WO1997049895A1 - Method and arrangement for controlling feeding of rock drilling machine - Google Patents

Method and arrangement for controlling feeding of rock drilling machine Download PDF

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Publication number
WO1997049895A1
WO1997049895A1 PCT/FI1997/000392 FI9700392W WO9749895A1 WO 1997049895 A1 WO1997049895 A1 WO 1997049895A1 FI 9700392 W FI9700392 W FI 9700392W WO 9749895 A1 WO9749895 A1 WO 9749895A1
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WO
WIPO (PCT)
Prior art keywords
pressure
feed
control valve
motor
feed motor
Prior art date
Application number
PCT/FI1997/000392
Other languages
French (fr)
Inventor
Pentti Enlund
Tapani PÖYSTI
Original Assignee
Tamrock Oy
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tamrock Oy filed Critical Tamrock Oy
Priority to AU31782/97A priority Critical patent/AU3178297A/en
Publication of WO1997049895A1 publication Critical patent/WO1997049895A1/en

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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
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E21B44/02—Automatic control of the tool feed
    • E21B44/06—Automatic control of the tool feed in response to the flow or pressure of the motive fluid of the drive

Definitions

  • the invention relates to a method for controlling the feeding of a rock drilling machine, wherein the feeding of a drill rod of a rock drilling machine is controlled on the basis of the rotation resistance of the drill rod rotated by a hydraulically operated rotation motor of the machine, so that the rotation resistance is indicated by means of the pressure acting in a pressure fluid conduit of the rotation motor.
  • the invention further relates to an arrangement for controlling the feeding of a rock drilling machine, the arrangement comprising a rotation motor for rotating a drill rod and a feed motor for feeding the drill rod in the direction of drilling and back, means for supplying pressure fluid to the feed motor and to the rotation motor, and control means for controlling the supply of the pressure fluid to the feed motor on the basis of the pressure in a pressure conduit of the rotation motor.
  • the feeding is switched to a return motion on the basis of the pressure, so that the drill bit would not get stuck in broken rock or the like.
  • the problem with the operation of the automation is that the pressure in the conduits of the rotation motor and the feed motor is rather heavily dependent on the flow volume and temperature of the hydraulic fluid. This is due to the fact that the viscosity of the hydraulic fluid and, correspondingly, the pressure losses occurring in the conduits are clearly proportional to the temperature of the hydraulic fluid.
  • the purpose of the present invention is to provide a method and an arrangement with which the drawbacks of the known arrangements can be eliminated and rock drilling can be controlled more reliably than previously and the control operations can be made less dependent on the temperature or viscosity of the hydraulic fluid
  • the method according to the invention is characterized in that the rotation resistance is determined as the pressure difference acting across the rotation motor, and that the feed motor is controlled on the basis of said pressure difference
  • the means for controlling the supply of the pressure fluid to the feed motor comprise means for determining the pressure difference acting across the rotation motor and for controlling the supply of the pressure fluid to the feed motor on the basis of said pressure difference
  • the rotation resistance is determined in the form of the pressure difference that acts across the rotation motor, i e the difference between the pressures prevailing in the inlet and outlet conduits of the rotation motor, so that when the pressure difference exceeds a first predetermined threshold value for pressure, which can be set freely, the feeding is controlled on the basis of the aforementioned pressure difference preferably inversely proportionally, such that when the pressure difference exceeds the aforementioned first threshold value and increases further, the supply of pressure fluid to the feed motor is decreased, and if the pressure exceeds a second predetermined threshold value, the feed motor can be switched to the return motion
  • the basic idea of the invention is that the rotation resistance is determined in the
  • Figure 1 is a schematic hydraulic diagram of an embodiment of the arrangement according to the invention.
  • Figure 2 is a schematic hydraulic diagram of another embodiment of the arrangement according to the invention.
  • Figure 3 shows schematically a third embodiment of the arrangement according to the invention
  • Figure 4 is a schematic electro-hydraulic diagram of a fourth embodiment of the arrangement according to the invention
  • Figure 1 is a schematic hydraulic diagram of an embodiment of the arrangement according to the invention
  • the figure shows a rotation motor 1 with associated inlet and outlet conduits 2 and 3 for pressure fluid
