EP2122125B1 - Method and device for the control of a rock drilling machine and a rock drilling machine - Google Patents

Method and device for the control of a rock drilling machine and a rock drilling machine Download PDF

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Publication number
EP2122125B1
EP2122125B1 EP08724102.2A EP08724102A EP2122125B1 EP 2122125 B1 EP2122125 B1 EP 2122125B1 EP 08724102 A EP08724102 A EP 08724102A EP 2122125 B1 EP2122125 B1 EP 2122125B1
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EP
European Patent Office
Prior art keywords
pressure
rotation
feed
parameter
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP08724102.2A
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German (de)
English (en)
French (fr)
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EP2122125A1 (en
EP2122125A4 (en
Inventor
Jonas Sinnerstad
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Epiroc Rock Drills AB
Original Assignee
Atlas Copco Rock Drills AB
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Publication date
Application filed by Atlas Copco Rock Drills AB filed Critical Atlas Copco Rock Drills AB
Publication of EP2122125A1 publication Critical patent/EP2122125A1/en
Publication of EP2122125A4 publication Critical patent/EP2122125A4/en
Application granted granted Critical
Publication of EP2122125B1 publication Critical patent/EP2122125B1/en
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK 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
    • E21B44/06—Automatic control of the tool feed in response to the flow or pressure of the motive fluid of the drive

