WO2025264155A1

WO2025264155A1 - Stabilizing arrangement and method for a feed beam

Info

Publication number: WO2025264155A1
Application number: PCT/SE2024/050607
Authority: WO
Inventors: Jan Olsson
Original assignee: Epiroc Rock Drills AB
Current assignee: Epiroc Rock Drills AB
Priority date: 2024-06-19
Filing date: 2024-06-19
Publication date: 2025-12-26
Anticipated expiration: 2026-12-19

Abstract

Stabilizing arrangement (20) and method for stabilizing a feed beam (5) of a mining or construction rig (50). A stabilizing arrangement (20) with a rock engaging first end (20a) and a first actuator (25) is arranged on the feed beam (5). For measuring pressures applied to the first end (20a) of the stabilizing arrangement (20) when engaging a rock surface, the stabilizing arrangement (20) comprises a first pressure determining mechanism for determining a first pressure (PA) in a first direction (A), a second pressure determining mechanism for measuring a second pressure (PB) in a second direction (B), and a third pressure determining mechanism for measuring a third pressure (PC) in a third direction (C). The arrangement (20) further comprises a control unit arranged to control the orientation of the first end (20a) of the stabilizing arrangement (20a) in relation to the rock surface based on data obtained from the first, second and third pressure determining mechanisms.

Description

STABILIZING ARRANGEMENT AND METHOD FOR A FEED BEAM

Technical field

[0001 ] The present disclosure relates to a stabilizing arrangement and method for stabilizing a feed beam of a mining or construction rig. Preferably, the stabilizing arrangement and method concern a rig within mining industry.

Background

[0002] Within mining industry or other industries like tunneling, rock excavation etc., where a drill arrangement (rig) of some kind is used, the drill arrangement needs to be stabilized during drilling and other tasks of the rig. For example, at rock bolt reinforcement tasks, a mining or construction rig (drill arrangement) is used for drilling holes in the rock and for applying bolts into the drilled holes, this, to provide support to the roof or sides of a cavity in a mine or a tunnel of for example a road construction project. The bolt may be a steel rod, a rebar, or a cable bolt installed in a borehole drilled into the roof or walls of a rock formation. A typical rock bolting rig comprises a drilling machine for drilling boreholes and a bolting device for installing bolts into the boreholes. The rock bolting system may have a single-feed track or a dual-feed track. In a single-feed track rock bolting system, the drilling machine and the bolting device are sequentially fed onto the single feed beam to be shuttled to a rock surface at which a borehole is to be drilled and a bolt is to be installed into the borehole. In a dual-feed track rock bolting system, one of the feed beams directs the drilling machine towards a rock face for drilling a borehole, while the other feed beam directs the bolting device towards the borehole for installing the bolt into the borehole. The rock bolting system may further have a dowel or stinger arranged on the feed beam for engaging the rock face to stabilize the feed beam(s) during the drilling and boltinstalling processes. The dowel may be arranged like a dub/spike or like a pad with a larger area compared to the stud/spike, for providing a “grip” between the feed beam and the rock face, wherein a counterforce is provided, to stabilize the feed beam during drilling and/or bolting. The process of stabilizing the feed beam(s) is currently performed by manual operation and relies on the experience of an operator. Mining as well as construction work is an inherently risky occupation. The mining and construction environments are harmful for human health, with dangers ranging from rock collapses to inhalation of toxic particles. It should always be prioritized to minimize exposure of personnel to the harmful working environment. Thus, it is important to develop a remote and/or automatic process of stabilizing the feed beam(s) of the mining or construction rig, wherein the remote and/or automatic control replace or augment onsite operator-based control.

[0003] Another problem is so-called “dowel release” which may occur during operation and there is not present a reliable detection of “dowel release”. It is important to minimize this, to enable robust bolting automation. Today’s solutions may for example be to detect dowel release through measuring hydraulic pressure changes in a stinger cylinder, which the dowel or dub is attached to. This solution is unreliable, and a different method is requested. Since the wanted counter pressure on the dowel and/or stinger from the rock face, when pressing the feed beam against the rock face, may be less than expected and/or registered, skills of the operator normally is the key to minimize this issue. This phenomenon occurs due to that side forces acts on the end of the dowel or stinger end, since the rock face often is uneven. The operator may strive for a certain force, say a counter pressure of 1 ton in the extension direction of the feed beam, to keep the pressure large enough for stabilizing during drilling and avoid dowel release, and therefore applies a pressure of 1 .1 on to have a limit. But if the rock surface is a bit uneven, the force in the direction along the feed beam (i.e. normally the same as the drilling direction) may be too small, due to that the actual force is divided into side forces and normal forces. This problem needs to be solved.

Summary of the invention

[0004] It is an object of the disclosure to address at least some of the problems and issues outlined above. One object of the present disclosure is to provide a stabilizing arrangement for stabilizing a feed beam arranged on a mining or construction rig and another object is to provide a method for stabilizing a feed beam arranged on a mining or construction rig. [0005] According to one aspect, a stabilizing arrangement is disclosed. The stabilizing arrangement is arranged for stabilizing a feed beam, which is arranged on a boom of a mining or construction rig and which feed beam is arranged to shuttle an object along a longitudinal axis of the feed beam, in a feeding direction or a direction opposite to the feeding direction, the stabilizing arrangement may be in the form of a stinger, which is arranged on the feed beam. The stabilizing arrangement comprises a first end, arranged for engaging a rock face to stabilize the feed beam during an operation. The stabilizing arrangement further comprises a second end, which is opposite to the first end, and the stabilizing arrangement is extendable in a first direction, from its first end and its second end. The stabilizing arrangement further comprises a first actuator configured to extend or retract the stabilizing arrangement along the first direction, such that a distance between the first end and the second end may is variable. Further, the stabilizing arrangement is connected to a hydraulic system which comprises a first pressure determining mechanism, arranged to determine a first pressure applied to the first end of the stabilizing arrangement in the first direction, when the first end of the stabilizing arrangement engages the rock surface. Thus, the first pressure (force) applied to the first end of the stabilizing arrangement (stinger), results in a counter force from the rock, when pressing the stabilizing arrangement towards the rock face. The stabilizing arrangement further comprises a second pressure determining mechanism, arranged to determine a second pressure applied to the first end of the stabilizing arrangement, in a second direction, and a third pressure determining mechanism arranged to determine a third pressure applied to the first end of the stabilizing arrangement, in a third direction, when the first end of the stabilizing arrangement engages the rock surface. The stabilizing arrangement and the hydraulic system are connected to a control unit, which arranged to control the orientation of the first end of the stabilizing arrangement in relation to the rock face, based on data obtained from the first, the second and the third pressure determining mechanisms.

