• 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:
    Rock drilling rig with four individual propulsion units and individual means for height adjustment relative to the vehicle frame of each of four propulsion units, and also individual means for changing the distance between two propulsion units on the same side of the vehicle.
    公开号:SE1350638A1
    申请号:SE1350638
    申请日:2010-11-01
    公开日:2013-05-27
    发明作者:Bo-Goeran Johansson；Alexander Liebert
    申请人:Atlas Copco Rock Drills Ab；
    IPC主号:
    专利说明:

    Drill rods are called a drill string and are used when holes are to be drilled deeper than a drill rod length.
    A rock drilling rig further comprises means for alignment, means for positioning and means for feeding a drilling machine against machined rock and further means for controlling and monitoring the machining process. Furthermore, means for propelling and steering the vehicle itself may be included. All of these means may include a computer and / or a computer program to be run on a computer included in the rock drilling rig.
    For efficient drilling, the drilling machine is fed with very great force against the rock while exposing the drill rod / drill string to stroke and rotational movement. This creates stability problems during the actual drilling, in that the force from the drill string through the drilling machine and the boom tends to tip the drilling rig. This limits both the maximum usable feed force and how far out of the vehicle the holes can be drilled, as the boom becomes a lever that amplifies the tipping effect.
    Furthermore, it is the case that, both the installation site for the rock drilling rig before and during drilling, and the road to this site are often extremely uneven. Rock slabs with a large slope as well as loose boulders can greatly complicate both transport and erection of a rock drilling rig. The rock drilling rig itself can also cause stability problems in that a fully swung boom, with associated feed beam and rock drill with connected drill steel and possibly magazine for drill rods, can cause tipping tendencies during movement before the drill steel has support against the ground. An additional problem may be soft ground conditions, or that the rock is weakened by cracks after the last blast. This can cause subsidence or jamming, and in extreme cases the risk of landslides, if the surface is subjected to excessive forces.
    OBJECTS AND MOST IMPORTANT FEATURES OF THE INVENTION An object of the present invention is to provide a design of a rock drilling rig to increase its stability with respect to tipping risk. An additional purpose is to increase the comfort of the operator during transport and / or drilling in a rock drilling rig with an operator on board. Furthermore, the invention also intends to increase the passability with a rock drilling rig on soft and split surfaces.
    A rock drilling rig according to the invention comprises a vehicle with at least four propulsion units, two on each side of the vehicle. Also included is a boom articulated connected to the vehicle for articulated attachment to the boom and intended to align a feed beam, support a connectable rock drilling machine.
    In order to achieve the objects of the invention, a rock drilling rig according to the invention is characterized in that it comprises means for increasing the stability of the rock drilling rig via a propulsion unit with respect to tipping the rig and improving the possibility of ground contact for the propulsion unit.
    Propulsion units can be of the wheel type or of the belt type. A wheel-type propulsion unit may have one or more wheels. More than one wheel is then mainly used to reduce the ground pressure.
    This means for increased stability via propulsion unit and improved ground contact, we will hereinafter be referred to as means for stability and contact.
    It is advantageous if this means for stability and contact comprises means for height adjustment of the propulsion unit and means for changing the distance to relative to a frame in the vehicle, a second propulsion unit on the same side of the vehicle.
    It is further advantageous that at least two of the vehicle's propulsion units are of the same type, ie. wheel type or belt type.
    There are also four propulsion units, each with its own means for stability and contact.
    An advantageous embodiment has individual means for height adjustment relative to the vehicle frame of each of four propulsion units, as well as individual means for changing the distance to a second propulsion unit on the same side of the vehicle.
    It is advantageous that at least four propulsion units are of the same type, ie. either wheel type or belt type.
    It is further advantageous that at least four propulsion units are of the belt type.
    It is further advantageous that the belts of belt-type propulsion units are of flexible material, such as rubber or similar material. This contributes to good propulsion on soft surfaces without great damage to the surface.
    For longer durability, it may be advantageous for the belts of belt-type propulsion units to be made of steel instead of flexible material.
    Furthermore, it is advantageous that the rock drilling rig comprises two booms with associated feed beam.
