WO2014133445A2

WO2014133445A2 - Rock drilling configuration and method for lateral positioning of a drilling arrangement

Info

Publication number: WO2014133445A2
Application number: PCT/SE2014/050245
Authority: WO
Inventors: Fredrik JORMVIK
Original assignee: Atlas Copco Rock Drills Ab
Priority date: 2013-03-01
Filing date: 2014-02-28
Publication date: 2014-09-04
Also published as: WO2014133445A3; SE1350252A1; AU2014221434A1; AU2014221434B2; MX2015010982A; CN105026677B; SE538665C2; CA2898611C; CA2898611A1; EP2961909A2; RU2015141611A; CL2015002441A1; RU2695196C2; CN105026677A

Abstract

The present invention relates to a method for positioning a drilling arrangement (7), wherein said drilling arrangement (7) is a raise boring arrangement, comprising a rotational centre (29). The method comprises to provide said drilling arrangement (7) carried by a positioning device (21, 31) connected to a carrier means (1) to transport the drilling arrangement (7) to a designated position for drilling by means of said carrier means (1), and positioning said rotational centre (29) of said drilling arrangement (7) beside a relatively the carrier means (1) defined centre line (CL) with the positioning device (21, 31). The invention also relates to a rock drilling configuration comprising said positioning device (21, 31) and said drilling arrangement (7) and a computer program product comprising program code for an electronic control unit associated with the rock drilling configuration for performing the method.

Description

Rock drilling configuration and method for lateral positioning of a drilling arrangement

TECHNICAL FIELD The present invention relates to a method for positioning a drilling arrangement underground. The invention also relates to a rock drilling configuration and a computer program product comprising program code for an electronic control unit associated with said rock drilling configuration to perform the method. The invention can relate to the manufacturing industry for mining equipment and to the mining industry in general, but is not limited to this.

BACKGROUND Today's technology to drill in rocks underground sometimes requires wide tunnels (drifts) for drilling rigs and vehicles comprising drilling arrangements, so as to allow adjustment of the rotational centre of the drilling arrangement for drilling close to the tunnel wall. Such mining of wide tunnels provides that the vehicle may be positioned with an angle (defined as the centre line of the vehicle relative to the extension of the tunnel) in the tunnel and the drilling arrangement is hereby positioned close to the tunnel wall.

Today's technology to drill in rocks underground sometimes requires that an operator has to move his drill rig from the drift, where it is currently located, to another drift above in order to be able to drill downwards. That way there is avoided cumbersome handling of the drilling equipment. Today's technology also provides that when an operator, after having drilled in a first direction, shall change the orientation of the drilling equipment to drill in a second direction, he is forced to handle cumbersome and bulky retaining structures. These retaining structures for holding the drilling equipment thus cause a large amount of work in the case where an operator turns the drilling equipment to drill in a second direction. Today's technology thus causes a large amount of work when handling a drilling arrangement in narrow drifts. US 3 220 494 discloses a drilling arrangement comprising a vehicle, known as a carrier, coupled to a drilling equipment. The drilling equipment comprises a derrick, which is bolted to the rock in position for drilling. The drilling equipment further comprises a drive head fitted between hydraulic cylinders for driving of drill holes.

SUMMARY OF THE INVENTION

One object of the present invention is to provide a novel and advantageous method for positioning a drilling arrangement and which uses a space of for example a drift in an optimal way.

One object of the invention is to provide a non-bulky rock drilling configuration. One object is to achieve a flexible rock drilling configuration.

One object of the present invention is to provide a novel and advantageous method for positioning a drilling arrangement which easily may be transported by a carrier in a space in a flexible way, in particular during raise boring. One object is thus to by means of a vehicle transport and position a drilling arrangement as close to a drift wall as possible, without the need of disconnecting the vehicle from the drilling arrangement for correct positioning of the drilling arrangement for final position.

Another object of the invention is to provide a novel and advantageous rock drilling configuration for driving of bore holes and an advantageous computer program pertaining to a rock drilling configuration.

Yet another object of the invention is to provide a rock drilling configuration which is cost effective to use with regard to of time and safety aspects.

Yet another object of the invention is to provide a rock drilling configuration which is easy to manufacture and which can be provided cost effectively. Yet another object of the invention is to provide a rock drilling configuration and a method that is user friendly.

These objects are achieved by a method for positioning a drilling arrangement according to claim 1.

According to an aspect of the present invention there is provided a method for positioning a drilling arrangement comprising a rotational centre underground. The method comprises: - providing said drilling arrangement carried by a positioning device rigidly connected to a carrier means;

- transporting the drilling arrangement to a designated position for drilling by means of said carrier means; and

- positioning said rotational centre of said drilling arrangement beside a relative to the carrier means defined centre line by the positioning device.

According to an aspect of the present invention there is provided a method for positioning a drilling arrangement underground comprising a rotational centre, wherein the drilling arrangement is a raise boring arrangement. The method comprises:

- providing said drilling arrangement carried by a positioning device connected to a carrier means;

- positioning said rotational centre of said drilling arrangement beside a relative to the carrier means defined centre line by the positioning device, wherein the positioning is carried out by a linear movement and/or a pivoting movement to the side.