[0006] By such an arrangement, data of all forces (axial and perpendicular) acting on the rock engaging end of the stabilizing arrangement (for example the stinger), may be obtained and registered, and the information data may be used by the control unit of the system (rock drill and/or rock bolting system/rig) to for example reconfigure the feed beam into a more favorable position. This would enable a manual as well as an automated system with built-in robustness and higher reliability compared to known systems, wherein time and cost is saved during operation. Reconfiguration of position can be achieved through different means, with accelerating benefits. For example, re-engaging the dowel/the first end to the rock surface at a slightly different angle or location, may lead to reduced risk of auto failure and reduced risk of “dowel release”. Another possibility is to keep the dowel in rock engagement but adjust boom links (linear and rotating actuators) for less perpendicular forces (side forces) on the dowel/the first end, to reduce wear on boom and feed beam components as well as to have the possibility to optimize for axial forces, so to not exaggerate dowel engagement force when not needed, i.e. don’t always push to 100%.

[0007] According to a disclosure, the first direction is the same as the feeding direction of the feed beam. By that, the actual force acting in the axial direction of the feed beam is detected, which normally is the same as the drill direction and thus the bolt feeding direction. This enables to control the actual counter force and set it to correct value, as explained above.

[0008] According to a disclosure, the first direction, the second direction and the third direction are pairwise perpendicular. This means that the forces in all directions acting on the rock engaging first end of the stinger may be detected and used for controlling further activities like re-arranging re-engaging the dowel or adjust boom links etc.

[0009] According to a disclosure, the stabilizing arrangement comprises the first pressure determining mechanism.

[0010] According to a disclosure, the second end of the stabilizing arrangement is pivotally attached to the feed beam, via a first pivot. This means that the stabilizing arrangement may rotate relative the feed beam, wherein the stabilizing arrangement may contact the rock face in a normal direction, independently of the feed beam direction. The pivot may be two-dimensional or three-dimensional. [0011] According to a disclosure, the stabilizing arrangement comprises a second actuator, which is pivotally attached with a first end to a front end of the feed beam and pivotally attached to the stabilizing arrangement with a second end, at a distance from the second end of the stabilizing arrangement. Further, the stabilizing arrangement comprises a third actuator, which is pivotally attached with a first end to a front end of the feed beam and pivotally attached to the stabilizing arrangement with a second end, at a distance from the second end of the stabilizing arrangement. The stabilizing arrangement is by that pivotally hinged to the feed beam by the second and third actuators, and the first pivot arranged at the second end of the stabilizing arrangement (and which preferably is arranged as a transverse pin in relation to the extension of the feed beam), provides that the first end of the stabilizing arrangement is pivotal away and towards the feed beam, and the second and third actuator provides a controlled pivot of the stabilizing arrangement and the hinged design of the stabilizing arrangement. Thus, the stabilizing arrangement may adapt to the angle of the rock face in relation to the extension of the feed beam.

[0012] According to a disclosure, the second actuator comprises the second pressure determining mechanism and the third actuator comprises the third pressure determining mechanism. By this, when the first end of the stabilizing arrangement engages the rock surface, the first pressure determining mechanism determines the pressure applied to the first end of the stabilizing arrangement in the first direction, the second pressure determining mechanism determines the pressure in the second direction and the third pressure determining mechanism determines the pressure in the third direction. By the at least three pressure determining mechanism, the pressure acting on the first end of the stabilizing arrangement in all directions may be determined. This information may then be used to redirect the feed beam to minimize sideway acting forces, or in other way take actions to control the forces acting on the stabilizing arrangement, wherein the counterforce during a drilling and/or bolting operation may be controlled and adjusted if needed. [0013] According to a disclosure, the second pressure determining mechanism comprises two second pressure determining mechanisms, wherein one of the two second pressure determining mechanism is arranged to measure the pressure in one direction along the second direction (for example in direction towards the stabilizing arrangement), and the other of the two second pressure determining mechanism is arranged to measure the pressure in the opposite direction along the second direction (for example in direction away from the stabilizing arrangement), and wherein the third pressure determining mechanism comprises two third pressure determining mechanisms, wherein one of the two third pressure determining mechanism is arranged to measure the pressure in one direction along the third direction (for example in direction towards the stabilizing arrangement), and the other of the two third pressure determining mechanism is arranged to measure the pressure in the opposite direction along the third direction (for example in direction away from the stabilizing arrangement).

[0014] According to a disclosure, the second and third actuators are arranged with their respective extension in a common plane, which is perpendicular to the feeding direction of the feed beam, wherein the second actuator is angled relative the third actuator in the common plane. In other words, the second and third actuators are angled relative each other, wherein upward/downward forces as well as sideward acting forces on the first end of the stinger may be detected and registered for further actions.

[0015] According to a disclosure, the first actuator is a hydraulic cylinder. By that, the hydraulic pressure of the hydraulic cylinder may be detected and registered for determining the forces along the extension of the stabilizing arrangement.