  • the pressure fluid conduits 2 and 3 are generally connected via a rotation control valve 4 to a pressure fluid pump 5 and correspondingly to a pressure fluid container 6
  • the figure shows a feed motor 7 of a rock drill, comprising pressure fluid conduits 8 and 9, respectively
  • the pressure fluid conduits 8 and 9 are in turn connected via a control valve 10 to a feed control valve 11 and from there to a second pressure fluid pump 12 and to the pressure fluid container 6
  • a threshold value for pressure can be set in the control valve 10, normally with a spring 10a the tension of which can be adjusted
  • the control valve is pressure-controlled such that when pressure fluid is supplied to the opposite end of the spring and the pressure in that end exceeds the aforementioned threshold value, i e the counterforce of the spring, the valve 10 changes its position and connects the pressure fluid conduits 8 and 9 of the feed motor 7 in a
  • FIG. 2 shows an arrangement that is otherwise similar to the one shown in Figure 1 , except that in this arrangement the feed control valve 11 is a pressure-controlled valve and the control valve 10 is connected to guide the control pressure conduits of the feed control valve 1 1 Correspondingly, the feed control valve 1 1 is connected directly to control the pressure fluid conduits 8 and 9 of the feed motor 7 During normal feeding, the control valve 10 is in the situation shown in Figure 2 where the pressure fluid is able to flow through the valve along a first control pressure conduit 15 to the feed control valve 11 , whereupon it is in the position shown in Figure 2 Correspondingly, the pressure fluid can flow from a pressure chamber provided at the other end of the feed control valve 1 1 along a second control pressure conduit 16 through the control valve 10 to the pressure fluid container 6 In Figure 2, the pressure fluid required for the control is provided by a third pressure fluid pump 17 in order to illustrate the matter As the rotation resistance increases, the pressure difference across the feed motor 7 also increases, so that the control valve 10 changes its position and the pressure of the pressure fluid can act on the feed control
  • FIG. 3 shows a connection that is otherwise similar to the one shown in Figure 2, expect that it also comprises a separate controlled shut-off valve 18 that reduces the pressure of the pressure fluid arriving from the feed motor when the pressure difference between the pressure conduit and the container conduit of the rotation motor exceeds a predetermined set value.
  • the pressure prevailing in the pressure conduit 2 of the rotation motor 1 is connected via a control conduit 19 to the shut-off valve 18 and the container pressure is connected via a conduit 30 to the other side of the valve 18, thus adjusting the limit pressure of the valve so that the higher the pressure rises in the pressure conduit 2, the smaller the set value of the shut-off valve 18.
  • the valve 18 is in turn connected to the feed control valve 11 by means of a regulating conduit 20, so that when the feeding takes place in the normal feed direction, the regulating conduit 20 is connected to the inlet pressure conduit of the feed motor, i.e. to the pressure fluid conduit 8, the pressure of which is adjusted according to the valve 18.
  • FIG 4 shows schematically a fourth embodiment of the arrangement according to the invention the operation of which may correspond to the operation of the hydraulic connection shown in either Figure 2 or Figure 3.
  • the pressure difference across the rotation motor 1 is measured electrically, i.e. with either one pressure difference sensor or two pressure sensors 21a and 21b.
  • the connection comprises a control unit 22 that stores the measured pressure difference and then controls, by means of signal channels 23a and 23b, a feed control valve 11', which in this case is an electrically controlled feed control valve.
  • control unit 22 may switch to the return motion of the feed motor only when the pressure difference exceeds the predetermined pressure limit, or the unit can be connected to adjust the pressure of the pressure fluid supplied to the feed motor inversely proportionally to the pressure difference until it switches the feeding to the return motion when the pressure difference exceeds the second predetermined threshold value.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (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)
  • Fluid-Pressure Circuits (AREA)

Abstract

A method and an arrangement for controlling the feeding of a rock drilling machine so that the feeding of a drill rod of the rock drilling machine is controlled on the basis of the rotation resistance of the drill rod rotated by a hydraulically operated rotation motor of the machine. In the method, the rotation resistance is determined as a pressure difference acting across the rotation motor on the basis of which the operation of the feed motor is controlled. The arrangement is characterized in that it comprises means for determining the pressure difference acting across the rotation motor and for controlling the supply of the pressure fluid to the feed motor on the basis of said pressure difference.