Definitions

  • the invention concerns a method and a device for controlling the feeding of a rock drilling machine according to the preambles of the respective independent claims.
  • a shock-wave is generated which propagates through the shank adapter and the drill string down to the drill bit.
  • its hard metal studs are pressed into the rock, which generates such a high force that the rock is crushed.
  • the drill steel is rotated by means of a rotator including a rotation motor (often hydraulic driven) and a transmission.
  • the drilling machine itself is mounted on a slide, which in turn is movable to and fro on a feed beam.
  • the drilling machine and the slide are driven against the rock, along the feed beam by a feed motor in the form of e.g. a hydraulic cylinder or a chain feeder.
  • the rotation pressure to the rotation motor is increased when the rock drilling machine is tending to get stuck, since a higher moment is required to rotate the drill bit.
  • WO 1997/49895 can be mentioned as being a representative of the back ground art.
  • a problem with older technology is that the drilling can be experience as being jerky.
  • the rotation pressure rises above the "limit drill stuck" and the protection-against-drilling-stuck function takes over, the drilling machine will be abruptly pulled backwards, which is often experienced as negative and can be harmful for the drilling machine.
  • WO 2006/108918 concerns a method for controlling a rock drilling process, including control of the feed of a rock drilling machine by means of a pressure difference over a rotation motor such that when the rotation resistance increases such that said pressure difference exceeds a threshold value, the feeding is switched over to a reverse movement. Distinguishing for this method is that at increasing pressure below the threshold value, a feed control valve, being controlled by a separate feed regulating valve, is arranged to correspondingly reduce the feed motor flow.
  • the drawback with this arrangement is indefinite control by the system, in particular during the start of a control process.
  • the aim of the present invention is to provide a method and a device, wherein the drawbacks of the background art are set aside or at least reduced.
  • the basic idea with the invention is to provide a combination of pressure and flow control of the feeding to the feed motor, in order to obtain a more gentle and more flexible control when the drilling machine is on the way to get drilled stuck, i.e. the rotation pressure increases above the first level, which can be an empirically determined value for the parameter when the rotation moment (torque) and thereby the rotator resistant increases above values that can be considered to correspond to normal rock drilling.
  • the pressure control at the starting of the control process is achieved that a direct effect of the system is obtained with reduced play and reduced delay as a great advantage.
  • the inventive combination of these different principles results in the properties that are unexpected for the person skilled in the art, in that the advantages of the respective control principle can be used and the drawbacks thereof can be avoided.
  • the advantages with this control principle are that with parameter values below the first level, the bearing force of the drill bit against the rock can be regulated, which is achieved through the pressure control. By, when exceeding the first level, thereafter switch over to flow control, it is made possible to control the speed of the drilling machine but with still the same maximal bearing force during the whole process.
  • the feed pressure and the feed flow respectively are reduced respectively increased in proportion to a change of the parameter value corresponding to rotation moment in the respective region, which can be realised with reliable and simple components.
  • the feed flow is reduced for assuming negative values, corresponding to reverse feed, for parameter values corresponding to a rotation moment above a second level. Because of the switched direction, the drilling machine will thus move backwards with increased speed at further increased rotation resistance. This will result in that the requirement for a drill stuck function will be reduced.
  • the drill stuck function is included with preset drill machine parameters that are initiated at parameter values corresponding to rotation moment above a third level.
  • this function will be initiated at considerable fewer occasions during drilling, which gives an increased productivity and altogether enhanced operational economy.
  • this transition will be considerably gentler, since the drilling machine has already started its backward movement when this function is initiated. This will be experienced by the operator as less straining and also result in reduced loads on the drilling machine and the drill steel.
  • Another advantage is that "limit drill stuck" can be raised, since the drilling machine starts to move backwards already before the function is initiated and this way has been handling the less serious drill stuck situations.
  • said parameter relating to the rotation moment is any one from the group: rotation pressure, detected moment in a rotator transmission, rotational speed.
  • the parameter is the rotation pressure, since this is easy to measure and monitor and it has a direct and predictable connection with the rotation resistance.
  • the overlap can be achieved by the valve starting to be controlled in the direction of closing, such that when the transition occurs between the control principles, the valve setting is more adapted to actual flow and has thus not affected the system during the overlap.
  • the length of the overlap can be determined through an empirically determined value or be based on a measured value for actual flow, drilling rate or any other suitable parameter. Adjustment of the value can be made manually or automatically.
  • reference numeral 1 indicates a drilling rig for rock drilling which carries a feed beam on a drill arm 3.
  • a drilling machine 2 movable to and fro, which acts against a drill string 4 which has a drill bit 5 attached to its distal end.
  • the rock drilling machine 2 includes in a per se known manner a rotation device (not shown) for the rotation of the drill string 4 during drilling.
  • the rotation motor is thereby hydraulically driven with a rotation flow emanating from the pump 7 over the conduit 8.
  • the pressure in the conduit 8 is the rotation pressure, which is sensed by a pressure sensor 9.
  • the rock drilling machine 2 is driven by of a feed force F in its reciprocating movement by means of a feed motor (not shown) which is hydraulically driven by a feed flow supplied by a pump 10 over a feed conduit 11.
