EP2282871B1 - Vorrichtung und verfahren zur erfassung eines parameters in bezug auf die position eines verschiebbaren elements in einem steinbohrer - Google Patents

Vorrichtung und verfahren zur erfassung eines parameters in bezug auf die position eines verschiebbaren elements in einem steinbohrer Download PDF

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Publication number
EP2282871B1
EP2282871B1 EP09758603.6A EP09758603A EP2282871B1 EP 2282871 B1 EP2282871 B1 EP 2282871B1 EP 09758603 A EP09758603 A EP 09758603A EP 2282871 B1 EP2282871 B1 EP 2282871B1
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EP
European Patent Office
Prior art keywords
sensor element
displaceable
signals
displaceable element
sensing
Prior art date
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EP09758603.6A
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English (en)
French (fr)
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EP2282871A4 (de
EP2282871A1 (de
Inventor
Peter Birath
Mikael Lorin
Mattias Awad
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 EP2282871A1 publication Critical patent/EP2282871A1/de
Publication of EP2282871A4 publication Critical patent/EP2282871A4/de
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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D2217/00—Details of, or accessories for, portable power-driven percussive tools
    • B25D2217/0011—Details of anvils, guide-sleeves or pistons
    • B25D2217/0023—Pistons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25D—PERCUSSIVE TOOLS
    • B25D2250/00—General details of portable percussive tools; Components used in portable percussive tools
    • B25D2250/221—Sensors