[0016] According to a disclosure, the second actuator is a hydraulic cylinder, and the third actuator is a hydraulic cylinder. By that, the hydraulic pressure of the hydraulic second and third cylinders may be detected and registered for determining the forces transverse the extension of the stabilizing arrangement. [0017] According to a disclosure, the stabilizing arrangement comprises a dowel. The dowel may be a pad-like support plate or the like, which is arranged to be pushed against the rock face for stabilizing the feed beam.

[0018] According to one aspect, a method for stabilizing a feed beam by the stabilizing arrangement according to any of the disclosures above, is disclosed, the method comprises:

- bringing the rock engaging first end of the stabilizing arrangement into contact with a rock face,

- obtaining, via a first pressure determining mechanism, a first pressure applied to the first end of the stabilizing arrangement along a first direction,

- obtaining, via the second pressure determining mechanism, a second pressure applied to the first end of the stabilizing arrangement along a second direction,

- obtaining, via a third pressure determining mechanism, a third pressure applied to the first end of the stabilizing arrangement along a third direction,

- adjusting the orientation of the first end of the stabilizing arrangement in relation to the rock face based on the measured first, second and third pressures.

By such method, all forces (including axial, angular and perpendicular) acting on the rock engaging end of the stabilizing arrangement, may be detected and registered, and the information may be used by the system (rock drill and/or rock bolting system/rig) to reconfigure the feed beam into a more favorable position. Reconfiguration of position can be achieved through different means, for example, re-engaging the dowel to the rock surface at a slightly different angle or location, which may lead to reduced risk of auto failure and reduced risk of “dowel release”. Another possibility is to keep the dowel in rock engagement but adjust boom links (linear and rotating actuators) for less perpendicular (transverse) forces on the dowel, which may reduce wear on boom and feed beam components as well as provides the possibility to optimize the axial force (counterforce), to not exaggerate dowel engagement force when not needed, i.e. don’t always push to 100%.

[0019] According to a disclosure, after the step of obtaining a first pressure, the method further comprises:

- the first pressure applied to the first end along the first direction. This may be done for example if there is a risk of dowel release and may be done by pressing the feed beam harder towards the rock face. Another option may be to keep the feed beam in its position and instead extend the stabilizing arrangement, and depending on the stabilizing arrangement type, this may be done for example by increasing the pressure in the stabilizing arrangement (if it is a hydraulic stabilizing arrangement) wherein the stabilizing arrangement presses harder on the rock face. The force may be determined by the first pressure determining mechanism during this action, to control the first pressure in the first direction, such that the desired counterpressure is obtained (for avoiding dowel release and have enough counterforce).

[0020] According to a disclosure, the method further comprises:

- determining a first sideway acting force on the first end of the stabilizing arrangement in an X-direction, and a second sideway acting force on the first end of the stabilizing arrangement in an Y-direction, based on the second pressure and the second direction and the third pressure and the third direction, wherein the X- direction, the Y-direction and the feeding direction are pairwise perpendicular,

- minimizing the determined first and second sideway acting forces acting on the first end of the stabilizing arrangement by adjusting the orientation of the first end of the stabilizing arrangement in relation to the rock face. By that, the risk of dowel release is minimized and the axial force of the stabilizing arrangement in the first direction may be optimized and acts in the normal direction of the rock face.

[0021] According to a disclosure, the method further comprises repeating the steps of:

- obtaining the second pressure,

- obtaining the third pressure,

- determining the first and second sideway acting forces acting on the first end of the stabilizing arrangement,

- minimizing the determined first and second sideway acting forces until at least one of the first and second sideway acting forces is below a first threshold value. Thus, the method is very suitable in a fully automated process. [0022] According to a disclosure, wherein if at least one of the determined first and second sideway acting forces is above a second threshold value, the method further comprises repeating the steps from the step of bringing the rock engaging first end of the stabilizing arrangement into contact with to a rock face. This means that if the side forces are too high, the feed beam must be adjusted and thereby the stabilizing arrangement re-engaged with the rock surface. This also makes the method useful in a fully automated process.

[0023] According to a disclosure, the first threshold value is smaller than second threshold value.

[0024] Further possible features and benefits of this solution will become apparent from the detailed description below.

Brief description of drawings

[0025] The invention is now described, by way of example, with reference to the accompanying drawings, in which:

[0026] Fig. 1 shows a side view of a mining or construction rig during operation in a mine shaft, which rig comprises a boom and a feed beam.

[0027] Fig. 2a-b show isometric views of a rock engaging first end of a stabilizing arrangement in the form of a so-called stinger arranged on a first end of the feed beam of the rig. In Fig. 2a, the stabilizing arrangement (stinger) is arranged with a dowel, which is arranged for engaging a rock face, for stabilizing the feed beam during operation of the rig. In Fig. 2b, the stabilizing arrangement is arranged with a stud or spike or the like, instead of the dowel, which stud/spike is arranged for engaging the rock face.

[0028] Fig. 3 shows an isometric view of an embodiment of the feed beam of the rig in Fig. 1 .

[0029] Fig. 4a shows an isometric view of an embodiment of the feed beam arranged with the stabilizing arrangement in the form of a stinger, according to a preferred embodiment of the invention. In the figure, the stinger is in a retracted position.

[0030] Fig. 4b shows an isometric view of the embodiment of Fig. 4a, but with the stinger is in an extended position.

[0031 ] Fig. 4c shows an isometric view of the first end of the stinger, wherein a counter force acting on the first end of the stinger, with an angle relative an extension direction of the stinger.

[0032] Fig. 4d schematically shows force vectors of the counter force of Fig. 4c, when divided in forces in three directions relative a common plane.

[0033] Fig. 5a-b show isometric views of the stinger of Fig. 4a in the extended position, wherein the stinger is angled to the right in Fig. 5a (relative to the front of the stinger) and to the left in Fig. 5b.

[0034] Fig. 6 shows a flow chart of a method for stabilizing a feed beam of a mining or construction rig according to the invention.

