JP2015166548A - Rock drill rig control method and device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drill rig control system capable of adjusting so as to slip out of a recommended parameter value in a range of a maximum value determined by acquiring a chance of making a constant adjustment to the recommended setting or capable of adjusting within a recommended range, by displaying the recommended setting for an operator.SOLUTION: There are provided a control method and a device for a drill rig 1 comprising a carrier vehicle having at least one feed beam 3 on which a rock drill 2 is longitudinally movably provided, in which: parameters of a rig are set by a control unit 6; a plurality of respective operation modes M1-M6 adapted to kinds of base rock include the special operation settings to different operation parameters of the rig; and the respective operation modes M1-M6 can be selected so that operation of the rig is related to a special kind of base rock to be drilled.

Description

  The present invention is a rock drilling rig control method and apparatus having a carrier vehicle equipped with at least one feed beam, and a rock drill can move back and forth on the feed beam. The parameters are set by the control unit, and each of the plurality of operation modes relates to a rock drilling rig control method and control device including special operation settings for different operation parameters of the rig.

  When performing impact rock drilling, shock waves are generated by the impact mechanism of the rock drill. This shock wave is transmitted as an energy stress wave through the drill rod to the drill bid. When the stress wave reaches the drill bit, the hard bit button element of the drill bit is pressed against the rock with a strong force that breaks the rock. In order to bring the hard metal button element into contact with the rock mass not affected by the blow after a single blow, the drill rod is rotated by a rotary device (often hydraulically driven) and a rotary device with a transmission. It is done. The rock dust is continuously removed from the front side of the drill bit by flushing.

  The rock drill is mounted on a cradle that can move back and forth on the feed beam. The rock drill and slide are driven towards the rock along the feed beam by a feed motor, which can be a hydraulic cylinder or a chain feed.

  When a new rock drilling rig is delivered to the buyer, the rig is set with basic settings for drilling parameters or operating parameters of the rock drilling rig. These parameters are, among other things, the pressure level and hydraulic flow level for the various components of the rig. In addition, the characteristics of the rig's operational function related to how the rig is controlled during various sensed operating conditions, or how the rig reacts to various sensed operating conditions. Is set.

  The basic settings for a new rock drilling rig are usually tailored to the operating conditions used in the intended area of the rig and to the user's requirements as much as possible. When drilling rigs are operated in different locations with different excavation conditions, more generally, if the drilling rig changes significantly while the drilling rig is operating, drilling should be adapted to these new operating conditions. In order to be as effective as possible, the parameters should be adjusted to different settings.

  Adjustment of the rig setting is usually performed manually by an expert, in some cases a rig operator, thereby setting a plurality of parameters that affect the rock drilling mechanism, rotary motor, feed motor, and the like.

The basic parameters that are difficult to set are as follows.
Feed pressure: If it is too high, the direction of excavation may be deviated, and if it is too low, it may cause loosening or wear of the drill string joint, and eventually cause damage to the drill string.
Impact pressure: Too high can cause wear and breakage, leading to increased reflection through the drill string, and too low can lead to reduced productivity.
Rotational speed: If it is too high, it can cause wear, often causing the direction of excavation to shift, and if it is too low, it can cause wear or decrease in productivity.
In addition to the basic parameters, there are a number of excavation parameters that need to be set, for example:
Feed rate and feed control level: Too high can cause damage to the equipment when the drill bit enters the cavity during drilling, and too low can lead to reduced productivity.
Damping pressure control level: If the level is too high, the striking pressure will be reduced to the coloring level very often, which will reduce productivity, and if it is too low, it will cause wear and damage become.
Flushing media pressure: Too high can cause wear and energy consumption of the drill bit, and too low can cause the drill bit to stack.

  The problem with manual parameter setting is that changing one parameter can affect the state of one or more other parameters, so it is very important to accurately set the precise parameters for the latest rock drilling rig. It is complicated. Specifically, feed force and rotational torque need to be balanced with each other to maintain an effective excavation operation. If this balance is lost due to changes in rock formation, it will lead to the problem of jamming more easily.