Description

METHOD AND ARRANGEMENT FOR CONTROLLING FEEDING OF ROCK DRILLING MACHINE
The invention relates to a method for controlling the feeding of a rock drilling machine, wherein the feeding of a drill rod of a rock drilling machine is controlled on the basis of the rotation resistance of the drill rod rotated by a hydraulically operated rotation motor of the machine, so that the rotation resistance is indicated by means of the pressure acting in a pressure fluid conduit of the rotation motor. The invention further relates to an arrangement for controlling the feeding of a rock drilling machine, the arrangement comprising a rotation motor for rotating a drill rod and a feed motor for feeding the drill rod in the direction of drilling and back, means for supplying pressure fluid to the feed motor and to the rotation motor, and control means for controlling the supply of the pressure fluid to the feed motor on the basis of the pressure in a pressure conduit of the rotation motor.
When drilling holes with a rock drilling machine, different so-called automated fissure-drilling methods and methods for adjusting the moment of the drilling utilize the pressure acting on the rotation motor of the drill rod. This is based on the idea that the pressure value is proportional to the rotation resistance acting on the drill rod during the drilling and the adjustment can therefore be carried out on the basis of this pressure value. In such methods, for example the rate and direction of the feeding are adjusted on the basis of the pressure value. When adjusting the feeding, the feed force is decreased as the pressure value representing the rotation resistance increases, and correspondingly, the feed force can be increased when the pressure value decreases. Correspondingly, if the rotation resistance increases to a certain level, the feeding is switched to a return motion on the basis of the pressure, so that the drill bit would not get stuck in broken rock or the like. In prior arrangements, the problem with the operation of the automation is that the pressure in the conduits of the rotation motor and the feed motor is rather heavily dependent on the flow volume and temperature of the hydraulic fluid. This is due to the fact that the viscosity of the hydraulic fluid and, correspondingly, the pressure losses occurring in the conduits are clearly proportional to the temperature of the hydraulic fluid. Therefore, when drilling with a cold machine, the return motion is started unnecessarily easily even though there were no actual reason for it Correspondingly, the same problems slow down the feed motion unnecessarily and cause a drop in the impact power even though the conditions did not actually demand it These matters impair the result of the drilling and create unnecessary costs and disturbance in the drilling
The purpose of the present invention is to provide a method and an arrangement with which the drawbacks of the known arrangements can be eliminated and rock drilling can be controlled more reliably than previously and the control operations can be made less dependent on the temperature or viscosity of the hydraulic fluid
The method according to the invention is characterized in that the rotation resistance is determined as the pressure difference acting across the rotation motor, and that the feed motor is controlled on the basis of said pressure difference The arrangement according to the invention is characterized in that the means for controlling the supply of the pressure fluid to the feed motor comprise means for determining the pressure difference acting across the rotation motor and for controlling the supply of the pressure fluid to the feed motor on the basis of said pressure difference The basic idea of the invention is that the rotation resistance is determined in the form of the pressure difference that acts across the rotation motor, i e the difference between the pressures prevailing in the inlet and outlet conduits of the rotation motor, so that when the pressure difference exceeds a first predetermined threshold value for pressure, which can be set freely, the feeding is controlled on the basis of the aforementioned pressure difference preferably inversely proportionally, such that when the pressure difference exceeds the aforementioned first threshold value and increases further, the supply of pressure fluid to the feed motor is decreased, and if the pressure exceeds a second predetermined threshold value, the feed motor can be switched to the return motion The basic idea of a preferred embodiment of the invention is that the control valve of the feed motor is controlled by conducting control conduits from the inlet conduits of the rotation motor to both ends of the control valve so that the pressure difference acting across the rotation motor acts in a similar manner across