Note: Descriptions are shown in the official language in which they were submitted.
1
DEVICE AND METHOD FOR AUTOMATIZATION OF ROCK BORING
Field of the invention
The invention relates to a boring machine for driving a drill
string, wherein the boring machine includes: a driving head
being movable in an axial direction towards respectively from
a holding table for axially driving the drill string, a
rotator arranged in the driving head for rotational driving
the drill string, a drill string chuck associated with the
rotator, a first key grip device arranged in connection with
the holding table, a second key grip device arranged in
connection with the rotator. The invention also relates to a
corresponding method.
Background of the invention
It is previously known to perform conventional raiseboring and
upward raiseboring as well as downward reaming for boring with
diameters up to over 6 meters. The technology is used i.a. in
connection with civil engineering, within the mining industry
for boring shafts for ventilation, drainage, dewatering
shafts, refilling and discharging holes, slot holes as well as
for inlet flow tubes for water power plants.
For reaming purposes, firstly a pilot hole is drilled in a
direction from the boring machine to an accessible space
wherein a reamer bit is fastened to the free end of the drill
string. Thereupon reaming is performed by driving the drill
bit during rotation in the direction towards the boring
machine, whereby the drill bit disintegrates the rock. During
the process there is an extensive handling of drill string
components/drill tubes which during driving from the boring
machine is successively added to the drill string and during
driving towards the boring machine are successively released
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and taken away from the drill string. Conventional drilling of
this kind is conducted under manual supervision of an
operator.
In order, during the reaming process, to be able to release a
drill tube which in its entirety is positioned above the
holding table of the boring machine, the drill string is
secured at the holding table.
This is made by the operator correctly positioning a key grip
to the drill string component for engagement of a key grip
device which is often referred to as "table key grip", at the
holding table. Thereupon the engagement between the drill
string chuck of the rotator and the uppermost drill string
component is broken by reversing the rotator. The rest of the
drill string is now thereby rotation locked by the first key
grip.
Thereupon the operator will perform new measures such that a
further key grip device, in the area of the driving head, will
be in a position to engage with the key grip of the drill
string component for breaking and de-threading the thread
between this uppermost drill string component and the
remaining drill string.
The released drill string component is thereupon moved from
the drill string position to a component storage.
Thereupon the drill head is moved with its rotator and the
drill string chuck axially to engage the thread belonging to
the now uppermost component of the drill string, which is
still locked by the first key grip device at the holding
table.
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After loosening the drill string from the first key grip
device the process will subsequently proceed with maintained
reaming. When the next drill string component has reached a
position above the holding table, the above described sequence
is repeated.
The described method is time, precision and work demanding
which altogether results in an extensive and thereby costly
boring process.
EP 2 487 325 A2 describes a system for machine-supported
positioning and applying a key device at a raiseboring
machine. W02014/133440 relates to a method and a boring
arrangement for holding drill string means.
SUMMARY OF THE INVENTION
It is an aim of the present invention to provide a boring
machine of above mentioned kind which addresses and at least
mitigate the problems of the background art.
This is achieved in respect of a boring machine of the kind
defined above in that it includes a first sensor arrangement
arranged in the region of the holding table for detecting a
first rotational position of a key grip of a drill string
component, a second sensor arrangement for detecting a second
rotational position of the second key grip device, and a
memory for storing data representing the second rotational
position.
Through these features it has been possible to detect a first
rotational position in respect of the holding table for a key
grip on a drill string component and allow rotation of the
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drill string into an adequate rotational position for
engagement with the first key grip device. Furthermore,
starting out from said stored data, automatically calculate
and relate the rotational position of the second key grip
device to a key grip of the uppermost drill string component
in a drill string, which makes more effective drill string
handling possible in connection with a reaming process, when
drill string components are successively taken away from the
drill string.
The second key grip device is coupled to the rotator/drill
string chuck in order to be rotatable together therewith for
releasing, through rotation, the lower thread when the first
key grip device is initiated.
In particular, it is preferred that a calculating unit is
arranged to determine an angle between the second rotational
position and a rotational position of the first key grip
device and thereby an angle between the second rotational
position and said key grip starting out from said data
representing the second rotational position. This allows full
automatization of the handling process during reaming since
the system of the boring machine is capable of calculating the
required rotational position in order to make possible
engagement of the second key grip device.
