WO2003033216A1 - Method and apparatus for monitoring operation of percussion device - Google Patents

Method and apparatus for monitoring operation of percussion device Download PDF

Info

Publication number
WO2003033216A1
WO2003033216A1 PCT/FI2002/000808 FI0200808W WO03033216A1 WO 2003033216 A1 WO2003033216 A1 WO 2003033216A1 FI 0200808 W FI0200808 W FI 0200808W WO 03033216 A1 WO03033216 A1 WO 03033216A1
Authority
WO
WIPO (PCT)
Prior art keywords
percussion
percussion device
operating state
pressure
parameters
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.)
Ceased
Application number
PCT/FI2002/000808
Other languages
English (en)
French (fr)
Inventor
Markku Keskiniva
Timo Kemppainen
Vesa Uitto
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.)
Sandvik Mining and Construction Oy
Original Assignee
Sandvik Tamrock Oy
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Sandvik Tamrock Oy filed Critical Sandvik Tamrock Oy
Priority to JP2003535991A priority Critical patent/JP4317017B2/ja
Priority to AU2002333927A priority patent/AU2002333927B2/en
Priority to DE60228996T priority patent/DE60228996D1/de
Priority to EP02801347A priority patent/EP1461187B1/en
Priority to CA002463601A priority patent/CA2463601C/en
Priority to US10/492,615 priority patent/US7051525B2/en
Publication of WO2003033216A1 publication Critical patent/WO2003033216A1/en
Anticipated expiration legal-status Critical
Priority to NO20041871A priority patent/NO325048B1/no
Ceased legal-status Critical Current

Links

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
    • 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
    • E21B1/00—Percussion drilling
    • E21B1/12—Percussion drilling with a reciprocating impulse member
    • 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
    • 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
    • B25D2250/195—Regulation means

