CA2973951A1 - Device and method for automatization of rock boring - Google Patents
Device and method for automatization of rock boring Download PDFInfo
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- CA2973951A1 CA2973951A1 CA2973951A CA2973951A CA2973951A1 CA 2973951 A1 CA2973951 A1 CA 2973951A1 CA 2973951 A CA2973951 A CA 2973951A CA 2973951 A CA2973951 A CA 2973951A CA 2973951 A1 CA2973951 A1 CA 2973951A1
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- drill string
- key grip
- grip device
- sensor
- string component
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 239000011435 rock Substances 0.000 title description 4
- 230000003287 optical effect Effects 0.000 claims description 13
- 230000000977 initiatory effect Effects 0.000 claims description 12
- 230000005355 Hall effect Effects 0.000 claims description 5
- 230000001939 inductive effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 description 10
- 230000004913 activation Effects 0.000 description 8
- 238000004140 cleaning Methods 0.000 description 8
- 230000001050 lubricating effect Effects 0.000 description 6
- 239000004519 grease Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/16—Connecting or disconnecting pipe couplings or joints
- E21B19/165—Control or monitoring arrangements therefor
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/18—Connecting or disconnecting drill bit and drilling pipe
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B13/00—Spanners; Wrenches
- B25B13/48—Spanners; Wrenches for special purposes
- B25B13/50—Spanners; Wrenches for special purposes for operating on work of special profile, e.g. pipes
- B25B13/5008—Spanners; Wrenches for special purposes for operating on work of special profile, e.g. pipes for operating on pipes or cylindrical objects
- B25B13/5016—Spanners; Wrenches for special purposes for operating on work of special profile, e.g. pipes for operating on pipes or cylindrical objects by externally gripping the pipe
- B25B13/5025—Spanners; Wrenches for special purposes for operating on work of special profile, e.g. pipes for operating on pipes or cylindrical objects by externally gripping the pipe using a pipe wrench type tool
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/16—Connecting or disconnecting pipe couplings or joints
- E21B19/167—Connecting or disconnecting pipe couplings or joints using a wrench adapted to engage a non circular section of pipe, e.g. a section with flats or splines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D3/00—Raising shafts, i.e. working upwards from the bottom
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Earth Drilling (AREA)
Abstract
A boring machine (1) for driving a drill string (8), wherein the boring machine includes: a driving head (6) being movable in an axial direction towards respectively from a holding table (5) for axially driving the drill string (8), a rotator (9) for driving the drill string (8), a drill string chuck (10), at the holding table (5), a second key grip device (12) at the rotator (9). A first sensor arrangement (13) in the region of the holding table (5) for detecting a first rotational position of a key grip 14; 24 of a drill string component (7), a second sensor arrangement (15) for detecting a second rotational position of the second key grip device (12), and a memory (17) for storing data representing the second rotational position. The invention also relates to a method.
Description
DEVICE AND METHOD IN RESPECT OF ROCK BORING
Field of the invention The invention relates to a boring machine for driving a drill string, wherein the boring machine includes: a driving head being movable in an axial direction towards respectively from a holding table for axially driving the drill string, a rotator arranged in the driving head for rotational driving the drill string, a drill string chuck associated with the rotator, a first key grip device arranged in connection with the holding table, a second key grip device arranged in connection with the rotator. The invention also relates to a corresponding method.
Background of the invention It is previously known to perform conventional raiseboring and upward raiseboring as well as downward reaming for boring with diameters up to over 6 meters. The technology is used i.a. in connection with civil engineering, within the mining industry for boring shafts for ventilation, drainage, dewatering shafts, refilling and discharging holes, slot holes as well as for inlet flow tubes for water power plants.
For reaming purposes, firstly a pilot hole is drilled in a direction from the boring machine to an accessible space wherein a reamer bit is fastened to the free end of the drill string. Thereupon reaming is performed by driving the drill bit during rotation in the direction towards the boring machine, whereby the drill bit disintegrates the rock. During the process there is an extensive handling of drill string components/drill tubes which during driving from the boring machine is successively added to the drill string and during driving towards the boring machine are successively released RECORD COPY TRANSLATION
(Rule 12.4)
Field of the invention The invention relates to a boring machine for driving a drill string, wherein the boring machine includes: a driving head being movable in an axial direction towards respectively from a holding table for axially driving the drill string, a rotator arranged in the driving head for rotational driving the drill string, a drill string chuck associated with the rotator, a first key grip device arranged in connection with the holding table, a second key grip device arranged in connection with the rotator. The invention also relates to a corresponding method.
Background of the invention It is previously known to perform conventional raiseboring and upward raiseboring as well as downward reaming for boring with diameters up to over 6 meters. The technology is used i.a. in connection with civil engineering, within the mining industry for boring shafts for ventilation, drainage, dewatering shafts, refilling and discharging holes, slot holes as well as for inlet flow tubes for water power plants.
For reaming purposes, firstly a pilot hole is drilled in a direction from the boring machine to an accessible space wherein a reamer bit is fastened to the free end of the drill string. Thereupon reaming is performed by driving the drill bit during rotation in the direction towards the boring machine, whereby the drill bit disintegrates the rock. During the process there is an extensive handling of drill string components/drill tubes which during driving from the boring machine is successively added to the drill string and during driving towards the boring machine are successively released RECORD COPY TRANSLATION
(Rule 12.4)
2 and taken away from the drill string. Conventional drilling of this kind is conducted under manual supervision of an operator.
In order, during the reaming process, to be able to release a drill tube which in its entirety is positioned above the holding table of the boring machine, the drill string is secured at the holding table.
This is made by the operator correctly positioning a key grip to the drill string component for engagement of a key grip device which is often referred to as "table key grip", at the holding table. Thereupon the engagement between the drill string chuck of the rotator and the uppermost drill string component is broken by reversing the rotator. The rest of the drill string is now thereby rotation locked by the first key grip.
Thereupon the operator will perform new measures such that a further key grip device, in the area of the driving head, will be in a position to engage with the key grip of the drill string component for breaking and de-threading the thread between this uppermost drill string component and the remaining drill string.
The released drill string component is thereupon moved from the drill string position to a component storage.
Thereupon the drill head is moved with its rotator and the drill string chuck axially to engage the thread belonging to the now uppermost component of the drill string, which is still locked by the first key grip device at the holding table.
In order, during the reaming process, to be able to release a drill tube which in its entirety is positioned above the holding table of the boring machine, the drill string is secured at the holding table.
This is made by the operator correctly positioning a key grip to the drill string component for engagement of a key grip device which is often referred to as "table key grip", at the holding table. Thereupon the engagement between the drill string chuck of the rotator and the uppermost drill string component is broken by reversing the rotator. The rest of the drill string is now thereby rotation locked by the first key grip.
Thereupon the operator will perform new measures such that a further key grip device, in the area of the driving head, will be in a position to engage with the key grip of the drill string component for breaking and de-threading the thread between this uppermost drill string component and the remaining drill string.
The released drill string component is thereupon moved from the drill string position to a component storage.
Thereupon the drill head is moved with its rotator and the drill string chuck axially to engage the thread belonging to the now uppermost component of the drill string, which is still locked by the first key grip device at the holding table.
3 After loosening the drill string from the first key grip device the process will subsequently proceed with maintained reaming. When the next drill string component has reached a position above the holding table, the above described sequence is repeated.
The described method is time, precision and work demanding which altogether results in an extensive and thereby costly boring process.
EP 2 487 325 A2 describes a system for machine-supported positioning and applying a key device at a raiseboring machine. W02014/133440 relates to a method and a boring arrangement for holding drill string means.
AIM AND MOST IMPORTANT FEATURES OF THE INVENTION
It is an aim of the present invention to provide a boring machine of above mentioned kind which addresses and at least mitigate the problems of the background art.
This is achieved in respect of a boring machine of the kind defined above in that it includes a first sensor arrangement arranged in the region of the holding table for detecting a first rotational position of a key grip of a drill string component, a second sensor arrangement for detecting a second rotational position of the second key grip device, and a memory for storing data representing the second rotational position.
Through these features it has been possible to detect a first rotational position in respect of the holding table for a key grip on a drill string component and allow rotation of the
The described method is time, precision and work demanding which altogether results in an extensive and thereby costly boring process.
EP 2 487 325 A2 describes a system for machine-supported positioning and applying a key device at a raiseboring machine. W02014/133440 relates to a method and a boring arrangement for holding drill string means.
