• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:

    公开号:SE1051134A1
    申请号:SE1051134
    申请日:2009-04-01
    公开日:2010-10-29
    发明作者:Jonas Sinnerstad；Magnus Olsson
    申请人:Atlas Copco Rock Drills Ab；
    IPC主号:
    专利说明:

    15 20 25 30 35 AOO7001_2010-10-28 2 can be driven by a hydraulic cylinder, commonly called a feed cylinder. Alternatively, the drill can be driven forward through. use of a so-called chain feeder, where the feed cylinder is replaced by a geared hydraulic motor (feed motor). The carriage with the drilling machine can then be driven forwards and backwards along the beam by means of a chain attached to the carriage and driven by the feeder motor, which runs along the feed beam. The hydraulic pressure that drives the feed cylinder / feed motor is generally called feed pressure and indicates the force with which the drill bit is pressed against the rock.
    The speed that the drill and the sled have during the botming is generally called drilling subsidence or feed speed. The feed rate that (drilling subsidence) is usually regulated by the feed cylinder / feed motor is controlled by an electronically controlled hydraulic valve.
    The flow equation for a hydraulic valve gives that the flow q from the valve is equal to the opening area A for the valve times the root of the pressure difference Ap over the valve, where Cl, CZ are constants: q = C§ * A * Ap * Cë (l) By keeping the pressure difference Ap constant, the flow q from the valve through the valve is directly proportional to the flow q control. the opening area ZX onl the pressure difference 133 is kept the opening area A. Thus can be controlled by constant.
    In order to control the drilling rig when, for example, performing various drilling applications, and maneuvering and moving the rig, the drilling rig usually comprises a control system comprising a control unit. that the control system is set through drilling parameters, such as, for example, the desired feeding pressure, for different applications is entered. 10 15 20 25 30 35 AOO700l_20l0-10-28 3 The control system is set from the beginning with general drilling parameter steps In the rig's progran1 there are a large number of drilling functions * corresponding to these applications and some of these are developed for special situations such as. cutting, drilling, ie. the starting process before the drill bit reaches the rock, fixed drilling, braking of the slide, or reversing of the drill steel. For each drilling function, the number of drilling parameters is determined. These parameter values are tested in advance for each rig type.
    When the current control system is to be set, the operator or service technician enters a number of values on the drilling parameters. The desired feed pressure set corresponds to the actual pressure in the system, which means that it is relatively easy to make a forecast for this drilling parameter since the set value for the feed pressure and the actual pressure are directly linked to each other.
    To set the feed rate (drilling sink) ie. how fast the sled / drill should be driven forward the feed speed (drilling sink) the corresponding flow must be set. The electronically controlled hydraulic valve is usually controlled. genonl that the flow genonl the valve is arranged directly proportional to a control current to the valve. Each desired flow is determined by the operator determining the corresponding to If. the pressure difference across the valve is kept or the service technician control current as. drilling parameter the electronically controlled hydraulic valve. constantly, the opening area of the pressure-compensated valve is opened in proportion to the set current and in this way a flow is obtained which. regulates * the feed rate.
    Each current value corresponds to a specific speed, but since current is not a direct value for speed, it is much more difficult for the operator to get a sense of which current will result in which speed when setting the rig. It requires a long experience of the control system to know which speed corresponds to a specific current value. When then the operator or service technicians work with a different drilling rig with a different valve or other dimensions on the feed cylinder / feed motor, the same control current corresponds to a completely different feed speed. This often results in the operator / service technician setting the control system with presumed suitable values for the drilling parameters and then testing the values by performing test drilling. During the manual drilling of the test drills, the control currents for the hydraulic valve for the current operator / service technician are corrected to the application. If test drilling is used to correct the parameters, there is always the risk that the test drilling will rely on any application and thus the corresponding parameters will not be corrected. It also happens that obsolete, when the drilling rig has been used, further depends on which engine cylinder or engine motor the settings become for a time and the equipment is worn. The control current is as used in the present case.