  Thus, even a skilled technician or operator with excellent knowledge about the functioning of the system is very difficult to obtain good results. In most cases, a very time-consuming trial and error method needs to be performed.

  This often results in no new adjustments, or settings where the rig does not operate at maximum efficiency. This will increase wear and / or unnecessary useless motion.

  As an example of the prior art, US Patent Publication US2004 / 0140112 A1 can be described. This publication discloses a configuration for controlling a rock drilling process, in which a plurality of control modes can be selected to control excavation with various criteria. As some examples of control modes, an efficiency mode, a quality mode, a cost mode and an optimal mode are described.

  It is an object of the present invention to provide a method and apparatus that can at least reduce the disadvantages of the prior art.

  These objectives are, as mentioned above, each operational mode is related to a unique type of rock mass to be excavated and each operational mode is set to an operational setting adapted to the type of rock mass to be carried out. Is achieved by a method and apparatus that can be selected.

  This ensures that the rock drilling rig is set in a direction in which operation on a unique type of rock is optimized as well as possible. Thereby, the operating parameters are set in order to adapt to the excavation situation to be carried out.

  As an example, in hard rocks that can easily get in contact with the rock mass, it is possible to “aggressive” excavation with higher feed force and impact pressure, while other types of rock mass, eg In soft bedrock, it is explained that the feed rate and feed rate control level are high, but the feed force is low and requires more dynamic control.

  In each mode, the setting is changed so that settings that may be easy in the case of a manual setting system do not interfere with each other. For example, low feed force and high striking pressure can be harmful to the device in certain situations. In particular, such undesirable combinations can be avoided throughout the present invention.

  The operating parameter is preferably selected from the group of feed motor pressure, rotary motor pressure, control level, rotational speed, rotational pressure, feed motor flow rate, rotary motor flow rate, flushing fluid flow rate, damping pressure control level, feed rate control level. Are multiple parameters.

Preferably, by starting one control mode, parameter values of various excavation control functions of the rig are set, and the excavation control function is started or stopped. The excavation control function is one or more functions selected from the following groups.
Boost: Means that when the drill bit comes into contact with hard rock, the impact pressure is increased, that is, “increased”. This is preferred if the rock is soft or medium hardness and the rock hardness can vary significantly.
-Hole flushing: Stronger flushing is required for soft rock. Adjusted from position, airflow and number of cavities.
Damping control function: The feed pressure is adjusted as a function of the damping pressure. This function works well on hard rock, but may not be directly suitable for soft rock.
・ Rotation rise: Useful for soft rocks, but not suitable for hard rocks due to increased bit wear.
・ Anti-jamming function:
In the case of the anti-jamming function, when there is a stack on the track of a rock drill, a higher torque is required to rotate the drill bit, so that generally the rotational pressure on the rotary motor will be increased.
If the rotational pressure continues to increase to a level corresponding to the “jam limit”, the anti-jamming protection function is triggered, causing the drill slide to reverse feed. If the jamming does not end within the set time, all excavation functions are stopped.
Feed pressure control-Feed flow control Another excavation control function predicted by the applicant is to provide gentler and more responsive control when the rock driller is jammed on its track To do so, a combination of feed flow pressure and flow control to the feed motor is provided. This function is activated when the rotational pressure rises above the first level. The first level may be an experimentally determined value set of parameters indicating that the rotational torque and thereby the rotational resistance has risen above a value that can be considered to correspond to normal rock drilling. This feature reduces feed flow and is best suited for medium hardness or soft bedrock.

  The mode of operation described above relates to any of the group of soft rocks, medium hardness rocks and hard rocks. It can also be adapted to other groups such as loose bedrock, rocky bedrock, bedrock containing ore, etc.

  In accordance with the present invention, for a variety of excavation control functions for various modes, when a control function is activated, one or more of the variables of that function are enabled, and the pressure and The flow level is set to the initial control measurement.

  According to a preferred embodiment, one or more parameters are selected from the group of bit size and rod size. This can preferably be done manually. This allows the system to be easily adapted to a drilling process that affects the elements of the device. Preferably, one or more of the flushing flow rate, rotational speed, feed pressure, striking pressure, feed force and rotational torque related ratio, and starting point for starting the anti-jamming function vary as a function of bit size. Also preferably, one or more of the striking pressure and feed motor pressure varies as a function of rod size.