Definitions

  • the invention relates to a method for monitoring the operation of a percussion device, which percussion device comprises a percussion piston and a pressure channel for supplying pressure medium to the percussion device for moving the percussion piston, and which method measures pressure pulsation of the pressure medium acting in the pressure channel, which pressure pulsation is depicted as a pressure curve.
  • the invention also relates to an apparatus for monitoring the operation of a percussion device, which percussion device comprises a percussion piston and a pressure channel for supplying pressure medium to the percussion device for moving the percussion piston, and which apparatus comprises a sensor, arranged in connection with the pressure channel, measuring pressure pulsation of the pressure medium acting in the pressure chan- nel and depicting said pressure pulsation as a pressure curve.
  • the invention further relates to an arrangement for adjusting the operation of a percussion device, which percussion device comprises a percussion piston and a pressure channel for supplying pressure medium to the percussion device for moving the percussion piston, and which arrange- ment comprises a sensor, arranged in connection with the pressure channel, measuring pressure pulsation of the pressure medium acting in the pressure channel and depicting said pressure as a pressure curve.
  • Percussion hammers in which a tool driven by the percussion device is arranged to break the surface to be broken, do not employ tool rotation nor flushing. It is mainly the operation of the percussion device that affects the breakage result, if the effect of the tool characteristics is not taken into account.
  • Essential variables for breaking the rock include length of an impact pulse, amplitude of the impact pulse, impact frequency and a suitable bit/rock contact. In practice, of these variables all oth- ers but the length of the impact pulse are adjustable ones.
  • An object of the present invention is to provide a novel solution for monitoring the operation of a percussion device.
  • the method of the invention is characterized by determining, from pressure pulsation, parameters depicting the operating state of a percussion device and determining the operating state of the percussion device on the basis of said parameters.
  • the apparatus of the invention is characterized in that the apparatus further comprises an analyzing device which is arranged to determine parameters depicting the operating state of the percussion device from pressure pulsation and to determine the operating state of the percussion device on the basis of said parameters.
  • the arrangement of the invention is characterized in that the arrangement comprises an analyzing device that is arranged to deter- mine parameters depicting the operating state of the percussion device from pressure pulsation and to determine the operating state of the percussion device on the basis of said parameters and that the arrangement comprises a control unit that is arranged to control the operation of the percussion device on the basis of the operating state of the percussion device.
  • the basic idea of the invention is that for monitoring the operation of the percussion device, which comprises a percussion piston and a pressure channel for supplying pressure medium to the percussion device for moving the percussion piston, pressure pulsation of the pressure medium acting in the pressure channel is measured, which pressure pulsation is depicted as a pressure curve, and parameters depicting the operating state of the per- cussion device are determined from the pressure curve, and the operating state of the percussion device is determined on the basis of said parameters.
  • the pressure curve refers to pressure pulsation that is measured at a sampling frequency that is substantially higher than the running frequency of the percussion device, whereby very fast pressure variations can be registered.
  • Pressure pulsation is mainly generated by a reciprocating movement of the percussion piston, an impact of the percussion piston, a rebound of the percussion piston and hydraulic control provided by a control valve of the percussion device.
  • the operating state of the percussion device is depicted on the basis of at least one of the following parameters: a position of the percussion piston in the percussion device, a piston stroke of the percussion piston, impact velocity of the percussion piston and rebound velocity of the percussion piston.
  • the operating state of the percussion device is controlled on the basis of the parameters depicting the operating state of the percussion device.
  • the percussion device is arranged for use in a rock drill machine and an operating state of the percussion device is determined on the basis of the parameters depicting the operating state of the rock drill machine.
  • the invention has an advantage that the operation of the percussion device can be monitored accurately and in real time, which further enables the adjustment of the operation of the percussion device on the basis of information obtained on one or more previous impacts.
  • the pressure curve of the percussion device can be measured in a simple manner and the measurement can be carried out in the vicinity of the percussion device, or else- where, on a boom or base carrying the percussion device, whereby it will not be necessary to arrange any fault-prone sensors in the percussion device. Further, the pressure curve measurement and interpretation make it possible to monitor the trend of the percussion device state and to use it for monitoring the condition of the percussion device.
