U.S. patent application number 16/965879 was filed with the patent office on 2021-04-22 for apparatus for rock handling, rock drilling unit and method.
The applicant listed for this patent is SANDVIK MINING AND CONSTRUCTION OY. Invention is credited to Stefan BENGTSSON, SR., Ola FREDIN, Johan JELGERT, Ilkka LAHDELMA, Juha TOIVOLA.
Application Number | 20210115737 16/965879 |
Document ID | / |
Family ID | 1000005327057 |
Filed Date | 2021-04-22 |
![](/patent/app/20210115737/US20210115737A1-20210422-D00000.png)
![](/patent/app/20210115737/US20210115737A1-20210422-D00001.png)
![](/patent/app/20210115737/US20210115737A1-20210422-D00002.png)
![](/patent/app/20210115737/US20210115737A1-20210422-D00003.png)
![](/patent/app/20210115737/US20210115737A1-20210422-D00004.png)
United States Patent
Application |
20210115737 |
Kind Code |
A1 |
TOIVOLA; Juha ; et
al. |
April 22, 2021 |
APPARATUS FOR ROCK HANDLING, ROCK DRILLING UNIT AND METHOD
Abstract
An apparatus for handling drilling rods, a rock drilling unit
and a method of handling drilling rods is provided. The apparatus
includes a rod feeder and a swing device, which cooperate and move
drilling rods between a pick-up position and a drilling center
defined by a rock drilling machine of the drilling unit. The rod
feeder and the swing device are separate devices, which are
independently controllable.
Inventors: |
TOIVOLA; Juha; (Tampere,
FI) ; JELGERT; Johan; (Lindesberg, SE) ;
LAHDELMA; Ilkka; (Tampere, FI) ; BENGTSSON, SR.;
Stefan; (Nora, SE) ; FREDIN; Ola; (Nora,
SE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SANDVIK MINING AND CONSTRUCTION OY |
Tampere |
|
FI |
|
|
Family ID: |
1000005327057 |
Appl. No.: |
16/965879 |
Filed: |
January 24, 2019 |
PCT Filed: |
January 24, 2019 |
PCT NO: |
PCT/EP2019/051734 |
371 Date: |
July 29, 2020 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
E21B 19/087 20130101;
E21B 15/04 20130101; E21B 19/20 20130101; E21B 19/155 20130101 |
International
Class: |
E21B 15/04 20060101
E21B015/04; E21B 19/087 20060101 E21B019/087; E21B 19/15 20060101
E21B019/15; E21B 19/20 20060101 E21B019/20 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 31, 2018 |
EP |
18154331.5 |
Claims
1. An apparatus (36) for rod handling, which is mountable in
connection to a rock drilling unit (1) and wherein the apparatus
(36) is configured to move rock drilling rods (2) between at least
one pick-up position (14) and a drilling center (10) of the rock
drilling unit (1); the apparatus (36) comprising: a rod feeder (13)
for moving the drilling rods (2) between the pick-up position (14)
and an intermediate position (15), a swing device (11) is
configured to move the drilling rods (2) between the intermediate
position (15) of the gripping device (21) of the rod feeder (13)
and the drilling center (10); and at least one gripper for gripping
the rods (2); characterized in that the rod feeder (13) and the
swing device (11) are separate units, which are movable
independently relative to each other, and wherein the swing device
(11) has a fixed mounting and the only movement of the swing device
(11) is transversal turning movement relative to the drilling
center (10).
2. The apparatus as claimed in claim 1, characterized in that
direction of movements of the rod feeder (13) and the swing device
(11) are transversal relative to each other.
3. The apparatus as claimed in any one of the previous claims 1 to
2, characterized in that the rod feeder (13) comprises at least two
arms (16a, 16b) connected to each other by means of at least one
connecting joint (17c) axis of which connecting joint is
perpendicular to the drilling axis (10).
4. The apparatus as claimed in any one of the preceding claims,
characterized in that location of the pick-up position (14) is
adjustable by adjusting movement control of the rod feeder
(13).
