CN105026677B - For making the rock drilling structures and methods of Drilling device lateral register - Google Patents
For making the rock drilling structures and methods of Drilling device lateral register Download PDFInfo
- Publication number
- CN105026677B CN105026677B CN201480011348.9A CN201480011348A CN105026677B CN 105026677 B CN105026677 B CN 105026677B CN 201480011348 A CN201480011348 A CN 201480011348A CN 105026677 B CN105026677 B CN 105026677B
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- Prior art keywords
- drilling
- raise
- bore hole
- drilling device
- positioner
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Classifications
-
- 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
- E21B7/025—Rock drills, i.e. jumbo drills
-
- 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
-
- 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
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
-
- 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
-
- 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
- E21B7/024—Drilling rigs characterized by means for land transport with their own drive, e.g. skid mounting or wheel mounting having means for adapting to inclined terrain; having means for stabilizing the vehicle while drilling
-
- 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
- E21B7/28—Enlarging drilled holes, e.g. by counterboring
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D1/00—Sinking shafts
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D3/00—Raising shafts, i.e. working upwards from the bottom
Abstract
Method the present invention relates to one kind for being positioned to Drilling device (7), wherein, the Drilling device (7) is raise-bore hole device, and the Drilling device (7) includes pivot (29).The method includes making the Drilling device (7) be carried that be positioned at for the pivot (29) of the Drilling device (7) to the specified location for being used for Drilling and by positioner (21,31) side of the center line (CL) limited relative to bogey (1) by Drilling device (7) transport by means of the bogey (1) by the positioner (21,31) for being connected to bogey (1).The invention further relates to a kind of rock drilling structure and computer program product, the rock drilling structure includes the positioner (21,31) and the Drilling device (7), and the computer program product includes being performed for the electronic control unit for making to be associated with drill structure the program code of methods described.
Description
Technical field
The present invention relates to a kind of method for being positioned to Drilling device in underground.The invention further relates to a kind of rock drilling
Structure and computer program product, the computer program product are included for making the Electronic Control being associated with the rock drilling structure
Unit performs the program code of the method.
The present invention can generally be related to the process industry for winning equipment, and relate generally to mining industry, but
It is not limited to this.
Background technology
It is current being needed often for rig and the vehicle including Drilling device in the technology of underground drilling rock drilling stone
Tunnel (tunnel) wide, to allow the pivot for Drilling by Drilling device to be adjusted to be close to tunnel wall.Tunnel wide
This mining in road allows vehicle, and (angle is defined as the extension of the center line relative to tunnel of vehicle at a certain angle
Portion) it is positioned in tunnel, and Drilling device is positioned proximate to tunnel wall with this.
It is current requiring that operator must be by its rig from the current institute of rig often in the technology of underground drilling rock drilling stone
The roadway moving at place to top another tunnel, so as to downwards Drilling.Avoided with this drilling equipment is carried out it is troublesome
Treatment.Current technology also cause when operator the orientation that will change drilling equipment after Drilling in the first direction with
In a second direction during Drilling, it is forced treatment trouble and huge holding structure.Therefore, drilling equipment is rotated with edge in operator
In the case of second direction Drilling, these holding structures for keeping drilling equipment result in substantial amounts of work.Therefore, now
Technology result in substantial amounts of work when Drilling device is processed in narrow tunnel.
US 3 220 494 discloses a kind of following Drilling devices：The Drilling device includes being attached to the known of drilling equipment
It is the vehicle of bearing part.The drilling equipment includes crane boom, and the crane boom bolt is fixed in the position for Drilling
Rock.The Drilling device also includes the driving head that drilling is dug out for driving being fitted between hydraulic cylinder.
The content of the invention
It is an object of the present invention to provide a kind of novelty and advantageous approach for being positioned to Drilling device,
And the method uses the space in such as tunnel in optimal manner.
It is an object of the present invention to provide a kind of rock drilling structure of non-large-scaled volume.
One purpose is to realize a kind of flexible rock drilling structure.
It is an object of the present invention to provide a kind of novelty and advantageous approach for being positioned to Drilling device,
The Drilling device is particularly can easily be transported in a flexible way in space during raise-bore hole by bearing part.
Therefore, a purpose is that Drilling device is transported and is positioned to as close to wall by means of vehicle, and
Vehicle need not be disconnected with Drilling device in order to Drilling device is properly positioned into final position.
Another object of the present invention is to provide a kind of novel and favourable rock drilling structure for digging out drilling and with
The relevant favourable computer program of rock drilling structure.
A further object of the present invention is to provide a kind of rock drilling cost-effectively used for time and secure context
Structure.
A further object of the present invention is the rock drilling structure that provide a kind of easy to manufacture and can cost-effectively provide.
A further object of the present invention is to provide a kind of rock drilling structure and user-friendly method.
These purposes for the method positioned to Drilling device by realizing as described in illustrative embodiments.
According to aspects of the present invention, there is provided a kind of for being positioned to the Drilling device including pivot in underground
Method.The method includes：
- Drilling device is carried by the positioner for being rigidly connected to bogey；
- transported to the specified location for Drilling Drilling device by means of the bogey；And
- pivot of the Drilling device is positioned at relative in bogey restriction by positioner
The side of heart line.
According to aspects of the present invention, there is provided a kind of for being positioned to the Drilling device including pivot in underground
Method, wherein, the Drilling device be raise-bore hole device.The method includes：
- Drilling device is carried by the positioner for being connected to bogey；
- transported to the specified location for Drilling Drilling device by means of the bogey；And
- pivot of the Drilling device is positioned at relative in bogey restriction by positioner
The side of heart line, wherein, this is located through implements to the linear movement and/or pivoting action of sidepiece.
The pivot of Drilling device is preferably limited by the pivot of the chuck of the driving head for Drilling device.
This, pivot is limited by the Drilling axis of Drilling device.
By this way, the Drilling device of flexible method and save space is realized.