  • the pressure in the feed conduit 11 is the feed pressure, which is sensed by the pressure sensor 12.
  • 6 indicate a central processing unit (CPU), which receives signals from the sensors 9 and 12 and thus monitors the pressure in these conduits.
  • CPU 6 communicates when it comes to control, with the pumps 7 and 10 as well as with the rock drilling machine 2. Further, the CPU 6 has preferably other functions which, however, are not described here since they are not subjects of the present invention.
  • Fig. 2 shows in the form of a graph, the feed pressure P M as a function of the rotation pressure P R .
  • Fig. 3 shows in the form of a graph the feed flow as a function of the rotation pressure P R .
  • the rotation pressure is between "idle rotation pressure” P i and “desired value rotation pressure” P RB . This gives a “feed pressure drilling” and a “flow drilling”.
  • the feed pressure will be reduced in proportion to the continued increase of the rotation pressure.
  • the feed pressure is suitable reduced to the level “minimum feed pressure drilling", which preferably can be the pressure which is needed to overcome the friction between the feed beam and the slide but also can be higher.
  • a third rotation pressure level P3 is reached: "limit drill stuck”.
  • the drill stuck protection function will be launched; whereby certain predetermined drilling machine parameters will be set.
  • the drill slide is then fed backwards until the rotation pressure goes below "limit after drill stuck", which is a value set lower for rotation pressure than "limit drill stuck”.
  • the percussion device pressure will be reduced to collaring pressure.
  • the drill stuck protection function will be active "time feed return" t f . If drill stuck has not ceased yet, all drill functions are terminated.
  • the method according to the invention as well as the drill stuck protection function can be entirely software based and all parameters can be set and corrected by the operator or by a service technician.
  • Fig. 4 is shown a method sequence in the form a fluid diagram, wherein position 19 indicates the start of the sequence, position 20 indicates normal drilling with the rotation pressure between "idle rotation pressure” and “desired value rotation pressure”. This gives a “feed pressure drilling” and a “feed flow drilling”, whereby the function is entirely passive and no regulation occurs.
  • P R rotation pressure
  • P RB desired value rotation pressure
  • Position 22 implies transition to flow control of the drilling machine feed, such that increased rotation pressure results in proportional reduction of the flow to the drilling machine feed, at the same time as the feed pressure is held constant on the level "minimum feed pressure drilling", according to the above.
  • P R exceeds P2
  • Position 24 implies the initiating of a drill stuck protection function meaning initiating of certain preset drilling machine data over a predetermined time: "time feed return" t f .
  • Position 26 indicates the end of the sequence.
  • the invention can be modified within the scope of the claims and there can be deviations from the above described embodiment.
  • the regulation can thus be undertaken otherwise than through proportional flow control, even if said proportional flow control is preferred. All limits and levels are adjustable after the prevailing situation and existing equipment, for example the flow control can start already with the rotation pressure exceeding "desired value rotation pressure".
  • Position 21 can be completed such that within an interval for the value of said parameter below the first level, the feed pressure is reduced at an increase of the value of the parameter.
  • the feed pressure can be reduced in proportion to the increase of the value of the parameter or be reduced momentarily at the increase of the value of the parameter.
  • Fig. 2 is shown that the feed pressure is reduced proportionally when exceeding "desired value rotation pressure", but is also instead possible to more or less momentarily reduce the feed pressure to "minimum feed pressure drilling", that is the same feed pressure that prevails during the main part of the flow control, as is described in connection with Fig. 3 .
  • the graph in Fig. 2 should drop momentarily to "minimum feed pressure drilling" or follow a different path then is shown in the Figure.
  • Said parameter being monitored respectively measured can besides rotation pressure also be sensed moment in a rotator transmission, for example through per se known torque sensors, or rotational speed, sensed by a rotational speed sensor.
  • the means in the device according to the invention that provide the inventive functions are per se conventional regulating and control devices:
  • the means for reducing respectively increasing the feed force by altering a feed flow to a fluid motor means providing the feed in relation to a change of the parameter value is suitably the CPU in combination with fluid regulating devices.
  • the means for initiating a drill stuck function with preset drill machine parameters are suitably realised through the CPU in combination with mechanical setting means.
  • a valve regulating the feed flow can start to be regulated in the direction of closing before the pressure control has ended as a response to any from the group: an empiric flow value, measured feed flow, measured or estimated drilling rate.
  • the adjustment of the value can be made manually or automatically.
  • the irregular graph indicates the actual flow during drilling in practice. 39 indicates the progress of the flow during flow control.
  • a dead band represented by the section 41, where the control otherwise would be insecure, can through this variant of the invention be avoided, and the control be made coherent and more exact over the entire control field and in particular at the transition between the control principles.
  • the principle of overlap can be explained such that the pressure control will continue somewhat above this when the flow control has started, or vice versa, that the fluid control has started somewhat before “the first level”.
  • a pressure compensated valve which means that a pressure difference over the inside and the outside of a main valve 27 of a feed motor 29 is regulated by a valve 28.
  • a pressure limiter 30 for example one that is electronically controlled.
  • the valve opens to tank and the pressure is reduced in the conduit, which results in that the valve 28 closes.
  • FIG. 5 should be seen free-standing from Fig. 1 , but the pump 31 in Fig. 5 corresponds to the pump 10 in Fig. 1 .