AIM AND MOST IMPORTANT FEATURES OF THE INVENTION
It is an aim of the present invention to provide a boring machine of above mentioned kind which addresses and at least mitigate the problems of the background art.
This is achieved in respect of a boring machine of the kind defined above in that it includes a first sensor arrangement arranged in the region of the holding table for detecting a first rotational position of a key grip of a drill string component, a second sensor arrangement for detecting a second rotational position of the second key grip device, and a memory for storing data representing the second rotational position.
Through these features it has been possible to detect a first rotational position in respect of the holding table for a key grip on a drill string component and allow rotation of the
4 PCT/SE2016/050159 drill string into an adequate rotational position for engagement with the first key grip device. Furthermore, starting out from said stored data, automatically calculate and relate the rotational position of the second key grip device to a key grip of the uppermost drill string component in a drill string, which makes more effective drill string handling possible in connection with a reaming process, when drill string components are successively taken away from the drill string.
The second key grip device is coupled to the rotator/drill string chuck in order to be rotatable together therewith for releasing, through rotation, the lower thread when the first key grip device is initiated.
In particular, it is preferred that a calculating unit is arranged to determine an angle between the second rotational position and a rotational position of the first key grip device and thereby an angle between the second rotational position and said key grip starting out from said data representing the second rotational position. This allows full automatization of the handling process during reaming since the system of the boring machine is capable of calculating the required rotational positon in order to make possible engagement of the second key grip device.
It is preferred that the second sensor arrangement includes at least one sensor on the driving head, which is arranged to co-operate with at least one detect indicator in connection with the second key grip device. In particular it is preferred that that said first and second sensor arrangement each includes respectively at least one sensor from the group; optical sensor, inductive sensor, capacitive sensor, Hall-effect sensor, magnetostrictive sensor and purely mechanical rotation detecting sensor. This sensor is arranged to co-operate with a detect indicator and preferably with a plurality of detect indicators, each one in respect of the chosen sensor principle
The second key grip device is coupled to the rotator/drill string chuck in order to be rotatable together therewith for releasing, through rotation, the lower thread when the first key grip device is initiated.
In particular, it is preferred that a calculating unit is arranged to determine an angle between the second rotational position and a rotational position of the first key grip device and thereby an angle between the second rotational position and said key grip starting out from said data representing the second rotational position. This allows full automatization of the handling process during reaming since the system of the boring machine is capable of calculating the required rotational positon in order to make possible engagement of the second key grip device.
It is preferred that the second sensor arrangement includes at least one sensor on the driving head, which is arranged to co-operate with at least one detect indicator in connection with the second key grip device. In particular it is preferred that that said first and second sensor arrangement each includes respectively at least one sensor from the group; optical sensor, inductive sensor, capacitive sensor, Hall-effect sensor, magnetostrictive sensor and purely mechanical rotation detecting sensor. This sensor is arranged to co-operate with a detect indicator and preferably with a plurality of detect indicators, each one in respect of the chosen sensor principle
5 being comprised of a contrasting marking, a nob, a recess, an element with deviating technical properties such as a magnet or an element of magnetizable material etc.
When it comes to the first sensor arrangement, it preferably includes, in a simple embodiment, at least one light emitter and an optical sensor positioned such that a light beam or light beams there-between have free passage when a key grip is in a correct height position and rotational position. When no key grip is in correct height and rotational position, the light beam there between is broken.
It can be mentioned that here are intended such key grips that suitably are comprised of machined recesses in the material in the circular cylindrical tubular drill string elements outer limiting surfaces for forming of at least a pair of essentially flat parallel key grip surfaces.
The second sensor arrangement is preferably arranged to detect the second rotational position of the second key grip device in a condition of not initiated tightening connection between the drill string chuck and an upper thread of a drill string component being fastened by the first key grip device. Hereby can be obtained a direct relation in the form of said angle between the second rotational position and said key grip held by the first key grip device, whereby errors resulting from required calculations can be avoided.
When it comes to the first sensor arrangement, it preferably includes, in a simple embodiment, at least one light emitter and an optical sensor positioned such that a light beam or light beams there-between have free passage when a key grip is in a correct height position and rotational position. When no key grip is in correct height and rotational position, the light beam there between is broken.
It can be mentioned that here are intended such key grips that suitably are comprised of machined recesses in the material in the circular cylindrical tubular drill string elements outer limiting surfaces for forming of at least a pair of essentially flat parallel key grip surfaces.
The second sensor arrangement is preferably arranged to detect the second rotational position of the second key grip device in a condition of not initiated tightening connection between the drill string chuck and an upper thread of a drill string component being fastened by the first key grip device. Hereby can be obtained a direct relation in the form of said angle between the second rotational position and said key grip held by the first key grip device, whereby errors resulting from required calculations can be avoided.
6 The boring machine is hereby preferably arranged, with the drill string chuck, firstly to establish rotational tightening connection with said upper thread of a drill string component being fastened by the first key grip device, by rotating to a contact positon, wherefrom is reversed during angle measurement to a sensor trig position, which thus will become a known angular position. Starting out from these data, the angular difference between the key grip of the drill string component and the second key grip device can now be calculated. The calculated angular difference is now stored in the memory.
That the contact position is reached is established when a threshold torque value has been reached and reaching the position for tightened thread is established when a final torque value has been reached. The final torque value is calculated such that no further rotational tightening worth mentioning will occur during a subsequent reaming operation.
The boring machine is further preferably arranged for initiating the first key grip device to engage with a key grip of next drill string component after completed reaming operation corresponding to the length of a pulled-up drill string component, and for initiating breaking of said upper thread between the pulled-up drill string component and the rotator drill string chuck. This is achieved through reversing the rotator simultaneously as the next drill string component is rotationally locked by the first key grip device.
By the boring machine preferably being arranged such as to thereupon engage the second key grip device to the upper key grip of the so pulled-up drill string component and reverse
That the contact position is reached is established when a threshold torque value has been reached and reaching the position for tightened thread is established when a final torque value has been reached. The final torque value is calculated such that no further rotational tightening worth mentioning will occur during a subsequent reaming operation.
The boring machine is further preferably arranged for initiating the first key grip device to engage with a key grip of next drill string component after completed reaming operation corresponding to the length of a pulled-up drill string component, and for initiating breaking of said upper thread between the pulled-up drill string component and the rotator drill string chuck. This is achieved through reversing the rotator simultaneously as the next drill string component is rotationally locked by the first key grip device.
By the boring machine preferably being arranged such as to thereupon engage the second key grip device to the upper key grip of the so pulled-up drill string component and reverse
7 the rotator in order to break the thread between the pulled-up drill string component and the next drill string component.
By the boring machine preferably being arranged, in connection with breaking said upper thread between the pulled-up drill string component and the drill string chuck, after breakage firstly rotate the thread until the contact positon has been reached, which as above is detected in that the threshold torque value is reached. Thereupon the drill string chuck is re-rotated (reversed) the angle A until the angle has been reached, which has been calculated as the deviation of the upper key grip device from the upper key grip.
Rotation through re-rotation is thereby performed such an angle that it is in principle possible for the second key grip device to come to alignment with the key grip in question in order to quickly find an engagement therewith upon engagement initiation.
In the event that the measure to engage the second key grip device to this key grip would fail for some reason, a search sequence is performed with a searching pattern to and fro under small but growing rotational angles of the rotator to find a correct engagement position. Upon failed initiation of the second key grip device also after performed search sequence, a signal is emitted meaning that manual assistance has to be used.
The boring machine preferably includes a drill string component handler including a gripper for gripping and a maneuvering arm for displacing drill string components. Also this gripper and this maneuvering arm are preferably
By the boring machine preferably being arranged, in connection with breaking said upper thread between the pulled-up drill string component and the drill string chuck, after breakage firstly rotate the thread until the contact positon has been reached, which as above is detected in that the threshold torque value is reached. Thereupon the drill string chuck is re-rotated (reversed) the angle A until the angle has been reached, which has been calculated as the deviation of the upper key grip device from the upper key grip.
Rotation through re-rotation is thereby performed such an angle that it is in principle possible for the second key grip device to come to alignment with the key grip in question in order to quickly find an engagement therewith upon engagement initiation.