    When drilling with a drilling machine of the above type, it is common that the prevailing drilling conditions often change. There are a large number of rocks, and depending on how their structure, e.g. with regard to hardness, they are variously difficult to drill in. an increase in the feed speed In general, the (drilling subsidence) is an indication that the rock is becoming softer.
    The above also makes it difficult to make general recommendations for how the rigs should be set because the control currents rarely correspond to the same speed for different It to set It rig types. making it difficult is the drilling rig in place for drilling at a new location. a need for an improved. method. and thus there is a device for controlling the feed rate. DISCLOSURE OF THE INVENTION A first object of the invention is to provide a method and apparatus of the kind initially indicated which solves the above problems. they have a The solution is a net node as characterizing features in claim 1 and control systems according to the characterizing features in claim 10.
    Such a method of controlling a feed rate of a rock drilling machine when drilling in rock, the rock drill being provided with a control unit, comprises: a) entering a reference speed into the control unit, and b) automatically controlling the feed rate depending on the reference speed.
    Such a computerized control system for controlling a feed rate of a rock drilling machine when drilling in rock, the control system comprising a control unit and an input unit arranged to receive a reference speed to the control unit, the control unit being arranged to automatically control the feed speed of the rock drill depending on the reference speed.
    By. to control the feed rate automatically depending on the reference speed by using the desired speed, the reference speed, as a control parameter, it is possible for the operator to make an accurate and simple speed setting that is applicable to the selected application instead of entering an empirically assumed current value represents and therefore to it a speed is adapted individual drilling rig. Efterson1 each drilling rig has different function depending on individual parameters for the drilling rig and feed motor and feed cylinder / hydraulic cylinder equally not to specify a differences and not as model it is possible to have individual provides equipment despite 10 15 20 25 30 35 AOO700l_20l0-10-28 6 universal control current for each application.
    The actual equipment of the hydraulic valve depends, for example, on the parameters temperature, viscosity and quality of the hydraulic oil, which can also change during operation. A hydraulic valve also does not have a completely linear function, but is usually linear within. a predetermined area. An advantage of regulating the feed rate automatically is thus that it is possible to easily and correctly make an individual setting of the feed rate for each drilling rig. Our invention provides a simpler, faster and more accurate setting than can be achieved if the operator instead sets the experience-based current value that must be tested by several performs one test drilling, subsequently correcting the control current for the hydraulic valve manually for each test drilling to current setting process herewith, the setting is that application. simplified the risk of incorrect settings of the rig is minimized, which is a concern. Since the need for training of the operator is less, it also means a saving of resources.
    In one embodiment. of the method according to the invention the net method further comprises determining a control signal depending on the reference speed, and controlling the feed rate depending on the control signal In a further embodiment according to the method according to the invention further comprises determining a current feed rate, and calculating the control signal depending on the reference speed and the current feed rate. In this case, a computerized control system is used, according to the invention as. comprises means for determining a current feed rate, and a control signal in the current calculation unit arranged to calculate a dependence on the reference rate and that feed rate, and regulating the new feed rate in dependence on the control signal. 10 15 20 25 30 35 AOO7001_2010-10-28 7 An advantage of this embodiment. are current that the actual feed rate is utilized This. are both SOITI control parameters. intuitively easier for an operator / service technician and time-saving because the operator / service technician does not have to try several different current values which he then chooses between for each speed but the system instead performs this setting automatically. Because the regulation takes place automatically in comparison with. the real current. the feed speed makes it possible for specific parameters for a specific drilling rig to be set correctly with greater certainty.
    In an embodiment according to the invention, steps b- d are repeated. This is an advantage because an iterative process can give a more accurate result. This makes it possible to gradually regulate. set the control signal Corresponding to a desired speed. It also makes it possible1 to speed up the process, as the process is well controlled.
    In an embodiment according to the invention, the control signal is calculated depending on the difference between the actual feed rate and the reference speed. Since the current feed rate is a real fast measured feed rate, this enables an efficient setting of the system.