The rotational centre of the drilling arrangement is preferably defined by the rotational centre for a chuck of a drive head of the drilling arrangement. Hereby the rotational centre is defined by the drilling axis of the drilling arrangement. This way, a flexible method and a space saving drilling arrangement are achieved.

This way, a cost effective and from a work environment aspect more favourable method is provided. Thereby the rotational centre of the drilling arrangement for the chuck of the drive head may be positioned to the side relative to the centre line of the carrier, without the need of mining the drift wall to make room for the end wagon of the carrier means.

Advantageously the drilling arrangement is arranged for driving a boring head in two from the drift oppositely extending holes after positioning. The drilling arrangement may for example be a so called raise boring arrangement where driving (the drive member is operating a drive head comprising a rotating chuck) is achieved by in a first step pressing by means of the chuck a rotating drill bit for drilling a pilot hole and thereafter, in a second step, the driving is turned (the drive member is operating the rotating chuck by traction force) by means of the chuck rotating a reaming head in an opposite direction. By using this on site determined pressing and traction function of the derrick where you only have to turn the drive head relative to the derrick for a new driving of the drill in the opposite direction (or after appropriate adjustment of the derrick in any other direction), there is no need to turn the whole drilling arrangement with operating cylinders etc. which is time consuming. In combination with this functionality said positioning of the rotational centre of the drilling arrangement (the rotational centre of the chuck) relative to the centre line of the vehicle provides a cost effective mining operation.

Preferably, the step of positioning the drilling arrangement to the side is performed with a pivoting movement. Suitably the positioning device comprises a pivoting means in the form of a pivoting device connected adjacent and outside the front end of the carrier means/vehicle, wherein the drilling arrangement is pivotally arranged about an axis extending in a direction across the front wheel axis of the carrier means and across the centre line CL.

Suitably the step of positioning the drilling arrangement to the side is performed with a linear movement by means of a linearly movable coupling means. This way a positioning device is achieved which during transport of heavy drilling arrangements may hold the latter close to the side of the end of the vehicle and simultaneously, when positioning, pushing the rotational centre (rotational centre of the chuck) of the drilling arrangement straight to the side from the centre line of the vehicle and outside the circumference of the vehicle. Preferably the step of positioning the drilling arrangement also comprises a tilt movement. The tilt movement suitably comprises a rotation about an axis extending parallel to the wheel axis of the carrier.

The drilling arrangement may thus be tilted to a transport position for transport of the drilling arrangement in the drift as well as tilted to an arbitrarily angle relative to the extension of the drift before said positioning. Preferably a tilt means is arranged to allow tilting of the drilling arrangement up to plus/minus 45 degrees about an axis parallel to the wheel axis of the vehicle and towards the extension of the centre line of the vehicle. According to an example embodiment tilting of plus/minus 90 degrees with reference to a horizontal plane is allowed. In such a way, all relevant angles of bore holes relative to the extension of the drift during raise boring may be achieved. Suitably the step of positioning the drilling arrangement also comprises a swivel movement. The swivel movement suitably comprises a rotation about an axis which in the original position of the drilling arrangement before positioning coincides with the extension of the centre line.

This way the drilling arrangement may be rotated in a roll plane. Preferably a swivel means is arranged to allow said swivel movement. The drilling arrangement may by means of the swivel means easily be positioned with an inclination (or with an arbitrarily rotation seen in a cross section across the longitudinal direction of the drift) in a rock space or drift.

Suitably the step of positioning the drilling arrangement comprises one or more positioning movements in the form of a pivoting movement and/or a linear movement and/or a tilt movement and/or a swivel movement. Preferably the step of positioning the drilling arrangement comprises at least two positioning movements.

Preferably the positioning of the drilling arrangement is performed by means of controlling by a control unit. Alternatively all positioning movements are performed simultaneously by means of controlling by the control unit. Preferably the method comprises the step of after positioning, securing a drive member support device arranged to the drilling arrangement at said position. This way the drilling arrangement is held and supported in said position against walls of the drift. Suitably the drilling arrangement is secured both at an upper end of the drilling arrangement and at a lower end of the drilling arrangement. The securement may be achieved by support legs arranged at the drilling arrangement. This way there is achieved a flexible and advantageous method for positioning a drilling arrangement.

The derrick has drive members in form of for example hydraulics, which is operating the drive head of the drilling arrangement in a direction coinciding with the rotational centre of the chuck for drilling.

In some applications the drilling arrangement may be disconnected from the positioning device and thereby a carrier means after said positioning. This way forces and vibrations occurring during drilling affecting the positioning device and the carrier means are avoided. This is in particular important during raise boring. Preferably the drilling arrangement is secured to the walls of the drift before said disconnection from the positioning device so that the drilling arrangement stays in position for drilling after the disconnection. Suitably the method also comprises a step of after positioning driving a first bore hole between a first space where the drilling arrangement is positioned and a second space, and driving a second bore hole between the first space and a third space. Alternatively the method comprises a step of after positioning of the drilling arrangement driving at least one bore hole in at least one direction. Suitably the drilling is performed after said drilling arrangement has been secured in its position for drilling.