5. The apparatus as claimed in any one of the preceding claims,
characterized in that the rod feeder (13) and the swing device (11)
are both provided with at least one dedicated gripper (21, 30) for
gripping the rods (2).
6. The apparatus as claimed in any one of the preceding claims,
characterized in that the apparatus (36) is mountable on either
longitudinal side of the rock drilling unit (1).
7. A rock drilling unit (1), comprising: a feed beam (5); a rock
drilling machine (7) supported on the feed beam (5) and comprising
at least a rotating device (7a) for rotating drilling rods (2); a
feed device (6) for moving the rock drilling machine (7)
longitudinally on the feed beam (5); an alignment device (8) for
aligning a new rod (2) on the drilling center (10) with a previous
rod (2) passing through the rock drilling machine (7); a threading
unit (9) arranged to be movable on the drilling center (10) and
configured to rotate the new rod and to simultaneously feed the new
rod relative to the previous rod; an apparatus (36) for rod
handling, wherein the apparatus (36) is configured to move the rods
(2) between at least one pick-up position (14) and the drilling
center (10), and wherein the apparatus (36) comprises a rod feeder
(13) and a swing device (11); and wherein the rock drilling unit
(1) is supported to a base structure (3); characterized in that the
apparatus (36) for rod handling is according to any one of the
preceding claims; and further the swing device (11) is supported to
the drilling unit (1) and the rod feeder (13) is supported directly
to the base structure (3).
8. The rock drilling unit according to claim 7, characterized in
that the apparatus (36) comprises at least one control unit (CU);
and the control unit (CU) is configured to control the rod handling
apparatus (36) to move according to its work cycle simultaneously
and independently relative to the operation of the threading unit
(9).
9. The rock drilling unit according to claim 7 or 8, characterized
in that the apparatus (36) comprises at least one control unit
(CU); the control unit (CU) is configured to determine position and
orientation of the intermediate position (15) and the pick-up
position (14), which are both imaginary positions without being
mechanically limited; and the control unit (CU) is configured to
control the rod feeder (13) to move between the determined
intermediate position (15) and pick-up position (14).
10. The rock drilling unit according any one of the preceding
claims 7 to 9, characterized in that the threading unit (9) is
located at an extension of the feed beam (5).
11. The rock drilling unit according to any one of the preceding
claims 7 to 10, characterized in that the rod handling apparatus
(36) is configured to co-operate with at least one rod manipulator
for feeding drilling rods (2) automatically from a rod storage (18)
to the pick-up position (14) and correspondingly for removing the
rods (2) from the pick-up position (14) automatically to the rod
storage (18).
12. A method of handling drilling rods in core drilling wherein
drill holes are drilled by means of a rock drilling unit (1)
comprising a feed beam (5) and a rock drilling machine (7), the
method comprising: moving the rods (2) between at least one pick-up
position (14) and an intermediate position (15) by means of a rod
feeder (13); moving the rods (2) between the intermediate position
(15) and a drilling center (10) defined by the rock drilling
machine (7) by means of a swing device (11); and moving the swing
device (11) and the rod feeder (13) along movement paths which are
transversal relative to each other; characterized by using in rod
handling physically and operationally separate devices as the swing
device (11) and the rod feeder (13); moving the swing device (11)
and the rod feeder (13) simultaneously and independently along
their transversal movement paths, and moving the swing device (11)
in a transversal turning movement relative to the drilling center
(10).
13. The method according to claim 12, characterized by detecting
position and orientation of the rock drilling unit (1) by means of
at least one sensing device; and determining position and
orientation of the intermediate position (14) on the basis of the
detected position and orientation of the rock drilling unit
(1).
14. The method according to claim 12 or 13, characterized by
holding one drill rod (2) at the intermediate position (15) by
means of the rod feeder (13) while the swing device (11) is
handling another drill rod (2).
Description
BACKGROUND OF THE INVENTION
[0001] The invention relates to an apparatus for handling rods in
rock drilling and especially in core drilling. The invention
further relates to a rock drilling unit and a method of handling
rock drilling rods.
[0002] The field of the invention is defined more specifically in
the preambles of the independent claims.
[0003] Core drilling is executed for investigating rock ground at a
distance in order to determine conditions for extracting minerals.