  Skilled operators often have insights into drill rig operation beyond what can be obtained with a control system. According to one aspect of the present invention, it is possible to recommend parameter adjustment within a recommended range or parameter adjustment from a set value.

  Although often problematic due to manual adjustment, one feature of the present invention has the advantage of allowing a skilled operator to fine-tune the rig settings to some degree of freedom. In particular, the system is advantageous because it gives an experienced operator the opportunity to manipulate certain parameter settings within a certain range that can be predetermined. In one preferred embodiment, the system displays recommended settings to the operator so that the operator has the opportunity to make certain adjustments to the recommended settings and recommend parameter values within a range of maximum values determined. Adjust so that it is not within the range, or adjust within the recommended range. These recommended data are determined in an advantageous way so that no parameters will collide with each other.

  Corresponding effects are also obtained with the device according to the invention.

  Further effects and features of the invention are described in detail below.

1 schematically shows a rock drilling rig equipped with a device according to the invention with a control system. 1 schematically shows an input device for a device according to the invention. The sequence of the method is schematically shown in the form of a simple flowchart. It is a chart which shows feed force as a function of torque. FIG. 6 is a chart showing maximum striking force level as a function of drill rod size. FIG. Fig. 5 shows another input device for a device according to the invention.

  Hereinafter, the present invention will be described in detail using some embodiments with reference to the accompanying drawings.

  In FIG. 1, reference numeral 1 denotes a rock drilling rig having an arm that supports a feed beam 3. On the feed beam 3, a rock drill 2 is supported so as to be movable back and forth as in the prior art, and the rock drill 2 acts on a drill rod 4, which is connected to its distal end. Is provided with a drill bit 5.

  The rock drill 2 is provided with a rotating device (not shown) in an essentially known manner, and the rotating device rotates the drill rod 4 during excavation. The rotary motor is hydraulically driven by the rotating fluid flow discharged from the pump 7 through the conduit 8. The pressure in the conduit 8 is the rotational pressure sensed by the pressure sensor 9.

  The rock drill 2 is driven forward by a feed force F (not shown) generated by a pump 10 and hydraulically driven by a feed flow sent through a feed conduit 11. The pressure in the feed conduit 11 is the feed pressure sensed by the pressure sensor 12. Reference numeral 6 denotes a central processing unit (CPU) which receives signals from sensors 9 and 12 and monitors the pressure in these conduits. A striking mechanism (not shown) in the rock drill housing is conventionally driven by a striking fluid flow with striking fluid pressure. The position and speed of the rock drilling are determined using a length sensor (not shown) provided on the feed beam.

  The CPU 6 communicates with the pumps 7 and 10 in addition to the rock drill 2 when it is ready to perform control functions. The striking fluid pressure is monitored and controlled by the CPU 6. Furthermore, the CPU 6 preferably also has other functions not described in this specification as it is not the object of the present invention. Although FIG. 1 shows a rig operating underground, the present invention can also be applied to a rig operating on the ground.

  Reference numeral 13 denotes an input device in the form of a touch screen. This input device is for communicating with the CPU to select a mode to be used. In the case of the illustrated touch screen, six modes M1 to M6 are programmed in advance, and button areas are displayed on the touch screen. Reference numeral 14 denotes a memory connected to the CPU, in which various mode settings are stored. This memory can also be part of the internal memory of the CPU. Optionally, values for a particular mode can be communicated to the rig over a LAN, the Internet, etc.

  You can also remotely control the rig to automatically enter the mode to be used for a special workplace, using other methods to perform mode entry, such as the rig operator program menu, The rig may be simply connected to the setting button through the CPU, or may be connected to one or a plurality of adjustment knobs.

  It is not only the condition of the rock that affects the operation of the rock drilling rig. Different drill bits and different drill rods also affect various operating parameters. For this reason, according to a preferred embodiment of the present invention, it is preferable that information regarding the drill bit and the drill rod used during the excavation process can be input to the CPU.

