EP1989394A1 - Method and device for automatic calibration of a rock drilling joint and rock drilling rig comprising such a device - Google Patents
Method and device for automatic calibration of a rock drilling joint and rock drilling rig comprising such a deviceInfo
- Publication number
- EP1989394A1 EP1989394A1 EP07709387A EP07709387A EP1989394A1 EP 1989394 A1 EP1989394 A1 EP 1989394A1 EP 07709387 A EP07709387 A EP 07709387A EP 07709387 A EP07709387 A EP 07709387A EP 1989394 A1 EP1989394 A1 EP 1989394A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- joint
- control parameter
- speed
- calibration
- boom
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000005553 drilling Methods 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 57
- 239000011435 rock Substances 0.000 title description 3
- 230000033001 locomotion Effects 0.000 claims abstract description 36
- 238000006073 displacement reaction Methods 0.000 description 9
- 238000010276 construction Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000470 constituent Substances 0.000 description 1
- 230000001419 dependent effect Effects 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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
-
- 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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
-
- 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
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/04—Supports for the drilling machine, e.g. derricks or masts specially adapted for directional drilling, e.g. slant hole rigs
- E21B15/045—Hydraulic, pneumatic or electric circuits for their positioning
-
- 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
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/025—Rock drills, i.e. jumbo drills
Definitions
- the present invention relates to a method and device for automatic calibration of joint means in a rock- drilling rig.
- a rock-drilling rig In rock-drilling in general and in tunnel drilling in particular, a rock-drilling rig is often used in which one or more drilling machines are supported by respective movable arms, so called booms.
- the booms are usually articulately fastened to a carrier, such as a vehicle, by one or more joints.
- the respective drilling machine is articulately fastened by one or more additional joints to that end of the respective boom which is facing away from the carrier.
- the drilling machine is usually fastened not directly to the boom, but via a feeder along which the drilling machine can be transported during drilling.
- a construction in which the boom is fastened to the carrier in such a way that the boom is movable about two joints, and in which manoeuvring about these two joints, for example, can be realized by a tripod construction having two hydraulic cylinders disposed substantially parallel with the boom, which are fastened to the carrier below, and laterally displaced in each respective direction, relative to the fastening point of the boom, to allow raising/lowering and lateral rotation of the boom.
- a corresponding construction is used, yet in which the front cylinders are oppositely disposed, i.e. fastened to the top side of the boom.
- a constant load direction upon the constituent components is obtained, which has the advantage that any play within the joints has no or only slight impact upon the boom.
- a rotation joint with which the feeder can be rotated about the longitudinal axis of the boom.
- a feeder tilt joint is usually present, with which the feeder can be angled upwards/downwards.
- Another example of a boom construction is constituted by a boom in which the front tripod and the said rotation joint are exchanged for two rotation joints such as rotators. The advantage with this construction is that the rotation joints reduce the weight at the outer end of the boom, which in turn means that a both longer and stiffer boom can be used. Moreover, the mobility of the feeder is increased.
- the hydraulic system which is used to manoeuvre the boom usually comprises standard components, constituted, for example, by proportional valves, which are used to control/adjust the speed of movement for the abovementioned boom-manoeuvring joints.
- standard components constituted, for example, by proportional valves, which are used to control/adjust the speed of movement for the abovementioned boom-manoeuvring joints.
- a drawback with the use of standard components is that the characteristics of these components vary between different units. These variations, in turn, give rise to variations in the extent to which a joint moves, given a certain position of the control stick. This is undesirable, since it leads to different joints moving at different speeds, resulting in an unwanted pattern of motion for the feeder.
- differences in the proportional valves result in a so-called parallel displacement not occurring parallelly at all.
- automatic displacement of the boom/drilling machine is often used, in which it is even more important that the joints behave precisely as intended in order that a reliable autopositioning can be obtained.
- One object of the present invention is to provide a method and a device for the calibration of joint means in a rock-drilling rig, which method and device solve the above problems.
- a method for the calibration of joint means in a rock-drilling rig comprises the steps of: setting a value for a control parameter, determining whether the deviation between the joint motion speed obtained by means of the control parameter value and a reference joint motion speed falls below a certain threshold value, increasing/reducing the value for the control parameter if the said deviation exceeds the said threshold value, and automatically repeating the abovementioned until the said deviation falls below the said threshold value, the obtained control parameter value being stored as the calibration value for the said reference joint motion speed.