Thus, core drilling is used for exploration drilling purposes and
construction work. During core drilling, aiming to extract a drill
core, it is often drilled to very great depths and distances. As an
example, it is common to drill holes over thousands of meters.
During rock drilling of such long drill holes, it is necessary to
join a plurality of drilling components such as drilling rods for
forming a drill string. A drill bit, which is located at a distal
end of the drill string, needs to be changed regularly, several
times for every hole, typically after every 30-50 meters, which
means that the entire drill string needs to be disassembled and
assembled 15-20 times for each drill hole. Traditionally handling
of the drilling components is done manually. Nowadays the core
drilling devices are more and more provided with rod handling
apparatuses for moving drilling rods and other drilling components
between a pick-up position and a drilling center of the rock
drilling machine. However, the known handling devices have shown to
contain some disadvantages.
BRIEF DESCRIPTION OF THE INVENTION
[0004] An object of the invention is to provide a novel and
improved apparatus for rod handling. The invention further relates
to a novel and improved rock drilling unit and method of handling
rods.
[0005] The apparatus according to the invention is characterized by
the characterizing features of first independent apparatus
claim.
[0006] The rock drilling unit according to the invention is
characterized by the characterizing features of second independent
apparatus claim.
[0007] The method according to the invention is characterized by
the charactering features and steps of independent method
claim.
[0008] An idea of the disclosed solution is that the rock drilling
unit, which is intended especially for exploration drilling, may be
provided with an apparatus for handling drilling rods and other
elongated drilling components. The apparatus comprises a rod feeder
for moving the drilling rods between a pick-up position and an
intermediate position, and a swing device for moving the drilling
rods between the intermediate position and a drilling center. The
mentioned rod feeder and swing device are separate units so that
they can be moved independently relative to each other. In other
words, the rod feeder and the swing device are not integrated into
one physical entity, but instead, they are separately operable
devices.
[0009] An advantage of the disclosed solution is that handling of
the drilling rods may be quickened when the swing device and the
rod feeder may be driven independently and may thereby execute
handling tasks simultaneously. This way the drill string may be
assembled and disassembled quicker than by using the known
apparatuses.
[0010] In this patent application the used terms drilling component
and drilling rod include elongated drilling tools such as drilling
tubes and solid rod type elements. The terms further include water
swivel rods, inner tubes and retrieval elements, such as wire line
retrieval tools, which are implemented in core and sample
drilling.
[0011] According to an embodiment, the swing device and the rod
feeder comprise dedicated frames and dedicated actuators for
executing their independent movements. Thanks to this, the swing
device and the rod feeder may be mounted relatively freely relative
to each other, which has positive impact on the layout of the
drilling unit. A further advantage of the embodiment is that
construction and operation of the dedicated devices may be designed
according to their special needs.
[0012] According to an embodiment, movement of the rod feeder has
no influence to the swing device and correspondingly movement of
the swing device has no influence to the rod feeder. Thus, the rod
feeder and the swing device are separate units which can be moved
independently.
[0013] According to an embodiment, the rod feeder and the swing
device are separate units without direct physical connection
between them.
[0014] According to an embodiment, direction of movements of the
rod feeder and the swing device are transversal relative to each
other.
[0015] According to an embodiment, the rod feeder is configured to
execute only turning movements. Thus, the rod feeder reciprocates
only in one single movement direction.
[0016] According to an embodiment, the drilling unit has a vertical
first plane and the rod feeder has a vertical second plane. The
second vertical plane of the rod feeder is configured to be
constantly parallel relative to the first vertical plane during
movement of the rod feeder.
[0017] According to an embodiment, the rod feeder is configured to
be turned relative to at least one first turning axis and the swing
device is configured to be turned relative to at least one second
turning axis. The first turning axis and the second turning axis
are perpendicular relative to each other.
[0018] According to an embodiment, the swing device has a fixed
mounting and the only movement of the swing device is transversal
turning movement relative to the drilling center.
