Arrangement for controlling rock drilling

A method for controlling rock drilling

• wherein a percussion device belonging to a rock drill machine delivers impact pulses to rock through a tool and wherein the rock drill machine is simultaneously pushed against the rock by means of a feed actuator the method, comprising:
• feeding a pressure medium to the feed actuator along at least one feed channel;
• feeding the pressure medium to the percussion device along at least one percussion pressure channel;
• determining a penetration rate;
• adjusting at least a percussion pressure on the basis of the penetration rate,
• conveying at least one pressure medium flow supplied to or from the feed actuator through at least one restrictor,
• sensing the pressure of the pressure medium before the restrictor and after the restrictor in order to determine the penetration rate, and
• adjusting the percussion pressure on the basis of the determined penetration rate;
• measuring, by pressure sensors, the magnitude of the pressure active before the restrictor and the pressure after the restrictor,
• delivering pressure data to a control unit,
• determining, at the control unit, the penetration rate on the basis of the pressure data, and
• adjusting, by means of the control unit at least one electrically controlled valve in order to decrease the percussion pressure when the penetration rate increases.

A rock drilling arrangement comprising:

• a rock drill machine including a percussion device arranged to generate impact pulses to a tool to be connected to the rock drill machine;
• a feed beam whereon the rock drill machine has been arranged;
• a feed actuator enabling the rock drill machine to be moved in the longitudinal direction of the feed beam;
• a pressure medium system comprising:
• at least one pressure source;
• at least one pressure medium channel leading to the percussion device;
• at least one feed channel connected to the feed actuator;
• and means for adjusting a percussion pressure, and wherein
• at least one restrictor is connected to at least one feed channel of the feed actuator,
• the arrangement comprises means for sensing the pressure active in the feed channel before the restrictor and after the restrictor,
• means for determining the penetration rate on the basis of the sensed pressures before and after the restrictor and
• the pressure medium arrangement is arranged to decrease the percussion pressure when the penetration rate increases.

A rock drilling arrangement comprising:

• a rock drill machine including a percussion device arranged to generate impact pulses to a tool to be connected to the rock drill machine;
• a feed beam whereon the rock drill machine has been arranged;
• a feed actuator enabling the rock drill machine to be moved in the longitudinal direction of the feed beam;
• a pressure medium system comprising:
• at least one pressure source;
• at least one pressure medium channel leading to the percussion device;
• at least one feed channel connected to the feed actuator;
• and
• means for adjusting a percussion pressure, wherein
• the arrangement comprises at least one adjustment unit for controlling the feed actuator,
• at least two relief valves arranged in series in load-sense channel of the adjustment unit,
• at least one restrictor connected to the inlet feeding channel of the feed actuator,
• the arrangement comprises means for controlling the pressure difference between the inlet feeding channel of the feed actuator and a reference pressure sensed in-between the mentioned two relief valves in the load-sense circuit of the adjustment unit of the feed actuator,
• the reference pressure in-between the two relief-valves is sensed,
• the pressure after the restrictor is sensed, and
• the arrangement comprises a control system which is arranged to decrease the percussion pressure when the pressure difference between the abovementioned sensed pressures decreases.

A rock drilling arrangement comprising:

• a rock drill machine including a percussion device arranged to generate impact pulses to a tool to be connected to the rock drill machine;
• a feed beam whereon the rock drill machine has been arranged;
• a feed actuator enabling the rock drill machine to be moved in the longitudinal direction of the feed beam;
• a pressure medium system comprising:
• at least one pressure source;
• at least one pressure medium channel leading to the percussion device;
• at least one feed channel connected to the feed actuator;
• and means for adjusting a percussion pressure, and wherein
• at least one restrictor is connected to at least one feed channel of the feed actuator along which the pressure medium returns from the feed actuator,
• the arrangement comprises means for sensing the pressure active in the feed channel before the restrictor and after the restrictor,
• means for determining the penetration rate on the basis of the sensed pressures before the restrictor and after the restrictor, and
• the pressure medium arrangement is arranged to decrease the percussion pressure when the penetration rate increases.