- the invention also has the advantage that the calibration can be carried out significantly faster than with previously known methods .
- the calibration can be carried out for all motional directions of the said joint means. This has the advantage that a calibration can be realized which ensures that a good result can be obtained in respect of, for example, parallel displacement or automatic positioning .
- the rock-drilling rig can comprise a plurality of joint means, in which case the method further comprises the step of carrying out the said calibration for the said plurality of joint means.
- This has the advantage that, for example, all the joint means of a boom can be calibrated successively. In certain cases, it may also be possible to calibrate a plurality of joint means in parallel. This can call for plenty of space around the rock-drilling rig, however, since it may be required that large boom motions are possible. It may also be that the rock-drilling rig comprises a plurality of booms, for example two, three or four, in which case joint means on different booms can be calibrated in parallel, which further speeds up the calibration process .
- the method can further comprise the step of carrying out the said calibration for a plurality of reference joint motion speeds.
- the abovementioned calibration can be carried out to determine that control parameter value which results in the joint means precisely starting to move, which can be constituted by a definitive determination, i.e. that the absolute position detection means, which are normally disposed by the respective joint, detect that the joint is moving or that, for example, 1, 2 or 3% of the maximum motional speed of the joint means (as defined below) has been reached.
- the calibration can also be used to determine the control parameter value which results in the joint moving at its maximum speed, which can be the maximum speed imposed by physical limitations, or the speed which is the maximum at which it is desirable for the joint means to move.
- the said joint means can also, however, be calibrated for intermediate joint motion speeds, as the characteristic curve of the joint means is not normally linear. For example, calibration can be carried out for 10, 20, 50 and 80% of the abovementioned maximum speed.
- the said control means can be designed to be constituted by a proportional valve, the said control parameter being designed to be constituted by a control current for the said valve.
- This has the advantage that conventional standard components can be used.
- the said joint means can be constituted, for example, by a hydraulic cylinder, or a rotation joint means such as a rotator.
- the method can further comprise the step that a user, by means of control means, specifies a direction in which the said drilling machine or boom is allowed to move during the said calibration.
- a user by means of control means, specifies a direction in which the said drilling machine or boom is allowed to move during the said calibration.
- the invention also relates to a device and a rock- drilling rig.
- Fig. 1 shows an exemplary boom for a rock-drilling rig.
- Fig. 2 shows a flow chart for the calibration of a starting current for a joint means according to the present invention.
- Fig. 3 shows an exemplary characteristic curve for an exemplary joint means.
- Fig. 4 shows a flow chart relating to rough calibration of the control current for the maximum speed of a joint means and any intermediate speeds according to the present invention.
- Fig. 5 shows a flow chart relating to fine calibration of control currents for the maximum speed of a joint means and possible intermediate speeds according to the present invention.
- Fig. 6 shows another exemplary boom in which the present invention is applicable.
- a rock-drilling rig 1 in which the present invention can advantageously be used.
- the rock- drilling rig 1 comprises a boom 2, one end 2a of which is fastened to a carrier 10 (indicated schematically) , which can be constituted, for example, by a vehicle, and at the other end 2b of which there is disposed a feeder 3 supporting a drilling machine 4.
- the drilling machine 4 is displaceable along the feeder 3.
- the rock- drilling rig 1 can further be remote-controlled by an operator via a control device which is connected to the rock-drilling rig 1 by means of a cable (not shown) and in which control means in the form of, for example, one or more control sticks (such as joysticks or track balls) can be used to control the direction and position of the drilling machine 4.
- the control device can also be wirelessly connected to the rock-drilling rig.
- the rock-drilling rig can be controlled by an operator located in a cab (not shown) disposed on the carrier/vehicle 10.
- the shown rock- drilling rig is depicted as only comprising one drilling boom, but can comprise two, three, four or more drilling booms, each boom supporting a respective drilling machine 4.
- the boom(s) 2 is/are usually articulatedly fastened to the vehicle/carrier 10 by one or more joint means.
- these joint means are constituted by a tripod construction, in which two hydraulic cylinders 6, 7 are fastened to the vehicle 10 somewhat below and laterally displaced relative to the point of attachment of the boom, so that the three points of attachment form the shape of a triangle in which the points of attachment of the hydraulic cylinders 6, 7 define the base of the triangle.
- the other ends of the hydraulic cylinders 6, 7 are fastened to the bottom side of the boom 2. Control of the cylinders 6, 7 allows the boom 2 to be raised/lowered and guided in the lateral direction.