Hereby the drilling arrangement advantageously may be used during reaming boring, raise boring and other drilling where two holes extending from a first space shall be drilled. The two holes do not have to be in line but angles may occur. Advantageously said holes end in a respectively second and third space.

The method may suitably be performed by means of controlling by a control unit and a computer being associated to this. The control unit is arranged to be operable by an operator. Alternatively said positioning is performed by means of said control unit and locking wedges or other locking means is controlled to lock the relevant devices or device for positioning

(transversely extending linear movement and/or pivoting movement and/or tilt movement and/or swivel movement).

Preferably said positioning is performed semi-automatically or manually.

These objects are also achieved by a in the preamble defined rock drilling configuration providing features given in claim 6.

According to an aspect of the present invention there is provided a rock drilling configuration comprising a positioning device and a drilling arrangement, which positioning device is rigidly mountable to a carrier means, wherein said positioning device is controllably configured for positioning a rotational centre of the drilling arrangement for driving of bore holes beside a relative to the carrier means defined centre line.

According to an aspect of the present invention there is provided a rock drilling configuration comprising a positioning device and a drilling arrangement, wherein said drilling arrangement is a raise boring arrangement, which positioning device is arranged to a carrier means, wherein said positioning device is controllably arranged for positioning a rotational centre of the drilling arrangement for driving bore holes beside a relative to the carrier means defined centre line, wherein said positioning device comprises a pivoting means and/or linearly movable coupling means.

This way, a cost effective and work environment friendly device is achieved. Hereby the rotational centre of the drilling arrangement of the chuck of the drive head may be positioned laterally relative to the centre line of the carrier means, without the need of any mining of drift walls to be performed so as to accommodate the rear end wagon of the carrier means. The carrier means is suitably a vehicle. By arranging the drilling arrangement in close proximity to one of the end sides of the vehicle there is achieved a robust unit allowing the drilling arrangement to be moved in a lateral direction relative to the centre line while the drilling arrangement is adjacent to said end side. The movement may be performed to an area beside the centre line or even to an area outside the circumference of the vehicle or outside one of the wheels or caterpillar threads. This way there is achieved a versatile vehicle which is adapted to narrow spaces, such as a rock tunnel or drift. The drilling arrangement provides a rotational centre for driving of bore holes. The vehicle may drive in a relatively narrow drift, positioning in a simple and flexible manner said drilling arrangement, in order to drill only one hole. The vehicle may also drive in a relatively narrow drift, positioning the drilling arrangement based on desired angles and drill two or more holes.

Preferably the drilling arrangement is arranged for raise boring. The present positioning device may advantageously be used by a drilling arrangement being arranged for raise boring, wherein the derrick and drive member support device for supporting the drilling arrangement may be positioned in a simple and cost effective way by means of a vehicle in a drift.

Suitably the positioning device comprises a pivoting means and/or a linearly movable coupling means. The pivoting means may comprise a pivoting device, a pivoted joint, a pin joint, a hinge or similar. The linearly movable coupling means may comprise one or more guiding means, a traverse like device and different types of driving means.

Preferably the positioning device comprises a tilt means and/or a swivel means.

Alternatively the drilling arrangement is detachably arranged at the positioning device.

Suitably the positioning device comprises a control unit configured to control said rotational centre in position beside the centre line by means of simultaneous control of at least two of said means.

This way there is achieved a kind of drilling arrangement which may drill two holes in opposite directions from a common space in a cost effective way. Herein is also achieved a drilling arrangement which may be used in small spaces without the need of pushing said drilling arrangement against a drift wall by means of a cable and work holders. The drive member support device may be bracing legs comprising support plates arranged for bracing against the walls of the space. The bracing legs are in this case configured to support the feed member (such as hydraulic cylinders, pneumatic cylinders etc.). The feed member feeds the drive head and thereby the drill string means comprising drill steel and drill bit in the direction of the bore hole. Positioning a drilling arrangement of said kind in such a small space demands a large work load and often demands de-mounting of said different components and a particular work load for positioning the drilling arrangement.

It is thus required according to an aspect of the invention only a relatively simple programming of the control unit for controlling said positioning. Such a control unit pivots and linearly pushes to the side and tilts the drilling arrangement relative to the vehicle. Possibly a swivel movement is performed. These different movements may be controlled independently or be simultaneous. The control unit thus provides the positioning of the drilling arrangement to a chosen position, controls and performs a check of operative pressure both regarding operation of the drill string in the direction of the bore hole as well as rotation of the drill string. The number of holes the drill arrangement can manage when positioning may be one or more. Said objects are also achieved by a vehicle comprising the drilling arrangement, which vehicle may be a motor vehicle. The vehicle may be a drill rig suitable for mining.