In the event that the measure to engage the second key grip device to this key grip would fail for some reason, a search sequence is performed with a searching pattern to and fro under small but growing rotational angles of the rotator to find a correct engagement position. Upon failed initiation of the second key grip device also after performed search sequence, a signal is emitted meaning that manual assistance has to be used.
The boring machine preferably includes a drill string component handler including a gripper for gripping and a maneuvering arm for displacing drill string components. Also this gripper and this maneuvering arm are preferably
8 automatically controllable for minimizing the requirement of manual resources.
It is preferred that the gripper includes a rotation sensor such as a detector wheel for detecting rotation of a gripped drill string component. Hereby can be established, through pressing the detector wheel against the drill string component, if breakage of the upper thread has been performed as intended by rotating the rotator and by the rotation sensor verifying that the drill string component is not co-rotating.
It is a major advantage that the first key grip device is arranged displaceable and permanent non-rotational in respect of the holding table. The first key grip device hereby preferably is arranged linearly displaceable between an inactive position and an active position, which is an engagement position for engagement with a key grip. The first key grip device is in such a preferred embodiment preferably arranged displaceable along linear guides being arranged on the holding table between these positions and is thereby permanently non-rotationally coupled to the holding table. The displaceability is suitably performed by a pair of hydraulic cylinders.
By the second key grip device and the drill string chuck being permanently interconnected with the rotator in order to be rotatable together thereby are obtained advantages such as simplified rotational drive co-operation between the units and constructional simplicity.
The invention also relates to a method for handling drill string components in a boring machine for driving a drill string, the method including: axially driving the drill string
It is preferred that the gripper includes a rotation sensor such as a detector wheel for detecting rotation of a gripped drill string component. Hereby can be established, through pressing the detector wheel against the drill string component, if breakage of the upper thread has been performed as intended by rotating the rotator and by the rotation sensor verifying that the drill string component is not co-rotating.
It is a major advantage that the first key grip device is arranged displaceable and permanent non-rotational in respect of the holding table. The first key grip device hereby preferably is arranged linearly displaceable between an inactive position and an active position, which is an engagement position for engagement with a key grip. The first key grip device is in such a preferred embodiment preferably arranged displaceable along linear guides being arranged on the holding table between these positions and is thereby permanently non-rotationally coupled to the holding table. The displaceability is suitably performed by a pair of hydraulic cylinders.
By the second key grip device and the drill string chuck being permanently interconnected with the rotator in order to be rotatable together thereby are obtained advantages such as simplified rotational drive co-operation between the units and constructional simplicity.
The invention also relates to a method for handling drill string components in a boring machine for driving a drill string, the method including: axially driving the drill string
9 with a driving head being movable in an axial direction towards respectively from a holding table, rotational driving the drill string with a rotator arranged in the driving head, detecting a first rotational position of a key grip of a drill string component with a first sensor arrangement arranged at (or in association with) a first key grip device at or in association with the holding table, rotating the drill string until the key grip is aligned with the first key grip device, engaging the first key grip device with said key grip. The Method is distinguished by detecting a second rotational position of a second key grip device arranged in connection with the rotator through a second sensor arrangement, and storing data representing the second rotational position in a memory.
The method according to the above preferably includes detecting the second rotational position of the second key grip device through at least one sensor on the driving head, which is arranged to co-operate with at least one detect indicator in connection with the second key grip device.
Said second rotational position is preferably detected by at least one sensor from the group: Optical sensor, inductive sensor, capacitive sensor, Hall-effect sensor, magnetostrictive sensor and purely mechanical rotation detecting sensor.
Starting out from said data representing the second rotational position preferably is determined an angle between the second rotational position and a rotational position of the first key grip device and thereby an angle between the second rotational position and said key grip.
The second rotational position of the second key grip device is preferably detected in a condition of not initiated tightening connection between the drill string chuck and an upper thread of a drill string component being fastened by the 5 first key grip device.
After releasing the first key grip, a reaming operation is subsequently performed.
The method according to the above preferably includes detecting the second rotational position of the second key grip device through at least one sensor on the driving head, which is arranged to co-operate with at least one detect indicator in connection with the second key grip device.
Said second rotational position is preferably detected by at least one sensor from the group: Optical sensor, inductive sensor, capacitive sensor, Hall-effect sensor, magnetostrictive sensor and purely mechanical rotation detecting sensor.
Starting out from said data representing the second rotational position preferably is determined an angle between the second rotational position and a rotational position of the first key grip device and thereby an angle between the second rotational position and said key grip.
The second rotational position of the second key grip device is preferably detected in a condition of not initiated tightening connection between the drill string chuck and an upper thread of a drill string component being fastened by the 5 first key grip device.
After releasing the first key grip, a reaming operation is subsequently performed.
10 Tightening connection is advantageously established with said upper thread of a drill string component being fastened by the first key grip device by tightening it to a position for tightened thread according to what is explained above, whereupon the reaming operation is performed.
After performed reaming operation corresponding to the length of a pulled-up drill string component, advantageously is initiated the first key grip device to engage with a (lower) key grip of next drill string component after completed reaming operation corresponding to the length of a pulled-up drill string component, and is initiated breaking of the thread between the upper thread and the drill string chuck.
After further rotation according to the above, the second key grip device is preferably engaged in the (upper) key grip of the pulled-up drill string component, and the thread is broken between the pulled-up drill string component and next drill string component.
A released drill string component is gripped and displacing preferably with a drill string component handler including a maneuvering arm with a gripper.
After performed reaming operation corresponding to the length of a pulled-up drill string component, advantageously is initiated the first key grip device to engage with a (lower) key grip of next drill string component after completed reaming operation corresponding to the length of a pulled-up drill string component, and is initiated breaking of the thread between the upper thread and the drill string chuck.
After further rotation according to the above, the second key grip device is preferably engaged in the (upper) key grip of the pulled-up drill string component, and the thread is broken between the pulled-up drill string component and next drill string component.
A released drill string component is gripped and displacing preferably with a drill string component handler including a maneuvering arm with a gripper.
11 Preferably rotation of a gripped drill string component is detected with a rotation sensor such as a detector wheel belonging to the gripper.
Preferably displacing the first key grip device is between inactive and active position in respect of the holding table.
Preferably rotation of the second key grip device and the drill string chuck is together when these components are permanently interconnected to each other.
Further features and advantages will become clearer from the following detailed description.
BRIEF DESCRIPTION OF DRAWINGS
The invention will now be described in greater detail by way of embodiments and with the reference to the annexed drawings, whereon:
Fig. 1 illustrates a raiseboring machine in a side view, Fig. 2 shows in a detail view respectively partly in section the raiseboring machine in fig. 1 in greater scale, Fig. 3 illustrates diagrammatically a rotational sequence in connection with thread tightening respectively thread release, Figs. 4a and b illustrate a device for cleaning and lubricating a thread of a drill string component, and the principle of the first sensor arrangement, Fig. 5 illustrates the drill string chuck and the principle of the second sensor arrangement, Figs. 6a, b and c show the holding table with the first key grip device and the principle of detecting an adequate rotational position of the upper key grip, and
Preferably displacing the first key grip device is between inactive and active position in respect of the holding table.
Preferably rotation of the second key grip device and the drill string chuck is together when these components are permanently interconnected to each other.
Further features and advantages will become clearer from the following detailed description.
BRIEF DESCRIPTION OF DRAWINGS
The invention will now be described in greater detail by way of embodiments and with the reference to the annexed drawings, whereon:
Fig. 1 illustrates a raiseboring machine in a side view, Fig. 2 shows in a detail view respectively partly in section the raiseboring machine in fig. 1 in greater scale, Fig. 3 illustrates diagrammatically a rotational sequence in connection with thread tightening respectively thread release, Figs. 4a and b illustrate a device for cleaning and lubricating a thread of a drill string component, and the principle of the first sensor arrangement, Fig. 5 illustrates the drill string chuck and the principle of the second sensor arrangement, Figs. 6a, b and c show the holding table with the first key grip device and the principle of detecting an adequate rotational position of the upper key grip, and
12 Fig. 7 illustrates diagrammatically a method sequence according to the invention.
DESCRIPTION OF EMBODIMENTS
The boring machine 1 being illustrated in fig. 1 is a raiseboring machine being constructed for driving in directions from as well as towards the boring machine. The boring machine 1 comprises a holding table 5 resting on a substructure in turn including means for fastening the boring machine to a substrate such as a surface of a rock formation 3. The boring machine can be set-up for being directed for action in different directions.