    It is advantageous that the two booms are laterally angledly attached to the vehicle.
    It is further advantageous that the booms can laterally be angled more than 45 degrees relative to the longitudinal direction of the vehicle.
    It is further advantageous that the booms can be angled laterally more than 60 degrees to the longitudinal direction of the vehicle.
    It is advantageous that the means for stability and contact comprises an arm hinged attached to the vehicle frame, and connecting vehicle frame and propulsion unit.
    It is further advantageous that the means for stability and contact also comprises articulated attachment of this arm to a propulsion unit of belt type or wheel type with more than one wheel, if at least two wheels are in succession in the longitudinal direction of the rock drilling rig.
    Movement around such an articulated attachment between the arm and the propulsion unit is called commuting. Commuting is also well known from traditional rock drilling rigs. Oscillation is sometimes used as an analogous concept to commuting in this context. Often the oscillation is in the order of +/- 10 degrees. Floating oscillation is a well-known concept and involves automatic adaptation, through hydraulic control, of the abutment of the belts to the ground. Such floating oscillation is advantageous individually and independently for each of the propulsion units according to the invention. The invention allows a much higher degree of oscillation in that the belt-type propulsion units, or applicable wheel-type forms, have a much shorter length spread than the corresponding traditional solutions. Swing of +/- 90 degrees in relation to the horizontal plane is possible to achieve. This also provides an opportunity to pass very steep slopes while maintaining a high proportion of ground contact. Furthermore, it gives the advantage of receiving additional contributions to the height control of each propulsion unit, in addition to the height control which takes place by raising and lowering the arm which connects the propulsion unit to the frame in embodiments according to the figures.
    It is advantageous to regulate the height of the propulsion unit in dependence on vertical force on the drive shaft and / or torque on the drive shaft.
    An increasing vertical force on a drive shaft can be assumed to indicate that another propulsion unit is losing ground contact. Thus, the propulsion unit whose drive shaft then has the lowest vertical force can be controlled downwards until the vertical forces on the drive shafts are largely equalized. Likewise, decreasing vertical force on a drive shaft can directly lead to downward steering of the corresponding propulsion unit.
    When the means for stability and contact consists of an arm articulated towards the frame and an attachment of the propulsion unit articulated towards the arm, the regulation in a first step can take place through the angle of the arm.
    In a second stage, and only when the first stage according to the previous paragraph has been used to a selectable limit, the height control continues by means of oscillation of the propulsion unit, ie. turning the propulsion unit around the attachment to the arm.
    The limit selectable in the preceding paragraph may consist of a limit for each rock drill pre-programmable limit or a limit which can be influenced by the operator, where factors such as e.g. weight of currently mounted equipment, the position of the boom during transport determines how much the arms can be angled considering the stability. An arm angled down for better ground contact means shorter distances between propulsion units, and thus poorer stability.
    Height adjustment can instead of, or in combination with, as described above, in dependence on vertical force, take place in dependence on torque on the drive shaft of the propulsion unit. In an analogous manner with previous reasoning, a highly required torque for driving the drive shaft to a propulsion unit may indicate that another propulsion unit is losing ground contact. The regulation takes place as above.
    Likewise, low drive torque on a drive shaft can indicate lost ground contact on the drive unit belonging to the shaft. Here, too, regulation takes place as above.
    Another way to regulate is to regulate the height of the propulsion unit depending on the orientation of the rock drilling rig in the horizontal plane. To measure this, the drilling rig may include a gyroscope.
    Various alternative embodiments of means for stability and contact can be used. For example, separate hydraulic cylinders can be used as adjusting means for height and distance to the adjacent propulsion unit. Thus, the two quantities become possible to regulate independently of each other.
    It is also possible to prioritize stability and thus primarily control the ground contact via commuting of propulsion units, instead of with the arm. It is also advantageous that the speed of each propulsion unit relative to the ground is individually adjustable.
    It is further advantageous if oscillation and arm movement are synchronized so that ground contact is maintained at at least two points for a propulsion unit when passing an obstacle, for example by the belt, in belt drive, retaining its previous position at one end while the opposite end is regulated for passing obstacles.