  • Figure 2 is a schematic view of a pressure curve of pressure medium acting in a pressure channel
  • Figure 3 is a first pressure curve of a percussion device measured on a rock drill machine
  • Figure 4 is a second pressure curve of a percussion device measured on a rock drill machine
  • Figure 5 is a third pressure curve of a percussion device measured on a rock drill machine
  • Figure 6 shows interdependence of the maximum tensile stress of a stress wave reflecting from the rock to be drilled, feed force and a variable representing the quality of feed
  • Figure 7 shows interdependence of the maximum tensile stress of a stress wave reflecting from the rock to be drilled, feed force and a second variable representing the quality of feed.
  • Figure 1 is a schematic side view of a percussion device 1 , partly cut open.
  • the percussion device 1 comprises a frame 2 and a percussion piston 3.
  • the percussion device 1 can be one employed in a drill or a per- cussion hammer.
  • the percussion device 1 is hydraulically operated, and hydraulic oil, bio-oil or water can be used as hydraulic or pressure fluid.
  • Figure 1 further shows a pump 4 needed for driving the percussion device 1 , which pump 4 pumps pressure fluid through a pressure channel 5, in the direction of arrow A, to the percussion device 1 in order to move the percussion piston 3 to the right in Figure 1 , i.e. to perform a stroke.
  • Figure 1 also shows a control valve 19 used for controlling the operation of the percussion device 1.
  • the general structure and operating principle of the percussion device in the rock drill ma- chine or the percussion hammer are known per se to a person skilled in the art, so they need not be described in greater detail herein, and for the sake of clarity the structure of the percussion device 1 is only shown schematically in Figure 1.
  • Figure 1 further shows schematically a pressure sensor 8, which measures the pressure of the pressure fluid acting in the pressure channel 5 and which is arranged in connection with the pressure channel 5 of the percussion device 1.
  • the measurement result obtained is the pressure curve 10 shown schematically in Figure 2 and representing impact pressure pulsation or pressure pulse of the pressure medium acting in the pressure channel 5.
  • the horizontal axis of Figure 2 represents time and the vertical axis repre- sents pressure.
  • a measuring signal which advantageously is a voltage signal, for instance, of the pressure sensor 8, corresponding to the pressure curve 10, is transmitted through a wire 11 to an analyzing device 9, where variables describing the operating state of the percussion device 1 are determined from the measuring signal corresponding to the pressure curve 10.
  • Parameters depict- ing the operating state of the percussion device 1 or correlating with the operating state of a percussion device include the following parameters, for instance:
  • tn an impact moment, i.e. a moment when the percus- sion piston 3 strikes the drill shank of the rock drill or the tool of the breaking device, ti 2 back-timing of the control valve 19 of the percussion device 1 , when the reverse movement of the percussion piston 3 starts decelerating, ti 3 a back dead centre of the percussion piston 3, when the percussion piston 3 changes its direction of motion, t 2 ⁇ a next impact, p-i the minimum pressure of an impact cycle, i.e. the pressure in the pressure channel 5 at the impact moment, p 2 an impact pressure value at time instant t ⁇ 2 , p 3 the maximum pressure of an impact cycle, i.e. the pressure in the back dead centre.
  • p-i the minimum pressure of an impact cycle, i.e. the pressure in the pressure channel 5 at the impact moment
  • p 2 an impact pressure value at time instant t ⁇ 2
  • p 3 the maximum pressure of an impact cycle, i.e. the pressure in the back
  • auxiliary parameters depicting the operating state of the percussion device 1 can be determined from the above parameters:
  • dti ti 2 - tn a variable that is in proportion to the reverse velocity of the percussion piston 3 and to the distance the per- cussion piston has travelled from the impact point. It is possible to use the variable indirectly for determining the impact point, i.e. the position of the percussion piston 3 at the impact moment and also for identifying the rock type.
  • t t ot 2 i — t-i-i the time of an impact period, i.e. the inverse of run- ning frequency f,
  • x (p 2 - Pi) / (P3 - Pi) a ratio relating to the piston stroke length, which can be used for adjusting the impact point, for instance.
  • the operating state of the percussion device 1 can be depicted by one or more of the following variables: position of the percussion piston 3 in the percussion device 1 , piston stroke length of the percussion piston 3, impact velocity, rebound velocity, running frequency of the percussion device 1 , or statistical parameters obtainable of the same.
  • the parameters depicting the operating state of the percus- sion device 1 or auxiliary parameters determined therefrom and thus the operating state of the percussion device 1 can be used for determining the drilling conditions.