    In an embodiment according to the invention, the control signal is calculated in dependence on the needle value of a plurality of the current This makes the successive determined values for the feed speed and the reference speed. possible to filter out noise and any occasional abnormal values.
    In an embodiment according to the invention. the new one is regulated equal to the reference speed or lower than the reference speed. When the feed speed is so that it is limited, the speed is partly due to the current drilling subsidence and partly due to environmental conditions, for example that the drill bit 10 ß 20 ß% 35 AOO700l_20l0-10-28 8 passes an air pocket in the rock, which causes the speed to suddenly increase and the engine accelerates quickly.
    Since the reference speed is an upper limit for the new speed, the motor does not accelerate in a way that would otherwise be harmful to the drill. Then the new one also becomes the physical This feed rate is limited by the drilling subsidence. make it Inöjligi; to nail the speed so that sudden accelerations of the drill are avoided.
    In an embodiment according to the invention, the method further comprises that the feed flow is PI-regulated (proportional and depending on an advantage the control system regulates against the reference speed being an integrating control) in reference speed. Which is an example when constant over a period of time.
    In an embodiment according to the invention, the method further comprises that the feed flow is PID-controlled (proportional, integrative and derivative control) in dependence on a reference speed. This is an advantage if the current speed increases and decreases suddenly and unforeseen, for example as a result of the drill bit encountering cavities or air pockets in the rock or loose rock material.
    In an embodiment according to the invention, the method further comprises that the new feed rate is regulated so that the range comprising is within a reference speed. advantage when a relatively constant One This is a drilling speed is needed. typical value for the range is i5% of the reference speed. Even narrower intervals are advantageous.
    In an embodiment according to the invention, the control signal is retrieved from a reference table depending on the reference speed. In an embodiment according to the invention, the actual feed rate is determined in dependence on a position change of the impulse generating device relative to the support member. In a preferred embodiment, the current position is measured with a position sensor. This is an advantage because, drilling rigs are easily equipped with position sensors for the purpose of indicating the position of the carriage on the feed beam. The current speed is calculated, for example, depending on a position change during a measured time period.
    In an embodiment according to the invention, the actual speed is determined by calculating the acceleration of the impulse generating device. In this case, for example, an accelerometer is used to determine the acceleration and then the speed is calculated depending on the output signal from the accelerometer.
    In an embodiment according to the invention, the actual speed is measured with a speed sensor. It is easy to equip a sled or feeder beam with a speed sensor and connect it to the control unit.
    In an embodiment according to the invention, a fixed feed rate regulates the pulse generating, whereby the movement of this device along the support member is thereby regulated as a function of the control signal. makes it possible to regulate the movement of the drill with a hydraulic valve.
    In an embodiment according to the invention, the method further comprises that the feed flow is regulated. This makes it possible to electrically regulate the movement of the drilling machine with, for example, a regulated hydraulic valve. In another embodiment, a hydraulic pilot can also be used to regulate the hydraulic valve. The invention also comprises a computer program directly downloadable in a computer's internal memory, which program comprises program code for checking a method according to method claims 1-9 according to the invention. The invention comprises a computer program fl1 year designed to have a computer-readable device with a recorded computer program, a computer to perform the steps according to any one of claims 1-9.
    The invention further comprises a drilling rig comprising a computerized control system according to claim 20.
    Advantageous further developments of the invention appear from the following description and claims.
    DESCRIPTION OF THE FIGURES The invention will be further explained by describing exemplary embodiments with reference to the accompanying drawings, in which Figure 1 shows a rock drilling rig according to an embodiment of the invention, Figure 2 shows a feed beam with drilling machine on the drilling rig in Figure 1 in more detail, Figure 3 shows a control system according to an embodiment of the invention, Figure 4A shows a computer display according to the prior art, Figure 4B shows a computer display according to an embodiment of the invention, Figure 5A shows a flow diagram according to an embodiment of the invention and Figure 5B shows a further flow diagram. according to an embodiment of the invention.