By this way, there is provided it is cost-effective and in terms of the working environment for method advantageously.So as to Drilling
The pivot of the chuck for driving head of device can be positioned to the sidepiece of the center line relative to bearing part, without
Digging is carried out to wall for end carriage body (the end wagon) making space of bogey.
Advantageously, Drilling device is arranged for being driven in two holes extended on the contrary from tunnel after the positioning and bores
Head.Drilling device can be, for example, so-called raise-bore hole device, wherein, (drive member operation includes rotary chuck for driving
Driving head) it is to be realized by following step：In the first step, rotary drilling-head is pressed with Drilling pilot hole by means of chuck,
And hereafter, in the second step, rotate in mutually opposite directions reaming bit by means of chuck and turn to the driving and (drive structure
Part is by the tractive effort operation rotary chuck).The pressing using this determination of crane boom and traction function by original place ---
Wherein, it is only necessary to driving head is turned to relative to crane boom, for (or being carried out suitably to crane boom in opposite direction
Regulation after along any other direction) new driving is carried out to drill bit, it is whole without being made by being operated to cylinder etc.
Drilling device is turned to, and it is time-consuming to turn to whole Drilling device.With reference to this feature, the pivot (card of Drilling device
The pivot of disk) provide cost-effective mining processes relative to the positioning of the center line of vehicle.
Preferably, Drilling device is positioned to the step of sidepiece and is performed by moving pivotally.Suitably, positioner includes
In the pivoting device of the form for pivoting device, the pivot device is adjacent to the leading section of bogey/vehicle and is connected and position
In the outside of the leading section of the bogey/vehicle, wherein, Drilling device around edge and bogey front-wheel Axis Cross and with
The axis that the direction that center line CL intersects extends pivotally is set.
Suitably, by Drilling device position to the step of sidepiece by by means of the coupling arrangement that can linearly move
Linear movement is performed.By this way, positioner is realized, the positioner can be in the Drilling device phase of ship bulky
Between keep Drilling device near the end of vehicle sidepiece while positioning when by the pivot of Drilling device (chuck
Pivot) push directly on the sidepiece to the center line away from vehicle and be pushed to the outer circumferential of vehicle.
Preferably, the step of being positioned to Drilling device also includes banking motion.Banking motion suitably include around with carrying
The rotation of the axis that the wheel axis of part are extended parallel to.
Therefore, Drilling device can tilt to the transport position for transporting Drilling device in tunnel before the positioning
Put and the arbitrarily angled of the extension relative to tunnel can be tilted to.Preferably, tilting gearing is positioned to allow for Drilling dress
The extension for putting the center line on the axis parallel with the wheel axis of vehicle and towards vehicle is inclined up to positive/negative 45 degree.Root
According to example embodiment, it is allowed to positive/negative 90 degree on horizontal plane.In this manner it is achieved that during raise-bore hole
Drill relative to all related angles of the extension in tunnel.
Suitably, the step of being positioned to Drilling device also includes gyration.The gyration suitably includes around following
The rotation of axis：The axis overlaps in the initial position before Drilling device positioning with the extension of center line.
By this way, Drilling device can rotate in plane is rolled.Preferably, slewing equipment is positioned to allow for described
Gyration.Drilling device can by means of slewing equipment by inclining (or by intersecting in the longitudinal direction with tunnel
Any rotation seen in cross section) can be easily positioned at rock space or tunnel.
Suitably, the step of being positioned to Drilling device is included in pivoting action and/or linear movement and/or banking motion
And/or the one or more of positioning motion of the form of gyration.Preferably, the positioning step to Drilling device is included at least
Two kinds of positioning motions.
Preferably, the positioning of Drilling device is performed by means of the control of control unit.Alternatively, all positioning
Motion is all performed simultaneously by means of control control unit.
Preferably, the method comprises the steps：After the positioning, will set to the drive member branch of Drilling device and take up
Put and be fastened at the position.By this way, Drilling device is kept and is supported in the position against the wall in tunnel.It is suitable
Locality, the Drilling device not only upper end in the Drilling device but also lower end in Drilling device is fastened.The fastening can lead to
Cross and be arranged on the supporting leg at Drilling device and realize.By this way, realize for being positioned to Drilling device
Flexible and advantageous approach.
Crane boom have in such as hydraulic means form drive member, the hydraulic means with chuck for Drilling
Pivot overlap direction on operate Drilling device driving head.
In some applications, Drilling device can be disconnected with positioner after the positioning and so as to hold
Carry to put and disconnect.By this way, it is to avoid the influence positioner and the power of bogey that occur during Drilling and
Vibration.This is especially important during raise-bore hole.Preferably, Drilling device is disconnecting it with described in positioner
Before be fastened to the wall in tunnel so that Drilling device after disconnecting being maintained in the position for Drilling.
Suitably, the method also comprises the steps：After the positioning, first is dug out between the first space and second space
Drilling, and the second drilling is dug out between the first space and the 3rd space, wherein Drilling device is positioned at the first space.Replace
For property ground, the method comprises the steps：After being positioned to Drilling device, at least one is dug out along at least one direction
Drilling.Suitably, execution Drilling after it is used in the position of Drilling has been fastened on it in the Drilling device.
Herein advantageously, carry out reaming, raise-bore hole and by Drilling from first two spatially extended holes other
The Drilling device can be used during drilling.Described two holes need not be in line, but there may be angle.Advantageously, it is described
Hole terminates in corresponding second space and the 3rd space.
The method can be fitted by means of the control of control unit and the computer being associated with the control unit
Locality performs.The control unit is arranged to be operated by operator.
Alternatively, the positioning is performed by means of described control unit, and locks wedge or other locking devices
Locking is controlled so as to for positioning (linear movement for extending laterally, and/or pivoting action and/or banking motion and/or revolution fortune
It is dynamic) related multiple devices or a device.
Preferably, the positioning is semi-automatic or manually performs.
These purposes can also realize that the rock drilling structure is provided by the rock drilling structure limited in preamble
The feature be given in illustrative embodiments.
According to aspects of the present invention, there is provided a kind of rock drilling structure including positioner and Drilling device, positioning dress
Putting can be rigidly mounted to bogey, wherein, the positioner is controllably configured to Drilling device
Pivot for digging out drilling is positioned at the side of the center line limited relative to bogey.