It is preferred that the second sensor arrangement includes at
least one sensor on the driving head, which is arranged to co-
operate with at least one detect indicator in connection with
the second key grip device. In particular it is preferred that
that said first and second sensor arrangement each includes
respectively at least one sensor from the group: optical
sensor, inductive sensor, capacitive sensor, Hall-effect
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sensor, magnetostrictive sensor and purely mechanical rotation
detecting sensor. This sensor is arranged to co-operate with a
detect indicator and preferably with a plurality of detect
indicators, each one in respect of the chosen sensor principle
5 being comprised of a contrasting marking, a nob, a recess, an
element with deviating technical properties such as a magnet
or an element of magnetizable material etc.
When it comes to the first sensor arrangement, it preferably
includes, in a simple embodiment, at least one light emitter
and an optical sensor positioned such that a light beam or
light beams there-between have free passage when a key grip is
in a correct height position and rotational position. When no
key grip is in correct height and rotational position, the
light beam there between is broken.
It can be mentioned that here are intended such key grips that
suitably are comprised of machined recesses in the material in
the circular cylindrical tubular drill string elements outer
limiting surfaces for forming of at least a pair of
essentially flat parallel key grip surfaces.
The second sensor arrangement is preferably arranged to detect
the second rotational position of the second key grip device
in a condition of not initiated tightening connection between
the drill string chuck and an upper thread of a drill string
component being fastened by the first key grip device. Hereby
can be obtained a direct relation in the form of said angle
between the second rotational position and said key grip held
by the first key grip device, whereby errors resulting from
required calculations can be avoided.
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The boring machine is hereby preferably arranged, with the
drill string chuck, firstly to establish rotational tightening
connection with said upper thread of a drill string component
being fastened by the first key grip device, by rotating to a
contact position, wherefrom is reversed during angle
measurement to a sensor trig position, which thus will become
a known angular position. Starting out from these data, the
angular difference between the key grip of the drill string
component and the second key grip device can now be
calculated. The calculated angular difference is now stored in
the memory.
That the contact position is reached is established when a
threshold torque value has been reached and reaching the
position for tightened thread is established when a final
torque value has been reached. The final torque value is
calculated such that no further rotational tightening worth
mentioning will occur during a subsequent reaming operation.
The boring machine is further preferably arranged for
initiating the first key grip device to engage with a key grip
of next drill string component after completed reaming
operation corresponding to the length of a pulled-up drill
string component, and for initiating breaking of said upper
thread between the pulled-up drill string component and the
rotator drill string chuck. This is achieved through reversing
the rotator simultaneously as the next drill string component
is rotationally locked by the first key grip device.
By the boring machine preferably being arranged such as to
thereupon engage the second key grip device to the upper key
grip of the so pulled-up drill string component and reverse
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the rotator in order to break the thread between the pulled-up
drill string component and the next drill string component.
By the boring machine preferably being arranged, in connection
with breaking said upper thread between the pulled-up drill
string component and the drill string chuck, after breakage
firstly rotate the thread until the contact position has been
reached, which as above is detected in that the threshold
torque value is reached. Thereupon the drill string chuck is
re-rotated (reversed) the angle A until the angle has been
reached, which has been calculated as the deviation of the
upper key grip device from the upper key grip.
Rotation through re-rotation is thereby performed such an
angle that it is in principle possible for the second key grip
device to come to alignment with the key grip in question in
order to quickly find an engagement therewith upon engagement
initiation.
In the event that the measure to engage the second key grip
device to this key grip would fail for some reason, a search
sequence is performed with a searching pattern to and fro
under small but growing rotational angles of the rotator to
find a correct engagement position. Upon failed initiation of
the second key grip device also after performed search
sequence, a signal is emitted meaning that manual assistance
has to be used.
The boring machine preferably includes a drill string
component handler including a gripper for gripping and a
maneuvering arm for displacing drill string components. Also
this gripper and this maneuvering arm are preferably
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automatically controllable for minimizing the requirement of
manual resources.
It is preferred that the gripper includes a rotation sensor
such as a detector wheel for detecting rotation of a gripped
drill string component. Hereby can be established, through
pressing the detector wheel against the drill string
component, if breakage of the upper thread has been performed
as intended by rotating the rotator and by the rotation sensor
verifying that the drill string component is not co-rotating.