    DESCRIPTION OF EMBODIMENTS The following description describes an underground rig, but the invention can also be applied to an above-ground rig. 10 15 20 25 30 35 AOO700l_20l0-10-28 11 Figure 1 shows a rock drilling rig 10 for tunnel driving, ore mining or installation of rock reinforcement bolts at e.g. tunneling or mining. Drilling rig 10 includes a boom. 11, one end 11a of which is articulated to a carrier 12, such as a vehicle, via one or more hinge means. and. we whose other end 11b is arranged a feed beam 13 which supports a pulse generating device in the form of a drilling machine 14.
    The drilling machine 14 is displaceable along the net beam 13, and generates shock waves which are transmitted via a drill string 15 and a drill bit 18 to the rock 17. The rig 10 comprises a computerized comprising a 16, which drilling parameters according to the present invention and further control system control unit can be used. which will be described below. The control unit 16 can be used to monitor position, direction and. drilled distance, etc. with respect to drill and carrier. The computerized control system can also be used to move the rig 10, although a separate control unit can of course be used for this. The computerized control system is also used to monitor position, direction and. drilled distance. etc. with respect to drill and carrier.
    Figure 2 shows the feed beam 13 with the drilling machine 14 in more detail. 13 slidable carriage 20, feed cylinder 22, The drilling machine 14 is attached to a along the feed beam whose movement along the feed beam 13 which in this An example way of being controlled by one consists of a hydraulic cylinder. alternatively driving the drill 14 forward is to use a so-called chain feeder, where the feed cylinder is replaced by a geared hydraulic motor which is mounted at the rear of the feeder. Using a chain, which is attached to the sled, and. a gear furthest from1 on the feeder. for the sled. with and back. the feed beam 13 in the position for drilling, far pushed back the drilling machine forward When drilling, the drilling machine 14 is preferably set as follows. possible in order to enable a drill string component 24, in said drill string 15, to be connected to the drilling machine via an adapter 26 included in the drilling machine 14. The adapter is attached to the drilling machine 14 at one end. and at its other end provided with means, for example threads, not shown, for connection to the drill string component 24. In this way the drill bit 18 is located relatively close to a front drilling support 27 arranged at the feed beam 13. At the far end of the feed beam is also in this case a hose drum 28, the hose drum controls hoses for supplying to the drilling machine 14 different units during drilling. As drilling proceeds, the feed cylinder will displace the drill in the direction of the rock so that, when the carriage 20 is displaced in the direction of the rock to a forward end position, it is disengaged from the drill string component drilled into the rock so that a new drill string component can be connected. drill string component 24, can continue until a hole of the desired length is obtained.
    Of course, in cases where the desired bore depth is provided, the bore of the drill string component 24 itself does not need to use any additional drill string component.
    A position sensor is mounted on the feed beam 13 of the carrier 12, not shown in the figure. The position sensor measures the position of the carriage 20 and thus the drill beam 13 of the drill relative to by means of and sends position indications the control unit 16. The control unit 16 calculates the position indications how far distance has been drilled.
    Fig. 3 is a schematic embodiment of a control system 30 which controls a drilling machine 31.