[0019] According to an embodiment, the rod feeder comprises at
least two arms connected to each other by means of at least one
connecting joint axis, which connecting joint is perpendicular to
the drilling axis. A first arm is connected to a base structure of
the drilling unit by means of a rotational joint axis, which is
transversal to the drilling axis. At a distal end of a second arm
is a gripping device or gripper, which may be turned relative to
the second arm around a rotational joint axis, which is transversal
to the drilling axis. Thus, the basic mechanism of the rod feeder
may comprise two arms and three rotational joints, as well as
actuators to carry out the movements.
[0020] According to an embodiment, the rod feeder comprises at
least one extendable arm for adjusting operative length of the
device. In other words the rod feeder may comprise one linear joint
enabling a so called zoom feature.
[0021] According to an embodiment, location of the pick-up position
is adjustable by adjusting movement control of the rod feeder.
Mechanism of the rod feeder allows its gripping device to be driven
in a versatile manner into desired position and height which is
beneficial for effective and ergonomic handling.
[0022] According to an embodiment, the apparatus is controlled by
means of at least one control unit and the location of the pick-up
position is programmable. The rod feeder may have a large reach
area inside which one or more pick-up positions may be determined
at desired locations. An advantage of this embodiment is that the
position of the pick-up position may be selected by taking into
account available free space around the drilling unit, location of
a rod storage and desires of an operator. Height from the ground
may also be determined and stored.
[0023] According to an embodiment, orientation of the drilling
component at the pick-up position is adjustable by adjusting
movement control of the rod feeder whereby it is easy to take into
account personal desires and ergonomic issues of different
operators.
[0024] According to an embodiment, the apparatus comprises one or
more control units. Then, orientation of the drilling component at
the pick-up position is controlled by means of the control unit.
Thus, the desired orientation and exact position may be easily
re-programmed. Alternatively, the desired positions and
orientations of the pick-up positions may be taught and stored in a
memory device. Updating of such programmed and taught pick-up
positions is easy.
[0025] According to an embodiment, the apparatus comprises at least
one control unit which is configured to determine position and
orientation of the intermediate position and the pick-up position.
In other words, the intermediate position and the pick-up position
are both imaginary positions which are not limited by means of any
mechanical limiting elements. This way, the position and
orientation are freely selectable. The control unit is configured
to control the rod feeder to move between the defined intermediate
position and pick-up position.
[0026] According to an embodiment, the rock drilling unit comprises
one or more sensors, scanners or corresponding measuring devices
for sensing pose of the rock drilling unit. The sensing data is
transmitted to at least one control unit, which is configured to
determine position and orientation of the current position and is
configured to determine position and orientation of the
intermediate position on the basis of the detected position and
orientation in order to carry out transport of the rods between the
intermediate position and the drilling axis.
[0027] According to an embodiment, one drill rod may be hold at the
intermediate position by means of the rod feeder while the swing
device is handling another drill rod. This way the swing device may
be operable with a rod while a gripping device of the rod feeder is
occupied by another rod. Thus, the rod feeder may provide the
apparatus with an intermediate storage.
[0028] According to an embodiment, the rod feeder is configured to
receive and supply the drilling rod at the pick-up position in
horizontal or substantially horizontal orientation. This embodiment
may be implemented for example when the drilling rods are stored on
horizontal racks or supports.
[0029] According to an embodiment, the rod feeder is configured to
receive and supply the drilling rod at the pick-up position in
vertical or substantially vertical orientation. In narrow mine
spaces it may be easier to store and handle the drilling components
which are orientated vertically. The drilling components may also
be stored in vertical direction inside a rod storage.
[0030] According to an embodiment, between the intermediate
position and the pick-up position is a horizontal distance when
viewed in the direction of the drilling center, whereby the pick-up
position is located horizontally at rearward end portion of the
drilling unit.
[0031] According to an embodiment, the rod feeder and the swing
device are both provided with at least one dedicated gripper for
gripping the rods.
[0032] According to an embodiment, each of the dedicated grippers
of the rod feeder and the swing device comprise at least two jaws,
which are located at a distance from each other when seen in
longitudinal direction of the drilling component being handled.