- the said control device is provided with a separate control stick for this purpose, in which the boom 2 is raised/lowered by moving the control stick backwards/forwards. In the same way, the boom is guided to the right/left by moving the control stick to the right/left.
- the drilling machine 4 is articulately fastened to that end 2b of the boom 2 which is facing away from the vehicle by a correspondingly working device having two cylinders 8, 9, which are fastened to the top side of the boom and then, in corresponding manner to the cylinders 6, 7, in the shape of a tripod with the apex, i.e. the attachment of the boom, downwards.
- the feeder 3, and hence the drilling machine 4 can be angled forwards/backwards and rotated about an axis running transversely to the longitudinal axis of the drilling boom.
- the feeder can constantly be kept parallel, at the same time as the boom is raised/lowered and/or turned to the right/left.
- the feeder can also be turned in the lateral direction with the aid of the cylinders 8, 9. Furthermore, the feeder with drilling machine can be rotated about the said tripod attachment by means of a rotation joint 11. Moreover, a feeder tilt joint 12 is present, which is used to angle the feeder about its fastening point.
- the hydraulic system which is used to manoeuvre the boom usually comprises standard components, in which proportional valves are used to control the hydraulic flow to the joint means, and hence the motional speed for these.
- these components have the drawback that their characteristics vary between different models. These variations in turn give rise to variations in the extent to which a joint moves in response to a certain position of the control stick. Since this can result, for example, in the cylinders 6 and 9, and 7 and 8, not moving at the same speed, a calibration of the joint means is therefore carried out before the rock-drilling rig is put into operation, with a view to ensuring that the motional speeds of the cylinders (the joint means) are mutually consistent.
- the joint means (cylinders) are controlled by proportional valves, and these valves are therefore calibrated.
- the calibration signifies that a starting and a maximum current are determined for each respective valve, i.e. each joint means such as a hydraulic cylinder or hydraulic motor.
- the starting current signifies the current which must be supplied to the proportional valve to enable the valve to genereate a sufficiently large flow so that the cylinder/motor starts to move.
- the maximum current corresponds to the current which must be supplied to the proportional valve to enable the maximum speed of the joint means to be reached. Furthermore, it is not sufficient to determine the starting current and maximum current for one direction of the joint means, but rather the starting current and the maximum current must be determined for both directions of the joint means. This means that, for a boom according to Fig.
- the present invention overcomes these problems with a calibration method in which, instead of an operator, the control system of the rock-drilling rig carries out the calibration.
- the calibration of a valve is carried out in three phases.
- a first phase will be explained with reference to the flow chart in Fig. 2.
- the starting current of the valve is determined.
- This phase is initiated in step 201 by applying a predefined control value to the valve.
- this value is constituted by 0 mA, but can be constituted, for example, by 5, 10, 250 or 500 inA.
- the process waits a certain time, step 202, for example 3 s, before the speed of the joint means is measured, step 203.
- the joint means are usually provided with absolute position sensors, an absolute position for each boom joint being able to be obtained at each moment. The arrangement of these absolute position sensors is known per se and will not therefore be more closely described here. In determining the extent to which the joint means moves per se, a starting position, i.e.
- the particular position for the boom joint for example, can be read in step 201, this position being able to be compared by virtue of a new reading in step 204. If the position has been changed, it can be determined that the joint is moving.
- the determination of the extent to which the joint means moves does not, however, need to be constituted by the definitive affirmation that the joint means is moving, but rather this determination can alternatively also be constituted by the fact that the joint means is moving at a certain reference speed which, in calibration terms, is deemed to constitute the speed at which the joint means starts to move.
- this "start to move" speed can be based on the speed which an experienced operator feels precisely constitutes the speed at which the joint means starts to move and which has been shown in practice to give a good result.
- Experience from experienced operators can therefore be used in determining the various limit values to be used in the calibration process.
- step 204 if it is determined in step 204, based on the measurement in step 203, that the joint means is stationary, in step 205 is increased by X mA, for example 64 mA, whereupon the process returns to step 202 so as to wait a certain time before a new measurement is conducted. The process thereby continues to step up the control current until in step 204 it is determined that the joint means is not stationary.
- X mA for example 64 mA
- step 206 it is determined whether the joint means is moving at faster than t% of the maximum speed of the joint means (preassumed or predetermined) , or whether the incrementation of the starting current which is used in each step is greater than 1 mA (for example 64 mA according to the above) .