According to an aspect of the invention there is provided a computer program pertaining to a rock drilling configuration, wherein said computer program comprises a program code stored on a by a computer readable medium for performing the method steps according to any of claims 1-5, when the computer program is run on said electronic control unit associated with the rock drilling configuration.

According to an aspect of the invention there is provided a computer program pertaining to a rock drilling configuration, wherein said computer program comprises a program code for performing the method steps according to any of claims 1-5, when the computer program is run on said electronic control unit associated with the rock drilling configuration.

Software comprising program code pertaining to the rock drilling configuration may easily be updated or replaced. Further, various parts of the software may be replaced independently of each other. This modular configuration is advantageous from a maintenance perspective. According to an aspect of the invention there is provided a computer program product comprising a program code stored on a by a computer readable medium for performing the method steps according to any of claims 1-5, when a computer program is run on an electronic control unit associated with the rock drilling configuration.

According to an aspect of the invention there is provided a computer program pertaining to a rock drilling configuration comprising a positioning device and a drilling arrangement, which positioning device is rigidly mountable to a carrier means, wherein said positioning device is controllably arranged for positioning a rotational centre of the drilling arrangement for driving bore holes beside a relative to the carrier means defined centre line, wherein said computer program comprises a program code stored on a by a computer readable medium for performing the method steps according to any of claims 1-5, when the computer program is run on an electronic control unit associated with the drilling arrangement. According to an aspect of the invention there is provided a computer program pertaining to a rock drilling configuration comprising a positioning device and a drilling arrangement, which positioning device is rigidly mountable to a carrier means, wherein said positioning device is controllably arranged for positioning a rotational centre of the drilling arrangement for driving bore holes beside a relative to the carrier means defined centre line, wherein said computer program comprises a program code stored on a by a computer readable medium for performing the method steps according to any of claims 1-5, when the computer program is run on an electronic control unit associated with the rock drilling configuration.

According to an aspect of the invention there is provided a computer program pertaining to a rock drilling configuration comprising a positioning device and a drilling arrangement, wherein the drilling arrangement is a raise boring arrangement, which positioning device is connected to a carrier means, wherein said positioning device is controllably arranged for positioning a rotational centre of the drilling arrangement for driving bore holes beside a relative to the carrier means defined centre line, wherein said computer program comprises a program code stored on a by a computer readable medium for performing the method steps according to any of claims 1-5, when the computer program is run on an electronic control unit associated with the drilling arrangement. According to an aspect of the invention there is provided a computer program product comprising a program code stored on a, by a computer readable medium, for performing the method steps according to any of claims 1-5, when a computer program is run on an electronic control unit associated with the rock drilling configuration.

Other objects, advantages and new features of the present invention will be apparent to those skilled in the art in view of the following technical features and during practice of the invention. While the invention is described by the following claims, it should be noted that the invention is not limited to herein specified features, but additional embodiments and combinations of described embodiments are possible. For example, the drilling arrangement per se may comprise a remote controlled vehicle transporting the equipment to the designated location. The vehicle may be adapted for autonomous control. For example, a communication link may be a physical line, such as an opto-electric communication line, or a non-physical line such as a wireless connection, for example a radio or microwave link.

BRIEF DESCRIPTION OF THE DRAWINGS

For a more complete understanding of the present invention and further objects and advantages thereof, reference is now made to the following detailed description to be read together with the accompanying drawings, wherein same references refer to the same parts in various figures, and in which schematically:

Figure 1 illustrates a vehicle carrying a drilling arrangement according to an embodiment of the invention;

Figure 2 illustrates the vehicle in Figure 1 during positioning of the drilling arrangement;

Figures 3a to 3c illustrates a lateral movement means according to an embodiment; Figure 4 illustrates a lateral movement means comprising two roller paths according to an aspect of the invention;

Figure 5 illustrates an aspect of the invention in relation to known drilling arrangements; Figure 6 illustrates an embodiment for positioning involving swivel functionality;

Figure 7a to 7d illustrate an aspect of the invention for positioning a derrick for raise boring;

Figure 8a and 8b illustrate further aspects of the invention;

Figure 9a and 9b illustrate a further aspect of the invention; Figures 10a and 10b illustrate a flow chart over methods according to an aspect of the invention; and

Figure 11 illustrates a control unit according to an embodiment of the invention. DETAILED DESCRIPTION OF THE DRAWINGS

Details of no significant meaning for the inventive idea are omitted from the drawings in order to clarify the figures. With reference to Figure 1, a vehicle 1 is shown. The exemplified vehicle 1 is according to an embodiment a so called mining machine 3 adapted for mining. The vehicle 1 is a motor vehicle having four wheels 5 and is provided with a drilling arrangement 7 with possibility to make at least one raise hole (not shown) at one and the same position of the drilling arrangement 7. The drilling arrangement 7 is shown in Figure 1 in a transport position for transportation to the position for drilling from a space 9.