Definitions

  • the invention concerns a rock drill sensing device for sensing a parameter in respect of a rock drilling machine according to the preamble of claim 1, and a method according to the preamble of claim 13.
  • a device is previously known from WO 02/090057 .
  • Fig. 5 of said document is disclosed an arrangement with a sensor coil surrounding the percussion piston in order to indicate changes in the magnetic field caused by movement of the piston.
  • US 2007/0114062 A1 relates to a drill bit assembly with a down the hole logging device.
  • GB 2328635 A relates to an impact screwdriver with means to detect strikes.
  • the RF sensor element can be said to be arranged to work as an antenna, whereby the displaceable element influences the RF field of the RF sensor element in dependence of their relative position and/or relative speed.
  • the position of the displaceable element can therefore, according to the invention, be very accurately linked to a parameter signal emanating from the RF sensor element which parameter signal can be of different nature and thus be said to depend on i.a. the nature of the signal or signals supplied to the RF sensor element.
  • a parameter signal could for example be a resonance frequency of an RF sensor element resonance circuit, since such a resonance frequency would depend on structures adjacent to the RF sensor element. Such a structure could indeed be the displaceable element.
  • the sensor element being positioned adjacent to and along a path of movement of the displaceable element, accurate sensing and response to movement of the displaceable element is obtained.
  • the sensor element is positioned sideways of said path of movement.
  • the senor element extends in the axial direction, which is the direction of displacement, in order to obtain accurate response.
  • the RF-sensor element could be of capacitive type, whereby the sensor element could be adapted to react to an electrical permittivity of an adjacent object.
  • the RF-sensor element could be of inductive type, whereby the sensor element could be adapted to react to a magnetic susceptibility of an adjacent object.
  • the RF-sensor element is a coil sensor element whereby good resolution is obtained.
  • the coil sensor element has loops inside one another and hereby receives a configuration of a part of a spiral with at least one continuous conductor.
  • “spiral” is here intended all configurations of conductors having loops inside one another and where the resulting sensor element is essentially flat. It is however within the scope of the invention that the sensor element can be curved.
  • the loops include straight portions, in particularly that straight portions extend in said axial direction, i.e. the direction of the displacement of the displaceable element.
  • the sensor element can thus be curve-formed, in particular in order to correspond to a form of said housing part, but for simplicity of manufacture it is preferred that the sensor element is flat, which in this case relates to the sensor element per se.
  • the senor element takes up only a portion of the circumference of the housing part, which makes it possible on the one hand to save space, on the other hand to avoid obstructing other functions of the rock drilling machine, which are likely to be positioned in the housing part in question.
  • the sensor element When the sensor element is formed from a printed circuit, it is particularly economically advantageous to manufacture and to handle and to provide with a desired shape. It is also space saving.
  • the sensor element is integrated in a block of base material such as a synthetic resin, whereby the completed block preferably has been given a shape complementary to a cavity in the housing part.
  • the displaceable element is preferably one from the group a percussive piston, a damper piston, a valve spool of a rock drilling machine, since the invention has particular advantage in such applications.
  • the sensor element co-operates with an extreme end of the displaceable element for sensing purposes, which gives particularly good response. It is, however, possible and possibly space saving in certain applications when the sensor element co-operates with an intermediate portion of the displaceable element having a deviating dimension for sensing purposes. Such an intermediate portion could for example be a land of the piston having greater diameter than an adjacent part of the piston.
  • the sensor element has such an extension in directions of displacement of the displaceable element that it corresponds to the length of travel of the displaceable element.
  • the length of the sensor element exceeds the length of travel of the displaceable element and that both extreme end positions of the displaceable elements are well within the extension of the sensor element. This results in the possibility of having a linear output relation signal/displacement.
  • the device preferably includes an RF oscillator, means for transmitting an input signal or signals to the sensor element from the RF oscillator, means for receiving an output signal or signals from the sensor element and an evaluating means for evaluating the parameter related to the position of the displaceable element based on said output signal or signals.
  • the result of the evaluation could be displayed for an operator, be stored and/or be used to control various functions of the rock drilling machine.
  • the evaluation means is adapted to evaluate the parameter related to the position of the displaceable element wherein the parameter includes a frequency of the input signal or signals to the sensor element at resonance.
  • the evaluation means (8) is adapted to evaluate the parameter related to the position of the displaceable element wherein the parameter includes an amplitude of the input signal or signals to the sensor element at resonance.
  • Fig. 1 is diagrammatically illustrated a rock drilling machine having a housing 1, wherein, in an axial bore, a displaceable element in the form of an impact piston 2 is moveable to and fro.
  • the piston 2 is arranged in operation to impact a tool 3 or an intermediate impact receiving element which is coupled to a tool (not shown).
  • a sensor element 4 which extends sideways of and along the path of movement of the piston 2 in the axial direction at the side of the piston and adjacent to the piston 2 travel path.
  • the sensor element 4 is over a signal cable 6 connected to an RF circuit 7, which includes an RF oscillator, means for transmitting RF signals to the sensor element 4 and means for receiving output signals from the sensor element 4.
  • 8 indicates a central processing unit (CPU) which i.a. includes circuit or program means for evaluating the signals received from the sensor element 4 in order to thereby establish the present position of the piston 2 in the axial direction thereof.
  • CPU central processing unit
  • the sensor element 4 can together with the RF circuit 7 be adapted to radiate an RF field.
  • the optimum or resonance frequency of this field would i.a. depend on the constituents and type of the sensor element 4, but also on electromagnetic properties of elements in the vicinity of the sensor element 4, which elements are subjected to the RF-field.
  • one such element would be the piston 2. If such an element would change position slightly, the electromagnetic properties of the surroundings, as experienced by the sensor element, would also change and induce a change in the RF-field at resonance. The change in the RF-field could manifest itself as a change in amplitude and/or frequency of the RF-field at resonance.
  • a certain position of the piston 2 could accurately be correlated to the frequency and/or the amplitude of the RF-field at resonance.