A driving head 6 is axially movable in directions of the double arrow A and is arranged to drive a drill string 8 for forming a pilot bore hole 4 respectively a reamed shaft or the like (indicated with interrupted lines and referenced 4') in the rock formation 3. The position of the driving head 6 is detected through a length sensor arrangement 125 which is capable of emitting signals for calculating for example in which position the uppermost drill string component is situated in respect of the holding table.
Beside the boring machine 1 is shown a drill string component handler 19 for introducing respectively taking out drill string components to or from a drill string position in the boring machine 1.
The drill string component handler 19 includes a gripper 20 which is supported by a maneuvering arm 21. The latter is capable of displacing a gripped drill string component between said drill string position and a storage or the like.
DESCRIPTION OF EMBODIMENTS
The boring machine 1 being illustrated in fig. 1 is a raiseboring machine being constructed for driving in directions from as well as towards the boring machine. The boring machine 1 comprises a holding table 5 resting on a substructure in turn including means for fastening the boring machine to a substrate such as a surface of a rock formation 3. The boring machine can be set-up for being directed for action in different directions.
A driving head 6 is axially movable in directions of the double arrow A and is arranged to drive a drill string 8 for forming a pilot bore hole 4 respectively a reamed shaft or the like (indicated with interrupted lines and referenced 4') in the rock formation 3. The position of the driving head 6 is detected through a length sensor arrangement 125 which is capable of emitting signals for calculating for example in which position the uppermost drill string component is situated in respect of the holding table.
Beside the boring machine 1 is shown a drill string component handler 19 for introducing respectively taking out drill string components to or from a drill string position in the boring machine 1.
The drill string component handler 19 includes a gripper 20 which is supported by a maneuvering arm 21. The latter is capable of displacing a gripped drill string component between said drill string position and a storage or the like.
13 The gripper 20 provides a rotational sensor in the form of a detector wheel 22 being arranged such that is can be brought to contact a drill string component such that it thereby is capable of detecting if a drill string component is put into rotation. This way it can be established, upon rotation of the drill string chuck, that the drill string component is not rotating and thereby be verified that breaking of a thread between the drill string chuck and the uppermost drill string component has been adequately performed and been successful.
33 indicates a unit for cleaning and lubricating the male thread of a drill string component. This unit will be described in greater detail below.
In fig. 2 is shown in more detail parts of the boring machine 1 with the driving head 6 being movable axially according to the double arrow A. The holding table 5 is shown with a first key grip device arranged in connection therewith, which is shown in fig. 2 inserted to and in engagement with a lower key grip 24 on the drill string component 7. An upper key grip on said drill string component 7 is indicated with reference 14.
The driving head 6 supports a rotator 9 which is interconnected with a drill string chuck 10 (indicated with interrupted lines) with a female thread for co-operation with a male thread uppermost on a drill string component. A male thread on the (uppermost) drill string component 7 being fastened by the first key grip element 11 is indicated with 18.
Fig. 2 shows the position prevailing when a drill string component has been removed from the drill string and the driving head is on its way towards the holding table in order
33 indicates a unit for cleaning and lubricating the male thread of a drill string component. This unit will be described in greater detail below.
In fig. 2 is shown in more detail parts of the boring machine 1 with the driving head 6 being movable axially according to the double arrow A. The holding table 5 is shown with a first key grip device arranged in connection therewith, which is shown in fig. 2 inserted to and in engagement with a lower key grip 24 on the drill string component 7. An upper key grip on said drill string component 7 is indicated with reference 14.
The driving head 6 supports a rotator 9 which is interconnected with a drill string chuck 10 (indicated with interrupted lines) with a female thread for co-operation with a male thread uppermost on a drill string component. A male thread on the (uppermost) drill string component 7 being fastened by the first key grip element 11 is indicated with 18.
Fig. 2 shows the position prevailing when a drill string component has been removed from the drill string and the driving head is on its way towards the holding table in order
14 PCT/SE2016/050159 to initiate the rotator to thread the drill string chuck 10 onto the thread 18 in order to perform a new reaming operation corresponding to the length of a drill string component. After threading and tightening reaming such a length is now performed.
Thereupon again the first key grip device 11 is initiated in order to grip a lower key grip on the next drill string component.
In connection with the rotator 9 in the driving head 6 is arranged a second key grip device 12 which is arranged to co-operate with the upper key grip 14 of a drill string component. The second key grip device 12 is non-rotationally coupled to the rotator and the drill string chuck but axially displaceable in order to be put into or out of engagement with said upper key grip 14.
For achieving this engagement, the second key grip device 12 is equipped with four engagement jaws 37 (three shown) being distributed in the rotational direction, which are radially movable in order to engage in, in inward positions, respectively in order to free said key grip, in outward positions.
13 indicates a first sensor arrangement being arranged in connection with the first key grip device 11 on the holding table 5 for detecting height and rotational position of the upper key grip 14 (alternatively the lower key grip 24) of a drill string component. During rotation and axial movement of the drill string, the first sensor arrangement is capable of detecting the position of the key grip 14/24 for allowing that the drill string is rotated and axially moved to such an extent and to such a position that the first key grip device will be capable of being initiated to engagement with the lower key grip 24.
5 It is also arranged a second sensor arrangement 15 for detecting a second rotational position, namely a rotational position of the second key grip device 12. This can preferably be used in a tightened position of the drill string chuck 10 with the thread 18 to relate the second rotational position of 10 the second key grip device 12 to a rotational position of said upper key grip 14 of the same drill string component when the latter is fastened in the first key grip device.
Data obtained this way makes it possible in an advantageous
Thereupon again the first key grip device 11 is initiated in order to grip a lower key grip on the next drill string component.
In connection with the rotator 9 in the driving head 6 is arranged a second key grip device 12 which is arranged to co-operate with the upper key grip 14 of a drill string component. The second key grip device 12 is non-rotationally coupled to the rotator and the drill string chuck but axially displaceable in order to be put into or out of engagement with said upper key grip 14.
For achieving this engagement, the second key grip device 12 is equipped with four engagement jaws 37 (three shown) being distributed in the rotational direction, which are radially movable in order to engage in, in inward positions, respectively in order to free said key grip, in outward positions.
13 indicates a first sensor arrangement being arranged in connection with the first key grip device 11 on the holding table 5 for detecting height and rotational position of the upper key grip 14 (alternatively the lower key grip 24) of a drill string component. During rotation and axial movement of the drill string, the first sensor arrangement is capable of detecting the position of the key grip 14/24 for allowing that the drill string is rotated and axially moved to such an extent and to such a position that the first key grip device will be capable of being initiated to engagement with the lower key grip 24.
5 It is also arranged a second sensor arrangement 15 for detecting a second rotational position, namely a rotational position of the second key grip device 12. This can preferably be used in a tightened position of the drill string chuck 10 with the thread 18 to relate the second rotational position of 10 the second key grip device 12 to a rotational position of said upper key grip 14 of the same drill string component when the latter is fastened in the first key grip device.
Data obtained this way makes it possible in an advantageous
15 manner, by rotation of the rotator, to align the second key grip device 12 with an upper key grip of a drill string component to be released from the rest of the drill string.
Hereby initiating of the second key grip device 12 is enhanced and made faster and automation of the process made possible.
A CU calculating unit 16 is arranged for handling data delivered from said sensor arrangement and for communication with a circuit for initiating the rotator 9, the two key grip devices 11, 12, the axial driving of a driving head etc. An associated memory is referenced 17.
The drill string chuck 10 is indicated with interrupted lines in fig. 2 but is shown more clearly inside the second key grip device 12 on fig. 5.
Fig. 3 illustrates by way of a rotation angle specification diagrammatically a sequence to produce a relation between the key grip and the second key grip device during tightening of
Hereby initiating of the second key grip device 12 is enhanced and made faster and automation of the process made possible.
A CU calculating unit 16 is arranged for handling data delivered from said sensor arrangement and for communication with a circuit for initiating the rotator 9, the two key grip devices 11, 12, the axial driving of a driving head etc. An associated memory is referenced 17.
The drill string chuck 10 is indicated with interrupted lines in fig. 2 but is shown more clearly inside the second key grip device 12 on fig. 5.