Figure 2 illustrates the vehicle 1 in Figure 1 during positioning of the drilling arrangement 7. The drilling arrangement 7 is carried adjacent or in close proximity of the front 11 of the vehicle 1. This is achieved for reducing the lever length between the front wheel pairs 5 of the vehicle 1 and the drilling arrangement 7. This is also achieved so as to achieve a compact unit. The drilling arrangement 7 is placed in a position between two wall portions 8 of the space 9, wherein the elongation of the drilling arrangement 7 is oriented in the direction for a hole to be drilled. The vehicle 1 is according to this embodiment controlled by an operator (not shown) by means of a first control unit 100. A communication link between the drilling arrangement and the control unit is shown by a reference numeral L100. A second control unit 110 is arranged for communication with the first control unit 100 and is an external control unit which is used to load software to the first control unit 100 via the link L110 which is part of an internal network of the vehicle 1.

The operator operates four support legs 13 (only two are shown) to brace against (in the way which is shown in for example Figure 7d) said wall section 8. A feed member 15, for example in form of two double acting hydraulic cylinders 17, is fixedly secured to the support legs 13 and between these hydraulic cylinders 17 a drive unit 19, comprising engine and gear box and a chuck provided at a drive head (not shown), is pivotally mounted. The operator operates the drilling arrangement 7 to a first position, wherein the chuck is turned to the position for the first borehole to be drilled, and the control unit 100 ensures locking of the drive unit 19. A first drill steel (see Figure 7d) is arranged in engagement with the chuck at one end and its other end is provided with a drill bit. Mounting of the drill steel is performed by the operator via the control unit 100.

The control unit 100 thereafter provides, during monitoring by the operator, driving of the drill bit and the control unit 100 continuously controls hydraulic pressure both regarding pressure applied to hydraulic cylinders 17 and pressure driving rotation of the drive unit 19 for rotation of the drill bit. The control unit 100 thus controls operation of the drive unit 19 by means of control signals via the link L100. A second drill steel (not shown) is connected to the first drill steel and subsequent drill steels are connected when the drill bit works its way into the rock. The control unit 100 provides controlling of said positioning of the drilling arrangement 7 at the side of the centre line CL of the vehicle (as exemplified in Figure 3c) or at least at the side of the extension of the centre line CL adjacent to the front end portion 11 of the vehicle. The control comprises transporting of the drilling arrangement 7 to a designated position for drilling by means of the vehicle 1 and positioning of said drilling arrangement 7 beside the relative to the vehicle 1 defined centre line CL by means of a positioning device 21 connected to the vehicle 1.

Figure 3a to 3c illustrate an aspect of the invention where the positioning of the drilling arrangement 7 relative to the centre line CL of the vehicle 1 is performed by means of dislocation of a pivoting means in the form of a pivoting device 23 along a linear I-beam 25 made of steel which is transverse to the centre line CL of the vehicle 1, on which a cable run sledge 27 is slidably arranged. The pivoting device 23 also provides that the drilling

arrangement 7 is pivoted further to the side relatively the centre line CL of the vehicle 1. This position of the drilling arrangement 7 relative to the vehicle 1 is achieved with a satisfactory degree of freedom because of the combination of pivoting movement and linear movement. The sledge 27 provided about the linear I-beam 25 is moving perpendicular to the centre line CL. A rotational centre 29 of the chuck of the drilling arrangement 7 is thus positioned to the side relative to the vehicle 1.

Figure 4 schematically illustrates a positioning device 31 according to an aspect of the invention. The vehicle 1 is provided with a rigidly connected frame work 35 of a joint element 37. The joint element 37 comprises two beams 39, wherein one is a screw beam on which a driving rotatable drive rotor 41 is engaged. The drive rotor 41 is located in a box 43 and is coupled to a hydraulic motor 45 for driving the box 43 linearly along the screw beam 39 when activated. According to an example said positioning device 31 may comprise at least one telescope cylinder. The second beam 39 is provided for controlling. The engine 45 is connected to the control unit 100. A pivoting means is mounted on the box 43, which pivoting means may be in the form of a pivoting device 39'. The pivoting device 39' comprises two roller paths 47 for supporting a device 49. The pivoting device 39' may comprise an arbitrarily number of roller paths 47. The device 49 is pivotally arranged about a pivot axis 51 by two hydraulically driven gear wheel engines 53. The device 49 is further configured with two holes 55 for mounting of a drilling arrangement 7 (not shown) with aid of a conically formed bolt (not shown). Figure 5 illustrates an aspect of the invention in relation to known drilling arrangements wherein there is shown schematically with a broken line a vehicle 1 having a drilling

arrangement 7' according to known technology. It is apparent that the illustrated embodiment of the invention is more suitable for narrow spaces 9. It is noted that it is now possible to in narrow spaces, such as narrow drifts, position a drilling arrangement comprising a rotational centre for a chuck (not shown) close to the wall of the space 9. When using known technology it has been required to mine broader drifts to make an inclined positioned vehicle 1 fit in order to reach the same position close to the wall of the space 9. This is costly for a mining