  • the drilling conditions refer to a drilling state, which is affected by the rock to be drilled, drilling equipment used and drilling parameters, such as impact power, feed force, rotating torque and flushing pressure, the measur- able variables directly proportional to them being impact pressure, feed pressure, rotating pressure and flushing pressure.
  • the pressure curve 10 of the percussion device 1 can be measured in a simple manner. It is not necessary to arrange any fault-prone sensors in the percussion device 1 , but the measurement can be carried out in the vicinity of the percussion device, or elsewhere, on a boom or base carrying the percussion device.
  • the pressure curve 10 measurement and interpretation make it possible to monitor the trend of the percussion device state and use it for monitoring the condition of the percussion device 1 and the whole rock drill or percussion hammer, for instance, in situations where the pressure curve 10 changes as pre-charge of the rock drill or the percussion hammer accumulator changes or as the accumulator diaphragm breaks or in situations where the pressure curve 10 changes as the rock drill shank wears.
  • Figure 3 shows a percussion device pressure curve 12 measured from a rock drill.
  • the pressure curve 12 is measured in a situation where the drilling conditions have remained substantially constant.
  • Figure 3 also shows a point that corresponds to the minimum pressure of the impact cycle, i.e. pressure pi in the pressure channel 5 at an impact moment, a point corresponding to an impact pressure value p 2 at a time instant t ⁇ 2 and a point corresponding to the maximum pressure p 3 of the impact cycle, i.e. the pressure at the back dead centre.
  • Figure 4 shows a percussion device pressure curve 13 measured from a rock drill, when it hits a void.
  • Figure 4 shows yet another percussion device pressure curve 14 measured from a rock drill in a situation, where transfer from underfeed to sufficient feed has taken place by increasing the feed. The underfeed was detected on the basis of the parameter x.
  • Figure 6 shows the maximum tensile stress 15 of a stress wave reflected from the rock to be drilled, feed force 16 and a parameter x indicated by curve 17 as measured from a rock drill.
  • the parameter x On the basis of the parameter x it is possible to determine whether the impact energy is excessive in relation to the feed pressure. When the feed is sufficient, the tensile stresses do not decrease substantially and the value of the parameter x stabilizes. The level of the tensile stress indicates the actual quality of drilling. Because it is very difficult to measure the tensile stress during the drilling, the same objective will be achieved by means the parameter x.
  • Figure 7 shows the maximum tensile stress 15 of a stress wave reflected from the rock to be drilled, feed force 16 and moving standard deviation 18 of the impact frequency determined from the pressure curve of the percussion device pressure fluid as measured from a rock drill. It appears from Figure 7 that, when the feed force is increased and when it has reached a given value, a drilling situation is achieved which corresponds to sufficient feed and in which the tensile stresses will not substantially decrease. This can also be detected by the fact that the moving standard deviation 18 value of the frequency stabilizes.
  • Figure 1 also shows a control unit 20, which is arranged to control the operating state of the percussion device 1 on the basis of the percussion device operating state determined in the analyzing device 9.
  • the op- erating state of the percussion device 1 is conveyed from the analyzing device 9 to the control unit 20.
  • the control unit 20 is arranged to control the operation of the pump 4, for instance, by changing the rotating speed or cycle volume of the pump 4.
  • the percussion device 1 can also be operated by compressed air, whereby air, and not pressure liquid, is used as pressure medium, and the pump 4 can be replaced by a compressor and return air can be discharged directly into ambient air.
  • the pressure curve pulsation may vary, for instance, due to various pressure losses as hydraulic tubing is changed.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Geochemistry & Mineralogy (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)
  • Percussive Tools And Related Accessories (AREA)
  • Electrophonic Musical Instruments (AREA)
  • Harvester Elements (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
  • Measuring Fluid Pressure (AREA)
PCT/FI2002/000808 2001-10-18 2002-10-17 Method and apparatus for monitoring operation of percussion device Ceased WO2003033216A1 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
JP2003535991A JP4317017B2 (ja) 2001-10-18 2002-10-17 衝撃装置の動作のモニタ方法および機器
AU2002333927A AU2002333927B2 (en) 2001-10-18 2002-10-17 Method and apparatus for monitoring operation of percussion device
DE60228996T DE60228996D1 (de) 2001-10-18 2002-10-17 Verfahren und vorrichtung zur überwachung des betriebs einer schlagvorrichtung
EP02801347A EP1461187B1 (en) 2001-10-18 2002-10-17 Method and apparatus for monitoring operation of percussion device
CA002463601A CA2463601C (en) 2001-10-18 2002-10-17 Method and apparatus for monitoring operation of percussion device
US10/492,615 US7051525B2 (en) 2001-10-18 2002-10-17 Method and apparatus for monitoring operation of percussion device
NO20041871A NO325048B1 (no) 2001-10-18 2004-05-06 Fremgangsmate og anordning for overvakning av operasjon av en slaginnretning