    Two barriers with a large horizontal angle of rotation mean that the barriers compensate for each other's forces when applied to the ground. This makes it possible to use greater feed forces and also to drill with great force further out from the center of the drilling rig without stability problems becoming too great.
    Brief description of drawings Fig. 1 shows a rock drilling rig of known type with belt drive Fig. 2 shows an example of a rock drilling rig according to the invention with four independent propulsion units of belt type.
    The rock drilling rig has a boom and a feed beam enclosed in a sound-absorbing housing.
    Fig. 3 shows part of a rock drilling rig with wheel-type propulsion units. The rig is presented schematically and shown without a boom and operator cab.
    Fig. 4 shows a rock drilling rig as in Fig. 2 but with 2 booms and seen straight from the front in 4a, obliquely from the front in 4b and obliquely from behind in 4c. Fig. 5a and Fig. 5b show oscillation function, especially with ground contact maintained at existing level at one end of the belt, when the other is angled for passage of obstacles. This is achieved by synchronizing pendulum movement and arm movement.
    Detailed Description of Preferred Embodiments A number of exemplary embodiments of the invention are described below. The invention is not limited to any embodiment shown but is defined by the claims.
    A rock drilling rig 100; 200 comprises a vehicle l80; 280 and at least four propulsion units l30; 230, and at least one boom 110 rotatably connected to the vehicle. The rotatability can be in both horizontal and vertical joints. A feed beam 120 is connected to the boom 110, preferably angularly. The entire feed beam can be encapsulated in a sound-absorbing housing 140.
    The propulsion units l30; 230 are connected to the vehicle via an arm l50; 250. This arm is connected to a vehicle frame rotatable about an axis 160; 260. By the rotation of the arm l50; 250 about the axis l60; 260, both the height of the propulsion unit relative to the frame and its distance to another propulsion unit on the same side of the vehicle l80; 280 are affected. Thus, at the lowest vehicle height, the greatest distance is achieved between two propulsion units on the same side of the vehicle and thus the greatest stability. Propulsion units may be either belt type 130 or wheel type 230. Wheel propulsion units may have more than one wheel to increase the abutment surface against the ground. If two such wheels in a propulsion unit sit one after the other in the longitudinal direction of the vehicle, such a propulsion unit, like one of belt type 130, can be swung around a shaft 170 to maintain the best ground contact even at large local slopes in the terrain.
    It is advantageous if this oscillation can be +/- 90 degrees.
    In a preferred embodiment of the invention, the vehicle is equipped with four propulsion units of belt type 130.
    All are, in relation to the other propulsion units, individually controllable in height and longitudinal, ie. in the longitudinal direction of the vehicle. This provides the opportunity for good stability in terms of tipping properties for the vehicle in varying terrain and with varying vehicle loads. Furthermore, each propulsion unit is commutable independently of the others.
    This provides good ground contact in difficult terrain. Fig. 2 and Figs. 4B and 4C show how the different propulsion units all assume different height positions and oscillation positions.
    Adjusting the height positions for an individual propulsion unit in dependence on vertical force on, for example, the unit's axis of rotation 170 can be advantageous. Reducing power leads to the propulsion unit being regulated down towards better ground contact and vice versa. Corresponding regulation can take place depending on the propulsion moment of the belt. Decreasing torque causes downward control of the feed unit. Alternatively, the horizontal position of the vehicle can control the height of feed units through a gyro mounted on the vehicle. The power sensor, torque sensor or gyro is then connected to a control computer on the vehicle, which controls actuators for oscillation or angular change of the arm l50; 250 around the shaft l60; 260.
    In the control computer, calculation algorithms may be provided for synchronizing oscillating motion with angular control of the arm 105 to keep one end of the belt in position relative to the ground when the oscillating function is triggered to pass an obstacle such as a boulder, as shown in Fig. 5A and 5B.
    These calculation algorithms can involve direct geometric calculation of corresponding positions for arm angle and oscillation angle. Alternatively, tables can be stored in the control computer's memory from which current synchronized angular positions are retrieved.
    For increased stability, it is possible to have a separate displacement of the wheelbase between propulsion units, e.g. to make stability-increasing wheelbase extension independent of height adjustments due to uneven terrain. For example, the arm 150; 25O can be replaced by a horizontal and a vertical slide electrically or preferably hydraulically controlled.