the control valve In such a case, the control valve adjusts the pressure fluid supplied to the feed motor according to the pressure difference, and as the pressure difference increases further, it changes the direction of feeding of the feed motor only when the pressure difference acting across the rotation motor exceeds the predetermined value The flow losses in the pressure fluid conduits have no essential effect on the switching pressure since the only factor affecting the control is the pressure difference that acts across the rotation motor, and not the total pressure brought about by the flow losses The invention has the advantage that the variations in the viscosity of the pressure fluid, resulting both from the temperature and the quality of the fluid, have a rather small effect on the feed switching pressure and, therefore, for example the automated fissure-drilling method can be made to operate far more accurately than previously Further, it has been found out that the effect of the rate of rotation on the pressure in the delivery side of the rotation motor is considerably greater than the corresponding effect measured across the rotation motor Therefore, the arrangement according to the invention makes it possible to control drilling substantially independently of the rate of rotation, too
The invention will be described in greater detail with reference to the accompanying drawings, in which
Figure 1 is a schematic hydraulic diagram of an embodiment of the arrangement according to the invention,
Figure 2 is a schematic hydraulic diagram of another embodiment of the arrangement according to the invention,
Figure 3 shows schematically a third embodiment of the arrangement according to the invention, and Figure 4 is a schematic electro-hydraulic diagram of a fourth embodiment of the arrangement according to the invention
Figure 1 is a schematic hydraulic diagram of an embodiment of the arrangement according to the invention The figure shows a rotation motor 1 with associated inlet and outlet conduits 2 and 3 for pressure fluid The pressure fluid conduits 2 and 3 are generally connected via a rotation control valve 4 to a pressure fluid pump 5 and correspondingly to a pressure fluid container 6 Further, the figure shows a feed motor 7 of a rock drill, comprising pressure fluid conduits 8 and 9, respectively The pressure fluid conduits 8 and 9 are in turn connected via a control valve 10 to a feed control valve 11 and from there to a second pressure fluid pump 12 and to the pressure fluid container 6 A threshold value for pressure can be set in the control valve 10, normally with a spring 10a the tension of which can be adjusted Further, the control valve is pressure-controlled such that when pressure fluid is supplied to the opposite end of the spring and the pressure in that end exceeds the aforementioned threshold value, i e the counterforce of the spring, the valve 10 changes its position and connects the pressure fluid conduits 8 and 9 of the feed motor 7 in a crosswise manner compared to the normal position In the present arrangement, a first control conduit from the inlet conduit 2 of the rotation motor 1 is connected to the delivery side of the control valve 10 and, respectively, a second control conduit 14 from the outlet conduit 3 is connected to the end of the control valve 10 on the side of the spring 10a In such a case, the pressure acting across the control valve 10 equals the pressure difference acting across the rotation motor 1 When the drill rod tends to get stuck as it is rotated by the rotation motor 1 , the pressure difference across the rotation motor 1 increases the higher the greater the resistance to the rotation Regardless of the pressure of the pressure fluid supplied from the pressure fluid pump compared to the zero pressure of the pressure fluid container 6, the only pressure acting on the control valve 10 is the pressure difference acting across the rotation motor In this manner, the pressure losses caused by the conduits, the pipes and the valves do not substantially affect the value of the rotation resistance which makes the control valve 10 change the direction of the feed motor 7 from the feed motion to the return motion