According to aspects of the present invention, there is provided a kind of rock drilling structure including positioner and Drilling device, wherein, it is described
Drilling device is raise-bore hole device, and the positioner is set to bogey, wherein, the positioner is with controllable side
Formula is arranged to for Drilling device to be positioned at the center line limited relative to bogey for digging out the pivot of drilling
Side, wherein, the positioner includes pivoting device and/or the coupling arrangement that can linearly move.
By this way, the friendly device of cost-effective and working environment is realized.Here, the driving head of Drilling device
The pivot of chuck can laterally be positioned relative to the center line of bogey, without in order to house bogey
Rearward end carriage body and any digging is performed to wall.Suitably, the bogey is vehicle.By with two near vehicle
The mode of the end side in individual end side sets Drilling device, realizes in same adjacent with the end side of Drilling device
When allow Drilling device along the stable unit that is moved relative to the lateral of center line.The motion can be to center line side
Region or even to vehicle outer circumferential region or the wheel in one wheel or crawler belt screw thread in a crawler belt spiral shell
Region on the outside of line performs.By this way, the general-purpose vehicle for being suitable to the narrow space of such as rock tunnel or tunnel is realized.Bore
Chisel device provides the pivot for digging out drilling.Vehicle can travel in the tunnel of relative narrower, with simple and spirit
Mode living is positioned to the Drilling device, so that Drilling only one hole.Vehicle can also be in the tunnel of relative narrower
Traveling, is positioned and two or more holes of Drilling based on required angle to Drilling device.
Preferably, Drilling device is arranged for raise-bore hole.The positioner advantageously can be by being arranged for
The Drilling device of raise-bore hole is used, wherein, crane boom and the drive member branch for being supported to Drilling device take up
Putting can be positioned in tunnel by means of vehicle in simple and cost-effective mode.
Suitably, the positioner includes pivoting device and/or the coupling arrangement that can linearly move.The pivoting device
Can be including pivoting device, pivotal junction, pin junction surface, hinge etc..The coupling arrangement that this can linearly be moved can be wrapped
Include one or more guides, cross bar class device and different types of drive device.
Preferably, positioner includes tilting gearing and/or slewing equipment.
Alternatively, Drilling device is removeably positioned at positioner.
Suitably, positioner include control unit, the control unit be configured to by means of in described device at least
Controlled while two devices and control in the position of center line side the pivot.
By this way, a kind of following Drilling devices are realized：The Drilling device can be from shared space along opposite side
To two holes of Drilling in a cost efficient manner.Here, realizing following Drilling devices：The Drilling device can be in small space
Use, without promoting the Drilling device against wall by means of cable and Workpiece holding device.Drive member is supported
Device can be supporting leg, and the supporting leg includes the support plate of the wall for being arranged for bearing against space.The branch
Hold leg and be configured to supporting feeding component (such as hydraulic cylinder, pneumatic linear actuator etc.) in this case.Feeding component makes driving head edge
The direction feeding of drilling and so that the direction feeding of the drill string device edge drilling including drill steel and drill bit.By the type
Drilling device needs big service load in positioning this small space, and generally needs the dismounting to the different part
And need the specific service load for being positioned to Drilling device.
Therefore, according to aspects of the present invention, it is only necessary to relatively simple programming is carried out to control unit described fixed to control
Position.This control unit makes Drilling device pivot and sidepiece is pushed to relative to Vehicular linear and makes Drilling device relative
In inclination of vehicle.Gyration can be performed.These different motions can independently control or can be simultaneously.Therefore, control
Unit processed causes to position Drilling device to selected position, controls and perform to the inspection on both operating pressures following
Look into：The rotation of operation and drill string of the drill string on the direction of drilling.The number in Drilling device manageable hole in positioning
Can be one or more.
The purpose can also realize that the vehicle can be motor vehicles by the vehicle including Drilling device.The vehicle
It can be the rig for being suitable to mining.
According to aspects of the present invention, there is provided a kind of computer program relevant with rock drilling structure, wherein, the computer
Program includes storage on a computer-readable medium or by the program code of the computer-readable medium storage, the program code
For performing such as exemplary implementation when computer program runs on the electronic control unit being associated with rock drilling structure
Method and step described in mode.
According to aspects of the present invention, there is provided a kind of computer program relevant with rock drilling structure, wherein, the computer
Program includes program code, and the program code is used in computer program in the Electronic Control list being associated with rock drilling structure
The method and step as described in illustrative embodiments is performed when being run in unit.
Software including the program code relevant with rock drilling structure can be updated or replace.Additionally, software
Various pieces can be replaced independently from each other.The configuration of this module is from safeguarding that visual angle is favourable.
According to aspects of the present invention, there is provided a kind of computer program product, the computer program product includes that storage exists
The program code stored on computer-readable medium or by the computer-readable media, the program code is used to exist in computer program
The method and step as described in illustrative embodiments is performed when being run on the electronic control unit being associated with rock drilling structure.
According to aspects of the present invention, there is provided a kind of meter relevant with the rock drilling structure including positioner and Drilling device
Calculation machine program, the positioner can be rigidly mounted to bogey, wherein, the positioner controllably sets
It is set to the side that the center line limited relative to bogey is positioned at for digging out the pivot of drilling of Drilling device,
Wherein, the computer program includes storage on a computer-readable medium or by the program generation of the computer-readable medium storage
Code, the program code is used to be performed when computer program runs on the electronic control unit being associated with Drilling device such as to show
Method and step described in example property implementation method.
According to aspects of the present invention, there is provided a kind of meter relevant with the rock drilling structure including positioner and Drilling device
Calculation machine program, the positioner can be rigidly mounted to bogey, wherein, the positioner controllably sets
It is set to the side that the center line limited relative to bogey is positioned at for digging out the pivot of drilling of Drilling device,
Wherein, the computer program includes storage on a computer-readable medium or by the program generation of the computer-readable medium storage
Code, the program code is used to be performed when computer program runs on the electronic control unit being associated with rock drilling structure such as to show
Method and step described in example property implementation method.