It is a major advantage that the first key grip device is
arranged displaceable and permanent non-rotational in respect
of the holding table. The first key grip device hereby
preferably is arranged linearly displaceable between an
inactive position and an active position, which is an
engagement position for engagement with a key grip. The first
key grip device is in such a preferred embodiment preferably
arranged displaceable along linear guides being arranged on
the holding table between these positions and is thereby
permanently non-rotationally coupled to the holding table. The
displaceability is suitably performed by a pair of hydraulic
cylinders.
By the second key grip device and the drill string chuck being
permanently interconnected with the rotator in order to be
rotatable together thereby are obtained advantages such as
simplified rotational drive co-operation between the units and
constructional simplicity.
The invention also relates to a method for handling drill
string components in a boring machine for driving a drill
string, the method including: axially driving the drill string
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with a driving head being movable in an axial direction
towards respectively from a holding table, rotational driving
the drill string with a rotator arranged in the driving head,
detecting a first rotational position of a key grip of a drill
string component with a first sensor arrangement arranged at
(or in association with) a first key grip device at or in
association with the holding table, rotating the drill string
until the key grip is aligned with the first key grip device,
engaging the first key grip device with said key grip. The
Method is distinguished by detecting a second rotational
position of a second key grip device arranged in connection
with the rotator through a second sensor arrangement, and
storing data representing the second rotational position in a
memory.
The method according to the above preferably includes
detecting the second rotational position of the second key
grip device through at least one sensor on the driving head,
which is arranged to co-operate with at least one detect
indicator in connection with the second key grip device.
Said second rotational position is preferably detected by at
least one sensor from the group: Optical sensor, inductive
sensor, capacitive sensor, Hall-effect sensor,
magnetostrictive sensor and purely mechanical rotation
detecting sensor.
Starting out from said data representing the second rotational
position preferably is determined an angle between the second
rotational position and a rotational position of the first key
grip device and thereby an angle between the second rotational
position and said key grip.
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The second rotational position of the second key grip device
is preferably detected in a condition of not initiated
tightening connection between the drill string chuck and an
upper thread of a drill string component being fastened by the
5 first key grip device.
After releasing the first key grip, a reaming operation is
subsequently performed.
10 Tightening connection is advantageously established with said
upper thread of a drill string component being fastened by the
first key grip device by tightening it to a position for
tightened thread according to what is explained above,
whereupon the reaming operation is performed.
After performed reaming operation corresponding to the length
of a pulled-up drill string component, advantageously is
initiated the first key grip device to engage with a (lower)
key grip of next drill string component after completed
reaming operation corresponding to the length of a pulled-up
drill string component, and is initiated breaking of the
thread between the upper thread and the drill string chuck.
After further rotation according to the above, the second key
grip device is preferably engaged in the (upper) key grip of
the pulled-up drill string component, and the thread is broken
between the pulled-up drill string component and next drill
string component.
A released drill string component is gripped and displacing
preferably with a drill string component handler including a
maneuvering arm with a gripper.
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Preferably rotation of a gripped drill string component is detected
with a rotation sensor such as a detector wheel belonging to the
gripper.
Preferably displacing the first key grip device is between inactive
and active position in respect of the holding table.
Preferably rotation of the second key grip device and the drill
string chuck is together when these components are permanently
interconnected to each other.
According to one aspect of the present invention, there is provided
boring machine for driving a drill string, comprising:
- a holding table;
- a driving head movable in an axial direction towards / from
the holding table for axially driving the drill string;
- a rotator arranged in the driving head for rotationally
driving the drill string;
- a drill string chuck associated with the rotator, a first key
grip device arranged in connection with the holding table;
- a second key grip device arranged in connection with the
rotator;
- a first sensor arrangement located in the region of the
holding table for detecting a first rotational position of a
key grip of a drill string component;
- a second sensor arrangement for detecting a second rotational
position of the second key grip device, and
a memory for storing data representing the second rotational
position.