Figure 2 shows an arrangement that is otherwise similar to the one shown in Figure 1 , except that in this arrangement the feed control valve 11 is a pressure-controlled valve and the control valve 10 is connected to guide the control pressure conduits of the feed control valve 1 1 Correspondingly, the feed control valve 1 1 is connected directly to control the pressure fluid conduits 8 and 9 of the feed motor 7 During normal feeding, the control valve 10 is in the situation shown in Figure 2 where the pressure fluid is able to flow through the valve along a first control pressure conduit 15 to the feed control valve 11 , whereupon it is in the position shown in Figure 2 Correspondingly, the pressure fluid can flow from a pressure chamber provided at the other end of the feed control valve 1 1 along a second control pressure conduit 16 through the control valve 10 to the pressure fluid container 6 In Figure 2, the pressure fluid required for the control is provided by a third pressure fluid pump 17 in order to illustrate the matter As the rotation resistance increases, the pressure difference across the feed motor 7 also increases, so that the control valve 10 changes its position and the pressure of the pressure fluid can act on the feed control valve 11 along the second control pressure conduit 16 while the pressure of the pressure fluid from the second pressure chamber of the feed control valve 11 is discharged to the pressure fluid container 6. The feed valve 11 then changes its position upwards in Figure 2 so that the pressure fluid conduits 8 and 9 of the feed motor 7 are connected crosswise with respect to each other and the feed motor starts rotating backwards, thus producing the return motion. Figure 3 shows a connection that is otherwise similar to the one shown in Figure 2, expect that it also comprises a separate controlled shut-off valve 18 that reduces the pressure of the pressure fluid arriving from the feed motor when the pressure difference between the pressure conduit and the container conduit of the rotation motor exceeds a predetermined set value. The pressure prevailing in the pressure conduit 2 of the rotation motor 1 is connected via a control conduit 19 to the shut-off valve 18 and the container pressure is connected via a conduit 30 to the other side of the valve 18, thus adjusting the limit pressure of the valve so that the higher the pressure rises in the pressure conduit 2, the smaller the set value of the shut-off valve 18. The valve 18 is in turn connected to the feed control valve 11 by means of a regulating conduit 20, so that when the feeding takes place in the normal feed direction, the regulating conduit 20 is connected to the inlet pressure conduit of the feed motor, i.e. to the pressure fluid conduit 8, the pressure of which is adjusted according to the valve 18. When the pressure difference across the rotation motor exceeds the predetermined pressure value, for example, the pressure acting across the feed motor starts to decrease first as the set value of the valve 18 decreases, until the feed motion is switched to the return motion as the pressure difference exceeds the predetermined second threshold value. Figure 4 shows schematically a fourth embodiment of the arrangement according to the invention the operation of which may correspond to the operation of the hydraulic connection shown in either Figure 2 or Figure 3. In this embodiment, the pressure difference across the rotation motor 1 is measured electrically, i.e. with either one pressure difference sensor or two pressure sensors 21a and 21b. Further, the connection comprises a control unit 22 that stores the measured pressure difference and then controls, by means of signal channels 23a and 23b, a feed control valve 11', which in this case is an electrically controlled feed control valve. The operation of the control unit 22 may switch to the return motion of the feed motor only when the pressure difference exceeds the predetermined pressure limit, or the unit can be connected to adjust the pressure of the pressure fluid supplied to the feed motor inversely proportionally to the pressure difference until it switches the feeding to the return motion when the pressure difference exceeds the second predetermined threshold value.
The invention is described above in the specification and in the drawings by way of example only, and it is not restricted thereto in any way. It is essential that the change of direction of the feed motor is controlled on the basis of the pressure difference acting across the rotation motor and not merely based on the pressure acting in the pressure conduit of the rotation motor. Different connections and embodiments of the control valve are fully possible when applying manners of implementation that are known per se. According to the invention, it is possible to identify a pressure difference or a change in pressure electrically or to control the change of direction electrically. Even though the figure shows separate pressure fluid pumps 5, 12, 17 for each function and also several pressure fluid containers 6, it is common in practice that the pressure fluid required for all these functions can be supplied from one common pressure fluid pump, and the pressure fluid container 6 is usually also common to all the actuators. In practice, it is naturally also possible to use different pressure fluid pumps for different hydraulic connections as shown in the figures or known in some other manner.