According to aspects of the present invention, there is provided a kind of meter relevant with the rock drilling structure including positioner and Drilling device
Calculation machine program, wherein, Drilling device is raise-bore hole device, and the positioner is connected to bogey, wherein, the positioning dress
Put and be controllably arranged to for digging out the pivot of drilling be positioned at Drilling device relative to bogey
The side of the center line of restriction, wherein, the computer program includes storage on a computer-readable medium or by the computer
The program code of computer-readable recording medium storage, the program code is used in computer program in the Electronic Control being associated with Drilling device
The method and step as described in illustrative embodiments is performed when being run on unit.
According to aspects of the present invention, there is provided a kind of computer program product, the computer program product includes that storage exists
On computer-readable medium or by the program code of the computer-readable medium storage, the program code is used in computer program
The method and step as described in illustrative embodiments is performed when being run on the electronic control unit being associated with rock drilling structure.
For a person skilled in the art, other objects of the present invention, advantage and novel feature will be according to following skills
Art feature simultaneously becomes obvious during implementation of the invention.Although the present invention is described by following example implementation method,
It should be pointed out that implementation methods the invention is not restricted to the specific features in text and additional and described embodiment party
The combination of formula is also possible.For example, Drilling device can include the remote control car of equipment conveying to specified location in itself
.The vehicle may be adapted to autonomous control.For example, communication link can for such as physical circuit of photoelectric communication circuit or
The non-physical circuit of such as wireless connection, such as radio or microwave link.
Brief description of the drawings
In order to be more fully understood by the present invention and its other purposes and advantage, will treat what is read together with accompanying drawing now
It is described in detail below to carry out reference, wherein, identical reference indicates identical part in various figures, and in accompanying drawing
In schematically：
Fig. 1 shows the vehicle for carrying Drilling device according to the embodiment of the present invention；
Fig. 2 shows the vehicle during positioned to Drilling device in Fig. 1；
Fig. 3 a to Fig. 3 c show the lateral movement device according to implementation method；
Fig. 4 show according to aspects of the present invention including two lateral movement devices of raceway；
Fig. 5 is shown relative to known Drilling device aspect of the invention；
Fig. 6 shows and is related to the implementation method for positioning of revolute function；
Fig. 7 a to Fig. 7 d show the aspect that the crane boom to for raise-bore hole of the invention is positioned；
Fig. 8 a and Fig. 8 b show other aspects of the present invention；
Fig. 9 a and Fig. 9 b show another aspect of the present invention；
Figure 10 a and Figure 10 b show the flow chart on method according to aspects of the present invention；And
Figure 11 shows control unit according to the embodiment of the present invention.
Specific embodiment
Eliminated for inventive concept from accompanying drawing and do not have the details of significance so that accompanying drawing is clear.
Reference picture 1, shows vehicle 1.Example vehicle 1 according to implementation method is the so-called Mars Miner 3 for being suitable to mining.
Vehicle 1 be with four wheel 5 motor vehicles and be provided with Drilling device 7, wherein, Drilling device 7 can be filled in the Drilling
Put at least one day wellhole (not shown) of manufacture at 7 same position.Drilling device 7 is shown in Figure 1 for being in be used for from sky
Between 9 transport to be used for Drilling position transporting position in.
Fig. 2 shows the vehicle 1 being in the Fig. 1 during being positioned to Drilling device 7.The Drilling device 7 with car
Anterior the 11 of 1 adjacent or abut against the mode carried of anterior the 11 of vehicle 1.It is to reduce the paired of vehicle 1 to realize this
Lever length between front-wheel 5 and Drilling device 7.Realize this also for realizing compact unit.The Drilling device 7 is arranged in
In position between two wall portions 8 in space 9, wherein, the extension of the Drilling device 7 is determined along the direction for hole to be drilled
To.Vehicle 1 is controlled by operator's (not shown) according to the implementation method by means of the first control unit 100.Drilling device with
Communication link between control unit is shown by reference L100.Second control unit 110 is arranged for and the first control
Unit 100 communicates and is external control unit outside, and the external control unit outside is used to that software to be loaded onto into first via link L110
Control unit 100, link L110 is a part for the internal network of vehicle 1.
Operator operates into (with what is shown in such as Fig. 7 d four supporting legs 13 (only two supporting legs are illustrated)
Mode) bear against the wall segment 8.For example it is fixedly secured in the feeding component 15 of two forms of double acting hydraulic cylinder 17
To supporting leg 13, and driver element 19 is pivotally mounted between these hydraulic cylinders 17, the driver element includes starting
Machine and gearbox and the chuck being arranged at driving head (not shown).Operator operates to first position Drilling device 7,
In first position, chuck turns to the position of the first drilling to be drilled, and control unit 100 ensures the lock of driver element 19
It is fixed.First drill steel (referring to Fig. 7 d) is set in the way of being engaged with chuck an end, and the first drill steel the other end
Portion is provided with drill bit.The installation of drill steel is performed by operator via control unit 100.
Hereafter, control unit 100 is providing the driving to drill bit, and control unit 100 by operator's monitoring period
Constantly control on both hydraulic pressures following：Apply to hydraulic cylinder 17 pressure and drive driver element 19 rotate with
Make the pressure of bit.Therefore, control unit 100 controls driver element 19 via link L100 by means of control signal
Operation.Second drill steel (not shown) is connected to the first drill steel, and subsequent drill steel is connected when drill bit enters in rock.
Control unit 100 provides and Drilling device 7 (is such as shown in figure 3 c at the sidepiece of the center line CL of vehicle
) or at least at the sidepiece of the extension of center line CL and the positioning adjacent with the leading section 11 of vehicle control.
The control includes being transported to the specified location for Drilling and by means of being connected to vehicle 1 Drilling device 7 by means of vehicle 1
Positioner 21 Drilling device 7 is positioned at the side of the center line CL limited relative to vehicle 1.