  • resonance frequency is related to a real part of a complex electromagnetic parameter for a material in the vicinity of the sensor element.
  • resonance amplitude is similarly related to an imaginary part of a complex electromagnetic parameter for a material in the vicinity of the sensor element.
  • Such a complex electromagnetic parameter could for instance be the magnetic susceptibility or the electrical permittivity of a material.
  • the sensor element 4 could be made sensitive to the magnetic susceptibility by being a sensor element of inductive type, such as a coil.
  • the sensor element 4 could be made sensitive to the electrical permittivity by being a sensor element of capacitive type.
  • a PC 9 is shown having a keyboard 10 and a screen 11. An operator can study results from said evaluation on that screen in order to possibly take adequate measures for adjusting any appropriate function of the rock drilling machine.
  • the CPU 8 is capable of influencing different functions of a drilling rig over outputs 25.
  • feed pressure, percussion pressure etc. can be influenced.
  • a connection between the CPU 8 and a valve device 12 indicating that the CPU is capable of controlling said valve device 12.
  • the valve device 12 is, as usual, arranged to distribute percussion pressure to different pressure chambers of the rock drilling machine.
  • the arrangement is per se previously known from rock drilling machines put on the market by the applicant and is therefore not discussed further here.
  • Fig. 2 shows a part 13 of the housing of the rock drilling machine as seen in Fig. 1 , wherein is illustrated the sensor element 4 being positioned in a cavity in the housing part.
  • a number of bolt holes, two illustrated with 14, are bored in a flange portion of the housing part 13 in order to securely fix the housing part 13 to the rest of the rock drilling machine housing.
  • a moulded block 24 is shown including the sensor element 4 and being complementary to the cavity in the housing part.
  • Fig. 3 In an axial section of the housing part 13, the sensor element 4 which has an extension L in the axial direction of the piston 2 in Fig. 1 . I.e. in the direction of displacement of the displaceable element the length L of the sensor element exceeds the length of travel, which in Fig. 3 is indicated with 1, between the interrupted lines in Fig. 3 .
  • Fig. 3 shows that the length of travel of the extreme end 5 (in Fig. 1 ), which is the portion of the displaceable element co-operating with sensor element 4, is well inside the extension of the sensor element 4.
  • Fig. 4 shows a cut perspective view of a sensor element 4 which is moulded into a block 24 of synthetic resin, such that the entire block receives a shape which is on the one hand complementary to a cavity in the housing portion where it is to be positioned, on the other hand has a curved portion 25 which corresponds to the inner curvature of said housing part directed radially against the displaceable element. See the corresponding elements in Fig. 2 .
  • Fig. 5 shows isolated, in more detail, the coil part of the sensor element 4 with portions 15 and 16.
  • the RF sensor element 4 in the form of the conductive portions of a printed circuit board (indicated with interrupted lines) having a printed coil being comprised of conductive portions 15 in a direction of travel of a displaceable element and interconnecting conductive portions 16 in directions transverse to the direction of travel.
  • the configuration is thus a part of a spiral-like "curve”.
  • Fig. 6 a curve 17 illustrating a signal emanating from the sensor element 4 as a function of distance of displacement of the displaceable element. With interrupted lines is indicated an essentially linear portion 18 of said curve inside the most extreme length of travel 1 of the displaceable element. The fact that the output is close to linear simplifies signal processing.
  • Fig. 7a and b are shown variants which are, however, not particularly preferred, wherein a coil sensor element which is illustrated with 4' is arranged to be arranged inside a bore of ( Fig 7a ) or to surround ( Fig 7b ) the displaceable element 2' at an extreme end thereof.
  • a coil sensor element which is illustrated with 4' is arranged to be arranged inside a bore of ( Fig 7a ) or to surround ( Fig 7b ) the displaceable element 2' at an extreme end thereof.
  • Fig. 7 illustrates an RF circuit adapted to co-operate with the sensor element 4'.
  • Fig. 8a shows a valve device 12' having a housing 21 and a valve spool 20 which is movable to and fro.
  • the part of the valve device 12' essentially inside an interrupted line ring in Fig. 8a is shown in a larger scale in Fig. 8b , where a sensor element is illustrated with 4".
  • the sensor element 4" is basically constructed in the same way as the sensor element 4 in Figs. 1 - 5 and co-operates with an extreme end edge 19 of the valve spool for sensing purposes.
  • the sensor element 4" is positioned in a particular cavity which is arranged in a valve housing part 22 being fastened to the rest of the valve housing 21.
  • the sensor element 4" can be connected to RF circuits and a CPU in a manner corresponding to what is described with respect to Fig. 1 .
  • valve device 12' By being able to monitor exactly the position of the valve spool 20 it is possible to more precisely control the valve device 12' and thereby the operation of a rock drilling machine wherein it is intended to be installed.
  • the invention gives many advantages when compared to the prior art by being robust, insensitive to high pressures, being able to function at high frequencies and being useable in a hostile environment including air as well as oil and a mix thereof.
  • the device according to the invention gives an absolute value of the present position of the displaceable element which means that calibration problems are minimized. It is possible to construct the sensor element according to the invention such that it can deal with long displacement paths, in particular long lengths of travel of an impact piston.
  • the invention gives the possibility of providing information about the actual position of the displaceable element, to monitor stroke length, to monitor impact speed, to monitor the entire movement of the displaceable element, in particular an impact piston.
  • the invention further gives the possibility of monitoring possible reflections of the piston and the possibility of detecting the impact position. Further, the invention makes it possible to control the rock drilling machine in various ways as a response to the obtained information.
  • the invention can be advantageously used for monitoring also movements of the damper as well as for other displaceable elements in the equipment.
  • the movement of e.g. the damper piston can be sensed according to the invention.
  • Electronic circuits being included in the RF circuit can be standard components.
  • the CPU can easily be programmed to be provided with functions so that it can communicate with the RF circuit.
  • Tests have been preformed to quantify influence of changes of a distance between the sensor element and the displaceable element to the resolution of the sensor element.
  • Embodiments with a surrounding coil have been proven difficult for applications for monitoring piston position with adequate precision but can be useful when an object to be monitored is within a maximal range of 1 - 2 mm from the surrounding coil sensor element.
  • At least one sensor element i.e. one or more sensor elements, can be used in respect of the invention.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)
  • Percussive Tools And Related Accessories (AREA)