Claims

1. A method for controlling the feeding of a rock drilling machine, wherein the feeding of a drill rod of a rock drilling machine is controlled on the basis of the rotation resistance of the drill rod rotated by a hydraulically operated rotation motor of the machine, so that the rotation resistance is indicated by means of the pressure acting in a pressure fluid conduit of the rotation motor, characterized in that the rotation resistance is determined as the pressure difference acting across the rotation motor, and that the feed motor is controlled on the basis of said pressure difference.
2. A method according to claim 1, characterized in that as the pressure difference exceeds a predetermined threshold value, the feeding is reduced in proportion to the increase in the pressure difference and, if necessary, the feed motion is switched to a return motion.
3. A method according to claim ^ characterized in that the feed force of the feed motor is controlled by adjusting the pressure acting across the feed motor inversely proportionally to the pressure difference acting across the rotation motor.
4. A method according to claim 1 or 2, characterized in that in order to control the change of direction of the feed motor, a separate control valve (10) is used which is controlled by pressure and where a pressure limit value can be set in advance, the valve changing its position under the control of the pressure at the limit value, and that an inlet conduit (2) for pressure fluid and correspondingly an outlet conduit (3) for pressure fluid in the rotation motor (1) are connected to act across the control valve so that the valve is guided by the difference between the pressures prevailing in said conduits.
5. An arrangement for controlling the feeding of a rock drilling machine, the arrangement comprising a rotation motor for rotating a drill rod and a feed motor for feeding the drill rod in the direction of drilling and back, means for supplying pressure fluid to the feed motor and to the rotation motor, and control means for controlling the supply of the pressure fluid to the feed motor on the basis of the pressure in a pressure conduit of the rotation motor, characterized in that the means for controlling the supply of the pressure fluid to the feed motor comprise means for determining the pressure difference acting across the rotation motor and for controlling the supply of the pressure fluid to the feed motor on the basis of said pressure difference.
6. An arrangement according to claim 5, characterized in that it comprises means (18) for reducing the pressure of the pressure fluid supplied to the feed motor (7) inversely proportionally to the pressure of the pressure fluid supplied to the rotation motor at least when the latter pressure exceeds a predetermined first threshold value.
7. An arrangement according to claim 5 or 6, characterized in that the arrangement comprises a pressure-controlled control valve (10) where a second pressure threshold value can be set so that the control valve (10) changes its position at said threshold value, that the inlet conduit (2) for pressure fluid of the rotation motor (1) and correspondingly the outlet conduit (3) for pressure fluid of the rotation motor (1) are connected to act on the control valve (10) so that the change of position of the control valve is only dependent on the pressure difference between said conduits and that the control valve (10) is connected to turn the direction of rotation of the feed motor (7) when the pressure difference across the rotation motor (1) exceeds the second threshold value set for the control valve (10).
8. An arrangement according to claim 7, characterized in that the control valve (10) is connected to the pressure fluid conduits (8, 9) of the feed motor (7) so that as the control valve (10) changes its position, it connects the pressure fluid conduits (8, 9) of the feed motor (7) crosswise with respect to each other.
9. An arrangement according to claim 7, characterized in that a pressure-controlled feed control valve (11) is used to control the feed motor (7), that the control valve (10) is connected to control the pressure- controlled feed control valve (11) of the feed motor (7) so that as the control valve changes its position, it connects the control conduits associated with the feed control valve (11) crosswise with respect to each other, so that the feed control valve (11) changes its position and connects the pressure fluid conduits (8, 9) of the feed motor (7) crosswise with respect to each other.
10. An arrangement according to claim 5, characterized in that it comprises at least one electric sensor (21a, 21b) for indicating the pressure acting across the rotation motor (1), and that it comprises a control unit (22) for controlling the pressure fluid supplied to the feed motor (7) on the basis of the pressure difference measured in this manner.
11. An arrangement according to claim 10, characterized in that the control unit (22) is connected to control the feed motor (7) inversely proportionally to the indicated pressure difference at least when the pressure difference exceeds the predetermined threshold value
12. An arrangement according to claim 11, characterized in that the control unit (22) is connected to change the feed motion to a return motion when the indicated pressure value exceeds the second predetermined threshold value
PCT/FI1997/000392 1996-06-25 1997-06-18 Method and arrangement for controlling feeding of rock drilling machine WO1997049895A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU31782/97A AU3178297A (en) 1996-06-25 1997-06-18 Method and arrangement for controlling feeding of rock drilling machine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI962622 1996-06-25
FI962622A FI105943B (en) 1996-06-25 1996-06-25 Procedure and arrangement for controlling the drilling of the rock drill

Publications (1)

Publication Number Publication Date
WO1997049895A1 true WO1997049895A1 (en) 1997-12-31