  FIG. 2 shows an input device having a mode selector 30 for selecting one of three rock conditions, ie, soft (S), medium (M), and hard (H).

  Furthermore, the apparatus in FIG. 2 preferably comprises means for selecting and inputting a bit size using a rotation selector 31 from an appropriate number of standard bit sizes. Here, as an example, the three options 1, 2 and 3 show bid diameters of 115 mm, 125 mm and 140 mm.

  The apparatus shown in FIG. 2 further includes means for inputting the rod size. Reference numeral 32 denotes a rotation selector for selecting one of three different rod sizes (A, B, and C), where three rod sizes (A, B, and C) are shown as an example. , 45 mm, 51 mm and 60 mm rod diameters.

  By using a simple input device for the electrohydraulic system, such as the input device shown in FIG. 2, these predetermined parameters can be entered into the control mode of the control system. This simplifies system adjustment and process switching.

  The input device in FIG. 2 can be modified to include, for example, a rod and bit size selector on a touch screen similar to the touch screen shown in FIG.

FIG. 3 shows a sequence of methods in the form of a flowchart.
Position 20 indicates the start of the sequence.
Position 21 shows the selection of the operating mode for the particular type of rock mass on which excavation is performed and the input of rod and bit size for the intended excavation process.
Position 22 indicates that the selected operating mode is initiated, thereby setting the stored operating parameters for the selected operating mode.
Position 23 indicates that the excavation control function is set and started for the selected operation mode.
Position 24 indicates that the drill rig is to be operated according to the activated mode of operation.
Position 25 indicates the end of the sequence.

  The means associated with the device according to the invention for performing the function initiated according to the invention is itself a conventional control device.

  The means for controlling the striking mechanism may include sensors that detect the damping pressure or the feed pressure, and in response to these sensors, the striking pressure and / or the stroke length of the striking piston may be controlled.

  The means for monitoring the parameter relating to the rotational torque in order to perform pressure control or flow rate control of the feed force in accordance with the variation of the parameter value, on the one hand, is suitably used as software in the CPU connected to the known pressure control means On the other hand, it is suitably implemented as software in a CPU coupled to known fluid control means.

  The means for reducing and increasing the feed force by changing the feed flow to the feed motor means for performing the feed in relation to the change of the parameter value is a software in the CPU coupled to the known fluid control means. As appropriate.

  The means for initializing the anti-jamming function with the preset rock drill parameters is suitably realized through software in the CPU coupled to the known setting means.

  For flow control, suitably a pressure compensation valve can be used to keep the pressure difference between the inside and outside of the main supply valve as constant as possible.

  An electrically controlled pressure limiting device can also be used for pressure control. When the pressure exceeds a predetermined level, the restriction device is opened to the tank and the pressure in the conduit is reduced. A controlled hydraulic pump may also be used.

  Excavation controls that exist on the market often use pre-adjusted valves that cannot be adjusted, or use trial and error methods in the field to achieve the best results for anti-jamming, drilling force adjustment, and system energy level adjustment. Control parameters to obtain are determined. This method requires a skilled operator to perform adjustment and setup. It is impractical to perform this method on a regular basis at drilling sites with different rock formations. As described above, in practice, in such a system, it is difficult to execute the setting method, so that it remains unadjusted.

  Anti-jamming mechanisms for impact drilling are built on the principle that the rotational torque level adjusts the feed force level (ie, thrust force) to prevent the drill string from jamming. This is based on the theory that the torque level is proportional to the feed force supplied to the drill string. If too high feed force is supplied in a particular rock condition, the torque level will be increased to a very high level, exceeding the capability of the rock drill rotary motor. And a jamming situation will appear.

  When parameters in the anti-jamming mechanism are predetermined in such a way that any operator can easily adjust the system in the direction of optimizing the system, it is beneficial when the feed force is determined by the system. Is obtained. This allows the anti-jamming treatment to be performed as effectively as possible at any time to achieve smooth excavation and optimal use of energy.