- the value of t can be set, for example, at 3%. If it is determined that the joint means is not moving at more than 3% of the maximum speed, in step 207 the particular current value is stored as the starting current for the valve/joint means in question.
- step 208 in which the current value is reduced by X mA, whereafter X is halved, i.e. to 32 mA in the above example.
- the process then returns to step 202, whereafter, if it is determined that the joint means is not moving, the current value is now increased by 32 mA, whereafter the process continues according to the above with smaller and smaller X until it is determined that the joint means is not moving at more than 3% of the maximum speed.
- the value 3% represents only one example and can be constituted by an arbitrary percentage of the maximum speed. Alternatively, a set speed (reference joint motion speed) , for example based on individual experiences of operators, can be used.
- the obtained current value is then stored as the calibration value for the speed at which the joint is deemed to start moving.
- the process can instead be steered towards a specific minimum joint motion speed, whereby, by successively reducing of X according to the above producing a more and more exact current value will be produced until its speed lies within a fixed margin of error (i.e. the deviation between actual speed and the reference joint motion speed falls below a threshold value) from the set value.
- a fixed margin of error i.e. the deviation between actual speed and the reference joint motion speed falls below a threshold value
- the same flow chart can be used to determine the control current for the maximum joint motion speed of the joint means, i.e. the maximum current, in which the adjustment proceeds until the measured speed lies within a set margin of error, for example +/-3% of the set (or actual) maximum speed.
- the advantage of carrying out a calibration according to the present invention is that the result is independent of who performs it, i.e. even a relatively inexperienced person can perform the calibration with perfectly satisfactory result. Moreover, the result of the calibration can further be guaranteed by having the limit value determined by the person (s) most capable of calibrating a rock-drilling rig. Furthermore, the automated method is significantly faster than manual calibration, resulting in shorter downtime for the rock-drilling rig and hence a more economical drilling.
- the present invention also has a further advantage. Since the above-described automatic calibration proceeds significantly faster than has previously been possible, more calibration points can be introduced.
- Fig. 3 an example is shown of a typical valve characteristic curve representing joint motion speed as a function of the control current to the valve.
- the characteristic curve 302 is not linear, and the linear approximation 301 which was previously used with starting and maximum value constitutes an approximation which differs relatively greatly from the reality.
- a significantly better representation of the valve characteristic curve can be obtained, and hence a smoother motion for the feeder.
- For each respective joint apart from starting current and maximum current, for example, current values for 10%, 20%, 50% and 80% of the maximum speed of the joint can be set. The setting of these parameter values can be carried out according to the above.
- step 401 the control current calculated according to the above is applied.
- step 402 the control current is then increased by Z mA, for example 30 mA.
- step 404 it is determined whether the maximum speed has been reached. If the maximum speed of the joint has not been reached, the process reverts to step 402, in which the current value is again increased by Z mA, whereupon the process continues until the maximum speed has been reached.
- step 405 it is possible in step 405 to extrapolate current values for the above-specified calibration points, whereupon fine calibration can start with these rough-set current values as a good approximation.
- the fine calibration can be carried out according to Fig. 2, but the method shown in Fig. 2 is unnecessarily time-consuming. Instead, a fine calibration method according to Fig. 5 can advantageously be used.
- step 501 an operator can choose which joint motion speed that is to be calibrated, for example maximum speed or an intermediate speed. Instead of an operator making this choice, it can also be fully automated, in which case the control system of the rock-drilling rig instead makes this choice.
- step 502 that value for the chosen calibration point which has been obtained according to the rough calibration process shown in Fig. 2 is applied.
- steps 503 and 504 the control value is adjusted until the measured speed is consistent with the desired speed, this adjustment being able to be carried out, for example, by means of a conventional PI (proportional integral) adjustment. PI adjustment is well described in the literature and will not therefore be more closely described here.
- PI proportional integral
- step 504 the particular control current is stored as the calibration value for this speed.
- step 506 a check is made on whether all calibration points have been gone though, in which case the process is terminated in step 507. Otherwise, the process continues to step 508 for advancement of the calibration point, whereafter the process returns to step 502 and calibrates the advanced calibration point.
- the present invention also has a further characteristic.
- the place in which calibration of a rock-drilling rig is carried out is often limited for space, for example the calibration may need to be done in a mine location with restrictions in the freedom of movement of the boom both in the vertical direction and in the lateral direction.
