft rock of the situation of feeding deficiency and Drilling.In the situation of feeding deficiency, for example increase pressure in the pressure pipeline 14 in the feed arrangement 9, can utilize feed arrangement 9 raisings to supply to the centripetal force of rock borer 6 by the feed pressure of utilizing control and data processing unit 12 to come control pump 15 to regulate feed arrangement pump 15 via control link 21.When rock borer 6 and instrument 7 and the drill bit 8 that is associated with it by when treating that rock drilling drives, pressure fluid flows to feed arrangement 9 on the direction of arrow A.During the return movement of feed arrangement 9, the Returning pipe 16 that pressure fluid passes feed arrangement 9 on by the direction shown in the arrow B flow back into container 17.
Basically do not influence momentum if increase centripetal force, then can be summarized as what relate to is to have caused tensile stress by soft rock.In this situation, the operation of rock borer 6 can be controlled or be regulated by stress intensity of wave or amplitude that percussion mechanism produces by reducing.As a result, the amplitude of tensile stress ripple reduces, and this reduction acts on the strain of drilling equipment.Simultaneously, the length or the duration of the stress wave that is produced by percussion mechanism can be increased, and this allows the reduction of the drill chisel speed that compensation causes by this amplitude that reduces.This also for example can by by utilizing control and data processing unit 12 control links 20 suitably change be arranged in percussion mechanism 4 pressure pipeline percussion mechanism 4 pump 19 pressure and arrow A ' direction pressure fluid be transported to percussion mechanism 4 carry out.Therefore, the centripetal force of feed arrangement 9 can remain and be higher than initial value or turn back to its previous value.The amplitude that reduces the stress wave that produced by percussion mechanism 4 reduces the amplitude of the compression stress wave that is directed into rock, and this also reduces naturally from the amplitude of the tensile stress ripple of rock reflected back, thereby reduces the momentum of the stress wave of reflected back.
Because the tensile stress that comprises is taken the main responsibility to the damage of drilling equipment, protected drilling equipment so reduce the amplitude of tensile stress ripple from the stress wave of rock reflected back.Conversely, the increase of the stress wave length that is produced by percussion mechanism 4 then compensates the reduction that is reduced the drill chisel speed that produced by the stress wave amplitude.When the momentum of the stress wave that reflects back into instrument 7 hour, also can before the centripetal force that increases feed arrangement 9, at first increase the length or the duration of the stress wave that produces by percussion mechanism 4 naturally, and/or reduce stress intensity of wave or amplitude.
As the stress wave σ that reflects back into instrument 7
rMomentum P
rWhen big or high, what the conclusion that draws related to is ragstone.Ragstone causes and the opposed high power of the deep degree of drill bit 8 tool end 7 and drill bit 8.Thereby, from instrument 7 to the compression stress wave σ that treats rock drilling
iNot comprising enough power makes drill bit 8 deeper penetrate rock.When drill bit 8 stopped to penetrate rock, the compression stress wave that instrument 7 ends of being concerned about are followed the stiff end boundary condition and entered rock was reflected as the compression stress wave that reflects back into instrument 7.In this situation, can control or regulate rock borer 6 by the length of the stress wave of percussion mechanism 4 generations and by the amplitude that increases the stress wave that produces by percussion mechanism 4 by shortening, its objective is the penetration speed and the efficient that increase Drilling.
In some situation, also can change the frequency of impact of percussion mechanism 4 or change the Drilling pulse frequency.In the time of in piercing ragstone, it is normally favourable to increase frequency of impact.In this situation, purpose is that each impact all obtains big penetrance, but even small penetrating be enough.Thus, the combination of little penetrance by one-shot and high frequency of impact has realized actual drill chisel speed.
Because from treating that rock drilling reflects back into the stress wave σ of instrument 7
rMomentum P
rKept comprising the tensile stress or the information of compression stress, so can be at any time correctly discern specific Drilling Drilling condition constantly based on the momentum of the stress wave of reflected back about the stress wave of reflected back.This makes can come correctly to control on the whole and regulate rock borer 6 and rock drill 1 based on dominant Drilling condition.