Detailed description

[0035] In the following, different examples of a stabilizing arrangement and method for stabilizing a feed beam of a mining or construction rig, are disclosed. The stabilizing arrangement and method disclosed herein may be realized in many different forms and should not be construed as being limited to the examples set forth herein. Like numbers in the drawings refer to like elements throughout. Throughout the description below, the stabilizing arrangement is exemplified by being in the form of a so-called stinger, but it is understood that the stabilizing arrangement may be other forms than a stinger.

[0036] Fig. 1 shows a side view of a mining rig or construction rig 50 during operation in a mine shaft. The rig comprises a boom 4 arranged on the rig 50, and a feed beam 5, which is arranged on the boom 4. The feed beam 5 comprises a first end 5a and an opposite second end 5b. The feed beam 5 is arranged to shuttle an object (see Fig. 3) along a longitudinal axis of the feed beam 5 in a feeding direction Z or a direction opposite to the feeding direction Z. The first end 5a of the feed beam 5 comprises in this case a rock engaging dowel 20c, which is arranged for engaging a rock face 100 of a rock which is to be drilled, to stabilize the feed beam 5 during operation of the rig 50. The first end 5a of the feed beam 5 may further comprise a so-called stinger, which will be explained further below, in relation to Figs. 4a-5b.

[0037] Fig. 2a show isometric views of the first end 5a of the feed beam 5 shown in Fig. 1 , but it may also be the first end of a stinger arranged on the feed beam of the rig as explained above. In Fig. 2a, the first end 5a of the feed beam 5 or stinger is arranged with the dowel 20c, while in Fig. 2b, the first end 5a of the feed beam 5 or stinger is arranged with a stud or spike 20a or the like, instead of the dowel, which stud/spike 20a is arranged for engaging the rock face 100. In Fig. 2a. the dowel 20c is pressed towards the rock face 100 for creating a pressure force, wherein the feed beam 5 is stabilized during operation of the rig 50. Thus, a counterforce F is created and the counterforce F presses towards the dowel 20c. The same applies to the alternative with the stud/spike 20a. A rock face 100 is seldom flat and “perfect”, but instead rough and often angled relative a dowel plane XY of the dowel 20c or in other words, angled relative the normal direction N to the dowel plane, which is the same as the extension direction of the feed beam 5 or stinger 20 (see for example Fig 4a). As exemplified in the Fig. 2a, the counterforce F is in this case angled relative the extension of the dowel plane XY, wherein side forces in any directions A, B, C, as well as forces with a normal direction N to the dowel plane XY occurs. As exemplified in the Fig. 2b, the counterforce F is angled relative the extension direction of the feed beam 5 or stinger 20. If the side forces are too large it may lead to so-called dowel release, wherein the dowel 20c or stud/spike 20a loosens the “grip”, due to that friction forces between the dowel 20c (or stud/spike 20a) and the rock face 100 are exceeded by too large side forces. In prior art solutions, an operator or the system, which controls the rig 50, estimates how large the pressure force along the normal direction N (feed beam direction, stinger direction), towards the rock face 100, is needed for performing the rig operation (for example drilling). This is done without knowing if high side forces occurs and how large the pressure force along the normal direction N, towards the rock face 100, actually is. If the rock face 100 is uneven, the pressure force may be “spread out”, so to speak. To avoid this and to be able to measure and control the pressure force in the normal direction N, towards the rock face 100, as well as the size of the side forces, and further to have a possibility to change the pressure in the normal direction and to minimize side forces, the rig 50 comprises one or more sensors (not visible) which is/are arranged to detect forces applied to the dowel 20c or stud/spike 20a.

[0038] Fig. 3 shows an isometric view of an embodiment of the feed beam 5 of rig 50, seen from the first end 5a of the feed beam 5, which first end 5a is a front end of the feed beam 5. Opposite the first end 5a is the second end 5b arranged, and as mentioned above, the feed beam 5 is arranged to shuttle at least one object 40 back and forth along the longitudinal axis of the feed beam 5, which is in the feeding direction Z and the opposite direction the feeding direction Z. The first end 5a of the feed beam 5 may comprise the rock engaging dowel 20c or stud/spike 20a. In the embodiment of Fig. 3, the first end 5a of the feed beam 5 comprises a rock engaging dowel 20c arranged as a pad, and which has an extension in the dowel plane XY, which is a plane perpendicular to the longitudinal axis direction (the feeding direction Z) of the feed beam 5. Preferably, the dowel 20c is made of rubber. The dowel 20c may be arranged directly to the first end 5a of the feed beam 5, either totally fixed or with some kind of pivotable fixation to the first end 5a, such that the dowel 20c may tilt a bit in one or two dimensions relative the feed beam 5. In the embodiment showed in Fig. 3, the stabilizing arrangement is a so-called stinger 20, which is arranged on the feed beam 5. The stinger 20 is arranged below the feed beam 5 and extends along the feed beam 5 and the stinger 20 comprises a first end 20a and an opposite second end 20b, wherein the first end 20a comprises the rock engaging dowel 20c. The stinger 20 thus extends in a stinger direction from its first end 20a to its second end 20b, and the stinger 20 further comprises a first actuator (not visible), arranged for extending and retracting the stinger 20 such that a distance between the first end 20a and the second end 20b may be changed. By that, the pressure force towards the rock face 100 may be changed not only by pressing the boom 4 with the feed beam 5 towards the rock face 100, but also by extending or retracting the stinger 20, by means of the actuator. This means that the pressure force can be changed without rearranging the boom 41 the feed beam 5, which saves time. The rig may further comprise a drill feed 10, which is arranged for drilling the hole in the rock, and the drill feed 10 is arranged on the feed beam 5 and may also be arranged on the feed beam 5 such that it may be shuttled back and forth along the longitudinal axis of the feed beam 5.

