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.

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

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.