In FIG. 4, the feed force is represented as a function of torque level starting from T1: Fk (T-T1). If D is the bit size and H is the rock mass hardness, T1 in the above equation is defined as a function of both the bit size D and the rock mass hardness H. The slope k of the curve is also a function of the bit size D and the rock hardness H. These can be expressed as:
T1 = f ₁ (D, H)
k = f ₂ (D, H)
The maximum striking force level is directly related to the drill rod size, the applied feed force, the stress level limit of the material used for the drill rod and the connection for connecting the rod.

When P is the excavation force and d is the rod size, the relationship can be expressed by the following equation.
P = f ₃ (d, F)
This relationship is illustrated in FIG.

In the above formula,
F is the excavation feed force,
T is excavation rotational torque,
H is the rock hardness state,
D is the drill bit size,
F is the drill striking force level,
d is the drill rod size;
k is a torque-feeding ratio.

  The exact relationship between the variables in the above equation is determined by the material strength, maximum stress level and data obtained from field tests. In most cases, only three parameters in the above formula need to be entered into the system so that the rock condition, drill bit size and drill rod size are predetermined, and the drill bit size in the above parameters. The drill rod size is easily determined.

  In order to determine the type of rock mass to be excavated, that is, to determine the mode to be used in the field, the basis of the judgment is the large amount obtained experimentally during the rock mass testing and excavation test etc. Value.

  FIG. 6 shows a display and input device for displaying various parameter values and enabling manual adjustment. This device gives a skilled operator the opportunity to manipulate the settings of certain selected parameters within predetermined limits. Optionally, the input means for the operator to input to the system can be an override device that allows the operator to preferably correct within a certain range the parameter values selected by the system.

  In this embodiment, the system displays recommended settings to the operator within recommended parameter ranges, thereby recommending the operator to adjust within these ranges.

  Specifically, FIG. 6 shows a display screen layout 33 having three parameter devices: a rotary pressure device 34, a striking pressure device 35, and a damping pressure device 36.

  The damping pressure device 36 can be changed to a feed (motor) pressure device 36. In that case, a recommended range of values for the feed pressure may be provided. Similar to the above, the operator can adjust the feed pressure according to the recommended value.

  Reference numerals 34 ', 35' and 36 'indicate pointers of the respective devices. The rotary pressure device 34 is simply used to display the effective rotary pressure. In contrast, each of the devices 35 and 36 displays a recommended range recommended for the operator to make adjustments in the semi-manual mode.

  In device 34, indicators 38.1, 38.2 and 38.3 are control level indicators, which indicate the levels at which different functions will be activated.

  In the device 35 indicating the striking pressure, the recommended range is displayed by means of a minimum indicator 39.1 and a maximum indicator 39.2. For softer rock conditions, smaller impact forces are required, resulting in a lower recommended pressure range. If the rock condition changes to a medium hardness rock, the impact pressure required for penetration will increase, and therefore the recommended range will also increase. The same relationship is given when changing from medium to high hardness rock. Typically, the impact pressure is set by the system, and when changing modes, the pressure level is usually set to an intermediate value in the recommended range, but can be set to other values in the recommended range.

  Damping pressure is a result of feed pressure and rock hardness. Usually, soft rock mass is given a lower damping pressure at the same feed pressure than hard rock mass. As the feed pressure increases, the damping pressure increases. To obtain a good balance between feed force and impact pressure, the recommended damping pressure range for the selected mode is indicated by device 36. In device 36, the minimum limit indicator is indicated by reference numeral 40.1, the maximum limit indicator is indicated by reference numeral 40.2, and reference numeral 40.3 indicates a control level indicator, which is an indicator 38 of apparatus 34. .1, 38.2 and 38.3.

  In the devices 35 and 36, each range between the minimum limit indicator and the maximum limit indicator is a range that the operator is recommended to adjust.

  Input to the system can be made by a mouse controlled cursor (not shown) pointing to the up and down arrows (not shown) adjacent to each device. The input can also be performed by pressing a button on a separate keyboard (not shown). The screen may be a touch screen for directly inputting data. Specifically, for each device, the required input value is preferably displayed with a special marker, for example similar to an indicator.