[0039] As indicated with force vectors FN, FY, FX (arrows) in the figure, the counter pressure force F from the rock face, created by the pressure force with the dowel 20c on the rock face 100, may have an angled direction relative the feed beam 5, why the angled force may be detected by one or more force sensors (not visible). The force sensor/sensors is/are arranged to sense the counter force F acting on the dowel in any direction, this information may be used to evaluate and calculate a compression force FN acting on the dowel 20c in the normal direction N of the dowel 20c as well as side forces FX, FY acting on the dowel 20c in the dowel plane XY. The rig 50 may further comprise a control unit (not visible), which is communicatively connected to the force sensor/force sensors, and the control unit is arranged to determine compression forces acting on the dowel 20c or stud/spike 20a. The control unit may further be arranged to evaluate the detected force/forces for determine a compression force FN acting on the dowel 20c in the normal direction N of the dowel 20c which may be the same as in the direction along the stinger 20, as well as a first sideway acting force FX, acting on the dowel 20c in an X-direction X, and a second sideway acting force FY, acting on the dowel 20c in an Y-direction Y. The X-direction X, the Y-direction Y and the normal direction N are perpendicular to each other, and he first and second directions X, Y may be upward and sideward directions along relative the feed beam 5, which is as said directions along the dowel plane XY. The compression forces are thus determined based on the forces detected by one or several force sensors. The control unit may further be arranged to initiate actions based on the determined normal and side forces FN, FX, FY. By this information, the side forces FX, FY (if any) may be minimized to avoid dowel release and also the actual compression force FN acting on the dowel 20c/the stud 20a in the normal direction N may be determined, wherein the correct pressure may be applied to create a correct pressure force during for example the drill operation performed by the rig 50.

[0040] Fig. 4a shows an isometric view of an embodiment of a stabilizing arrangement 20 in the form of a stinger 20arranged on the feed beam 5, according to a preferred embodiment of the invention. According to the embodiment, a first direction A of the stinger 20 is arranged to be controlled/changed in relation to the extension direction/feeding direction Z of the feed beam 5. As mentioned before, the stinger 20 may comprise a first actuator 25, which is the case in the shown embodiment. The actuator 25 is not visible but is arranged in (as a part of) the stinger 20, and the actuator 25 is arranged to extend and retract the stinger 20 such that a distance between the first end 20a and the second end 20b of the stinger 20 may be changed. In the figure, the stinger 20 is in a retracted position. The stabilizing arrangement 20/the stinge 20 is arranged to stabilize the feed beam 5. The stinger 20 is arranged at the first end 5a of the feed beam 5, more precise, below the feed beam 5, in relation to a normal position of use of the rig. The rock engaging first end 20a of the stinger 20 is arranged for engaging the rock face 100, to stabilize the feed beam 5 during operation and the stinger 20 further comprises a second end 20b, opposite to the first end 20a, wherein the stinger 20 extends along the first direction A, between its first end 20a and the second end 20b. As mentioned, the first actuator 25 is configured to extend or retract the stinger 20, that is, along the first direction A, such that a distance between the first end 20a and the second end 20b may be changed. The second end 20b of the stinger 20 is pivotally attached to the feed beam 5 via a first pivot 28, which is arranged to allow the stinger 20 to pivot in relation to the feed beam 5. The first pivot 28 may be two pivots 28, which is the case in the preferred embodiment, wherein the stinger 20 is pivotable in two directions relative the feed beam 5, namely sideways and towards and away relative the feed beam 5. One first pivot 28 is perpendicularly and horizontally arranged relative the feeding direction Z of the feed beam 5 and one is perpendicularly and vertically arranged relative the feeding direction Z of the feed beam 5. [0041 ] The stabilizing arrangement 20 further comprises a second actuator 26 which has an extension in a second direction B, and a third actuator 27 which has an extension in a third direction C. A first end 26a of the second actuator 26 is pivotally attached to the front end 5a of the feed beam 5 and with a second end 26b pivotally attached to the stinger 20 at a distance from the second end 20b of the stinger 20. And in the same way, a first end 27a of the third actuator 27 is pivotally attached to the front end 5a of the feed beam 5 and with a second end 27b pivotally attached to the stinger 20 at a distance from the second end 20b of the stinger 20. The second and third actuators 26, 27 are arranged with their respective extension in a common plane XY, which is perpendicular to the feeding direction Z of the feed beam 5. More precise, a plate-like front bracket 29 (or a plurality of brackets) is arranged at the first end 5a of the feed beam 5, and extends in the common plane XY, perpendicular to the feeding direction Z, and the second actuator 26 is angled relative the third actuator 27 in the common plane XY. According to the preferred embodiment, the first, second and third actuators 25, 26, 27 each is a hydraulic cylinder which each is configured to extend or retract, wherein the respective distance between their respective first and second ends 20a, 20b; 26a, 26b; 27a, 27b is changeable. By that, and the actuators pivotable arrangements relative the feed beam 5 and/or the stinger 20 (directly or via bracket 29), the stinger 20 may be adjusted relative the feed beam 5, both sideways and to/away from the feed beam 5. The front bracket 29 may comprise a plurality of brackets and link arms, to provide the proper pivotal connections and other functions associated with the functions to achieve with the stabilizing arrangement 20.

[0042] The stabilizing arrangement 20 further comprises a first pressure determining mechanism, a second pressure determining mechanism and a third pressure determining mechanism, which each are arranged to determine pressures in different directions, when the first end 20a of the stinger 20 engages the rock surface 100. The first, second and third pressure determining mechanisms may for example be first, second and third pressure sensors. The first pressure determining mechanism is arranged to determine (including detect, measure and calculate) pressure/pressures PA applied to the first end 20a of the stinger 20 along the first direction A, the second pressure determining mechanism is arranged to determine pressure/pressures PB applied to the first end 20a of the stinger 20 along the second direction B and the third pressure determining mechanism is arranged to determine pressure/pressures PC applied to the first end 20a of the stinger 20 along the third direction C, when the first end 20a of the stinger 20 engages the rock face 100.