[0033] According to an embodiment, the swing device may comprise
grippers which are based on roller-like gripping elements. These
elements may be an alternative solution to jaw-like grippers. The
roller-like gripping elements may be not only moved relative to
each other but also be rotated so that they may also be enabled in
threading of the drilling components. In that case, the roller-like
gripping elements may serve as an integrated threading unit whereby
no separate threading unit elsewhere in the drilling unit is
needed. An advantage of such a combination swing device is that the
apparatus has fewer devices, may be smaller in size and also
lighter in weight.
[0034] According to an embodiment, the rod feeder may be configured
to serve as an intermediate rod storage at the intermediate
position. Then one rod may be stored on the dedicated grippers of
the rod feeder. This way, the rod feeder may bring the next
drilling component to the intermediate rod storage, wherein it may
wait for the swing device to become vacant.
[0035] According to an embodiment, the rod feeder is mountable on
either longitudinal side of the rock drilling unit. An advantage of
this embodiment is that the same construction may be used for
right- and left-hand implementations, whereby need for two
different rod feeders with different handedness is not needed. In
other words, the rod feeder may have a symmetrical structure,
whereby it may be a more universal and versatile device. The same
applies also for the swing device, which may have a symmetrical
structure so that it may be mounted on either sides of the feed
beam.
[0036] According to an embodiment, the swing device is supported to
the drilling unit and the rod feeder is supported directly to the
base structure. The apparatus may comprise one common base
structure, or alternatively, dedicated base structures for drilling
unit and the rod feeder. The base structure may be designed to be
supported against the ground and may comprise a frame structure
made of steel bars or tubes, for example.
[0037] According to an embodiment, the swing device is mounted to a
slide element so that it may be moved in longitudinal direction of
the feed beam. The mentioned slide element may be supported
directly to the feed beam or to an additional fastening beam
mounted to the feed beam and being parallel to the feed beam. The
longitudinal movement of the slide element and the swing device may
be synchronized to longitudinal movements of the threading
unit.
[0038] According to an embodiment, the swing device is mounted
longitudinally immovably to the feed beam of the drilling unit or
to an additional fastening beam mounted to the feed beam and being
parallel to the feed beam. This way the mounting may be firm and
the structure of the mounting may be simple.
[0039] According to an embodiment, directions of movement paths of
the rod feeder and the swing device are transverse relative to each
other. The rod feeder is arranged to be moved predominantly in
front-rear direction whereas the swing device is arranged to move
predominantly in transverse direction. Thus, the basic movements of
the devices are easy to handle and no complicated joints and
movement control are needed. The simple movements may be fast,
which has positive impact on effectivity.
[0040] According to an embodiment, the rod feeder and the swing
device have both only one dedicated function and they are
separately controllable units. Thus, the rod feeder and the swing
device may be devices which are designed for special purposes
without any need for compromises. This way their effectivity and
durability, for example, may be improved.
[0041] According to an embodiment, the rock drilling unit comprises
at least one control unit. The control unit is configured to
control the rod handling apparatus to move according to its work
cycle simultaneously and independently relative to the operation of
the threading unit. This way the threading unit and the rod
handling apparatus may be driven simultaneously, which increases
the performance of the handling of the drilling components. The
control unit may comprise a processor which is configured to
execute a software designed to control the operation of the
apparatus. The control device may be located in connection to the
apparatus or it may be located externally of the apparatus.
[0042] According to an embodiment, the rod feeder is an
independently movable device, which is movable simultaneously with
the swing device. The ability for simultaneous movements of these
two devices has a significant impact on improved efficiency for the
rod handling procedure. In other words, multitasking of the
co-operating rod feeder and the swing device quickens loading and
removing drilling components to and from the drill string.
[0043] According to an embodiment, the apparatus comprises a
control unit which is configured to control the rod handling
device, the threading device and the alignment device to perform
multiple operational functions at the same time.
[0044] According to an embodiment, the threading unit is located at
an extension of the feed beam. An advantage of this embodiment is
that at the rear end of the feed beam may be an extension part,
which offers proper support for the threading unit. A further
advantage is that at the rear of the feed beam there is
sufficiently free space for arranging the threading unit and it
does not cause any visibility problem to an operator.