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
EP08724102.2A 2007-03-16 2008-02-29 Method and device for the control of a rock drilling machine and a rock drilling machine Active EP2122125B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0700662A SE530984C2 (sv) 2007-03-16 2007-03-16 Förfarande och anordning för styrning av en bergborrmaskin jämte bergborrmaskin och bergborrigg
PCT/SE2008/000168 WO2008115113A1 (en) 2007-03-16 2008-02-29 Method and device for the control of a rock drilling machine and a rock drilling machine

Publications (3)

Publication Number Publication Date
EP2122125A1 EP2122125A1 (en) 2009-11-25
EP2122125A4 EP2122125A4 (en) 2015-11-04
EP2122125B1 true EP2122125B1 (en) 2017-11-29

Family

ID=39766137

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08724102.2A Active EP2122125B1 (en) 2007-03-16 2008-02-29 Method and device for the control of a rock drilling machine and a rock drilling machine

Country Status (4)

Country Link
EP (1) EP2122125B1 (enrdf_load_stackoverflow)
JP (1) JP5393490B2 (enrdf_load_stackoverflow)
SE (1) SE530984C2 (enrdf_load_stackoverflow)
WO (1) WO2008115113A1 (enrdf_load_stackoverflow)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010151242A1 (en) * 2009-06-26 2010-12-29 Atlas Copco Rock Drills Ab Control system and rock drill rig
CN102373915B (zh) * 2010-08-23 2014-08-06 四川宏华石油设备有限公司 钻机送钻系统
CN103362492B (zh) * 2013-06-26 2016-08-10 北京市三一重机有限公司 旋挖钻机桅杆落座的控制方法及控制系统
CN105257275B (zh) * 2015-10-14 2018-11-20 三一重型能源装备有限公司 一种石油钻机自动送钻系统
US12078049B2 (en) 2020-11-27 2024-09-03 Epiroc Rock Drills Aktiebolag Arrangement of controlling drilling parameters during extraction of a drill string
BE1029225B1 (nl) * 2021-03-22 2022-10-17 Atlas Copco Airpower Nv Werkwijze voor het aansturen van een compressor welke zorgt voor de aandrijving van een pneumatisch werktuig
CN113124006B (zh) * 2021-04-19 2023-04-07 中国铁建重工集团股份有限公司 一种凿岩功率连续调节液压系统
CN114059995A (zh) * 2021-10-29 2022-02-18 河南和远机械科技有限公司 一种凿岩台车智能控制系统

Family Cites Families (9)

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Publication number Priority date Publication date Assignee Title
DE4302755C2 (de) * 1993-02-01 2003-01-02 Mannesmann Rexroth Ag Steuereinrichtung zur Regelung einer von zwei zusammenwirkenden Hydraulik-Verbrauchern abhängigen Arbeitskenngröße
DE9402360U1 (de) * 1994-02-12 1994-12-22 Delmag Maschinenfabrik Reinhold Dornfeld Gmbh & Co, 73730 Esslingen Bohrgerät
FI105943B (fi) * 1996-06-25 2000-10-31 Tamrock Oy Menetelmä ja sovitelma kallioporakoneen syötön ohjaamiseksi
WO1997049896A1 (en) * 1996-06-25 1997-12-31 Tamrock Oy Method and arrangement for controlling rock drilling
JP3514916B2 (ja) * 1996-06-28 2004-04-05 古河機械金属株式会社 油圧クローラドリルのさく孔制御装置
JP3488906B2 (ja) * 1997-12-16 2004-01-19 ヤマモトロックマシン株式会社 油圧式さく岩機の制御装置
SE515204C2 (sv) * 1999-11-03 2001-06-25 Atlas Copco Rock Drills Ab Förfarande och anordning för styrning av en bergborrmaskin
FI121027B (fi) * 2004-09-24 2010-06-15 Sandvik Mining & Constr Oy Menetelmä iskevän kallionporauksen ohjaamiseksi, ohjelmistotuote sekä kallionporauslaite
FI123639B (fi) * 2005-04-15 2013-08-30 Sandvik Mining & Constr Oy Menetelmä ja sovitelma kallionporauksen ohjaamiseksi

Non-Patent Citations (1)

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Title
None *

Also Published As

Publication number Publication date
JP5393490B2 (ja) 2014-01-22
WO2008115113A1 (en) 2008-09-25
SE0700662L (sv) 2008-09-17
EP2122125A1 (en) 2009-11-25
SE530984C2 (sv) 2008-11-11
JP2010521603A (ja) 2010-06-24
EP2122125A4 (en) 2015-11-04

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