entrepreneur, in particular when it comes to raise boring. Figure 6 schematically illustrates an embodiment of the invention achieved by a positioning device and comprising a swivel movement. The carrier means is formed by a platform 2 comprising a pivotally arranged robotic arm 57, which provides a swivel means in the form of a swivelling coupling 59 connected to a pivoting means in form of a pivoting device 23'. The swivelling movement is achieved by a hydraulic motor (not shown) being engaged by gears driving the swivelling coupling 59 for rotation about an axis which is parallel to the centre line of the carrier means. Hydraulic units 61 are provided at the different connections for achieving a pivoting movement of the pivoting device 23' and a tilt means in the form of a tilt coupling 63.

The figures 7a to 7d schematically illustrate an aspect of the invention for positioning of a drilling arrangement 7 comprising a derrick 65. In Figure 7a there is illustrated how a vehicle 1 is provided with a positioning function for lateral positioning of a drilling arrangement 7 only by pivoting a pivoting means in the form of a pivot joint 67. The pivoting area is plus/minus 110 degrees about the centre line CL of the vehicle. In Figure 7b there is illustrated how the drilling arrangement 7 is to the side positioned at the vehicle 1 so that the rotational centre 29 is placed beside the elongation of the centre line CL and also outside a thought line L determined by the extent of the vehicle 1 laterally. The drilling arrangement 7 is also tilted by means of tilt means 63' for fitting in the cross section of the drift. Figure 7c illustrates how the drilling arrangement 7 has been detached from the vehicle 1 after said positioning. In Figure 7d said support legs 13 of the drilling arrangement is braced against the wall of the drift illustrated in said cross section view. Because of the tilting movement the drilling arrangement 7 has been positioned inclined in the drift. By means of a broken line the front of the vehicle 1 is illustrated. The support legs 13 carry and support drive cylinders 17' which are provided to drive a drive head 19' in two directions. The drive head 19' is pivotally arranged about an axis A extending across the direction of movement of the feed cylinders 17'. A drill string 69 comprising a drill bit 71 is arranged in engagement with a chuck of the drive head 19'.

The Figures 8a to 8b schematically illustrate further aspects of the invention. Figure 8a illustrates from the side a vehicle 1 comprising a drilling arrangement 7 which can be laterally positioned and tilted plus/minus 30 degrees. Because of this generous degree of freedom regarding tilting drilling may be performed at all angles relatively the drift 9'. A support 73 may be lowered or raised in a solid part of a pivoting device 23". The support 73 is supporting the drilling arrangement 7 during drilling. Figure 8b illustrates a drilling arrangement 7 which has been positioned in a niche N of a side wall of a drift. Provision of the drilling arrangement 7 has been achieved by means of a positioning device illustrated in Figure 6. With reference to for example Fig. 3a-3c, 5 and 9 it is hereby presented a vehicle 1 having a to the side positioned drilling arrangement 7 according to an aspect of the invention. The vehicle is provided with a in a laterally movable and pivotally drilling rotational centre 29 of a drilling arrangement 7 which is arranged in such a way that said drilling rotational centre 29 may be positioned to the side of the centre line CL of the vehicle 1. The positioning is provided by operation by an operator. The operator operates a computer having a display (not shown) connected to a control unit 100. The positioning is performed semi-automatic.

It should be noted that said drilling rotational centre 29 of the drilling arrangement 7 may be positioned on the centre line CL of the vehicle 1 according to an aspect of the invention.

By the term "positioning to the side of the centre line CL of the vehicle 1" herein means "positioning beside the centre line CL of the vehicle 1". For example to the right or to the left of said centre line CL. The figures 9a to 9b schematically illustrate a further aspect of the invention in its most simple form. Figure 9a illustrates how a vehicle 1 in a narrow drift is transporting a drilling

arrangement 7. The vehicle 1 has a centre line CL, which intersects the vehicle 1 centrally and is thought longitudinally oriented. The centre line CL is thus elongated in the transport direction of the vehicle 1. Figure 9b illustrates how the vehicle 1 has stopped at a positioning position. The drilling arrangement 7 has a rotational centre 29 for a drill chuck (not shown). Said rotational centre 29 is positioned by means of a control unit 100 to the side seen in the direction of movement of the vehicle 1. I.e. the drilling arrangement is positioned and placed to the side to the right of the vehicle seen in the direction of movement F of the vehicle illustrated in Figure 9a.