    It is further advantageous that the rock drilling rig comprises two booms with associated feed beams. These then absorb forces generating the weight of the other boom or feed forces during drilling. These bars can each be angled out in the horizontal plane between 45 and 60 degrees relative to the vehicle body.
    权利要求:
    Claims (15)
    [1]
    1. A rock drilling rig comprising a vehicle comprising a chassis, at least four propulsion units, two on each side of the vehicle, and further comprising a boom, articulated to the vehicle for aligning a feed beam, articulated attached to the boom and intended to support a connectable rock drilling machine , characterized in that each propulsion unit comprises individual means for stability and ground contact, and in that each means for stability and contact comprises means for height adjustment of its propulsion unit relative to the chassis and means for changing the distance to a second propulsion unit on the same side of the vehicle.
    [2]
    Rock drilling rig according to claim 1, characterized in that the means for stability and contact comprises an arm connected between the chassis and the propulsion unit.
    [3]
    Rock drilling rig according to claim 1, characterized in that the means for stability and contact comprises a ramp connected between the chassis and the propulsion unit.
    [4]
    Rock drilling rig according to one of the preceding claims, characterized in that the means for stability and contact is articulated so that the means for stability and connected to the chassis, contact is rotatable about an axis.
    [5]
    Rock drilling rig according to any one of the preceding claims, characterized in that the means for stability and contact comprises means for rotating the propulsion unit around an attachment with the means for stability and contact. 10 15 20 25 B
    [6]
    Rock drilling rig according to one of the preceding claims, characterized in that the means for stability and contact comprises at least one hydraulic cylinder.
    [7]
    Rock drilling rig according to one of the preceding claims, characterized in that the means for height installation is intended to regulate the height in dependence on vertical force on the drive shaft.
    [8]
    Rock drilling rig according to one of the preceding claims, characterized in that the means for height installation is intended to regulate the height depending on the torque on the drive shaft.
    [9]
    Rock drilling rig according to one of the preceding claims, characterized in that the means for height adjustment is intended to regulate the height in dependence on the orientation of the rock drilling rig in the horizontal plane.
    [10]
    Rock drilling rig according to one of the preceding claims, characterized in that at least two of the propulsion units are of the wheel type.
    [11]
    11. ll. Rock drilling rig according to one of the preceding claims, characterized in that at least two of the propulsion units are of the belt type.
    [12]
    12. l2. Rock drilling rig according to claim 11, characterized in that the belt is in triangular shape.
    [13]
    Rock drilling rig according to one of the preceding claims, characterized in that the rock drilling rig further comprises a second boom with its associated feed beam. 14
    [14]
    Rock drilling rig according to one of the preceding claims, characterized in that at least one boom is horizontally rotatable to an angle greater than 45 degrees relative to the longitudinal direction of the vehicle.
    [15]
    Rock drilling rig according to one of the preceding claims, characterized in that at least one boom is horizontally rotatable to an angle of less than 60 degrees relative to the longitudinal direction of the vehicle.
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    同族专利:
    公开号 | 公开日
    WO2012060743A1|2012-05-10|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE4005356A1|1990-02-16|1991-08-22|Noell Gmbh|Multi-chassis vehicles - has drives to at least two wheels at each chassis to overcome obstacles|
    US7325634B2|2005-06-23|2008-02-05|Atlas Copco Drilling Solutions|Track-mounted drilling machine with active suspension system|
    DE202008006571U1|2008-05-14|2008-07-31|Heiss, Josef|Mobile earth boring machine|CN103628817B|2013-12-09|2016-04-20|平顶山市安泰华矿用安全设备制造有限公司|All hydraulic caterpillar pulling equipment|
    CN111088946A|2020-01-10|2020-05-01|南通謇辉贸易有限公司|Construction ground punching device and method|
    法律状态:
    2014-09-30| NAV| Patent application has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    PCT/SE2010/000265|WO2012060743A1|2010-11-01|2010-11-01|Arrangement for stabilising a vehicle carrying a rock drilling rig|
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