Next, show with reference to figure 3 to Fig. 7 modes and determine from treating the stress wave σ of rock drilling reflected back by example
rMomentum P
rOr represent the displacement d of the instrument 7 of this momentum
rAnother example.Fig. 3 to Fig. 5 shows a kind of like this situation, and the extremely soft rock of Drilling has wherein caused the tensile stress of extremely high reflected back.Conversely, Fig. 6 and Fig. 7 then show the situation that pierces extremely hard rock.The cross-sectional area of the drilling rod that uses in Drilling is 1178mm
2And the material parameter of drilling rod is: the stress wave speed in the drilling rod is the c=5188 meter per second, and drill rod materials density is ρ=7800 kilogram/m
3As implied above, in the drawings, treat the compression stress wave σ of rock drilling from instrument 7 courts
iBy Reference numeral σ
iExpression, and from the stress wave of rock reflected back Reference numeral σ
rExpression.Pars intermedia at drilling rod carries out described stress wave measurement.
Fig. 4 illustrates, and the amount of the motion of reflected back is pact-29.6Ns, its according to formula (6) corresponding to displacement to about 0.6mm of the direction for the treatment of rock drilling.This displacement can be determined from Fig. 5.Conversely, Fig. 7 illustrates the drilling rod displacement for to the about 0.48mm of the direction of rock borer 6.According to formula (4), it is 23Ns that corresponding momentum can be confirmed as.Based on this, can reach a conclusion, reflection mainly is made up of compression stress, and what relate to is to pierce extremely hard rock.
In some situation, disclosed feature can be employed after this manner among the application, and no matter further feature.On the other hand, disclosed feature can be combined to produce different combinations among the application.
Accompanying drawing and related description book only are to be used for showing thought of the present invention.Details of the present invention can change in the scope of claims.
Claims (22)
- One kind control rock drill (1) method, described rock drill (1) is provided with rock borer (6), described rock borer (6) comprises percussion mechanism (4), feed arrangement (9) and instrument (7), the end of described instrument (7) has drill bit (8), be used for fractured rock, and described percussion mechanism (4) is configured to described instrument (7) is produced stress wave, and the stress wave that described instrument (7) is configured to be produced by described percussion mechanism (4) is as compression stress wave (σ i) be delivered to described drill bit (8) and further be passed to from described drill bit (8) and treat rock drilling, and described feed arrangement (9) is configured to described instrument (7) and described drill bit (8) be pushed against and treats on the rock drilling, wherein during Drilling, by the compression stress wave (σ of described percussion mechanism (4) to described instrument (7) generation i) at least some be reflected as from treating that rock drilling gets back to the stress wave (σ of described instrument (7) r), it is characterized in that,Measure expression from treating that rock drilling reflects back into the stress wave (σ of described instrument (7) r) at least one measuring-signal (MS),Determine from treating that rock drilling reflects back into the stress wave (σ of described instrument (7) based on described measuring-signal r) momentum (P r) or represent the parameter of described momentum, andBased on from treating that rock drilling reflects back into the stress wave (σ of described instrument (7) r) momentum (P r) or represent that the parameter of described momentum regulates the operation of described percussion mechanism (4) and/or the operation of described feed arrangement (9).
- 2. the method for claim 1 is characterized in that, measures the displacement (D) of described instrument (7), and determines from treating that rock drilling reflects back into the stress wave (σ of described instrument (7) based on the displacement (D) of described instrument (7) r) momentum (P r).
- 3. method as claimed in claim 1 or 2, it is characterized in that, described instrument (7) is provided with hydraulic pressure servicing unit (13) and measures the pressure that acts on the described hydraulic pressure servicing unit (13), and determine from treating that rock drilling reflects back into the stress wave (σ of described instrument (7) based on described pressure r) momentum (P r) or represent the parameter of described momentum, the displacement (D) of for example described instrument (7).
- 4. each described method in the claim as described above is characterized in that, directly measures stress wave (σ by reflected back from described instrument (7) r) change that described instrument (7) is produced.
- 5. each described method in the claim as described above is characterized in that, measures the prolongation of described instrument (7).
- 6. method as claimed in claim 4 is characterized in that, the particle velocity of the described instrument of optical measurement (7).
- 7. method as claimed in claim 4 is characterized in that, based on the stress wave (σ by reflected back r) change on the magnetic field of the described instrument (7) that produces measures the particle velocity of described instrument (7).
- 8. each described method in the claim as described above is characterized in that, as described momentum (P r) hour, increase the centripetal force of described feed arrangement (9).