[0043] The mining or construction rig 50 preferably has a hydraulic system, to which the stabilizing arrangement is connected, and a rig control system, so-called RCS. The RCS comprises a control unit connected to the stabilizing arrangement and hydraulic system, preferably being communicatively connected to the first, the second and the third pressure determining mechanisms, The control unit is configured to receive input data from the hydraulic system including the first, the second and the third pressure determining mechanisms, process the data, and output instructions to control the stabilizing arrangement 20, for example by controlling the orientation of the first end (20a) of the stabilizing arrangement 20 in relation to the rock face 100, based on data obtained from the first, the second and the third pressure determining mechanisms. The RCS is usually arranged in the operator's cabin. The hydraulic system is connected to the actuators 25, 26, 27 (i.e. the hydraulic cylinders) of the stabilizing arrangement 20 (i.e. the stinger 20 and its actuators 25, 26, 27). The pressure determining mechanisms may be arranged in the fluid anywhere within the hydraulic system, wherein the pressure determining mechanisms may be installed in the operator's cabin. However, it may also be conceivable that the pressure determining mechanisms are installed within the hydraulic cylinders (the actuators) of the stabilizing arrangement 20. For the purpose of the invention, and according to a preferred embodiment, a sum of pressure force within each cylinder 25, 26, 27 is determined by a first pressure detected at the side of piston and a second pressure detected at the side of piston rod. The side of piston and the side of piston rod are separated by the piston of the hydraulic cylinder. Thus, at least two pressure determining mechanisms are needed for determining the sum of pressure within each cylinder 25, 26, 27. The exception may be hydraulic cylinder 25 controlling extension or retraction of the dowel/stinger, where the sum of pressure may be the same as the first pressure detected at the side of piston, in other words at least one pressure determining mechanisms is needed for determining the sum of pressure within hydraulic cylinder 25.

[0044] The control unit is as mentioned preferably communicatively connected to the first, the second and the third pressure determining mechanisms and configured to receive data from the hydraulic system, process the data, and output instructions to control the stabilizing arrangement 20, wherein for example the output instructions may be to adjust the orientation of the first end 20a of the stinger 20 (the stabilizing arrangement) in relation to the rock face 100, based on the measured first, second and third pressures obtained by the first, second and third pressure determining mechanisms. The adjustment may also be performed by adjusting the complete feed beam 5 (and maybe the boom 4) of the rig 50. One action that may be performed after evaluating (processing) the pressure data may be to increase a pressure force with the stinger 20 towards the rock face 100, such that the first pressure PA applied to the first end 20a of the stinger 20a along the first direction A increases. For example, if the wanted counter pressure in the first direction is too low for the drilling operation, the pressure must be increased. And if the evaluating (processing) the pressure data indicates too high sideway acting forces FX, FY on the first end 20a of the stinger 20, one action may be to just increase pressure force with the stinger 20 towards the rock face 100 as described above. Another action may be to minimize the determined first and second sideway acting forces FX, FY by adjusting the orientation of the first end 20a of the stinger 20 in relation to the rock face 100, either by reorientation of the boom4/thee feed beam 5, or by controlling the pressure in the second actuator 26 and/or the third actuator 27, i.e. changing the direction of the stinger 20 in relation to the feed beam 5. By minimizing sideway acting forces FX, FY and/or increasing the normal force FA (FN) in the stinger direction, dowel release can be avoided. The detection of the pressures in the different actuators 25, 26, 27 (cylinders) makes it possible to determine the risk of dowel release and take action which are less time-consuming compared to not knowing and the reorientate the boom 4/feed beam 5 when dowel release already is a fact. It is also especially suitable for automated rigs 50, where the control unit of the system may handle the problem autonomously, just by receiving data from the hydraulic system, processing the data, and outputting instructions to control the stabilizing arrangement 20.

[0045] Fig. 4b shows an isometric view of the embodiment of Fig. 4a, but with the stinger 20 in an extended position. The stinger 20 may, as described above, be extended or retracted along the first direction A, such that the distance between the first end 20a and the second end 20b may be changed, and this is performed by the first actuator 25 (which is the stinger in this case), which preferably is a hydraulic cylinder, but could of course be another type, like a “screw-type” actuator or the like. In that case, the pressure determining mechanism of the first actuator must be of another type than a determining mechanism obtaining/detecting the pressure of the hydraulic liquid. By extending the stinger 20, the feed beam 5 may be positioned at a distance from the rock face 100, and the stinger 20 may be extended until contact is achieved with the rock face. And further, the stinger 20 may be extended until the correct pressure in the first direction A (normal direction N) of the stinger 20 is determined. The eventual angled forces FC, FB acting on the first end 20a of the stinger 20 (or dowel 20c/stud/spike arranged at the first end of the stinger) are detected by the pressure/pressure differences of the first, second and third pressure determining mechanisms connected to the first, second and the third actuators 25, 26, 27, and are processed to determine sideway acting forces FX, FY and the force acting in the normal direction N/the first direction A.