Fig. 3 a to Fig. 3 c show following aspects of the invention：In this aspect, center of the Drilling device 7 relative to vehicle 1
The positioning of line CL is the displacement along the linear I-beam 25 being formed from steel by means of the pivoting device in the form for pivoting device 23
Come what is performed, I-beam 25 is provided with cable traveling and slides in a sliding manner transverse to the center line CL of vehicle 1 on I-beam 25
Frame 27.Device 23 is pivoted also to provide so that Drilling device 7 is pivoted to the sidepiece of the center line CL relative to vehicle 1.Due to pivoting
Motion and the combination of linear movement, therefore Drilling device 7 is realized as having satisfied freedom relative to the position of vehicle 1
Degree.The balladeur train 27 set around linear I-beam 25 is moved in the way of perpendicular to center line CL.Therefore, the chuck of Drilling device 7
Pivot 29 is positioned to the sidepiece relative to vehicle 1.
Fig. 4 schematically shows positioner 31 according to aspects of the present invention.Vehicle 1 is provided with joint element 37
Rigidly connected framework 35.Joint element 37 includes two beams 39, wherein, a beam is screw rod beam, is bonded on the screw rod beam
The driving rotor 41 of rotation can be driven.Rotor 41 is driven to be located in case 43 and be attached to hydraulic motor 45 with when being activated
Along linearly driving box 43 of screw rod beam 39.According to example, the positioner 31 can include at least one telescopic cylinder body.
Second beam 39 is arranged for control.Engine 45 is connected to control unit 100.Pivoting device is installed on case 43, the pivot
Device can be in the form for pivoting device 39 '.Pivoting device 39 ' includes two raceways 47 to supporting arrangement 49.Pivoting device
Part 39 ' can include any number of raceway 47.The device 49 is by two gear engines of hydraulic-driven 53 around pivot
Axis 51 is pivotally set.The device 49 is also configured with for installing brill under the auxiliary of the bolt (not shown) of cone shaping
Dig two holes 55 of the (not shown) of device 7.
Fig. 5 shows relevant aspect of the invention relative to known Drilling device, wherein, shown with dotted line
The vehicle 1 with the Drilling device 7 ' according to known technology is gone out.It is evident that the implementation method for showing of the invention is more suitable for
Narrow space 9.It should be noted that can will include the Drilling device of the pivot for chuck (not shown) to lean on now
The mode of the wall of near space 9 is positioned in the narrow space of such as narrow opening., it is necessary to exploit wider when using known technology
Tunnel so that sloped position vehicle 1 be adapted to so that reach near space 9 wall same position.For mining contractor
Speech, it is expensive that this is particularly when raise-bore hole is started.
Fig. 6 schematically shows embodiments of the present invention, the implementation method realized by positioner and including
Gyration.Bogey is formed by the platform 2 of the mechanical arm 57 including pivotally setting, and the platform 2 is provided and joined in revolution
The slewing equipment of the form of fitting 59, the slewing equipment 59 is connected to the pivoting device in the form for pivoting device 23 '.Revolution fortune
It is dynamic to be realized by following hydraulic motor (not shown)：The hydraulic motor is engaged for driving around parallel to carrying dress by gear
The revolution connector 59 of the axis rotation of the center line put.Hydraulic pressure unit 61 is arranged at different connecting portions for realizing pivot
Turn the pivoting action of the tilting gearing of the form of device 23 ' and inclined connector 63.
Fig. 7 a to Fig. 7 d schematically show of the invention for being positioned to the Drilling device 7 including crane boom 65
Aspect.In figure 7 a, show how vehicle 1 only carries by pivoting the pivoting device in the form of pivotal junction 67
Positioning function for carrying out lateral register to Drilling device 7.Pivotal area is positive/negative 110 degree of the center line CL on vehicle.
Illustrate how to position Drilling device 7 to sidepiece with so that pivot 29 is arranged in center line CL at vehicle 1 in Fig. 7 b
Extension side and also be laterally arranged in the outside of the imaginary line L determined by the scope of vehicle 1.Drilling device 7 is also
Inclined to be adapted to the cross section in tunnel by means of tilting gearing 63 '.Fig. 7 c are illustrated how Drilling device 7 in the positioning
Pulled down from vehicle 1 afterwards.In figure 7d, the supporting leg 13 of Drilling device bears against the lane shown in the cross-sectional view
The wall in road.Due to banking motion, Drilling device 7 is inclined in being positioned in tunnel.Before vehicle 1 shown in phantom
Portion.Supporting leg 13 is carried and supports driving cylinder 17 ', and driving cylinder 17 ' is arranged to drive driving head 19 ' along both direction.Drive
First 19 ' the axis A extended across around the direction of motion with feed cylinder 17 ' are pivotally set.Drill string 69 including drill bit 71 sets
It is set to and is engaged with the chuck of driving head 19 '.
Fig. 8 a to Fig. 8 b schematically show other aspects of the present invention.Fig. 8 a are shown including Drilling device from side
7 vehicle 1, the Drilling device 7 can laterally be positioned and incline positive/negative 30 degree.Due on it is inclined it is this sufficiently from
By spending, therefore can be relative to tunnel 9 ' with the angled execution Drilling of institute.Supporting member 73 can pivot device 23 " entity portion
Reduced in point or lifted.Supporting member 73 supports Drilling device 7 during Drilling.Fig. 8 b show the side wall that has been positioned at tunnel
Drilling device 7 in alcove N.The offer of Drilling device 7 is realized by means of the positioner shown in Fig. 6.
See, for example Fig. 3 a to Fig. 3 c, Fig. 5 and Fig. 9, here it is shown that according to aspects of the present invention with positioning to side
The vehicle 1 of the Drilling device 7 in portion.The vehicle is provided with Drilling device 7, and the Drilling pivot 29 of the Drilling device 7 being capable of side
Moved to ground and pivoted, Drilling device 7 is arranged so that the Drilling pivot 29 can be positioned to the center line CL of vehicle 1
Sidepiece.This is located through via the operation of operator to provide.Operator's operation has the display for being connected to control unit 100
The computer of device (not shown).The positioning is semi-automatically performed.