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84026719
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According to another aspect of the present invention, there is
provided a method for driving a drill string, including the steps
of:
- axially driving the drill string with a driving head that is
movable in an axial direction towards / from a holding table,
- rotationally driving the drill string with a rotator arranged
in the driving head,
- detecting a first rotational position of a key grip of a drill
string component of the drill string with a first sensor
arrangement located at a first key grip device at the holding
table,
- rotating the drill string until the key grip is aligned with
the first key grip device,
- engaging the first key grip device with the drill string
component via said key grip,
- detecting a second rotational position of a second key grip
device arranged in connection with the rotator through a
second sensor arrangement; and
- storing data representing the second rotational position in a
memory.
Further features and advantages will become clearer from the
following detailed description.
BRIEF DESCRIPTION OF DRAWINGS
The invention will now be described in greater detail by way of
embodiments and with the reference to the annexed drawings,
whereon:
Fig. 1 illustrates a raiseboring machine in a side view,
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84026719
llb
Fig. 2 shows in a detail view respectively partly in section the
raiseboring machine in fig. 1 in greater scale,
Fig. 3 illustrates diagrammatically a rotational sequence in
connection with thread tightening respectively thread release,
Figs. 4a and b illustrate a device for cleaning and
lubricating a thread of a drill string component, and the principle
of the first sensor arrangement,
Fig. 5 illustrates the drill string chuck and the principle of the
second sensor arrangement,
Figs. 6a, b and c show the holding table with the first key grip
device and the principle of detecting an adequate rotational
position of the upper key grip, and
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Fig. 7 illustrates diagrammatically a method sequence
according to the invention.
DESCRIPTION OF EMBODIMENTS
The boring machine 1 being illustrated in fig. 1 is a
raiseboring machine being constructed for driving in
directions from as well as towards the boring machine. The
boring machine 1 comprises a holding table 5 resting on a
substructure in turn including means for fastening the boring
machine to a substrate such as a surface of a rock formation
3. The boring machine can be set-up for being directed for
action in different directions.
A driving head 6 is axially movable in directions of the
double arrow A and is arranged to drive a drill string 8 for
forming a pilot bore hole 4 respectively a reamed shaft or the
like (indicated with interrupted lines and referenced 4') in
the rock formation 3. The position of the driving head 6 is
detected through a length sensor arrangement 125 which is
capable of emitting signals for calculating for example in
which position the uppermost drill string component is
situated in respect of the holding table.
Beside the boring machine 1 is shown a drill string component
handler 19 for introducing respectively taking out drill
string components to or from a drill string position in the
boring machine 1.
The drill string component handler 19 includes a gripper 20
which is supported by a maneuvering arm 21. The latter is
capable of displacing a gripped drill string component between
said drill string position and a storage or the like.
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The gripper 20 provides a rotational sensor in the form of a
detector wheel 22 being arranged such that is can be brought
to contact a drill string component such that it thereby is
capable of detecting if a drill string component is put into
rotation. This way it can be established, upon rotation of the
drill string chuck, that the drill string component is not
rotating and thereby be verified that breaking of a thread
between the drill string chuck and the uppermost drill string
component has been adequately performed and been successful.
33 indicates a unit for cleaning and lubricating the male
thread of a drill string component. This unit will be
described in greater detail below.
In fig. 2 is shown in more detail parts of the boring machine
1 with the driving head 6 being movable axially according to
the double arrow A. The holding table 5 is shown with a first
key grip device arranged in connection therewith, which is
shown in fig. 2 inserted to and in engagement with a lower key
grip 24 on the drill string component 7. An upper key grip on
said drill string component 7 is indicated with reference 14.
The driving head 6 supports a rotator 9 which is
interconnected with a drill string chuck 10 (indicated with
interrupted lines) with a female thread for co-operation with
a male thread uppermost on a drill string component. A male
thread on the (uppermost) drill string component 7 being
fastened by the first key grip element 11 is indicated with
18.
Fig. 2 shows the position prevailing when a drill string
component has been removed from the drill string and the
driving head is on its way towards the holding table in order
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to initiate the rotator to thread the drill string chuck 10
onto the thread 18 in order to perform a new reaming operation
corresponding to the length of a drill string component. After
threading and tightening reaming such a length is now
performed.
Thereupon again the first key grip device 11 is initiated in
order to grip a lower key grip on the next drill string
component.
In connection with the rotator 9 in the driving head 6 is
arranged a second key grip device 12 which is arranged to co-
operate with the upper key grip 14 of a drill string
component. The second key grip device 12 is non-rotationally
coupled to the rotator and the drill string chuck but axially
displaceable in order to be put into or out of engagement with
said upper key grip 14.