[0045] According to an embodiment, the threading unit is integrated
in the swing device. Means for executing threading may be combined
with gripping means of the swing device or they may be arranged
separately in connection to the swing device.
[0046] According to an embodiment, the rod handling apparatus is
configured to co-operate with at least one rod manipulator for
feeding drilling rods automatically from a rod storage to the
pick-up position and correspondingly for removing the rods from the
pick-up position automatically to the rod storage. The rod
manipulator may comprise an articulated arm system or it may be an
industrial robot. Alternatively, or in addition to, the rod
manipulator may comprise one or more transport tracks for moving
the drilling rods and components. The rod storage may be a separate
mobile unit, which may be positioned at a drilling site, or
alternatively, the storage may be a separate unit being integrated
to be part of the rock drilling unit. The rod storage may be
dimensioned to receive dozens of drilling components, and typically
up to 100-200 components, sometimes even more than 350
components.
[0047] According to an embodiment, the rock drilling machine of the
drilling unit is a rotation device or a rotation head. Thus, the
rod handling apparatus is implemented in rotational drilling.
[0048] Let it be mentioned, that regarding the steps of handling
the elongated drilling components, such as drilling rods, it is
assumed in this patent application that one or several drilling
rods have already been drilled into the rock and the last rod,
which is partly drilled into the rock, is penetrating through the
rock drilling machine so that a rearward end of the partly drilled
rod is exposed. The solution disclosed in this patent application
is for adding or removing drilling rods to a drill rod string
comprising several drilling rods.
[0049] The above disclosed embodiments may be combined in order to
form suitable solutions having those of the above features that are
needed.
BRIEF DESCRIPTION OF THE FIGURES
[0050] Some embodiments are described in more detail in the
accompanying drawings, in which
[0051] FIG. 1 is a schematic view of a rock drilling unit provided
with an apparatus for handling elongated drilling tools,
[0052] FIG. 2 is a schematic view of a rod feeder arranged to turn
around turning axis and configured to transfer drilling components
from a horizontal pick-up position to an intermediate position
adjacent to a feed beam of a rock drilling unit,
[0053] FIG. 3 is a schematic view of a rod feeder provided with a
vertical pick-up position which is located at rear side area of the
drilling unit,
[0054] FIG. 4 is a schematic view of a rod feeder provided with a
vertical pick-up position which is located at front side area of
the drilling unit,
[0055] FIG. 5 is a schematic view of a rod feeder configuration of
which is an articulated boom comprising several arms and
joints,
[0056] FIG. 6 is a schematic view of a swing device configured to
move drilling components between an intermediate position of a rod
feeder to a drilling center of a rock drilling machine,
[0057] FIG. 7 is a schematic side view of a rock drilling unit
provided with an apparatus for handling drilling components;
[0058] FIGS. 8 and 9 are schematic views of a rock drilling unit
provided with an apparatus for handling drilling components;
and
[0059] FIG. 10 is a schematic diagram showing transfer steps of
drilling rods and means for executing the movements.
[0060] For the sake of clarity, the figures show some embodiments
of the disclosed solution in a simplified manner. In the figures,
like reference numerals identify like elements.
DETAILED DESCRIPTION OF SOME EMBODIMENTS
[0061] FIG. 1 shows in a highly simplified manner principle of a
rock drilling unit 1 provided with an apparatus 36 for handling
elongated drilling rods 2 or corresponding drilling components. The
drilling unit 1 is supported on a base structure 3 by means of
turning joints 4a and 4b so that position and orientation of the
drilling unit 1 can be changed. The drilling unit 1 may comprise a
feed beam 5, a feed device 6, a rock drilling machine 7, an
alignment device 8 and a threading unit 9. The rock drilling
machine 7 may be a rotating device 7a, which is configured to
rotate drilling rods 2 and tools at a drilling center 10. The rock
drilling machine 7 is supported on a feed beam 5 and is moved by
means of the feed device 6. The alignment device 8 is located at a
rear end portion of the rock drilling machine 7 and is configured
to align new rods to be in with the drilling centre 10. The
alignment device 8 may comprise transversally movable roller
elements, for example. The threading device 9 may be located at a
rear end portion of the feed beam 5 and is configured to rotate the
rod in order to open and close screw joints between successive
rods.