    The drilling machine 31 is fixedly arranged on a slide which is slidably arranged on a natural beam 32. The control system 30 comprises a control unit 33 which is arranged to regulate the movements of the drilling machine 31. A feed cylinder 35 is arranged at the beam to regulate the movement of the carriage and thus the drilling machine, the drilling sink, forwards or backwards along the feed beam 32 by regulating the movements of the feed cylinder 35 1000 20 20 25 30 AOO7001_2010-10-28 13. At the piston rod 35a of the feed cylinder 35, a wire wheel 37 is fixedly arranged in the direction of movement of the feed cylinder. The wire wheel 37 is arranged to drive a wire 38 which is attached to the feed beam at one end 38a and in its other end 38b at the carriage. The feed cylinder 35 is thus arranged to regulate the forward or backward movements of the drilling machine 31l by the feed cylinder driving Instead of moving the drilling machine with a wire wheel and a rotation of the wire wheel 37 during wire operation. clockwise or Inotsols. wire can also be a gear and. a chain. be used. use of a beneficial. For chain operation advantageous. feed cylinder 35 is the use of a hydraulic motor, the control unit 33 thereby controls the movements of the drilling machine 31 by regulating the movements of the feed cylinder 35. When setting up the control system in this embodiment, the operator 39 feeds in different drilling parameters, for example feed pressure and different reference speeds for different applications for the drilling rig, to the control unit 33 via a display, not shown. An electronically controlled hydraulic valve 40 is connected to the control unit 33. The control unit 33 controls the movements of the drilling machine. to control the flow q from the electronically controlled hydraulic valve 40 to the feed cylinder 35. The electronically controlled hydraulic valve 40 is connected to the feed cylinder so as to regulate the movements of the piston rod 35a of the feed cylinder 35. The flow q is controlled by1 to pour thereby. the flow q becomes directly proportional to the opening area A so that the pressure difference Ap across the valve is constant, the valve. The supply flow q is current regulated so that the opening area A of the hydraulic valve 40 is arranged proportionally to a control current.
    The hydraulic valve 40 is arranged in a tank 41.
    The pressure difference is equal to the difference of the pressure for ie. the pressure and pressure p1 for the flow the flow from the hydraulic valve 40, which goes to the feed cylinder p2, to the hydraulic valve 40: 10 15 20 25 30 35 AOO7001_2010-10-28 l4 Ap = p2-p1 (2) The supply pressure p2, is limited to a maximum desired supply pressure with a hydraulic valve 42. The hydraulic valve 42 is controlled by the control system 33. The hydraulic valve 42 is arranged at the tank 41.
    The system pressure limits the maximum feed pressure that can be obtained. The system pressure is regulated by means of a pump driven by the drilling rig's main motor, in this case a diesel engine * 36. It can also be. an electric motor, especially when the rig is an underground rig.
    The pressure difference Ap over the electronically controlled hydraulic valve 40 is kept substantially constant by controlling the pressure p1 to the valve with a mechanical pressure regulating valve 43. The pressure difference Ap over the electronically controlled hydraulic valve 40 is controlled by controlling the pressure to the hydraulic valve 40 by controlling the pressure p1 with a pressure regulating valve 43.
    On the feed beam 33 of the rig, a position sensor 45 is further arranged here for determining the position X of the drilling machine relative to the feed beam. The position sensor 45 is connected to the control unit 33. The position sensor 45 sends information about X to From the continuous position, the control unit calculates the position of the drilling machine control unit 32. how far the drill has been drilled. The control unit 33 is also equipped with a time recording device. In this embodiment, the control unit calculates. 33 the position change of the drilling machine in dependence on information from the position sensor 45 and it and thereafter a current time recording device, depending on the current feed speed. In reference speed and that feed rate, the control unit 33 calculates a control signal S. The control unit then automatically calculates a new feed rate for the said pulse generating device in dependence on the control signal S. The reference speed is retrieved, for example, from the drilling parameters for the current parameters. the application or from a previously measured value for the current application.
    Finally, the control unit 33 calculates a control current S in dependence on the control signal S. The control unit 33 automatically regulates the hydraulic valve 40 by regulating the control current of the valve so that the flow through the valve changes so that it corresponds to the new feed speed of the drill.
    The control unit 33 in this case regulates the new speed as a PID controller, but can of course also regulate the new speed as some other type of controller, for example a PI controller, or an adaptive controller.