Fig. 3 illustrates by way of a rotation angle specification diagrammatically a sequence to produce a relation between the key grip and the second key grip device during tightening of
16 the drill string chuck to a male thread. The sequence is performed with lowered drill string chuck 10 for tightening therewith with the upper thread 18 in a position shown in fig.
2.
The sequence is started by the chuck being rotated "forward"
according to the arrow ROT for reaching a contact position K
when the thread is "lightly" tightened.
Thereupon angular measuring during de-tightening rotation is started, that is the chuck is rotated "backwards" the angle A
to a position when the second sensor arrangement 15 signals because a detect indicator or a "flag" is detected (see fig.
5, detect indicator 25 is detected by sensor 45), which in fig. 3 is indicated with a position I. The angular difference between the key grip of the drill string component 7 and the second key grip device can now be calculated and this calculated angular difference is now stored in the memory 17.
The thread connection between the drill string chuck 10 and the thread 18 in fig. 2 is thereupon tightened to a position for tightened thread G to a required torque for the boring operation an angle B.
In this tightening condition reaming is performed as described above until the uppermost drill string component as a whole is above the holding table 5 and the first key grip device 11 can be initiated. This can be made after that from the first sensor arrangement 13 there has been received signals that the upper key grip 14 of the next drill string component is in a correct position for this initiation of the first key grip device 11.
2.
The sequence is started by the chuck being rotated "forward"
according to the arrow ROT for reaching a contact position K
when the thread is "lightly" tightened.
Thereupon angular measuring during de-tightening rotation is started, that is the chuck is rotated "backwards" the angle A
to a position when the second sensor arrangement 15 signals because a detect indicator or a "flag" is detected (see fig.
5, detect indicator 25 is detected by sensor 45), which in fig. 3 is indicated with a position I. The angular difference between the key grip of the drill string component 7 and the second key grip device can now be calculated and this calculated angular difference is now stored in the memory 17.
The thread connection between the drill string chuck 10 and the thread 18 in fig. 2 is thereupon tightened to a position for tightened thread G to a required torque for the boring operation an angle B.
In this tightening condition reaming is performed as described above until the uppermost drill string component as a whole is above the holding table 5 and the first key grip device 11 can be initiated. This can be made after that from the first sensor arrangement 13 there has been received signals that the upper key grip 14 of the next drill string component is in a correct position for this initiation of the first key grip device 11.
17 The thread between the drill string chuck and the uppermost drill string component can now be broken be reversing the rotator 9 and rotating the angle C. Thereupon the gripper 20 is inserted for co-operation with this drill string component, whereby the detector wheel 22 by contact with this drill string component 7 verifies that the drill string component is not rotated when the rotator 9 is rotating which means that the correct thread has indeed been broken. The thread is subsequently rotated the angle D again to the contact position K.
Thereupon the rotation of the rotator is continued in thread releasing direction the angle A back to the starting position I, whereby the second key grip device 12 is now in principle engageable into the upper key grip 14 in the uppermost drill string component.
When the system has verified that the second key grip device 12 has been successful in correctly engaging this key grip 14, the thread connection between the uppermost drill string component 7 and the next drill string component, which is held in the holding table 5, can be broken by reversing the rotator 9 and the second key grip device 12.
The drill string component 7 is now freed by releasing the second key grip device 12 and thereupon removal of the now free drill string component is performed by the aid of the drill string component handler 19 and moving of the drill string component to a storage.
If the initiative to engage the second key grip device 12 to the upper key grip in question would fail for some reason after re-rotating to the position I, a search sequence is
Thereupon the rotation of the rotator is continued in thread releasing direction the angle A back to the starting position I, whereby the second key grip device 12 is now in principle engageable into the upper key grip 14 in the uppermost drill string component.
When the system has verified that the second key grip device 12 has been successful in correctly engaging this key grip 14, the thread connection between the uppermost drill string component 7 and the next drill string component, which is held in the holding table 5, can be broken by reversing the rotator 9 and the second key grip device 12.
The drill string component 7 is now freed by releasing the second key grip device 12 and thereupon removal of the now free drill string component is performed by the aid of the drill string component handler 19 and moving of the drill string component to a storage.
If the initiative to engage the second key grip device 12 to the upper key grip in question would fail for some reason after re-rotating to the position I, a search sequence is
18 performed meaning that it is made a search pattern to and fro with increasing rotational angles of the rotator 9 and the second key grip device 12 in order to find an adequate engagement position. In the event of failed initiation of the second key grip device after completed search sequence a signal is emitted meaning that manual assistance has to be used.
Figs. 4a and b show more clearly the unit 33 for cleaning and lubricating the male thread 18 of a drill string component.
This unit is very important to guarantee adequate tightening of two drill string components and in order to avoid unwanted permanent tightening therebetween. The unit 33 is automatically activated prior to each adding of a new drill string component to the drill string.
The unit 33 includes three groups of brushes for cleaning and lubricating that are supported by a downward open body such that the entire unit can be brought enclosingly in order to enclose the thread to be treated.
The first group includes a number of rotational steel brushes 38 set for action against the shoulder 39 of the drill string component to be treated. These brushes 38 of the first group are constructed cup-shaped and rotational around respective axes which are parallel to the axis of the drill string component to be treated. With their respective brushes directed essentially axially, they engage the axially directed surface of the shoulder and cleans it from rigid lubricator remains etc. and provides effective cleaning for ensuring adequate contact when threading together with the next drill string component. When the first group of brushes is brought down against the shoulder 39, suitably the body of the unit 33
Figs. 4a and b show more clearly the unit 33 for cleaning and lubricating the male thread 18 of a drill string component.
This unit is very important to guarantee adequate tightening of two drill string components and in order to avoid unwanted permanent tightening therebetween. The unit 33 is automatically activated prior to each adding of a new drill string component to the drill string.
The unit 33 includes three groups of brushes for cleaning and lubricating that are supported by a downward open body such that the entire unit can be brought enclosingly in order to enclose the thread to be treated.
The first group includes a number of rotational steel brushes 38 set for action against the shoulder 39 of the drill string component to be treated. These brushes 38 of the first group are constructed cup-shaped and rotational around respective axes which are parallel to the axis of the drill string component to be treated. With their respective brushes directed essentially axially, they engage the axially directed surface of the shoulder and cleans it from rigid lubricator remains etc. and provides effective cleaning for ensuring adequate contact when threading together with the next drill string component. When the first group of brushes is brought down against the shoulder 39, suitably the body of the unit 33
19 is rotated as well as the brushes 38 such that the brushes also will perform a certain cleaning action against the thread 18 itself.
A second group of brushes 40 and a third group of brushes 41 are constructed and arranged for lubricating the thread 18 and the shoulder 39. It should be noted that the brushes 40 and 41 are axially displaceable in respect of the body of the unit 33 and thereby in respect of the first group of brushes 38, which is evident from the two mutual positions shown in figs. 4a and b. Hereby is ensured alternate activation of the brushes 38 (setting according to fig. 4a) or the brushes 40 and 41 (setting according to fig. 4b).
The second group of brushes 40 are arranged with the bristles directed essentially in a direction in parallel with the axis of the drill string component whereas the third group of brushes 41 are arranged with the bristles being angled for adaption to the cone angle of the thread.
In the parked position of the unit 33, which in principle is shown in fig. 1, the arrangement is set for lubricating the brushes 40 and 41. This arrangement can for example include grease sprayers for co-operation with the brushes 41 and a grease tray, into which the brushes 40 are dipped.
A cleaning and treatment sequence includes:
1. The brushes 40 and 41 of the unit 33 are filled with lubricator grease by a grease spray being introduced in the inside of the brush package and the second group of brushes are dipped into a grease tray.
2. The unit 33 is swung into the drill string position.
3. The unit 33 is pressed axially downwards towards the thread and the shoulder to be treated during rotation of the brush package, with the brushes in the position shown in fig. 4a for cleaning the shoulder.
4. The unit 33 is pulled up axially at the same time as the 5 second and third group of brushes 40 and 41 are axially brought downwards for lubrication as is shown in fig. 4b.
5. The unit 33 is brought axially upwards from the drill string position and into the parking position in fig. 1.
10 Fig. 4a also shows diagrammatically the principle of the first sensor arrangement 13 for detecting an adequate height position or axial position of the upper key grip 14 of the drill string component 7 in relation to the holding table. 34' is an emitter of a light beam 36' which is detected by an 15 optical sensor 35'.