It should be noted that according to aspects of the present invention, the Drilling pivot 29 of Drilling device 7 can be positioned at
On the center line CL of vehicle 1.
Term " sidepiece of the center line CL of positioning to vehicle 1 " refers in the text " to be positioned at the side of the center line CL of vehicle 1
Side ", for example, position to the right side or left side of the center line CL.
Fig. 9 a to Fig. 9 b schematically show another aspect of the present invention in the most simple form.Fig. 9 a show vehicle
How 1 transport Drilling device 7 in narrow tunnel.There is vehicle 1 center line CL, center line CL medially to intersect with vehicle 1
And it is considered as being longitudinally oriented.Therefore, center line CL extends along the transporting direction of vehicle 1.Fig. 9 b illustrate how to make vehicle 1
It is parked at position location.Drilling device 7 has the pivot 29 for drill chuck (not shown).The pivot 29 is borrowed
Help the positioning of control unit 100 to the sidepiece observed along the direction of motion of vehicle 1, i.e. the fortune of the vehicle shown along Fig. 9 a
Dynamic direction F observations, Drilling device is positioned and is arranged into vehicle right side.
Figure 10 a and Figure 10 b schematically show the flow chart of method according to various aspects of the invention.Figure 10 a show
The method for carrying out positioning 300 to Drilling device 7 is gone out.Drilling device 7 can be raise-bore hole device.The method is provided to be made
The Drilling device 7 is carried by the positioner 21 for being connected to bogey 1.The bogey of such as mine vehicle fills Drilling
Put 7 transports to the specified location for being used for Drilling.Step 300 includes providing makes Drilling device 7 by being connected to the positioning of bogey 1
Device 21 is carried, with by means of the bogey 1 by Drilling device 7 transport to for Drilling specified location and by means of
Be connected to the positioner 21 of bogey 1 by the pivot 29 of the chuck of the Drilling device 7 be positioned at relative to
The side of the center line CL that bogey 1 is limited.
Figure 10 b show the method that vehicle 1 transports 400 Drilling devices 7.Drilling device 7 can be raise-bore hole device.This
Afterwards, vehicle 1 stops 401 at specified position.Drilling device 7 is promoted 403 by linear movement to sidepiece.Hereafter, Drilling
Device 7 pivots 404 along to the direction of the sidepiece so that the pivot 29 for Drilling of Drilling device 7 is further to institute
State sidepiece and positioned along the rightabout observed with the previous direction of motion of vehicle 1.Herein in addition, when needed, can be with
Realize banking motion and/or the gyration of Drilling device 7.Hereafter, Drilling device 7 is fastened against the rock that should be processed, and
And hereafter perform Drilling 406.When Drilling is completed, Drilling device 7 to back rotation 47 to the center line CL with vehicle 1 overlap just
Beginning position.
Figure 11 shows control unit 100 according to the embodiment of the present invention.According to the lateral register of the implementation method
The motor unit of device is the integrated unit for operating lateral positioning device.Motor unit each includes turbine, and the turbine is again
It is operatively connected with corresponding lateral positioning device.The block diagram of the implementation method of device 500 is shown in Figure 11.Reference picture 2
The control unit 100 and 110 of description includes described device 500 according to the implementation method.The device 500 includes nonvolatile storage
501st, data processing unit 502 and read/writable memory device 503.Nonvolatile storage 501 provides first memory portion 504, at this
The computer program of such as operating system of the function being stored with first memory portion 504 for controlling the device.The device
500 also include bus control unit, communication port, I/O devices, A/D converter, time and date input and transmission unit,
Event counter and interrupt control unit (not shown).Nonvolatile storage 501 also has second memory portion 505.
There is provided a kind of computer program P, computer program P includes being used for providing described lateral fixed according to implementation method
Position and the routine of positioning.Program P includes being used to position lateral positioning device being moved and pivot with by Drilling device 7
Go to the routine of sidepiece.Program P is also included for making Drilling device 7 incline and for the routine of Drilling.At this
In implementation method, program P can be stored in the way of executable or in the way of being compressed and deposited in memory and/or read/write
In reservoir.
When describing data processing unit 502 and performing specific function, it should be understood that data processing unit
502 perform the program P of the specific part or storage of program P of the storage in memory 506 in read/writable memory device 503
Certain part.Data processing unit 500 can communicate via data/address bus 508 with FPDP 507.Nonvolatile storage 501
It is arranged for being communicated with data processing unit 502 via data/address bus 510.Single memory 506 is arranged to via data
Bus 511 communicates with data processing unit 502.Read/writable memory device 503 is also configured to via data/address bus 512 and data processing
Unit communication.Link L100 and L110 (referring to Fig. 2) can for example be connected to FPDP 507.
When data are received on FPDP, the data are temporarily stored in second memory portion 505.Work as reception
Input data when being temporarily stored, data processing unit 502 is arranged to perform implementation code in the above described manner.According to implementation
Mode, the signal received on FPDP is included on following information：Center line CL of the Drilling device 7 relative to vehicle
Current location and the current location relative to the determination position for Drilling.
According to implementation method, the signal received on FPDP 507 includes the positioning of the completion on Drilling device 7
Information.Described information can be measured by means of appropriate sensor or be manually fed by means of touch screen (not shown)
To in the first control unit.The signal received on FPDP can be used by devices detected for basis and brill
Chisel device 7 is controlled and adjusts Drilling device 7 relative to the current measurement value of the current location correlation of the position for Drilling
Positioning.Part Methods in the method described in text are stored in memory or read/write store by the device by means of operation
The data processing unit 502 of the program in device is performed, and when the plant running described program, methods described is performed.