  The display screen layout in FIG. 6 can also display other parameter values (not shown) in different fields. These parameters are not subject to manipulation by the operator in this embodiment. The screen having the layout 33 may be the same as the screen 13 in FIG. 1, or may be provided in parallel with such a screen.

  Different skilled operators can be given different accelerator levels and different rights to adjust different parameters and / or different parameter ranges.

  The invention can be modified within the scope of the claims and may deviate from the embodiments described above.

  It is possible to have a simple system that only uses the anti-jamming function described above. For example, when the rig is used in a limited area, it may not be necessary to provide a means for inputting the bit size or rod size in the system.

  As mentioned above, parameters can also be entered into the system through a LAN or other suitable method.

Claims (6)

A control method of an excavation rig (1) having a carrier vehicle equipped with at least one feed beam (3), wherein a rock drill (2) is movably provided on the feed beam (3). There,
The operating parameters of the drilling rig are set by the control unit (6),
There are a plurality of operating modes (M1-M6) each including specific operating settings for various operating parameters of the drilling rig,
Each operation mode (M1 to M6) can be selected so that the operation of the excavation rig corresponds to each type of rock mass to be excavated,
Moreover, in the control method of an excavation rig in which the said operation setting of each operation mode (M1-M6) includes the operation setting suitable for the kind of rock mass currently implemented,
Select the rock condition and change one or more parameters of feed pressure, impact pressure, damping pressure as a function of rock condition,
Select the bit size and select one or more of the flushing fluid flow rate, rotation speed, feed pressure, impact pressure, ratio feed force / rotation torque relationship, and start parameter for starting anti-jamming function. As a function of
Select the rod size and change one or more of the parameters of impact pressure, feed pressure among the operating parameters as a function of rod size,
By operating one mode of operation, one or more selected from the group of boost, hole flushing, feed pressure control, feed flow control, anti-jamming function, damping control function, super rotation, striking pressure feed rate control A control method comprising setting, starting or stopping operation parameter values for a plurality of excavation control functions. The operating mode (M1 to M6) is related to any selected from the group of soft rocks, medium hardness rocks, hard rocks, loose rocks, rocky rocks and rocks containing ores. The control method according to claim 1, wherein: A control device for a drilling rig (1) having a carrier vehicle equipped with at least one feed beam (3), wherein a rock drill (2) is movable forward and backward on the feed beam (3); There,
A control unit (6) for setting the operating parameters of the rig,
Storage means (14) for storing a plurality of operation modes (M1 to M6);
Each operating mode (M1-M6) includes operating settings specified for various operating parameters of the drilling rig,
Each operation mode (M1 to M6) can be selected so that the operation of the excavation rig is related to the specific type of rock that will be excavated,
In addition, in the control device of the excavation rig (1), each operation mode (M1 to M6) includes an operation setting adapted to the type of rock mass being implemented.
Having at least one input device for selecting a rock condition, and changing one or more of the feeding pressure, the striking pressure and the damping pressure among the operating parameters as a function of the rock condition;
It has at least one input device for inputting data relating to bit size, and among the operating parameters, flushing fluid flow, rotational speed, feed pressure, impact pressure, feed / rotation torque relationship ratio, start to start anti-jamming function One or more of the points are configured to change as a function of bit size;
In addition, it has at least one input device for inputting data relating to the rod size, and is configured so that one or more of the impact pressure and the feed motor pressure among the operating parameters change as a function of the rod size,
By operating one operation mode, select from the group of boost, hole flushing, feed pressure control, feed flow control, anti-jamming function, damping control function, super revolution, impact pressure feed speed control among the above operating parameters The control device is characterized in that the operation parameter value is set, started or stopped for one or a plurality of excavation control functions.   The mode of operation is related to any one selected from the group of soft rocks, medium hardness rocks, hard rocks, loose rocks, angular rocks and rocks containing ores. The control device according to claim 3. Features an input device to select any rock condition from the group of soft rocks, medium hardness rocks, hard rocks, loose rocks, rocky rocks and rocks containing ore The control device according to claim 3 or 4.   An excavation rig comprising the control device according to any one of claims 3 to 5.

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