Fig. 5 shows in greater detail the second key grip device 12 with the four engagement jaws 37 being distributed in rotational direction and the drill string chuck 10. The
A second group of brushes 40 and a third group of brushes 41 are constructed and arranged for lubricating the thread 18 and the shoulder 39. It should be noted that the brushes 40 and 41 are axially displaceable in respect of the body of the unit 33 and thereby in respect of the first group of brushes 38, which is evident from the two mutual positions shown in figs. 4a and b. Hereby is ensured alternate activation of the brushes 38 (setting according to fig. 4a) or the brushes 40 and 41 (setting according to fig. 4b).
The second group of brushes 40 are arranged with the bristles directed essentially in a direction in parallel with the axis of the drill string component whereas the third group of brushes 41 are arranged with the bristles being angled for adaption to the cone angle of the thread.
In the parked position of the unit 33, which in principle is shown in fig. 1, the arrangement is set for lubricating the brushes 40 and 41. This arrangement can for example include grease sprayers for co-operation with the brushes 41 and a grease tray, into which the brushes 40 are dipped.
A cleaning and treatment sequence includes:
1. The brushes 40 and 41 of the unit 33 are filled with lubricator grease by a grease spray being introduced in the inside of the brush package and the second group of brushes are dipped into a grease tray.
2. The unit 33 is swung into the drill string position.
3. The unit 33 is pressed axially downwards towards the thread and the shoulder to be treated during rotation of the brush package, with the brushes in the position shown in fig. 4a for cleaning the shoulder.
4. The unit 33 is pulled up axially at the same time as the 5 second and third group of brushes 40 and 41 are axially brought downwards for lubrication as is shown in fig. 4b.
5. The unit 33 is brought axially upwards from the drill string position and into the parking position in fig. 1.
10 Fig. 4a also shows diagrammatically the principle of the first sensor arrangement 13 for detecting an adequate height position or axial position of the upper key grip 14 of the drill string component 7 in relation to the holding table. 34' is an emitter of a light beam 36' which is detected by an 15 optical sensor 35'.
Fig. 5 shows in greater detail the second key grip device 12 with the four engagement jaws 37 being distributed in rotational direction and the drill string chuck 10. The
20 engagement jaws 37 co-operate for their activation, that is their radial positions for engagement with the key grip of the drill string component, with the activation ring 42. This activation ring is coupled to the four engagement jaws 37 with (not shown) link means such that a movement downwards of the activation ring results in a movement radially inwards of the engagement jaws 37. In its most downward position, the activation ring 42 is positioned radially outside the engagement jaws 37 such that the latter are locked in their inward engagement position by the activation ring.
A swingable maneuvering fork 43 engages a ring-shaped groove radially most outwardly on the activation ring 42. The hydraulic cylinder 44 is pressurized at its respective sides
A swingable maneuvering fork 43 engages a ring-shaped groove radially most outwardly on the activation ring 42. The hydraulic cylinder 44 is pressurized at its respective sides
21 in order to provide the maneuvering fork 43 a swinging movement in the intended direction.
Fig. 5 also shows a principle of the function of the second sensor arrangement 15 whereby at least one sensor 45 such as a Hall-effect sensor, a magnetostrictive sensor, a capacitive sensor, an inductive sensor, an optic sensor or a purely mechanical rotation detecting sensor is arranged to co-operate with the plurality of detect indicators 25 in the form of for example flags, notches or the like arranged in connection with, on or associated with the second key grip device 12. In the shown embodiment, the detect indicators 24 are positioned in line with a central portion of each one of the four radially movable engagement jaws 37. It is understood that the detect indicators 25 can be of different kinds depending on type of sensor arrangement being used.
In figs. 6a, b and c, the holding table 5 with the first key grip device 11 and the principle of detecting an adequate rotational position of the upper key grip 14 is shown.
The first key grip device 11 is arranged linearly displaceable between an inactive position, which is shown in figs. 6a and b and an active position or engagement position which is shown in fig. 6c. The first key grip device 11 is arranged displaceable along linear guides arranged on the holding table 5 between these positions and is thereby permanently non-rotationally connected to the holding table 5. In the shown embodiment, the displaceability is performed by a pair of hydraulic cylinders.
The first sensor arrangement 13 includes in this embodiment two orthogonally arranged sensor devices.
Fig. 5 also shows a principle of the function of the second sensor arrangement 15 whereby at least one sensor 45 such as a Hall-effect sensor, a magnetostrictive sensor, a capacitive sensor, an inductive sensor, an optic sensor or a purely mechanical rotation detecting sensor is arranged to co-operate with the plurality of detect indicators 25 in the form of for example flags, notches or the like arranged in connection with, on or associated with the second key grip device 12. In the shown embodiment, the detect indicators 24 are positioned in line with a central portion of each one of the four radially movable engagement jaws 37. It is understood that the detect indicators 25 can be of different kinds depending on type of sensor arrangement being used.
In figs. 6a, b and c, the holding table 5 with the first key grip device 11 and the principle of detecting an adequate rotational position of the upper key grip 14 is shown.
The first key grip device 11 is arranged linearly displaceable between an inactive position, which is shown in figs. 6a and b and an active position or engagement position which is shown in fig. 6c. The first key grip device 11 is arranged displaceable along linear guides arranged on the holding table 5 between these positions and is thereby permanently non-rotationally connected to the holding table 5. In the shown embodiment, the displaceability is performed by a pair of hydraulic cylinders.
The first sensor arrangement 13 includes in this embodiment two orthogonally arranged sensor devices.
22 It is understood that with the upper key grip 14 in an adequate rotational position (fig. 6b), an optical signal in the form of light beams 36' and 36¨ being generated by light emitters 34' and 34¨ can be registered by optical sensors 35' and 35¨ respectively of the first sensor arrangement, whereas an erroneous rotational position (6a) of the upper key grip 14 makes that such an optical signal is blocked. It is understood from these figures that also at an erroneous position in height of the upper key grip 14, such an optical signal will be blocked.
It is also possible to generate and detect two (or more) light beams on different heights or one light beam being extending in the height direction in order to increase height precision during measuring. The light beams 36' and 36¨ can also be at different heights.
With the upper key grip 14 in adequate rotational position (fig. 6b) and height position in respect of the holding table 5, verified by the optical sensors 35' and 35¨ respectively of the first sensor arrangement, the first key grip device 11 can now be inserted into engagement with the upper key grip 24 which is shown in fig. 6c.
Fig. 7 illustrates a method sequence according to an embodiment of the invention, wherein:
Position 26 indicates the start of the sequence.
Position 27 indicates that in connection with establishing a tightening co-operation between the drill string chuck and an upper thread of a drill string component being held by the first key grip device, sense a second rotational position of the second key grip means through the second sensor
It is also possible to generate and detect two (or more) light beams on different heights or one light beam being extending in the height direction in order to increase height precision during measuring. The light beams 36' and 36¨ can also be at different heights.
With the upper key grip 14 in adequate rotational position (fig. 6b) and height position in respect of the holding table 5, verified by the optical sensors 35' and 35¨ respectively of the first sensor arrangement, the first key grip device 11 can now be inserted into engagement with the upper key grip 24 which is shown in fig. 6c.
Fig. 7 illustrates a method sequence according to an embodiment of the invention, wherein:
Position 26 indicates the start of the sequence.
Position 27 indicates that in connection with establishing a tightening co-operation between the drill string chuck and an upper thread of a drill string component being held by the first key grip device, sense a second rotational position of the second key grip means through the second sensor
23 arrangement, and storing of data in respect of the second rotational position.
Position 28 indicates freeing of the first key grip device and performing a reaming operation corresponding to the length of a drill string component.
Position 29 indicates after performed reaming operation detecting a first rotational position of a key grip on next drill string component through the first sensor arrangement, rotation and displacing the drill string until the key grip is aligned and applying the first key grip device into said key grip.
Position 30 indicates breaking of a thread between the pulled-up drill string component and the drill string chuck.
Position 31 indicates initiating the second key grip device to the upper key grip of the pulled-up drill string component starting out from said stored data, breaking a thread between the pulled-up, uppermost drill string component and next drill string component and taking away the free drill string component.
Position 32 indicates the end of the sequence.