    If instead the feed cylinder is replaced with a geared hydraulic motor in another embodiment, not shown in the figure, the drilling machine is driven forward by using a so-called chain feeder. The sled. with, the drill. is driven forwards and backwards along the beam by means of a chain attached to the carriage and driven by the hydraulic motor, which runs along the feed beam. The electronically controlled hydraulic valve is then connected to the control unit 33. In this case, the control unit controls the movements of the drilling machine by controlling the flow q to hydraulic that the flow q from the electronically controlled hydraulic valve electronically to the piston rod hydraulic motor. The controlled valve is connected to the hydraulic motor so it regulates the movements of the hydraulic motor. controlled in the same manner as described above by adhering thereto. becomes A because the pressure difference Ap across the valve is constant, the flow q is directly proportional to the opening area of the valve. The supply flow q is current regulated, so that the opening area A of the hydraulic valve is arranged proportionally to a control current.
    In a first embodiment of a drilling application, restrictive control is performed: The operator determines for this application a maximum speed for the drilling machine as a reference speed. When the current feed speed approaches the specified maximum speed, the control unit calculates a new control current intended to restrict the flow from the hydraulic valve and the feed cylinder is thereby braked. Thus, the control unit ensures that the speed does not increase further. When the speed drops, calculates and sends to the hydraulic valve so that the valve opening is increased so that the control unit has a new control current so that the drilling does not deteriorate. In this embodiment where a maximum speed is allowed, the maximum speed is not reached during drilling in solid rock because the penetration speed through the rock limits It is only when the drilling machine hits the easily drilled drilling sink. cavities or portions in which the rock velocity can increase and the control unit initiates a speed limitation as it approaches, the equipment is protected from getting too high a speed or that the specified maximum speed. Thus accelerating too fast, otherwise the equipment risks breaking or the drill bit causes the drill bit to clog or the drill bit to get stuck because the flushing medium that removes the drill bit disappears into cracks in the rock.
    In a second embodiment of a drilling application, a desired speed is regulated: The operator specifies a specific one. average speed as the reference speed for the measurement speed. Which means that if the current speed is too low, the control unit 33 increases the equipment of the hydraulic valve 40.
    Furthermore, if the current speed is too high, the control unit reduces the equipment of the hydraulic valve 40. This control algorithm is suitable for, for example, threading and unwinding 'of' drill steel. Then it is important to keep a predetermined. speed so as not to wear on the threads in Then the drill is controlled so that the new speed a One unnecessary. years within intervals. typical range is 10 15 20 25 30 35 AOO7001_2010-10-28 17 reference rate f5%. Even narrower intervals are advantageous.
    In another embodiment, the control signal is coarsely controlled by supplying the control unit with a reference table indicating a specific valve control for a certain feed rate.
    Then the control unit fine-tunes the current speed by regulating the control signal during operation of the drilling rig.
    In another embodiment not shown äßf instead; for the position sensor an accelerometer (not shown) arranged at the feed beam to determine the acceleration of the drilling machine relative to the feed beam and the actual feed rate is then calculated depending on said acceleration. drilling application performed in the In another embodiment of a calibration function computerized control system or in an external computer is used to set a reference table. The calibration is performed when the rig is new and when a component in the rig has been replaced.
    In yet another embodiment of a drilling application, the rig is operated in an "emergency", for example if the position sensor breaks. in the same way as above as correctly Then a reference table is used, described. Admittedly, this does not provide a speed, but still a sufficiently accurate setting so that it enables continued drilling with the rig, for example until spare parts have arrived. 50b, Figure 4A shows two computer displays 50a, according to the prior art, in which reference parameters are entered as initial parameters, for example different feed pressures (bar) and different current values (mA) representing different speeds for different applications for the drilling rig taken from a reference table. Different drilling parameters can be maximum feed pressure, minimum feed pressure, desired feed pressure during drilling, feed pressure at cut-off, current for calibration, current corresponding to maximum forward speed, current corresponding to minimum forward speed, current corresponding to current forward speed. when drilling forwards, current corresponding to speed when drilling backwards and / or current corresponding to maximum speed when cutting. 4B shows 500, 50d, in which an operator feeds (bar) for different applications for Figure two computer displays according to an embodiment of the invention, initial parameters, for example different feed pressures and different speeds (m / min) of the drilling rig. Different drilling parameters can be feed pressure at cut, desired feed pressure at drilling maximum feed pressure at drilling, minimum feed pressure at drilling, calibration speed, desired speed at drilling, speed at cut, maximum speed forward, and / or maximum speed backwards. Other drilling parameters are also possible.
