Control system, rock drilling rig, and method for controlling coupling measures
AssigneeSandvik Mining and Construction Oy
InventorsPerttu Koivumaki, Jarkko Uotila, Eero Viskari, Visa Toppinen
Life of this patent
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Abstract
A control system, rock drilling rig and method for controlling coupling measures is provided. The control system is arranged for controlling coupling and uncoupling measures of a threaded coupling of a rock drilling tool. The control system is configured to detect initial minimum feed force required for moving a rock drilling apparatus in forward direction and is configured to implement the detected minimum feed force during the coupling.
Claims8
A control system for controlling coupling and uncoupling measures of a threaded coupling of a rock drilling tool, the control system being configured to:
- control operation of a rotating device and a feed device of a rock drilling apparatus, whereby the rotating device is rotatable in a coupling direction and in an uncoupling direction, and wherein the feed device is configured to produce feed movement in a forward direction and in a backward direction;
- determine a minimum feed force (Ffmin) required for moving the rock drilling apparatus in the forward direction;
- apply the minimum feed force (Ffmin) when controlling the feed device to feed the rock drilling apparatus in the forward direction;
- determine additional feed force;
- and
- add the determined additional feed force on the minimum feed force (Ffmin) during the control of the feed device, wherein the feed device controlled by the control system is a hydraulic actuator connected to a hydraulic circuit for providing pressurized hydraulic fluid to the feed device for actuating the feed movements, and wherein the control system includes at least one dedicated control device for controlling the pressure of the hydraulic fluid fed to the hydraulic feed device during the feeding in forward direction.
A method of connecting a threaded coupling of a drilling tool, the drilling tool being connectable to a rock drilling apparatus including at least a rotating device and movable by means of a feed device, the method comprising:
- connecting the coupling by feeding the rock drilling apparatus in a forward direction by means of the feed device and executing simultaneous rotation in connecting direction by means of the rotating device;
- determining minimum feed force (Ffmin) required for providing movement in the forward direction;
- applying the determined minimum feed force (Ffmin) when feeding the rock drilling apparatus in forward direction during the coupling;
- and
- by determining additional feed force and adding the determined additional feed force on the minimum feed force (Ffmin) when feeding the rock drilling apparatus;
- and
- using the detected minimum feed force (Ffmin) as a compensation force during a threading phase of the coupling, wherein the implemented rotation speed and a pitch of the coupling thread define nominal feed speed when threaded elements of the coupling are connected to each other.
Dependencies are inferred from the claim text.