Claims (15)

  1. Gesteinsbohrsensorelement (4) zum Erfassen eines Parameters, der sich auf eine Position eines Elements (2) bezieht, das in einer axialen Richtung innerhalb eines Gehäuses (1) einer Gesteinsbohrrnaschine verstellbar ist, dadurch gekennzeichnet, dass es ein HF-Sensorelement ist, das so geformt und an das Gehäuse (1) angepasst ist, dass es im Gebrauch angrenzend an einen Weg, entlang und seitlich eines Weges einer Bewegung des verstellbaren Elements (2) positionierbar ist.
  2. Sensorelement nach Anspruch 1, dadurch gekennzeichnet, dass das Sensorelement (4) von einem induktiven Typ ist.
  3. Sensorelement nach Anspruch 2, dadurch gekennzeichnet, dass es ein Spulensensorelement ist.
  4. Gesteinsbohrerfassungsvorrichtung zum Erfassen eines Parameters, der sich auf eine Position eines verstellbaren Elements (2) bezieht, das in einer axialen Richtung innerhalb eines Gehäuses (1) einer Gesteinsbohrmaschine beweglich ist, wobei die Vorrichtung ein Sensorelement (4) nach einem der Ansprüche 1-3 enthält, das sich in einem Gehäuseteil angrenzend an einen Weg und entlang eines Weges der Bewegung des verstellbaren Elements (2) befindet.
  5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass sich das Sensorelement (4) in der axialen Richtung erstreckt.
  6. Vorrichtung nach Anspruch 4 oder 5, dadurch gekennzeichnet, dass das Sensorelement kurvenförmig ist und dass die Kurvenform des Sensorelements einer Form des Gehäuseteils entspricht.
  7. Vorrichtung nach einem der Ansprüche 4-6, dadurch gekennzeichnet, dass das Sensorelement (4) in einen Block (24) eines Basismaterials, wie etwa Harz, eingebaut ist, der eine Form besitzt, die zu einem Hohlraum in dem Gehäuseteil komplementär ist.
  8. Vorrichtung nach einem der Ansprüche 4-7, dadurch gekennzeichnet, dass das Sensorelement (4) mit einem äußersten Ende (5) des verstellbaren Elements (2) oder mit einem Zwischenabschnitt des verstellbaren Elements, der eine abweichende Abmessung besitzt, zum Zweck des Erfassens zusammenarbeitet.
  9. Vorrichtung nach einem der Ansprüche 4-8, dadurch gekennzeichnet, dass es einen HF-Oszillator (7), Mittel zum Senden eines Eingangssignals oder von Eingangssignalen von dem HF-Oszillator an das Sensorelement, Mittel zum Empfangen eines Ausgangssignals oder von Ausgangssignalen von dem Sensorelement und Bewertungsmittel (8) zum Bewerten des Parameters, der sich auf die Position des verstellbaren Elements bezieht, aufgrund des Ausgangssignals oder der Ausgangssignale, enthält.
  10. Vorrichtung nach Anspruch 9, dadurch gekennzeichnet, dass die Bewertungsmittel (8) ausgelegt sind, den Parameter zu bewerten, der sich auf die Position des verstellbaren Elements bezieht, wobei der Parameter eine Frequenz des Eingangssignals oder von Eingangssignalen des Sensorelements bei einer Resonanz enthält.
  11. Vorrichtung nach Anspruch 9 oder 10, dadurch gekennzeichnet, dass die Bewertungsmittel (8) ausgelegt sind, den Parameter zu bewerten, der sich auf die Position des verstellbaren Elements bezieht, wobei der Parameter eine Amplitude des Eingangssignals oder der Eingangssignale des Sensorelements bei einer Resonanz enthält.
  12. Gesteinsbohranordnung mit einer Gesteinsschlagbohrmaschine, die eine Vorrichtung nach einem der Ansprüche 4-11 enthält.
  13. Verfahren zum Erfassen eines Parameters, der sich auf eine Position eines verstellbaren Elements (2) bezieht, das in einer axialen Richtung innerhalb eines Gehäuses (1) einer Gesteinsbohrmaschine beweglich ist, wobei ein Sensorelement (4) verwendet wird, das sich in einem Gehäuseteil befindet, dadurch gekennzeichnet, dass das Sensorelement, das ein HF-Sensorelement ist, den Parameter von einer Position angrenzend an einen Weg, entlang und seitlich eines Weges der Bewegung des verstellbaren Elements (2) erfasst.
  14. Verfahren nach Anspruch 13, dadurch gekennzeichnet, dass das Sensorelement (4) mit einem äußersten Ende (5) des verstellbaren Elements (2) oder mit einem Zwischenabschnitt des verstellbaren Elements, der eine abweichende Abmessung hat, zum Zweck der Erfassung zusammenarbeitet.
  15. Verfahren nach Anspruch 13 oder 14, dadurch gekennzeichnet, dass das HF-Eingangssignal oder die HF-Eingangssignale an das Sensorelement gesendet werden und dass das HF-Ausgangssignal oder die HF-Ausgangssignale von dem Sensorelement empfangen werden und dass aufgrund des Ausgangssignal oder der Ausgangssignale ein Parameter, der sich auf die Position des verstellbaren Elements bezieht, bewertet wird.
EP09758603.6A 2008-06-05 2009-06-02 Vorrichtung und verfahren zur erfassung eines parameters in bezug auf die position eines verschiebbaren elements in einem steinbohrer Active EP2282871B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0801326 2008-06-05
PCT/SE2009/000286 WO2009148376A1 (en) 2008-06-05 2009-06-02 Device and method for sensing a parameter related to a position of a displaceable element in a rock drill