The figures 10a and 10b schematically illustrate flow charts of methods according to different aspects of the invention. Figure 10a illustrates a method for positioning 300 a drilling arrangement 7. The drilling arrangement 7 may be a raise boring arrangement. The method provides said drilling arrangement 7 carried by a positioning device 21 connected to a carrier means 1. The carrier means, such as a mining vehicle, is transporting the drilling arrangement 7 to a designated position for drilling. The step 300 comprises to provide said drilling

arrangement 7 carried by a positioning device 21 connected to a carrier means 1, for transporting the drilling arrangement 7 to a designated position for drilling by means of said carrier means 1, and to positioning a rotational centre 29 of said chuck of said drilling arrangement 7 beside a relative the carrier means 1 defined centre line CL by means of the positioning device 21 connected to the carrier means 1. Figure 10b illustrates a method wherein a vehicle 1 is transporting 400 a drilling arrangement 7. The drilling arrangement 7 may be a raise boring arrangement. Thereafter the vehicle 1 stops 401 at a designated location. The drilling arrangement 7 is pushed to the side 403 with a linear movement. Thereafter the drilling arrangement 7 is pivoted in a direction to the side 404 so that the rotational centre 29 for drilling of the drilling arrangement 7 is positioned further to the side and also in a direction backwards seen in a previous direction of movement of the vehicle 1. Hereby also a tilting movement and/or a swivel movement of the drilling

arrangement 7 may be achieved when necessary. Thereafter the drilling arrangement 7 is secured against the rock which should be processed and drilling 406 is thereafter performed. When the drilling is done the drilling arrangement 7 is turned back to an original position 47 in line with the centre line CL of the vehicle 1.

Figure 11 illustrates a control unit 100 according to an embodiment of the invention. The motor units of the lateral positioning means according to this embodiment are integrated units for operating the lateral positioning means. The motor units comprise each a worm gear which in turn is in operative connection with respective lateral positioning means. In Figure 11 there is illustrated a diagram of an embodiment of a device 500. The control units 100 and 110 depicted with reference to Figure 2 comprises said device 500 according to this embodiment. The device 500 comprises a non-volatile memory 501, a data processing unit 502 and a read/write memory 503. The non-volatile memory 501 provides a first memory portion 504, wherein a computer program, such as an operative system, is stored for controlling the function of the device.

Further the device comprises a bus controller, a serial communication port, I/O means, an A/D converter, a time and date input and transmission unit, event counters and an interruption controller (not shown). The non-volatile memory 501 also has a second memory portion 505. It is provided a computer program P comprising routines for providing said lateral positioning and positioning according to an embodiment. The program P comprises routines for positioning the lateral positioning means moving and pivoting the drilling arrangement 7 to the side. The program P further comprises routines for tilting the drilling arrangement 7 and drilling. The program P is in this embodiment stored in an executable manner or in a compressed manner in a memory and/or a read/write memory.

When it is described that the data processing unit 502 performs a specific function, it should be understood that the data processing unit 502 performs a specific part of the program P which is stored in the memory 506, or a certain part of the program P which is stored in the read/write memory 503. The data processing unit 500 may communicate with a data port 507 via a data bus 508. The non-volatile memory 501 is arranged for communication with the data processing unit 502 via en data bus 510. The separate memory 506 is arranged to communicate with the data processing unit 502 via a data bus 511. The read/write memory 503 is also arranged to communicate with the data processing unit via data bus 512.To the data port 507 may e.g. the links L100 and L110 be connected (see Figure 2).

When data is received on the data port it is temporarily stored in the second memory portion 505. When received input data temporarily has been stored the data processing unit 502 is arranged to perform execution of code in a manner described above. According to an embodiment, signals received on the data port comprises information about current position of the drilling arrangement 7 relatively the centre line CL of the vehicle and relatively determined position for drilling.

According to an embodiment signals received on the data port 507 comprises information about completed positioning of the drilling arrangement 7. Said information may be measured by means of suitable sensors or be fed manually into the first control unit by means of a touch screen (not shown). The received signals on the data port may be used by the device to control and adjust the positioning of the drilling arrangement 7 and depending upon detected current measurements relating to the current position of the drilling arrangement 7 relatively the position for drilling. Parts of the methods depicted herein are performed by the device by means of the data processing unit 502 running the program stored in the memory or in the read/write memory and when the device runs said program said methods are executed.

The invention is defined by the following claims. It should however be noted that the invention is not limited to therein features specified in the claims, but additional embodiments and combinations of described embodiments are possible. For example, the drilling arrangement may per se comprise a remote controlled vehicle transporting equipment to a designated location. The vehicle may also be adapted for autonomous control. For example, a

communication link may be a physical line, such as an opto-electronic communication line, or a non-physical line, such as a wireless connection, for example a radio or micro wave link. Drilling may be referred as raise boring or other drilling where it is tried to connect a space with two other spaces and the spaces are arranged in a plane, horizontal, vertical or in between.

Definition of the centre line of the vehicle is in hereby determined to be a thought line centrally through the vehicle and which is extended in the extension of the vehicle, which refers to the main direction of transportation of the vehicle.

The herein defined centre line is defined as a thought line extending a portion in front and behind the vehicle, such as up to 3 to 7 meters from the vehicle. The centre line is defined as a symmetric thought line extending in the length direction and/or direction of movement of the vehicle.

The linear positioning means may comprise one or more guiding means, a traverse like device and different kinds of driving, such as electrical, pneumatic and/or hydraulic driving of engine driving worm drive, toothed transmission gear, cable driving means or other suitable means.