[0046] Fig. 4c shows an isometric view of the first end 20a of the stinger 20, wherein a counter force F acting on the first end 20a of the stinger 20, with an angle relative the first direction A (i.e. the extension direction of the stinger). Fig. 4d schematically shows force vectors FA, FB, FC of the counter force F of Fig. 4c, when divided in forces in three directions, the first direction A, the second direction B and the third direction C, relative the common plane XY. The figure shall illustrate the counter force F when transmitted into the directions of the first, second and third actuators 25, 26, 27, wherein the information of the forces may be used to determine sideway acting forces FX, FY and the force acting in the normal direction N/the first direction A. [0047] Fig. 5a-b show isometric views of the stinger 20 is the extended position, wherein the stinger 20 is angled to the right in Fig. 5a and to the left in Fig. 5b (relative to the feeding direction Z of the stinger 20). In Fig. 5a the second actuator 26 is extended and the third actuator 27 is more compressed compared to the second actuator 26, wherein the stinger 20 is tilted (pivoted) to the right, since the first pivot 28 allows that motion. This may be as a response to pressure forces acting on the first end 20a of the stinger 20 or if an action of controlling the actuators 25, 26, 26 to reposition the stinger 20 in relation to the feed beam 5 and in relation to the rock face 100, if needed. In Fig. 5b, it is the opposite, wherein the second actuator 26 is compressed and the third actuator 27 is more extended compared to the second actuator 26, wherein the stinger 20 is tilted (pivoted) to the left. By the first and second actuator 26, 27, the stinger 20 also may be tilted (pivoted) downwards and upwards (to and away) relative the feed beam 5, since the first pivot 28 allows that motion too, if the counter forces FB, FC pressures in those directions, or if a repositioning is required.

[0048] Fig. 6 shows a flow chart of a method for stabilizing a feed beam 5 of a mining or construction rig 50, by the stabilizing arrangement 20 according to the invention. The method comprises bringing 101 the rock engaging first end 20a of the stabilizing arrangement 20 into contact with a rock face 100, and then obtaining 102, via the first pressure determining mechanism, a first pressure PA, applied to the first end 20a of the stabilizing arrangement 20 along a first direction A, obtaining 104, via the second pressure determining mechanism, a second pressure PB, applied to the first end 20a of the stabilizing arrangement 20 along a second direction B, and finally obtaining 105, via a third pressure determining mechanism, a third pressure PC, applied to the first end 20a of the stabilizing arrangement 20 along a third direction C. After this information is achieved, the information is processed and any action necessary may follow, for example adjusting 110 the orientation (repositioning) of the first end 20a of the stabilizing arrangement 20, if for example the counter pressure along the first direction A is too low for the operation to follow (for example a drilling operation). And for the same reason, that the counter pressure along the first direction A is too low, one action can be to increase 103 the first pressure in the first direction, by extending the stabilizing arrangement 20 via the first actuator 25.

[0049] The method further may comprise determining 106 a first sideway acting force FX acting on the first end 20a of the stabilizing arrangement 20 in an X- direction X, and a second sideway acting force FY acting on the first end 20a of the stabilizing arrangement 20 in an Y-direction Y, based on the second pressure PB and the second direction B and the third pressure PC and the third direction C. After this step, a step of minimizing 107 the determined first and second sideway acting forces FX, FY may be performed (if necessary), by adjusting 110 the orientation of the first end 20a of the stabilizing arrangement 20a in relation to the rock face (as well as in relation to the feed beam 5). If necessary, a step of repeating 109 the steps of obtaining 104 the second pressure PB, obtaining 105 the third pressure PC, determining 106 the first and second sideway acting forces FX, FY acting on the first end 20a of the stabilizing arrangement 20, may be performed, and followed by the step of minimizing 107 the determined first and second sideway acting forces FX, FY until at least one of the first and second sideway acting forces FX, FY is below a first threshold value F1 limit. This, to make sure that the side force/side forces are low enough to avoid dowel release and the method is very useful at both more manual operation, but indeed for automated operation of the mining or construction rig 50.

[0050] If at least one of the determined first and second sideway acting forces FX, FY is above a second threshold value F2iimit, the method further comprises a step of repeating 112 the steps from the step of bringing 101 the rock engaging first end 20a of the stabilizing arrangement 20 into contact with to a rock face, i.e. start over from the beginning of the method. This means that if the side forces FX, FY are too high, the feed beam 5 must be adjusted (reorientated) and thereby the stabilizing arrangement 20 re-engaged with the rock surface 100. This also makes the method useful in a fully automated process.

[0051 ] Although the description above contains a plurality of specificities, these should not be construed as limiting the scope of the concept described herein but as merely providing illustrations of some exemplifying embodiments of the described concept. It will be appreciated that the scope of the presently described concept fully encompasses other embodiments which may become obvious to those skilled in the art, and that the scope of the presently described concept is accordingly not to be limited. Reference to an element in the singular is not intended to mean "one and only one" unless explicitly so stated, but rather "one or more." All structural and functional equivalents to the elements of the abovedescribed embodiments that are known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed hereby. Moreover, it is not necessary for an apparatus or method to address each and every problem sought to be solved by the presently described concept, for it to be encompassed hereby. In the figures, a broken line generally signifies that the feature within the broken line is optional.

Claims

1 . A stabilizing arrangement (20) for stabilizing a feed beam (5), which feed beam (5) is arranged on a boom (4) of a mining or construction rig (50) and is arranged to shuttle an object (40) along a longitudinal axis of the feed beam (5) in a feeding direction (Z) or a direction opposite to the feeding direction (Z), the stabilizing arrangement (20) comprising:

- a first end (20a) for engaging a rock face to stabilize the feed beam (5) during an operation, and

- a second end (20b) opposite to the first end (20a), wherein the stabilizing arrangement (20) is extendable in a first direction (A), from its first end (20a) to its second end (20b),

- a first actuator (25) configured to extend or retract the stabilizing arrangement (20) in the first direction (A) such that a distance between the first end (20a) and the second end (20b) is variable, wherein the stabilizing arrangement (20) is connected to a hydraulic system comprising:

- a first pressure determining mechanism, arranged to determine a first pressure (PA) applied to the first end (20a) of the stabilizing arrangement (20) in the first direction (A) when the first end (20a) of the stabilizing arrangement (20) engages the rock face,

- a second pressure determining mechanism, arranged to determine a second pressure (PB) applied to the first end (20a) of the stabilizing arrangement (20) in a second direction (B), when the first end (20a) of the stabilizing arrangement (20) engages the rock face,

- a third pressure determining mechanism, arranged to determine a third pressure (PC) applied to the first end (20a) of the stabilizing arrangement (20) in a third direction (C), when the first end (20a) of the stabilizing arrangement (20) engages the rock face, wherein the stabilizing arrangement (20) and the hydraulic system are connected to:

- a control unit arranged to control the orientation of the first end (20a) of the stabilizing arrangement (20) in relation to the rock face based on data obtained from the first, the second and the third pressure determining mechanisms.