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AU (1) AU3178297A (en)
FI (1) FI105943B (en)
WO (1) WO1997049895A1 (en)
ZA (1) ZA975194B (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001018356A1 (en) * 1999-09-06 2001-03-15 Atlas Copco Rock Drills Ab Method of controlling a rock drilling machine
WO2006032733A1 (en) * 2004-09-24 2006-03-30 Sandvik Mining And Construction Oy Arrangement for controlling percussive rock drilling
WO2006108918A1 (en) * 2005-04-15 2006-10-19 Sandvik Mining And Construction Oy Method, arrangement and valve for controlling rock drilling
WO2008115113A1 (en) * 2007-03-16 2008-09-25 Atlas Copco Rock Drills Ab Method and device for the control of a rock drilling machine and a rock drilling machine
WO2008137078A1 (en) * 2007-05-03 2008-11-13 Vermeer Manufacturing Company Constant-mode auto-drill with pressure derivative control
US7762352B2 (en) 2004-12-10 2010-07-27 Atlas Copco Rock Drills Ab Arrangement and method for controlling drilling parameters
US8365840B2 (en) 2007-04-11 2013-02-05 Atlas Copco Rock Drills Ab Method and device for controlling at least one drilling parameter for rock drilling
US8708058B2 (en) 2008-10-10 2014-04-29 Atlas Copco Rock Drills Ab Method and an arrangement for controlling a rock drill
US11619103B2 (en) 2019-01-07 2023-04-04 The Charles Machine Works, Inc. Virtual assisted makeup

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3581830A (en) * 1969-09-03 1971-06-01 Bucyrus Erie Co Linear feed control for a rotary tool
US4157231A (en) * 1977-09-27 1979-06-05 The United States Of America As Represented By The Secretary Of The Air Force Hydraulic drill unit
US4246973A (en) * 1978-01-23 1981-01-27 Cooper Industries, Inc. Controls for hydraulic percussion drill
US4711090A (en) * 1983-06-14 1987-12-08 Oy Tampella Ab Method of and device for adjusting the feed movement of a drill rod for drilling a rock

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3581830A (en) * 1969-09-03 1971-06-01 Bucyrus Erie Co Linear feed control for a rotary tool
US4157231A (en) * 1977-09-27 1979-06-05 The United States Of America As Represented By The Secretary Of The Air Force Hydraulic drill unit
US4246973A (en) * 1978-01-23 1981-01-27 Cooper Industries, Inc. Controls for hydraulic percussion drill
US4711090A (en) * 1983-06-14 1987-12-08 Oy Tampella Ab Method of and device for adjusting the feed movement of a drill rod for drilling a rock

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001018356A1 (en) * 1999-09-06 2001-03-15 Atlas Copco Rock Drills Ab Method of controlling a rock drilling machine
WO2006032733A1 (en) * 2004-09-24 2006-03-30 Sandvik Mining And Construction Oy Arrangement for controlling percussive rock drilling
US7604070B2 (en) 2004-09-24 2009-10-20 Sandvik Mining And Construction Oy Arrangement for controlling percussive rock drilling
CN101027455B (en) * 2004-09-24 2010-06-16 山特维克矿山工程机械有限公司 Method for controlling percussive rock drilling and rock drilling equipment
US7762352B2 (en) 2004-12-10 2010-07-27 Atlas Copco Rock Drills Ab Arrangement and method for controlling drilling parameters
WO2006108918A1 (en) * 2005-04-15 2006-10-19 Sandvik Mining And Construction Oy Method, arrangement and valve for controlling rock drilling
WO2008115113A1 (en) * 2007-03-16 2008-09-25 Atlas Copco Rock Drills Ab Method and device for the control of a rock drilling machine and a rock drilling machine
US8365840B2 (en) 2007-04-11 2013-02-05 Atlas Copco Rock Drills Ab Method and device for controlling at least one drilling parameter for rock drilling
WO2008137078A1 (en) * 2007-05-03 2008-11-13 Vermeer Manufacturing Company Constant-mode auto-drill with pressure derivative control
US8136612B2 (en) 2007-05-03 2012-03-20 Vermeer Corporation Constant-mode auto-drill with pressure derivative control
US8708058B2 (en) 2008-10-10 2014-04-29 Atlas Copco Rock Drills Ab Method and an arrangement for controlling a rock drill
US11619103B2 (en) 2019-01-07 2023-04-04 The Charles Machine Works, Inc. Virtual assisted makeup

Also Published As

Publication number Publication date
AU3178297A (en) 1998-01-14
FI962622A0 (en) 1996-06-25
ZA975194B (en) 1998-01-05
FI105943B (en) 2000-10-31
FI962622A (en) 1997-12-26

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