- the calibration can be carried out by the control system of the rock-drilling rig, but under the influence of an operator who, by means of a control stick, for example, specifies the direction in which the boom is allowed to move during the calibration.
- the calibration mechanism according to the invention has been described above in connection with a specific boom type. As will be appreciated by the person skilled in the art, the calibration mechanism can also, however, be used in all other boom types in which joints need to be calibrated.
- An example of such a boom 50 is shown in Fig. 6.
- this works precisely the same as for the boom in Fig. 1, with like-working tripod with cylinders 54, 55, the motion of the boom up/down and in the lateral direction being able to be controlled wholly according to the above.
- rotation joints 51, 52 feeder rotation
- feeder swing feeder swing
- the rotation joints 51, 52 are placed essentially at 90 degrees relative to each other, where the rotation joint 51 is fastened to the boom and therefore allows rotation about the longitudinal axis of the boom. Rotation by means of the rotation joint therefore entails that the feeder is rotated about the longitudinal axis of the boom.
- the rotation joint 52 is disposed at right angles to the rotation joint 51 and therefore allows rotation of the feeder about a, in relation to the boom, transverse axis.
- the present invention can therefore also be used for various types of joints, such as rotation joints with rotation motors as in Fig. 6. These rotation joints, too, are conventionally provided with means for absolute position detection, which will not be more closely described here.
- the present invention has been described above in connection with specific types of joint means controlled by proportional valves, which in turn are controlled by means of a control current.
- the invention is not limited to this type of joint means control, however, but is equally applicable to all types of joint means and control means for joint means, regardless of whether these control means are controlled by means of current, voltage or some other parameter .
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0600438A SE529667C2 (en) | 2006-02-28 | 2006-02-28 | Rock drilling apparatus and method for such |
PCT/SE2007/000179 WO2007100287A1 (en) | 2006-02-28 | 2007-02-27 | Method and device for automatic calibration of a rock drilling joint and rock drilling rig comprising such a device |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1989394A1 true EP1989394A1 (en) | 2008-11-12 |
EP1989394A4 EP1989394A4 (en) | 2015-05-13 |
Family
ID=38459322
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20070709387 Withdrawn EP1989394A4 (en) | 2006-02-28 | 2007-02-27 | Method and device for automatic calibration of a rock drilling joint and rock drilling rig comprising such a device |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1989394A4 (en) |
SE (1) | SE529667C2 (en) |
WO (1) | WO2007100287A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FI120918B (en) * | 2008-05-13 | 2010-04-30 | Sandvik Mining & Constr Oy | A method for determining the dead area of a proportional control valve |
WO2013000124A1 (en) * | 2011-06-28 | 2013-01-03 | 长沙中联重工科技发展股份有限公司 | Method, device and system used for current calibration and paver |
EP3564476B1 (en) * | 2018-04-30 | 2021-02-24 | Sandvik Mining and Construction Oy | Drilling boom and rock drilling rig |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1234981A (en) * | 1967-04-07 | 1971-06-09 | Lino Arcangeli | Improvements in or relating to drilling apparatus |
SE321909C (en) * | 1968-03-12 | 1975-01-20 | Atlas Copco Ab | |
GB8404005D0 (en) * | 1984-02-15 | 1984-03-21 | Boart Int Ltd | Drilling boom |
FI94662C (en) * | 1994-02-28 | 1995-10-10 | Tamrock | Device for controlling working cylinders of a rock drill boom |
FI96054C (en) * | 1994-08-30 | 1996-04-25 | Tamrock Oy | Arrangement in a rock drilling rig boom |
FI115553B (en) * | 2001-05-15 | 2005-05-31 | Sandvik Tamrock Oy | Arrangement for drilling control |
-
2006
- 2006-02-28 SE SE0600438A patent/SE529667C2/en not_active IP Right Cessation
-
2007
- 2007-02-27 EP EP20070709387 patent/EP1989394A4/en not_active Withdrawn
- 2007-02-27 WO PCT/SE2007/000179 patent/WO2007100287A1/en active Application Filing
Non-Patent Citations (1)
Title |
---|
See references of WO2007100287A1 * |
Also Published As
Publication number | Publication date |
---|---|
SE0600438L (en) | 2007-08-29 |
SE529667C2 (en) | 2007-10-16 |
EP1989394A4 (en) | 2015-05-13 |
WO2007100287A1 (en) | 2007-09-07 |
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