[0062] In connection with the drilling unit 1 is a swing device 11,
which may be supported directly to the feed beam 5, or
alternatively to a fastening beam 12, which is parallel to the feed
beam 5. On both sides of the drilling unit 1 may be such fastening
beams, whereby the swing device 12 may be mounted on either left or
right side of the drilling unit 1.
[0063] A rod feeder 13 may also be supported to the base structure
3. The rod feeder 13 is configured to move the rods between a
pick-up position 14 and an intermediate position 15. In FIG. 1
gripping means of the rod feeder 13 are positioned to the
intermediate position 15. The pick-up position 14 is located at
rear area of the rod feeder and at lower vertical height. The rod
feeder 13 comprises at least one arm 16, which is connected to the
base structure 3 by means of a turning joint 17a for turning the
arm 16 relative to the base structure 3. At a distal end portion of
the arm 16 may be a turning joint 17b for turning a gripping device
of the rod feeder 13 relative to the arm 16. Turning axis of the
joints 4a, 4b, 17a and 17b may be transversal to the direction of
the drilling center 10.
[0064] The rods 2 may be stored to a rod storage 18. The rods 2 may
be moved from the rod storage 18 to the pick-up position 14
manually by an operator 19 or there may be an industrial robot, a
manipulator or any other device or mechanism for executing the
transfer.
[0065] The rod feeder 13 is configured to move the rod 2 from the
pick-up position 14 to the intermediate position 15 wherefrom the
rod is picked by the swing device 11. The swing device 11 comprises
turning joints 20a, 20b allowing the swing device 11 to be turned
in transverse direction relative to the drilling axis 10. The swing
device 11 may move the rod 2 from the intermediate position 15 to
the drilling axis 10 where it may be aligned and become connected
to the previous rod. As can be noted, the drilling unit 1 provided
with the swing device 11 and the rod feeder 13 are physically
separate devices. Moreover, the rod feeder 13 and the swing device
11 may be controlled separately. The control of the devices 1, 11
and 13 may be done under control of a control unit CU. When the
swing device 11 has gripped the rod 2 and begins to move it away
from the intermediate position 15, the rod feeder 13 may instantly
initiate new handling process for a next rod.
[0066] FIG. 2 discloses movements of a rod feeder 13. The rod
feeder 13 comprises an arm 16, which may be extendable and may be
connected to a base structure 3 by means of a turning joint 17a so
that the rod feeder 13 may be turned on a vertical plane, which is
parallel to a drilling centre 10 of a rock drilling unit 1. Thus,
the rod feeder 13 may be moved back and forth and may be without
any sideward movements. At a distal end of the arm 16 is a gripping
device 21, which may comprise an elongated frame 22 and two or more
gripping elements 23, such as gripping jaws or rollers, for
gripping a rod 2 at a longitudinal distance from each other. The
gripping device 21 may be turned around a turning joint 17b so that
orientation of the gripping device 21 may be adjusted. Thereby, the
rod feeder 13 may be positioned to an intermediate position 15
which is defined by the position and orientation of the drilling
unit 1. And further, the rod feeder 13 may be positioned to a
pick-up position 14 which may be located at rear of the drilling
unit 1 and may have horizontal orientation and desired vertical
height so that it is easy for an operator 19 to feed and remove
rods. So, FIG. 2 discloses both the intermediate position 15 and
the pick-up position 14.
[0067] In FIG. 3 the rod feeder 13 may be substantially the same as
in FIG. 2 but now the pick-up position 14 has a vertical
orientation at the rear area of the drilling unit. Further, in FIG.
4 the pick-up position 14 also has a vertical orientation but is
located at a frontal area of the drilling unit. As can be noted,
the position and orientation of the pick-up position 14 may be
adjusted according to personal demands of the operator and
according to available free space around the drilling device. Safe
areas for manual handling of the rods to and from the pick-up
position 14 may be locate at front or rear areas relative to the
drilling unit 1. The pick-up position 14 is reachable from vertical
on rear side to vertical on front side. In FIGS. 2-4 drilling
direction is indicated by a reference A.