The pivoting means may except from a pivoting device comprise any other kind of pivoting element for example a pin hinge, butt hinge or else.

An aspect of the invention refers to so called raise boring. Raise boring is often used for driving bore holes, such as shafts and/or raises between a first, second and third space. By raise boring spaces of different levels or horizontally distributed spaces in a mine can be connected for communication, wherein for example ventilation, material transport or elevator may be arranged. Usually there is first drilled a pilot hole in a first direction from the drilling arrangement. The often required high feeding pressure may be achieved by a derrick associated with the drilling arrangement is attached by for example bracing legs, which presses support plates (grippers) to opposite walls of the first space. Double acting hydraulic cylinders are manoeuvred to push a drive head in a first direction affecting a drill string with a drill bit arranged at its most outer end. Hereby is achieved a com pressing force pushing the drill bit in said first direction. When the drill bit has reached the second space and is free in the same, the drill bit is replaced with a reaming head, and the drill string is pulled by means of the double acting hydraulic cylinders in opposite direction and a traction force is transferred to the reaming head which mines the hole to a final diameter. The drill string may provide sections of drill steel, drill rods, drill pipes etc. which sections are built on or is removed depending on feeding direction.

Alternatively the drilling arrangement may according to an aspect of the invention be remote controlled, wherein an operator from a distance from the drill arrangement, for example from ground level, may control the inventive method. According to another alternative the drilling arrangement may be a remote control vehicle provided with the drilling arrangement, whereby an operator from a distance is controlling the vehicle to designated location for drilling, performs drilling and then back again. According to another alternative the drilling

arrangement comprises a carrier which is autonomous, wherein an operator only has to start the method and the process is performed automatically until completion.

Claims

1. Method for positioning a drilling arrangement (7) underground comprising a rotational centre (29), wherein the drilling arrangement (7) is a raise boring arrangement, comprising the steps of:

- providing said drilling arrangement (7) carried by a positioning device arranged to a carrier means (1);

- transporting the drilling arrangement (7) to a designated position for drilling by means of said carrier means (1); and

- positioning said rotational centre (29) of said drilling arrangement (7) beside a relative to the carrier means (1) defined centre line (CL) with the positioning device (21, 31), wherein said positioning is performed by a linear movement and/or a pivoting movement to the side.

2. Method according to claim 1, wherein the step of positioning the drilling arrangement (7) also comprises a tilt movement.

3. Method according to any of claims 1 or 2, wherein the step of positioning the drilling arrangement (7) also comprises a swivel movement.

4. Method according to any of the proceeding claims, wherein the drilling arrangement (7) is disconnected from the positioning device (21, 31) after positioning.

5. Method according to any of the proceeding claims, wherein the method also comprises the step of after positioning driving a first drill hole between a first space (9) where said drilling arrangement (7) is positioned and a second space (9'), and driving a second drill hole between the second space (9) and a third space (9").

6. Rock drilling configuration comprising a positioning device (21, 31) and a drilling arrangement (7), wherein the drilling arrangement (7) is a raise boring arrangement, which positioning device (21, 31) is connected to a carrier means (1), wherein said positioning device (21, 31) is controllably arranged for positioning a rotational centre (29) of the drilling arrangement (7) for driving of bore holes beside a relative to the carrier means (1) defined centre line (CL), wherein said positioning device (21, 31) comprises a pivoting means (23, 23', 23", 23"', 67) and/or a linearly movable coupling means.

7. Rock drilling configuration according to claim 6, wherein the positioning device comprises a tilt means.

8. Rock drill configuration according to any of claims 6 or 7, wherein said positioning device comprises a swivel means.

9. Rock drilling configuration according to any of claims 6-8, wherein said positioning device comprises a control unit (100) arranged to control said rotational centre (29) in position beside said centre line (CL) by means of simultaneous controlling of at least two of said means.

10. Rock drilling configuration according to any of claims 6-9, wherein said drilling arrangement (7) is detachably connected to the positioning device (21, 31).

11. Vehicle comprising a rock drilling configuration according to any of claims 6-10.

12. Vehicle according to claim 11, wherein the vehicle (1) is arranged for mining.

13. Computer program (P) pertaining to a rock drilling configuration, comprising a positioning device and a drilling arrangement (7), wherein said drilling arrangement (7) is a raise boring arrangement, which positioning device is arranged at a carrier means (1), said positioning device is controllably arranged for allowing positioning of a rotational centre (29) of the drilling arrangement (7) for driving of bore holes beside a relatively the carrier means (1) defined centre line (CL), wherein said computer program (P) comprises a program code stored on a by a computer readable medium for performing the method steps according to any of claims 1-5, when said computer program (P) is run on an electronic control unit associated with the drilling arrangement (7).

14. Computer program product comprising a program code stored on a, by a computer readable medium, for performing the method steps according to any of claims 1-5, when a computer program (P) is run on a n electronic control unit associated with the rock drilling configuration.