The present invention is defined by the following claims.It is pointed out, however, that the present invention is not limited to claim
In specific feature, and the combination of additional implementation method and the implementation method of description is also possible.For example, Drilling is filled
Putting itself can be included the remote control vehicle of equipment conveying to specified location.The vehicle can be adapted to autonomous control.Example
Such as, communication link can be the non-physical circuit of such as physical circuit of photoelectric communication circuit or such as wireless connection, for example
Radio or microwave link.Drilling can be referred to as raise-bore hole or other Drillings, in raise-bore hole or other Drillings, it is intended to
By space and the connection of other two spaces and described these spaces with level, it is vertical or positioned at level and it is vertical between side
Formula is positioned in one plane.The definition of the center line of vehicle is determined to be imaginary line medially through vehicle herein, and
The imaginary line extends along the bearing of trend of vehicle, and the bearing of trend refers to the main transporting direction of vehicle.
The center line limited in text is defined as being extended for example away from vehicle up to 3 meters to 7 meters along the front and back of vehicle
A part imaginary line.The center line is defined as the symmetrical imagination extended along the length direction and/or the direction of motion of vehicle
Line.
Linear positioning devices can include one or more guides, cross bar class device and such as electronic, pneumatic
And/or the engine-driven turbine-driven set of hydraulic drive type, with tooth travelling gear, cable actuated device or other are appropriate
The different types of drive device of device etc.
Pivoting device except including pivot device in addition to can also include any other class pivoting member, for example sell hinge,
Butt hinge or other pivoting members.
Aspect of the invention is related to so-called raise-bore hole.Raise-bore hole is generally used for driving for example in the first space, the
The drilling of vertical shaft and/or courtyard between two spaces and the 3rd space.By raise-bore hole, in mine the space of different level
Or the space of horizontal distribution can be connected to be communicated, vent, transport of materials can be for example set in the space
Part or lifter.Generally, first by Drilling device Drilling pilot hole in the first direction.Commonly required feed pressure high can lead to
Cross the associated crane boom of Drilling device and realize that Drilling device is attached for example, by supporting leg, and the crane boom (grabs support plate
Gripping member) it is pressed into relative two walls in the first space.Double-acting type hydraulic cylinder is manipulated to promote in the first direction driving head with right
The drill string that drill bit is provided with its outermost end works.Here, realizing the compression stress that drill bit is promoted along the first direction.
When drill bit reached second space and it is free in the second space when, drill bit be counter-bored head replacement, and drill string by means of
Double-acting type hydraulic cylinder is pulled in opposite direction, and tractive force is passed to the reaming of hole digging to final diameter
Head.Drill string may be provided in drill steel, drilling rod, drilling pipe of section etc., and described these sections are constructed or removed according to direction of feed.
Alternatively, can with remote control Drilling device according to aspects of the present invention, wherein, operator can be away from Drilling
Device certain distance, for example away from ground certain distance control the method for the present invention.According to another alternative form, Drilling device can be with
To be provided with the remote control vehicle of Drilling device, thus wagon control is extremely used for operator the ground of Drilling at a certain distance from
Side, execution Drilling are simultaneously then returned to.According to another alternative form, Drilling device includes being autonomous bearing part, wherein, operator
Start method, and the process is only needed to automatically carry out, untill completion.
Claims (12)
1. one kind is used for the method positioned to raise-bore hole device (7) in underground, wherein, the raise-bore hole device (7)
Including the crane boom (65) with supporting leg (13) and feeding component (15), feeding component (15) is with to rotation
Turn the hydraulic cylinder (17) that the driving head at center (29) is operated, methods described comprises the steps：
- the raise-bore hole device (7) is carried by the positioner set to bogey (1)；
- transported to the specified location for being used for Drilling the raise-bore hole device (7) by means of the bogey (1)；
- be positioned at the pivot (29) of the raise-bore hole device (7) relatively by the positioner (21,31)
In the bogey (1) limit center line (CL) side, wherein, it is described be located through to sidepiece linear movement and/
Or move pivotally and perform；And
- by means of the supporting leg (13) supported against wall the raise-bore hole device upper end and the courtyard
The lower end of drilling equipment is in place by the raise-bore hole device (7) fastening.
2. method according to claim 1, wherein, also include the step of positioned to the raise-bore hole device (7)
Banking motion.
3. according to any one of claim 1 or 2 described method, wherein, the raise-bore hole device (7) is positioned
The step also include gyration.
4. method according to claim 1 and 2, wherein, the raise-bore hole device (7) after the positioning with the positioning
Device (21,31) is disconnected.
5. method according to claim 1 and 2, wherein, methods described also comprises the steps：After the positioning,
The first drilling is dug out between the first space (9) that two spaces (9 ') are positioned at the raise-bore hole device (7), and in institute
State and dig out the second drilling between the first space (9) and the 3rd space (9 ").
6. a kind of rock drilling structure, including bogey (1), positioner (21,31) and raise-bore hole device (7), the positioning
Device (21,31) is connected to bogey (1), wherein, the raise-bore hole device (7) includes rising with supporting leg (13)
Weight frame (65) and feeding component (15), feeding component (15) is with being suitable to enter the driving head with pivot (29)
The hydraulic cylinder (17) of row operation, wherein, the positioner (21,31) is controllably arranged to the raise-bore hole
The pivot (29) for digging out drilling of device (7) is positioned at the center line limited relative to the bogey (1)
(CL) side, wherein, the positioner (21,31) including pivoting device (23,23 ', 23 ", 23 " ', 67) and/or can
The coupling arrangement for linearly moving, and wherein, the raise-bore hole device (7) is suitable to by means of the branch supported against wall
Hold leg (13) and all fastened in the upper end of the raise-bore hole device and the lower end of the raise-bore hole device.
7. rock drilling structure according to claim 6, wherein, the positioner includes tilting gearing.
8. according to the rock drilling structure that any one of claim 6 or 7 is described, wherein, the positioner includes slewing equipment.
9. the rock drilling structure according to claim 6 or 7, wherein, the positioner includes control unit (100), described
Control unit (100) be arranged to control while by means of at least two device in described device and by the pivot
(29) control is in the position of the center line (CL) side.
10. the rock drilling structure according to claim 6 or 7, wherein, the raise-bore hole device (7) is removably
It is connected to the positioner (21,31).