[0068] FIG. 5 discloses a rod feeder 13 comprising two arm parts
16a, 16b connected to each other by means of a joint 17c. The arm
16 may be connected to a base structure by means of a turning
support 24 so that the rod feeder 13 may also be turned laterally,
whereby the configuration of the rod feeder 13 may resemble a
robotic arm system or an industrial robot. Alternatively, the arm
16 may be arranged to be moved in one vertical plane in a similar
manner as the embodiments shown in FIGS. 2 and 3, and may thereby
have simpler configuration and control. Further, one or more arm
parts 16a, 16b may comprise a zoom system for adjusting their
lengths. In order to improve clarity turning actuators are not
shown in FIGS. 1-5.
[0069] FIG. 6 is a highly simplified presentation of a swing device
11. As it is mentioned above, the swing device 11 is configured to
move the drilling rods 2 or other elongated drilling components
between the intermediate position 15 of the gripping device 21 of
the rod feeder and the drilling center 10 of the rock drilling
machine 7. The swing device 11 may be mounted on the fastening beam
12 which is located on a side of the feed beam 5. The rock drilling
machine 7 is mounted on a carriage 25, which is movable in
longitudinal direction of the feed beam 5. The swing device 11 may
comprise two arms 26 and 27 connected to each other by means of a
turning joint 28 and connected to the fastening beam 12 by means of
a turning joint 29. At a distal end of the arm system is a gripping
device 30 or gripper, by means of which the swing device 11 may
grip the rods 2. For clarity reasons the gripping device is shown
in a simplified manner. As can be noted, the swing device 11 is
moved together with the feed beam 5 whereas the gripping device 21
of the rod feeder is not physically linked to the feed beam 5.
Therefore, positioning measures are required to place the gripping
system of the rod feeder 13 at a reach of the swing device 11 and
to be parallel with the drilling centre 10 or line.
[0070] FIG. 7 discloses a rock drilling unit 1, which is provided
with a swing device 11 and rod feeder 13 for moving rods 2 between
a pick-up position 14 and a drilling center 10. Basic features of
these devices have already been disclosed above. However, FIG. 7
further discloses an actuator 31, such as a cylinder, for moving
the feed beam 5, and an actuator 32, such as a cylinder, for moving
the rod feeder 13 relative to the common base structure 3. The
actuator 32 is shown in a simplified manner. At an extension of the
rear end of the feed beam 5 is located movably the threading unit
9. The threading unit 9 may slide along a support beam portion 33
when being moved by means of an actuator 34, such as a cylinder.
FIG. 7 further shows that the alignment device 8 may be located at
a rear end side of the rotating device 7a. The alignment device 8
and the rotating device 7a may both be supported on the carriage
25, which is moved by means of the feed device 6, such as a
cylinder. At a front end of the feed beam 5 a front guide 35 for
supporting the rod 2 may be arranged.
[0071] FIGS. 8 and 9 show the above disclosed apparatus in more
detail and in two different view angles.
[0072] FIG. 10 illustrates transfer steps of drilling rods and
components. The rods 2 are moved from a storage or storage position
36 to the pick-up position 14 either by the operator 19,
manipulator or robot. The rods 2 may be moved from the pick-up
position 14 to the intermediate position 15 by means of the rod
feeder 13, and further be moved to the drilling centre 10 by means
of the swing device 11. On the drilling centre 10 the rods 2 may be
moved by means of the threading unit 9 and the feed device 6. When
the drill string is disassembled then the rods 2 are moved in an
opposite direction, of course. Operation of the disclosed devices
may be controlled by means of the control unit CU, which may
comprise a processor, a software program and a memory device.
Control parameters, programs and commands may be fed by means of an
input device, and further, sensing data of sensors may be
transmitted to the control unit. The control unit may generate
control commands for actuators moving the disclosed devices
independently for executing the needed handling processes.
[0073] The drawings and the related description are only intended
to illustrate the idea of the invention. In its details, the
invention may vary within the scope of the claims.
* * * * *