Publications (3)

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EP2282871A1 EP2282871A1 (de) 2011-02-16
EP2282871A4 EP2282871A4 (de) 2011-12-14
EP2282871B1 true EP2282871B1 (de) 2016-03-23

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN111043968A (zh) * 2019-12-24 2020-04-21 中国科学院武汉岩土力学研究所 凿岩机检测装置及凿岩装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10179424B2 (en) * 2015-10-28 2019-01-15 Caterpillar Inc. Diagnostic system for measuring acceleration of a demolition hammer
SE543372C2 (sv) * 2019-03-29 2020-12-22 Epiroc Rock Drills Ab Borrmaskin och metod för att styra en borrningsprocess hos en borrmaskin

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Publication number Priority date Publication date Assignee Title
DE2945895C2 (de) * 1979-11-14 1986-06-05 Festo-Maschinenfabrik Gottlieb Stoll, 7300 Esslingen Magnetischer Stellungsgeber für hydrauliche oder pneumatische Arbeitszylinder
SE444528B (sv) * 1983-01-26 1986-04-21 Stabilator Ab Sett och anordning for att styra slagenergin hos ett slagborrverk som funktion av borrnackens lege
BR9107332A (pt) * 1991-12-23 1996-07-30 Caterpillar Inc Aparelho e método para detectar uma posiçao linear de um pistao
DE19738094C1 (de) * 1997-09-01 1999-03-04 Bosch Gmbh Robert Schlagschrauber
US6257118B1 (en) * 1999-05-17 2001-07-10 Caterpillar Inc. Method and apparatus for controlling the actuation of a hydraulic cylinder
DE10219950C1 (de) * 2002-05-03 2003-10-30 Hilti Ag Pneumatisches Schlagwerk mit magnetfeldempfindlichen Sensor
US7398837B2 (en) * 2005-11-21 2008-07-15 Hall David R Drill bit assembly with a logging device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111043968A (zh) * 2019-12-24 2020-04-21 中国科学院武汉岩土力学研究所 凿岩机检测装置及凿岩装置
CN111043968B (zh) * 2019-12-24 2021-08-06 中国科学院武汉岩土力学研究所 凿岩机检测装置及凿岩装置

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EP2282871A4 (de) 2011-12-14
EP2282871A1 (de) 2011-02-16
WO2009148376A1 (en) 2009-12-10

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