- 9. each described method in the claim as described above is characterized in that, as described momentum (P r) hour, increase the length or the duration of the stress wave that produces by described percussion mechanism (4), and/or reduce stress intensity of wave or amplitude by described percussion mechanism (4) generation.
- 10. as each described method among the claim 1-7, it is characterized in that, as described momentum (P r) when big, reduce the length of the stress wave that produces by described percussion mechanism (4), and the amplitude that increases the stress wave that produces by described percussion mechanism (4).
- 11. each described method in the claim is characterized in that as described above, changes the frequency of impact of described percussion mechanism (4).
- 12. one kind with the relevant equipment of rock drill (1), described rock drill (1) is provided with rock borer (6), described rock borer (6) comprises percussion mechanism (4), feed arrangement (9) and instrument (7), the end of described instrument (7) has drill bit (8), be used for fractured rock, and described percussion mechanism (4) is configured to described instrument (7) is produced stress wave, and the stress wave that described instrument (7) is configured to be produced by described percussion mechanism (4) is as compression stress wave (σ i) be delivered to described drill bit (8) and further be passed to and treat rock drilling, and described feed arrangement (9) is configured to described instrument (7) and described drill bit (8) be pushed against and treats on the rock drilling, wherein during Drilling, by the compression stress wave (σ of described percussion mechanism (4) to described instrument (7) generation i) at least some be reflected as from treating that rock drilling gets back to the stress wave (σ of described instrument (7) r), it is characterized in that,Described equipment also comprises at least one measurement mechanism (11), and described measurement mechanism (11) is configured to measure expression from treating that rock drilling reflects back into the stress wave (σ of described instrument (7) r) at least one measuring-signal (MS), andDescribed equipment also comprises at least one control and data processing unit (12), and described control and data processing unit (12) are configured to determine from treating that rock drilling reflects back into the stress wave (σ of described instrument (7) based on the measuring-signal of described measurement mechanism (11) r) momentum (P r) or represent the parameter of described momentum, and described control and data processing unit (12) are configured to based on from treating that rock drilling reflects back into the stress wave (σ of described instrument (7) r) momentum (P r) or represent that the parameter of described momentum regulates the operation of described percussion mechanism (4) and/or the operation of described feed arrangement (9).
- 13. equipment as claimed in claim 12 is characterized in that, described measurement mechanism (11) is configured to measure the displacement (D) of described instrument (7).
- 14. equipment as claimed in claim 12 is characterized in that, described equipment also comprises the hydraulic pressure servicing unit (13) that described instrument (7) is provided with, and described measurement mechanism (11) is configured to measure the pressure that acts on the described hydraulic pressure servicing unit (13).
- 15. equipment as claimed in claim 12 is characterized in that, described measurement mechanism (11) is configured to from the direct stress wave (σ that measures by reflected back of described instrument (7) r) change that described instrument (7) is produced.
- 16. equipment as claimed in claim 15 is characterized in that, the prolongation that described measurement mechanism (11) is configured to measure described instrument (7).
- 17. equipment as claimed in claim 15 is characterized in that, described measurement mechanism (11) is configured to the particle velocity of the described instrument of optical measurement (7).
- 18. equipment as claimed in claim 15 is characterized in that, described measurement mechanism (11) is configured to based on the stress wave (σ by reflected back r) variation on the magnetic field of the described instrument (7) that produces measures the particle velocity of described instrument (7).
- 19. as each described equipment among the claim 12-18, it is characterized in that, when described momentum hour, described control and data processing unit (12) are configured to control the operation of described feed arrangement (9), make the centripetal force of described feed arrangement (9) be increased.
- 20. as each described equipment among the claim 12-19, it is characterized in that, when described momentum hour, described control and data processing unit (12) are configured to control the operation of described percussion mechanism (4), making increases the length or the duration of the stress wave that is produced by described percussion mechanism (4), and/or reduces stress intensity of wave or amplitude by described percussion mechanism (4) generation.
- 21. as each described equipment among the claim 12-18, it is characterized in that, as described momentum (P r) when big, the amplitude that described control and data processing unit (12) are configured to shorten the length of the stress wave that is produced by described percussion mechanism (4) and increase the stress wave that is produced by described percussion mechanism (4).