2. The stabilizing arrangement (20) according to claim 1 , wherein the first direction (A) is the same as the feeding direction (Z).

3. The stabilizing arrangement (20) according to claim 1 or 2, wherein the first direction (A), the second direction (B) and the third direction (C) are pairwise perpendicular.

4. The stabilizing arrangement (20) according to any of the preceding claims, wherein the second end (20b) of the stabilizing arrangement (20) is pivotally attached to the feed beam (5), via a first pivot (28).

5. The stabilizing arrangement (20) according to any of the preceding claims, wherein a second actuator (26), with a first end (26a) is pivotally attached to a front end (5a) of the feed beam (5), and with a second end (26b) is pivotally attached to the stabilizing arrangement (20) at a distance from the second end (20b) of the stabilizing arrangement (20), and wherein a third actuator (27), with a first end (27a) is pivotally attached to the front end (5a) of the feed beam (5) and with a second end (27b) is pivotally attached to the stabilizing arrangement (20) at a distance from the second end (20b) of the stabilizing arrangement (20).

6. The stabilizing arrangement (20) according to any of the preceding claims, wherein the second pressure determining mechanism comprises two second pressure determining mechanisms, wherein one of the two second pressure determining mechanisms is arranged to measure the pressure in one direction along the second direction (B), and the other of the two second pressure determining mechanism is arranged to measure the pressure in the opposite direction along the second direction (B), and wherein the third pressure determining mechanism comprises two third pressure determining mechanisms, wherein one of the two third pressure determining mechanism is arranged to measure the pressure in one direction along the third direction (C), and the other of the two third pressure determining mechanism is arranged to measure the pressure in the opposite direction along the third direction (C).

7. The stabilizing arrangement (20) according to any of claims 5 - 6, wherein the second and third actuators (26, 27) are arranged with their respective extension in a common plane (XY), which is perpendicular to the feeding direction (Z), wherein the second actuator (26) is angled relative the third actuator (27) in the common plane (XY).

8. The stabilizing arrangement (20) according to any of the preceding claims, wherein the first actuator (25) is a hydraulic cylinder.

9. The stabilizing arrangement (20) according to any of claims 5 - 8, wherein the second actuator (26) is a hydraulic cylinder, and the third actuator (27) is a hydraulic cylinder.

10. The stabilizing arrangement (20) according to any of the preceding claims, wherein the stabilizing arrangement (20) comprises a dowel (20c).

11. A method for stabilizing a feed beam (5) performed by the stabilizing arrangement (20) according to any of claims 1-10, which feed beam (5) is arranged on a boom of a mining or construction rig and is arranged to shuttle an object along a longitudinal axis of the feed beam (5) in a feeding direction (Z) or a direction opposite to the feeding direction (Z), wherein the method comprising:

- bringing (101 ) the rock engaging first end (20a) of the stabilizing arrangement (20) into contact with a rock face,

- obtaining (102) via the first pressure determining mechanism a first pressure (PA) applied to the first end (20a) of the stabilizing arrangement (20) in a first direction (A),

- obtaining (104) via the second pressure determining mechanism a second pressure (PB) applied to the first end (20a) of the stabilizing arrangement (20) in a second direction (B),

- obtaining (105) via a third pressure determining mechanism a third pressure (PC) applied to the first end (20a) of the stabilizing arrangement (20) along a third direction (C).

12. Method according to claim 11 , wherein the method further comprising:

- adjusting (110) the orientation of the first end (20a) of the stabilizing arrangement (20a) in relation to the rock face based on the determined first, second and third pressures (PA, PB, PC).

13. Method according to claim 11 or claim 12, wherein, after the step of obtaining (102) a first pressure (PA), the method further comprising:

- increasing (103) the first pressure (PA) applied to the first end (20a) in the first direction (A).

14. Method according to claim any of claims 11 - 13, wherein the method further comprising:

- determining (106) a first sideway acting force (FX) on the first end (20a) of the stabilizing arrangement (20) in an X-direction (X) and a second sideway acting force (FY) on the first end (20a) of the stabilizing arrangement (20) in an Y- direction (Y), based on the second pressure (PB) and the second direction (B) and the third pressure (PC) and the third direction (C), wherein the X-direction (X), the Y-direction (Y) and the feeding direction (Z) are pairwise perpendicular,

- minimizing (107) the determined first and second sideway acting forces (FX, FY) acting on the first end (20a) of the stabilizing arrangement (20) by adjusting (110) the orientation of the first end (20a) of the stabilizing arrangement (20a) in relation to the rock face.

15. Method according to claim 14, wherein the method further comprises repeating (109) the steps of:

- obtaining (104) the second pressure (PB),

- obtaining (105) the third pressure (PC),

- determining (106) the first and second sideway acting forces (FX, FY) acting on the first end (20a) of the stabilizing arrangement (20),

- minimizing (107) the determined first and second sideway acting forces (FX, FY) until at least one of the first and second sideway acting forces (FX, FY) is below a first threshold value (F1 limit).

16. Method according to claim 14, wherein if at least one of the determined first and second sideway acting forces (FX, FY) is above a second threshold value (F2iimit), the method further comprises:

- repeating (112) the steps from the step of bringing (101 ) the rock engaging first end (20a) of the stabilizing arrangement (20) into contact with to a rock face.

17. Method according to claims 15 and 16, wherein the first threshold value (F1 limit) is smaller than second threshold value (F2n_mit).