The sequence is performed repeatedly as required. The sequence steps according to the above positions can be supplemented with further steps, for example taking account to so called continued rolling, which means that after terminating rotational driving, the drill string with drill bit and connected rotator will continue to rotate a certain angle because of the inertia in the system. This continued rolling is preferably estimated repeatedly during the process and is taken into account when applying the first key grip device 11 with the aid of the first sensor arrangement 13.
Position 28 indicates freeing of the first key grip device and performing a reaming operation corresponding to the length of a drill string component.
Position 29 indicates after performed reaming operation detecting a first rotational position of a key grip on next drill string component through the first sensor arrangement, rotation and displacing the drill string until the key grip is aligned and applying the first key grip device into said key grip.
Position 30 indicates breaking of a thread between the pulled-up drill string component and the drill string chuck.
Position 31 indicates initiating the second key grip device to the upper key grip of the pulled-up drill string component starting out from said stored data, breaking a thread between the pulled-up, uppermost drill string component and next drill string component and taking away the free drill string component.
Position 32 indicates the end of the sequence.
The sequence is performed repeatedly as required. The sequence steps according to the above positions can be supplemented with further steps, for example taking account to so called continued rolling, which means that after terminating rotational driving, the drill string with drill bit and connected rotator will continue to rotate a certain angle because of the inertia in the system. This continued rolling is preferably estimated repeatedly during the process and is taken into account when applying the first key grip device 11 with the aid of the first sensor arrangement 13.
24 Further steps can also be preferred according to what is explained in the above description.
The invention can be further modified within the scope of the following claims. The principle of the invention can thus be used in different types of boring machines such as besides reaming boring also for so called slot boring, wherein a plurality of partly overlapping holes are bored side by side.
The principle is useable during raiseboring and box boring. It should be understood that boring can be performed in all directions with the boring machine directed downwards according to the annexed figures, sideways and upwards.
Furthermore, the boring machine can be set inclining for boring with different angles to the vertical direction as well as to the horizontal plane.
Consequently, it is thereby understood that the term "uppermost drill string component" not necessarily has to mean uppermost positioned drill string component but sooner the drill string component being closest to the driving head.
The invention has mainly been described starting out from the reaming process when drill string components are successively taken away from the drill string. This process is the most complicated and requires the most of measures to be automated.
A boring machine according to the invention can advantageously be used automatically also during adding drill string components to the drill string, wherein in that case the second key grip device 12 is not required.
It is not excluded that the second sensor arrangement 15 for detecting a second rotational position of the second key grip device 12 is associated with any part of the rotator and emits an indirect value of the second rotational position.
It is also fully possible to apply an absolute angle sensor as 5 the second sensor arrangement 15 for sensing the second rotational position of the second key grip device. In this case no measuring method of the angle A has to be performed.
Sensing rotation of a drill string component 7 for verifying 10 adequate breaking of the thread between the drill string chuck and the drill string component can also be accomplished through other rotation sensor means than through a detector wheel 22 belonging to the gripper 20. For example an optical sensor can be arranged separately on the rig.
The method can be realized with drill string components with only one key grip but it is preferred that the drill string components provide un upper and a lower key grip in order to enhance gripping with the two key grip devices.
The invention can be further modified within the scope of the following claims. The principle of the invention can thus be used in different types of boring machines such as besides reaming boring also for so called slot boring, wherein a plurality of partly overlapping holes are bored side by side.
The principle is useable during raiseboring and box boring. It should be understood that boring can be performed in all directions with the boring machine directed downwards according to the annexed figures, sideways and upwards.
Furthermore, the boring machine can be set inclining for boring with different angles to the vertical direction as well as to the horizontal plane.
Consequently, it is thereby understood that the term "uppermost drill string component" not necessarily has to mean uppermost positioned drill string component but sooner the drill string component being closest to the driving head.
The invention has mainly been described starting out from the reaming process when drill string components are successively taken away from the drill string. This process is the most complicated and requires the most of measures to be automated.
A boring machine according to the invention can advantageously be used automatically also during adding drill string components to the drill string, wherein in that case the second key grip device 12 is not required.
It is not excluded that the second sensor arrangement 15 for detecting a second rotational position of the second key grip device 12 is associated with any part of the rotator and emits an indirect value of the second rotational position.
It is also fully possible to apply an absolute angle sensor as 5 the second sensor arrangement 15 for sensing the second rotational position of the second key grip device. In this case no measuring method of the angle A has to be performed.
Sensing rotation of a drill string component 7 for verifying 10 adequate breaking of the thread between the drill string chuck and the drill string component can also be accomplished through other rotation sensor means than through a detector wheel 22 belonging to the gripper 20. For example an optical sensor can be arranged separately on the rig.
The method can be realized with drill string components with only one key grip but it is preferred that the drill string components provide un upper and a lower key grip in order to enhance gripping with the two key grip devices.
Claims (25)
1. Boring machine (1) for driving a drill string (8), wherein the boring machine includes:
- a driving head (6) being movable in an axial direction towards respectively from a holding table (5) for axially driving the drill string (8), - a rotator (9) arranged in the driving head (6) for rotational driving the drill string (8), - a drill string chuck (10) associated with the rotator, - a first key grip device (11) arranged in connection with the holding table (5), - a second key grip device (12) arranged in connection with the rotator (9), characterized in - a first sensor arrangement (13) arranged in the region of the holding table (5) for detecting a first rotational position of a key grip (14; 24) of a drill string component (7), - a second sensor arrangement for detecting a second rotational position of the second key grip device (12), and - a memory (17) for storing data representing the second rotational position.
- a driving head (6) being movable in an axial direction towards respectively from a holding table (5) for axially driving the drill string (8), - a rotator (9) arranged in the driving head (6) for rotational driving the drill string (8), - a drill string chuck (10) associated with the rotator, - a first key grip device (11) arranged in connection with the holding table (5), - a second key grip device (12) arranged in connection with the rotator (9), characterized in - a first sensor arrangement (13) arranged in the region of the holding table (5) for detecting a first rotational position of a key grip (14; 24) of a drill string component (7), - a second sensor arrangement for detecting a second rotational position of the second key grip device (12), and - a memory (17) for storing data representing the second rotational position.
2. Boring machine according to claim 1, characterized in - that a calculating unit (16) is arranged to determine an angle between the second rotational position and a rotational position of the first key grip device (11) and thereby an angle between the second rotational position and said key grip (14; 24) starting out from said data representing the second rotational position.
3. Boring machine according claim 1 or 2, characterized in - that the second sensor arrangement (15) includes at least one sensor on the driving head (6), which is arranged to co-operate with at least one detect indicator (25) in connection with the second key grip device (12).
4. Boring machine according to any one of previous claims, characterized in that said first and second sensor arrangement (11; 15) each includes respectively at least one sensor from the group; optical sensor, inductive sensor, capacitive sensor, Hall-effect sensor, magnetostrictive sensor and purely mechanical rotation detecting sensor.
5. Boring machine according to any one of previous claims, characterized in - that the second sensor arrangement (15) is arranged to detect the second rotational position of the second key grip device (12) in a condition of not initiated tightening connection between the drill string chuck (10) and an upper thread (18) of a drill string component (7) being fastened by the first key grip device (11).
6. Boring machine according to claim 5, characterized in that the boring machined is arranged:
- to establish tightening connection with said upper thread (18) of a drill string component (7) being fastened by the first key grip device (11) by tightening it to a position for tightened thread.
- to establish tightening connection with said upper thread (18) of a drill string component (7) being fastened by the first key grip device (11) by tightening it to a position for tightened thread.
7. Boring machine according to claim 5 or 6, characterized in that the boring machine includes:
- means for initiating the first key grip device (11) to engage with a key grip of next drill string component after completed reaming operation corresponding to the length of a pulled-up drill string component (7), and - means for initiating breaking of said upper thread (18) between the pulled-up drill string component and the rotator (9).
- means for initiating the first key grip device (11) to engage with a key grip of next drill string component after completed reaming operation corresponding to the length of a pulled-up drill string component (7), and - means for initiating breaking of said upper thread (18) between the pulled-up drill string component and the rotator (9).
8. Boring machine according to any one of the claims 5-7, characterized in that it is arranged that after breaking said upper thread (18) between the pulled-up drill string component and the rotator (9) to engage the second key grip device with a key grip of the pulled-up drill string component (14), and - to break the thread between the pulled-up drill string component and the next drill string component.
9. Boring machine according to any one of previous claims, characterized in that a drill string component handler (19) including a gripper (20) for gripping and a maneuvering arm (21) for displacing drill string components.