- 22., it is characterized in that described control and data processing unit (12) are configured to change the frequency of impact of described percussion mechanism (4) as each described equipment among the claim 12-21.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FI20085926A FI122300B (en) | 2008-09-30 | 2008-09-30 | Method and arrangement for a rock drilling machine |
| FI20085926 | 2008-09-30 | ||
| PCT/FI2009/050781 WO2010037905A1 (en) | 2008-09-30 | 2009-09-30 | Method and arrangement in rock drilling rig |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102164714A true CN102164714A (en) | 2011-08-24 |
| CN102164714B CN102164714B (en) | 2014-05-07 |
Family
ID=39852310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200980138577.6A Expired - Fee Related CN102164714B (en) | 2008-09-30 | 2009-09-30 | Method and arrangement in rock drilling rig |
Country Status (9)
| Country | Link |
|---|---|
| EP (1) | EP2328723B1 (en) |
| JP (1) | JP5399498B2 (en) |
| CN (1) | CN102164714B (en) |
| AU (1) | AU2009299713B2 (en) |
| CA (1) | CA2735772C (en) |
| CL (1) | CL2011000680A1 (en) |
| FI (1) | FI122300B (en) |
| WO (1) | WO2010037905A1 (en) |
| ZA (1) | ZA201101642B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105324217A (en) * | 2013-06-12 | 2016-02-10 | 蒙塔博特公司 | Method for controlling the impact energy of an impulse piston of a percussion tool |
| CN113646506A (en) * | 2019-03-29 | 2021-11-12 | 安百拓凿岩有限公司 | Method for controlling the drilling process of a percussion drill |
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| FI124052B (en) * | 2010-05-25 | 2014-02-28 | Sandvik Mining & Constr Oy | Rock drilling rig, method for transferring it, and cruise control |
| EP2811110B1 (en) * | 2013-06-07 | 2017-09-20 | Sandvik Mining and Construction Oy | Arrangement and Method in Rock Breaking |
| SE540205C2 (en) * | 2016-06-17 | 2018-05-02 | Epiroc Rock Drills Ab | System and method for assessing the efficiency of a drilling process |
| EP3266975B1 (en) * | 2016-07-07 | 2019-01-30 | Sandvik Mining and Construction Oy | Component for rock breaking system |
| SE542131C2 (en) | 2018-03-28 | 2020-03-03 | Epiroc Rock Drills Ab | A percussion device and a method for controlling a percussion mechanism of a percussion device |
| EP3617441B1 (en) | 2018-08-31 | 2021-06-09 | Sandvik Mining and Construction Oy | Rock breaking device |
| EP3617442B1 (en) * | 2018-08-31 | 2022-10-19 | Sandvik Mining and Construction Oy | Rock drilling device |
| CN110374578A (en) * | 2019-08-09 | 2019-10-25 | 桂林航天工业学院 | One kind being used for hydraulic impact machine performance testing device |
| CN112710203B (en) * | 2020-12-11 | 2022-09-13 | 武汉理工大学 | Control method for excavating overbreak and underbreak by automatic full-section drilling and blasting method of underground rock engineering |
| EP4276438A1 (en) * | 2022-05-13 | 2023-11-15 | Sandvik Mining and Construction Oy | Measuring rock breaking dynamics |
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- 2009-09-30 JP JP2011528381A patent/JP5399498B2/en not_active Expired - Fee Related
- 2009-09-30 WO PCT/FI2009/050781 patent/WO2010037905A1/en active Application Filing
- 2009-09-30 AU AU2009299713A patent/AU2009299713B2/en active Active
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- 2009-09-30 EP EP09817334.7A patent/EP2328723B1/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| JP5399498B2 (en) | 2014-01-29 |
| AU2009299713A1 (en) | 2010-04-08 |
| EP2328723A4 (en) | 2017-05-24 |
| JP2012504197A (en) | 2012-02-16 |
| AU2009299713B2 (en) | 2013-08-29 |
| FI20085926A0 (en) | 2008-09-30 |
| CA2735772A1 (en) | 2010-04-08 |
| WO2010037905A1 (en) | 2010-04-08 |
| ZA201101642B (en) | 2012-01-25 |
| CN102164714B (en) | 2014-05-07 |
| CA2735772C (en) | 2013-11-12 |
| FI122300B (en) | 2011-11-30 |
| FI20085926A (en) | 2010-03-31 |
| EP2328723A1 (en) | 2011-06-08 |
| CL2011000680A1 (en) | 2011-10-07 |
| EP2328723B1 (en) | 2018-05-30 |
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