A kind of 11. vehicles, including according to the described rock drilling structure of any one of claim 6 to 10.
12. vehicles according to claim 11, wherein, the vehicle is arranged for mining.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1350252-1 | 2013-03-01 | ||
| SE1350252A SE538665C2 (en) | 2013-03-01 | 2013-03-01 | Method for siding a four-hole drilling arrangement, a rock drilling configuration including a four-hole drilling arrangement and a computer program for said rock drilling configuration |
| PCT/SE2014/050245 WO2014133445A2 (en) | 2013-03-01 | 2014-02-28 | Rock drilling configuration and method for lateral positioning of a drilling arrangement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105026677A CN105026677A (en) | 2015-11-04 |
| CN105026677B true CN105026677B (en) | 2017-07-04 |
Family
ID=50346080
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480011348.9A Active CN105026677B (en) | 2013-03-01 | 2014-02-28 | For making the rock drilling structures and methods of Drilling device lateral register |
Country Status (9)
| Country | Link |
|---|---|
| EP (1) | EP2961909A2 (en) |
| CN (1) | CN105026677B (en) |
| AU (1) | AU2014221434B2 (en) |
| CA (1) | CA2898611C (en) |
| CL (1) | CL2015002441A1 (en) |
| MX (1) | MX2015010982A (en) |
| RU (1) | RU2695196C2 (en) |
| SE (1) | SE538665C2 (en) |
| WO (1) | WO2014133445A2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PE20190884A1 (en) * | 2017-11-21 | 2019-06-19 | Tumi Contratistas Mineros S A C | AUTONOMOUS DRILLING MACHINE FOR CONSTRUCTION OF SERVICE CHIMNEYS AND FREE FACE |
| CN109915016B (en) * | 2019-04-03 | 2024-03-08 | 中国铁建重工集团股份有限公司 | Drill jumbo and drill jumbo control method |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3212738A (en) * | 1963-03-28 | 1965-10-19 | Joy Mfg Co | Adjustable jib mounting for rock drills |
| SE398528B (en) * | 1975-06-04 | 1977-12-27 | Atlas Copco Ab | RINGBORRAGGREGAT |
| SU570708A1 (en) * | 1975-11-24 | 1977-08-30 | Государственноый Проектный И Научно-Исследовательский Институт "Гипроникель" | Drill carriage for drilling parallel approximately vertical holes |
| SU720150A1 (en) * | 1976-08-18 | 1980-03-05 | Восточный научно-исследовательский горно-рудный институт | Drilling installation "shoria" |
| NO149117C (en) * | 1981-04-29 | 1984-02-29 | Furuholmen As | PROCEDURE AND DEVICE FOR SETTING A MOUNTAIN DRIVER'S GUIDE AT A GIVEN DISTANCE FROM THE RESIDENCE |
| RU1773275C (en) * | 1990-07-17 | 1992-10-30 | Научно-Производственное Объединение Самоходной Горной Техники "Криворожрудмаш" | Device for raise driving |
| FI107182B (en) * | 1998-12-09 | 2001-06-15 | Tamrock Oy | Method and rock drilling device for correcting mounting errors |
| EP1436483B1 (en) * | 2001-10-09 | 2006-01-04 | MacDonald, Claude | Multi-functional drilling vehicle |
| FI115481B (en) * | 2001-12-03 | 2005-05-13 | Sandvik Tamrock Oy | Arrangement for drilling control |
| FR2862337B1 (en) * | 2003-11-18 | 2006-01-20 | Sandvik Tamrock Secoma Sas | DRILLING AND BOLTING HEAD FOR BOLTING MACHINE |
| FI119780B (en) * | 2007-04-17 | 2009-03-13 | Sandvik Mining & Constr Oy | A method for editing a drilling chart, a rock drilling machine, and a software product |
| SE532540C2 (en) * | 2008-05-09 | 2010-02-16 | Atlas Copco Rock Drills Ab | Bomb device and rock drilling and / or rock bolts including such bomb device |
| FI20095714A (en) * | 2009-06-24 | 2010-12-25 | Sandvik Mining & Constr Oy | Determination of driving route for arranging automatic control of a moving mining machine |
| CN202627965U (en) * | 2012-04-24 | 2012-12-26 | 重庆工程职业技术学院 | Track type automatic drill jumbo |
-
2013
- 2013-03-01 SE SE1350252A patent/SE538665C2/en unknown
-
2014
- 2014-02-28 AU AU2014221434A patent/AU2014221434B2/en active Active
- 2014-02-28 MX MX2015010982A patent/MX2015010982A/en unknown
- 2014-02-28 CN CN201480011348.9A patent/CN105026677B/en active Active
- 2014-02-28 RU RU2015141611A patent/RU2695196C2/en active
- 2014-02-28 EP EP14712058.8A patent/EP2961909A2/en not_active Withdrawn
- 2014-02-28 CA CA2898611A patent/CA2898611C/en active Active
- 2014-02-28 WO PCT/SE2014/050245 patent/WO2014133445A2/en active Application Filing
-
2015
- 2015-08-31 CL CL2015002441A patent/CL2015002441A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2014133445A3 (en) | 2015-04-02 |
| WO2014133445A2 (en) | 2014-09-04 |
| SE1350252A1 (en) | 2014-09-02 |
| AU2014221434A1 (en) | 2015-09-24 |
| AU2014221434B2 (en) | 2017-09-14 |
| MX2015010982A (en) | 2015-10-26 |
| SE538665C2 (en) | 2016-10-11 |
| CA2898611C (en) | 2021-07-13 |
| CA2898611A1 (en) | 2014-09-04 |
| EP2961909A2 (en) | 2016-01-06 |
| RU2015141611A (en) | 2017-04-06 |
| CL2015002441A1 (en) | 2016-01-29 |
| RU2695196C2 (en) | 2019-07-22 |
| CN105026677A (en) | 2015-11-04 |
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Address after: Sweden Orebro Patentee after: Ann hundred Tuo Drilling Co., Ltd. Address before: Sweden Orebro Patentee before: Atlas Copco Rock Drill AB |