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20012021 2001-10-18
FI20012021A FI121219B (fi) 2001-10-18 2001-10-18 Menetelmä ja laitteisto iskulaitteen toiminnan monitoroimiseksi sekä sovitelma iskulaitteen toiminnan säätämiseksi

Publications (1)

Publication Number Publication Date
WO2003033216A1 true WO2003033216A1 (en) 2003-04-24

Family

ID=8562077

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FI2002/000808 Ceased WO2003033216A1 (en) 2001-10-18 2002-10-17 Method and apparatus for monitoring operation of percussion device

Country Status (13)

Country Link
US (1) US7051525B2 (enExample)
EP (1) EP1461187B1 (enExample)
JP (1) JP4317017B2 (enExample)
CN (1) CN1301826C (enExample)
AT (1) ATE408478T1 (enExample)
AU (1) AU2002333927B2 (enExample)
CA (1) CA2463601C (enExample)
DE (1) DE60228996D1 (enExample)
ES (1) ES2312662T3 (enExample)
FI (1) FI121219B (enExample)
NO (1) NO325048B1 (enExample)
WO (1) WO2003033216A1 (enExample)
ZA (1) ZA200402883B (enExample)

Cited By (11)

* Cited by examiner, † Cited by third party
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WO2008036013A1 (en) * 2006-09-21 2008-03-27 Atlas Copco Rock Drills Ab Method and device for rock drilling
GB2411375B (en) * 2004-02-26 2008-04-09 South West Highways Ltd Vibration reduction system
WO2010037905A1 (en) * 2008-09-30 2010-04-08 Sandvik Mining And Construction Oy Method and arrangement in rock drilling rig
US7904225B2 (en) 2005-06-03 2011-03-08 Komatsu Ltd. Working machine
US8704507B2 (en) 2009-12-21 2014-04-22 Sandvik Mining And Construction Oy Method for determining usage rate of breaking hammer, breaking hammer, and measuring device
EP1651390B1 (en) * 2003-07-07 2015-05-20 Sandvik Mining and Construction Oy Method of generating stress pulse in tool by means of pressure fluid operated impact device, and impact device
EP2213273B1 (de) 2009-02-02 2016-07-27 Storz Medical Ag Parametereinstellung bei einem Gerät zur Druckwellenbehandlung
CN108581965A (zh) * 2018-04-23 2018-09-28 中山绿威科技有限公司 电锤及其控制方法
EP3617442A1 (en) * 2018-08-31 2020-03-04 Sandvik Mining and Construction Oy Rock drilling device
EP3617441A1 (en) * 2018-08-31 2020-03-04 Sandvik Mining and Construction Oy Rock breaking device
US11391093B2 (en) 2020-03-30 2022-07-19 Sandvik Mining And Construction Oy Apparatus, rock breaking machine and method of monitoring rock breaking machine

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FI20045353A7 (fi) * 2004-09-24 2006-03-25 Sandvik Tamrock Oy Menetelmä kiven rikkomiseksi
AP2342A (en) * 2005-02-25 2011-12-28 Commw Scient Ind Res Org A method and system for controlling an excavating apparatus.
FI123572B (fi) * 2005-10-07 2013-07-15 Sandvik Mining & Constr Oy Menetelmä ja kallionporauslaite reiän poraamiseksi kallioon
SE532464C2 (sv) * 2007-04-11 2010-01-26 Atlas Copco Rock Drills Ab Metod, anordning och bergborrningsrigg för styrning av åtminstone en borrparameter
SE535585C2 (sv) * 2010-09-20 2012-10-02 Spc Technology Ab Förfarande och anordning för slagverkande sänkhålsborrning
US20130038062A1 (en) 2011-07-29 2013-02-14 Samusideen Adewale Salu System for producing hydraulic transient energy
EP2855098B1 (de) * 2012-05-25 2017-03-01 Robert Bosch GmbH Schlagwerkeinheit
US9434056B2 (en) 2013-12-12 2016-09-06 Ingersoll-Rand Company Impact tools with pressure verification and/or adjustment
SE540205C2 (sv) * 2016-06-17 2018-05-02 Epiroc Rock Drills Ab System och förfarande för att bedöma effektivitet hos en borrningsprocess
SE2050667A1 (en) * 2020-06-08 2021-12-09 Epiroc Rock Drills Ab Method and System for Diagnosing an Accumulator in a Hydraulic Circuit
DE102020208479A1 (de) * 2020-07-07 2022-01-13 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zu einer Erkennung eines Rückschlags oder eines Durchschlags einer Werkzeugmaschine mit einer oszillierenden Abtriebsbewegung, Vorrichtung und Werkzeugmaschine mit der Vorrichtung
EP4043153A1 (en) * 2021-02-11 2022-08-17 Sandvik Mining and Construction Oy Percussion device and method for controlling the same
CN115184234B (zh) * 2022-07-01 2024-10-18 西南石油大学 一种超高压气藏钻井液污染评价实验系统及方法