    Figure 5A shows a flow chart of a method of control in which one of at least one drilling parameter when drilling in rock, an impulse generating device drills in rock through shock means arranged to induce shock waves in one against Den. impulse generating device a rock acting tool. is slidably arranged in the drilling direction relative to the support means. The impulse generating device is provided with a control unit.
    The method comprises the following steps: a) A first drilling parameter is set by determining a reference speed, by the operator entering a value for the reference speed in the control system manually or by a11tcnnat; is] (60). by control unit: a reference speed from a reference table a current feed rate a b) A second drilling parameter, (61). current measured value for the speed or a calculated value for determined The feed rate is 10 15 20 25 30 35 AOO700l_20l0-10-28 19 hamjghmæn depending on a measured value for the acceleration. c) E n s tyfr si_gr1a.l k> e rëik11a.s i k> e ro er1d.e ax / reference speed and the current speed through a (64). or PID-predetermined calculation method in the control unit The calculation method can be of the variants PI control or adaptive control. The control signal can also be calculated depending on the difference between the absolute amount of the current feed rate and the desired feed rate. d) A new feed rate is regulated automatically depending on the control signal.
    In one embodiment. the control signal regulates a valve as the impulse generating movements relative (66). The device controls a support member. Figure 5B shows a flow chart for another embodiment of the method for controlling at least one drilling parameter when drilling in rock. The method includes the above steps as well as the following steps: (68). its the new speed is within a preferred range e) Steps b-d are repeated This is performed, for example, by the reference speed. In this to another embodiment. steps are performed so that the new speed approaches the reference speed without exceeding it.
    In a physical implementation of the controller, it comprises a logic unit, a computer unit or a computing unit comprising a microprocessor or processors comprising a CPU or an FPGA Central processing unit (field-programmable gate array) or any other comprising programmable logic components and programmable couplings that perform the steps of the method according to one aspect of this invention. This is performed by means of one or more computer programs, which are stored at least in part in a program memory as the control unit. has access to. Computer programs include program code elements or software that can cause the computer to execute the method by utilizing equations, algorithms, data, and calculations previously described.
    The invention is not limited to the embodiments shown, but the person skilled in the art can of course modify it in a number of ways within the scope of the invention defined by the claims. Thus, for example, instead of a position sensor, a speed sensor can be used, wherein a special sensor indicating the speed of the drilling machine is arranged at the feed beam. Furthermore, instead of being electrically controlled, the movements of the drilling machine can be controlled hydraulically or pneumatically. Different feeder constructions can be used, for example. an electric motor, or with a carbon screw.
    权利要求:
    Claims (20)
    [1]
    A method for controlling the feed speed of a drilling machine (14,3l) when drilling in rock (17), the drilling machine being provided with a control unit (33), characterized in that the method comprises: a) that the operator manually feeds a reference speed to the control unit, b) that function of the feed speed. automatically regulate the feed speed as one
    [2]
    The method of claim 1, wherein the method further comprises: a) matching. a control signal (S) depending on the reference speed b) to regulate the feed rate as a function of the control signal.
    [3]
    The method of claim 2, wherein the method further comprises: a) determining a current feed rate, b) calculating. the control signal (S) as a function of the reference speed and the current feed rate.
    [4]
    The method according to any one of claims 2-3, wherein the control signal (S) is calculated as a function of the nozzle at the current feed rate and the reference speed.
    [5]
    The method wherein (50a-d) i according to any one of claims 2-4, the reference speed is retrieved from a reference table depending on the reference speed.