10. Boring machine according to claim 9, characterized in that the gripper (20) includes a rotation sensor for detecting rotation of a gripped drill string component.
11. Boring machine according to any one of previous claims, characterized in that the first sensor arrangement (13) includes at least one light emitter and an optical sensor positioned such that a light beam or light beams therebetween have free passage when a key grip is in adequate height and rotational position.
12. Boring machine according to any one of the previous claims, characterized in that the first key grip device (11) is arranged displaceably and permanently non-rotationally connected to the holding table (5).
13. Boring machine according to any one of previous claims, characterized in that the second key grip device (12) and the drill string chuck (10) are permanently interconnected with the rotator in order to be rotatable together.
14. Method for driving a drill string (8), including:
- axially driving the drill string (8) with a driving head (6) being movable in an axial direction towards respectively from a holding table (5), - rotational driving the drill string (8) with a rotator (9) arranged in the driving head (6), - detecting a first rotational position of a key grip (14;
24) of a drill string component with a first sensor arrangement (13) arranged at a first key grip device at the holding table (5), - rotating the drill string (8) until the key grip (14;24) is aligned with the first key grip device (11), - engaging the first key grip device with said key grip (14;24), - detecting a second rotational position of a second key grip device (12) arranged in connection with the rotator (9) through a second sensor arrangement, and - storing data representing the second rotational position in a memory (17).
- axially driving the drill string (8) with a driving head (6) being movable in an axial direction towards respectively from a holding table (5), - rotational driving the drill string (8) with a rotator (9) arranged in the driving head (6), - detecting a first rotational position of a key grip (14;
24) of a drill string component with a first sensor arrangement (13) arranged at a first key grip device at the holding table (5), - rotating the drill string (8) until the key grip (14;24) is aligned with the first key grip device (11), - engaging the first key grip device with said key grip (14;24), - detecting a second rotational position of a second key grip device (12) arranged in connection with the rotator (9) through a second sensor arrangement, and - storing data representing the second rotational position in a memory (17).
15. Method according claim 14, including:
- detecting the second rotational position of the second key grip device (12) through at least one sensor on the driving head (6), which is arranged to co-operate with at least one detect indicator (25) in connection with the second key grip device (12).
- detecting the second rotational position of the second key grip device (12) through at least one sensor on the driving head (6), which is arranged to co-operate with at least one detect indicator (25) in connection with the second key grip device (12).
16. Method according to claim 14 or 15, including:
- determining an angle between the second rotational position and a rotational position of the first key grip device (11) and thereby an angle between the second rotational position and said key grip (14; 24) starting out from said data representing the second rotational position.
- determining an angle between the second rotational position and a rotational position of the first key grip device (11) and thereby an angle between the second rotational position and said key grip (14; 24) starting out from said data representing the second rotational position.
17. Method according to any one of claims 14 - 16, including:
- detecting the second rotational position of the second key grip device (12) in a condition of not initiated tightening connection between the drill string chuck (10) and an upper thread (18) of a drill string component (7) being fastened by the first key grip device (11).
- detecting the second rotational position of the second key grip device (12) in a condition of not initiated tightening connection between the drill string chuck (10) and an upper thread (18) of a drill string component (7) being fastened by the first key grip device (11).
18. Method according to claim 17, including:
- establishing tightening connection with said upper thread (18) of a drill string component (7) being fastened by the first key grip device (11) by tightening it to a position for tightened thread.
- establishing tightening connection with said upper thread (18) of a drill string component (7) being fastened by the first key grip device (11) by tightening it to a position for tightened thread.
19. Method according to claim 17 or 18, including:
- initiating the first key grip device (11) to engage with a key grip (14;24) of next drill string component after completed reaming operation corresponding to the length of a pulled-up drill string component (7), and - breaking of the thread (18) between the upper thread (18) and the drill string chuck (10).
- initiating the first key grip device (11) to engage with a key grip (14;24) of next drill string component after completed reaming operation corresponding to the length of a pulled-up drill string component (7), and - breaking of the thread (18) between the upper thread (18) and the drill string chuck (10).
20. Method according to claim 19, including:
- engaging the second key grip device (12) with a key grip of the pulled-up drill string component (14), and - breaking the thread between the pulled-up drill string component (7) and the next drill string component being fastened by the first key grip device (11).
- engaging the second key grip device (12) with a key grip of the pulled-up drill string component (14), and - breaking the thread between the pulled-up drill string component (7) and the next drill string component being fastened by the first key grip device (11).
21. Method according to any one claims 14 - 20, including:
- gripping and displacing a released drill string component (7) with a drill string component handler (19) including a maneuvering arm (21) with a gripper (20).
- gripping and displacing a released drill string component (7) with a drill string component handler (19) including a maneuvering arm (21) with a gripper (20).
22. Method according to claim 21, including:
- detecting rotation of a gripped drill string component (7) with a rotation sensor such as a detector wheel belonging to the gripper (20).
- detecting rotation of a gripped drill string component (7) with a rotation sensor such as a detector wheel belonging to the gripper (20).
23. Method according to any one claims 14 - 22, including:
- detecting said second rotational position with at least one sensor from the group; optical sensor, inductive sensor, capacitive sensor, Hall-effect sensor, magnetostrictive sensor and purely mechanical rotation detecting sensor.
- detecting said second rotational position with at least one sensor from the group; optical sensor, inductive sensor, capacitive sensor, Hall-effect sensor, magnetostrictive sensor and purely mechanical rotation detecting sensor.
24. Method according to any one of the claims 14 - 23, including:
- displacing the first key grip device (11) between inactive and active position in respect of the holding table (5).
- displacing the first key grip device (11) between inactive and active position in respect of the holding table (5).
25. Method according to any one of claims 14 - 24, including:
- rotation of the second key grip device (12) and the drill string chuck (10) together by these components being permanently interconnected to each other.
- rotation of the second key grip device (12) and the drill string chuck (10) together by these components being permanently interconnected to each other.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1550253-7 | 2015-03-04 | ||
| SE1550253A SE540309C2 (en) | 2015-03-04 | 2015-03-04 | Device and method of rock drilling |
| PCT/SE2016/050159 WO2016140614A1 (en) | 2015-03-04 | 2016-03-01 | Device and method in respect of rock boring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2973951A1 true CA2973951A1 (en) | 2016-09-09 |
| CA2973951C CA2973951C (en) | 2024-01-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2973951A Active CA2973951C (en) | 2015-03-04 | 2016-03-01 | Device and method for automatization of rock boring |
Country Status (4)
| Country | Link |
|---|---|
| AU (1) | AU2016226645B2 (en) |
| CA (1) | CA2973951C (en) |
| SE (1) | SE540309C2 (en) |
| WO (1) | WO2016140614A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11795766B2 (en) | 2018-10-15 | 2023-10-24 | National Oilwell Varco, L.P. | Lubricator assembly and method for servicing tubular members |
| CN117328858B (en) * | 2023-10-30 | 2024-05-24 | 江苏和信石油机械有限公司 | Mine exploration well reversing drilling machine capable of being monitored in real time |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011000688A1 (en) * | 2011-02-14 | 2012-08-16 | Aker Wirth Gmbh | System for mechanically attaching a scraper key and / or a breaker key to a drill string and raise boring machine |
| US9523269B2 (en) * | 2012-09-21 | 2016-12-20 | Caterpillar Global Mining Equipment Llc | Automatic control system and method for a drilling tool changer apparatus |
| SE539108C2 (en) * | 2013-03-01 | 2017-04-11 | Atlas Copco Rock Drills Ab | Drilling arrangements, vehicles, computer programs and the procedure for holding drill stringers |
-
2015
- 2015-03-04 SE SE1550253A patent/SE540309C2/en unknown
-
2016
- 2016-03-01 CA CA2973951A patent/CA2973951C/en active Active
- 2016-03-01 AU AU2016226645A patent/AU2016226645B2/en active Active
- 2016-03-01 WO PCT/SE2016/050159 patent/WO2016140614A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| AU2016226645B2 (en) | 2021-04-08 |
| AU2016226645A1 (en) | 2017-09-28 |
| SE1550253A1 (en) | 2016-09-05 |
| WO2016140614A1 (en) | 2016-09-09 |
| CA2973951C (en) | 2024-01-23 |
| SE540309C2 (en) | 2018-06-05 |
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