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Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1651390B1 (en) * 2003-07-07 2015-05-20 Sandvik Mining and Construction Oy Method of generating stress pulse in tool by means of pressure fluid operated impact device, and impact device
GB2411375B (en) * 2004-02-26 2008-04-09 South West Highways Ltd Vibration reduction system
US7904225B2 (en) 2005-06-03 2011-03-08 Komatsu Ltd. Working machine
DE112006001421B4 (de) * 2005-06-03 2014-11-13 Komatsu Ltd. Arbeitsmaschine
WO2008036013A1 (en) * 2006-09-21 2008-03-27 Atlas Copco Rock Drills Ab Method and device for rock drilling
US8151899B2 (en) 2006-09-21 2012-04-10 Atlas Copco Rock Drills Ab Method and device for rock drilling
WO2010037905A1 (en) * 2008-09-30 2010-04-08 Sandvik Mining And Construction Oy Method and arrangement in rock drilling rig
AU2009299713B2 (en) * 2008-09-30 2013-08-29 Sandvik Mining And Construction Oy Method and arrangement in rock drilling rig
EP2213273B1 (de) 2009-02-02 2016-07-27 Storz Medical Ag Parametereinstellung bei einem Gerät zur Druckwellenbehandlung
US8704507B2 (en) 2009-12-21 2014-04-22 Sandvik Mining And Construction Oy Method for determining usage rate of breaking hammer, breaking hammer, and measuring device
CN108581965A (zh) * 2018-04-23 2018-09-28 中山绿威科技有限公司 电锤及其控制方法
EP3617442A1 (en) * 2018-08-31 2020-03-04 Sandvik Mining and Construction Oy Rock drilling device
EP3617441A1 (en) * 2018-08-31 2020-03-04 Sandvik Mining and Construction Oy Rock breaking device
KR20200026701A (ko) * 2018-08-31 2020-03-11 산드빅 마이닝 앤드 컨스트럭션 오와이 암석 드릴링 디바이스
US11002127B2 (en) 2018-08-31 2021-05-11 Sandvik Mining And Construction Oy Rock drilling device
US11085286B2 (en) 2018-08-31 2021-08-10 Sandvik Mining And Construction Oy Rock breaking device
KR102698597B1 (ko) 2018-08-31 2024-08-23 산드빅 마이닝 앤드 컨스트럭션 오와이 암석 드릴링 디바이스
AU2019204749B2 (en) * 2018-08-31 2025-05-29 Sandvik Mining And Construction Oy Rock drilling device
AU2019204749B9 (en) * 2018-08-31 2025-06-12 Sandvik Mining And Construction Oy Rock drilling device
US11391093B2 (en) 2020-03-30 2022-07-19 Sandvik Mining And Construction Oy Apparatus, rock breaking machine and method of monitoring rock breaking machine

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ES2312662T3 (es) 2009-03-01
JP2005505433A (ja) 2005-02-24
DE60228996D1 (de) 2008-10-30
CN1301826C (zh) 2007-02-28
ZA200402883B (en) 2004-10-25
US20040244493A1 (en) 2004-12-09
NO20041871L (no) 2004-05-06
EP1461187B1 (en) 2008-09-17
AU2002333927B2 (en) 2007-01-04
FI20012021A0 (fi) 2001-10-18
CN1571713A (zh) 2005-01-26
CA2463601A1 (en) 2003-04-24
FI20012021L (fi) 2003-04-19
US7051525B2 (en) 2006-05-30
EP1461187A1 (en) 2004-09-29
NO325048B1 (no) 2008-01-21
FI121219B (fi) 2010-08-31
JP4317017B2 (ja) 2009-08-19
CA2463601C (en) 2009-05-12
ATE408478T1 (de) 2008-10-15

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