    [6]
    The method according to any one of claims 2-5, wherein the control signal (S) is also calculated as a function of an average value of a plurality of previously measured values for the current feed rate and the reference rate. 10 15 20 25 30 35 AOO700l_20l0-10-28 22
    [7]
    The method according to any one of claims 1-6, wherein, the new feed rate is regulated so that it is lower or equal to the reference rate.
    [8]
    The method of any of claims 1-7, wherein, the new feed rate is controlled to be within a range including the reference rate.
    [9]
    The method wherein (50a-d) which specifies a specific valve equipment for a certain speed. according to any one of the preceding claims, the reference speed is retrieved from a reference table
    [10]
    10. A computerized control system. for controlling a feed rate of a rock drilling machine in rock drilling, wherein the drilling machine is arranged with a control unit (33), characterized in that the control system also comprises: a display for entering a reference speed to the control unit, wherein: the control unit is arranged so automatically regulates the feed rate as a function of the feed rate.
    [11]
    11. ll. A computerized control system according to claim 10, wherein the control system further comprises means for determining a current feed rate, and a calculation unit arranged to calculate a control signal (S) depending on the reference rate and the actual feed rate n, and the feed rate as a function of the feed rate.
    [12]
    A computerized control system according to claim 11, wherein the current feed rate is 1ip3> with a speed sensor.
    [13]
    A computerized control system according to claim 11, wherein the control system further comprises a position sensor arranged to measure the current position (X) of the rock drilling machine, wherein. the rock drilling machine can move along a support member (13,32) in the device. at, the support means wherein. the control system calculates the actual drilling direction and the position sensor is dependent on a (14,31) feed rate in position change of the drilling machine relative to the support member (13,32).
    [14]
    A computerized control system according to claim 11, wherein the control system further comprises an accelerometer, wherein the rock drilling machine is movable along a support means (13,32) arranged to determine the acceleration of the drilling machine relative to the drilling direction and the accelerometer is the support means, the control system calculating the actual feed rate depending of acceleration.
    [15]
    A computerized control system according to any one of claims 11-14, a controlling claim wherein the flow controlled supply pressure of the device (14,31) (13,32), wherein the flow (S). the impulse-generating movement along the support means (q) is regulated as a function of the control signal
    [16]
    A computerized control system according to claim 15, wherein the control system further comprises automatic control of dependence of a feed rate in reference speed, according to any of the following control methods: PI, PID.
    [17]
    A computerized control system according to claim 16, wherein the control system further comprises current control of the supply flow.
    [18]
    A computer program directly downloadable in a computer's internal memory, the program comprising program code for checking a method according to claims 1-9.
    [19]
    A computer readable medium having a recorded computer program, the computer program1 being designed to cause a computer to perform the steps of any of claims 1-9. AOO700l_20l0-10-28 24
    [20]
    A drilling rig comprising a computerized control system according to any one of claims 10-17.
    类似技术:
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    US6938702B2|2005-09-06|Method and equipment for controlling operation of rock drilling apparatus
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    同族专利:
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    引用文献:
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    US3581830A|1969-09-03|1971-06-01|Bucyrus Erie Co|Linear feed control for a rotary tool|
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    US10428638B2|2016-12-06|2019-10-01|Epiroc Drilling Solutions, Llc|System and method for controlling a drilling machine|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE0800745A|SE533084C2|2008-04-01|2008-04-01|Drilling rig and method and control system for controlling a feed rate of said drilling rig|
    PCT/SE2009/000173|WO2009123535A1|2008-04-01|2009-04-01|Method and apparatus for adjusting and controlling a parameter|
    SE1051134A|SE534665C2|2008-04-01|2009-04-01|Method, computerized control system, computer program and computer-readable medium for controlling feed rate and drilling rig|SE1051134A| SE534665C2|2008-04-01|2009-04-01|Method, computerized control system, computer program and computer-readable medium for controlling feed rate and drilling rig|
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