For achieving this engagement, the second key grip device 12
is equipped with four engagement jaws 37 (three shown) being
distributed in the rotational direction, which are radially
movable in order to engage in, in inward positions,
respectively in order to free said key grip, in outward
positions.
13 indicates a first sensor arrangement being arranged in
connection with the first key grip device 11 on the holding
table 5 for detecting height and rotational position of the
upper key grip 14 (alternatively the lower key grip 24) of a
drill string component. During rotation and axial movement of
the drill string, the first sensor arrangement is capable of
detecting the position of the key grip 14/24 for allowing that
the drill string is rotated and axially moved to such an
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extent and to such a position that the first key grip device
will be capable of being initiated to engagement with the
lower key grip 24.
5 It is also arranged a second sensor arrangement 15 for
detecting a second rotational position, namely a rotational
position of the second key grip device 12. This can preferably
be used in a tightened position of the drill string chuck 10
with the thread 18 to relate the second rotational position of
10 the second key grip device 12 to a rotational position of said
upper key grip 14 of the same drill string component when the
latter is fastened in the first key grip device.
Data obtained this way makes it possible in an advantageous
15 manner, by rotation of the rotator, to align the second key
grip device 12 with an upper key grip of a drill string
component to be released from the rest of the drill string.
Hereby initiating of the second key grip device 12 is enhanced
and made faster and automation of the process made possible.
A CU calculating unit 16 is arranged for handling data
delivered from said sensor arrangement and for communication
with a circuit for initiating the rotator 9, the two key grip
devices 11, 12, the axial driving of a driving head etc. An
associated memory is referenced 17.
The drill string chuck 10 is indicated with interrupted lines
in fig. 2 but is shown more clearly inside the second key grip
device 12 on fig. 5.
Fig. 3 illustrates by way of a rotation angle specification
diagrammatically a sequence to produce a relation between the
key grip and the second key grip device during tightening of
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the drill string chuck to a male thread. The sequence is
performed with lowered drill string chuck 10 for tightening
therewith with the upper thread 18 in a position shown in fig.
2.
The sequence is started by the chuck being rotated "forward"
according to the arrow ROT for reaching a contact position K
when the thread is "lightly" tightened.
Thereupon angular measuring during de-tightening rotation is
started, that is the chuck is rotated "backwards" the angle A
to a position when the second sensor arrangement 15 signals
because a detect indicator or a "flag" is detected (see fig.
5, detect indicator 25 is detected by sensor 45), which in
fig. 3 is indicated with a position I. The angular difference
between the key grip of the drill string component 7 and the
second key grip device can now be calculated and this
calculated angular difference is now stored in the memory 17.
The thread connection between the drill string chuck 10 and
the thread 18 in fig. 2 is thereupon tightened to a position
for tightened thread G to a required torque for the boring
operation an angle B.
In this tightening condition reaming is performed as described
above until the uppermost drill string component as a whole is
above the holding table 5 and the first key grip device 11 can
be initiated. This can be made after that from the first
sensor arrangement 13 there has been received signals that the
upper key grip 14 of the next drill string component is in a
correct position for this initiation of the first key grip
device 11.
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The thread between the drill string chuck and the uppermost
drill string component can now be broken be reversing the
rotator 9 and rotating the angle C. Thereupon the gripper 20
is inserted for co-operation with this drill string component,
whereby the detector wheel 22 by contact with this drill
string component 7 verifies that the drill string component is
not rotated when the rotator 9 is rotating which means that
the correct thread has indeed been broken. The thread is
subsequently rotated the angle D again to the contact position
K.
Thereupon the rotation of the rotator is continued in thread
releasing direction the angle A back to the starting position
I, whereby the second key grip device 12 is now in principle
engageable into the upper key grip 14 in the uppermost drill
string component.
When the system has verified that the second key grip device
12 has been successful in correctly engaging this key grip 14,
the thread connection between the uppermost drill string
component 7 and the next drill string component, which is held
in the holding table 5, can be broken by reversing the rotator
9 and the second key grip device 12.
The drill string component 7 is now freed by releasing the
second key grip device 12 and thereupon removal of the now
free drill string component is performed by the aid of the
drill string component handler 19 and moving of the drill
string component to a storage.
If the initiative to engage the second key grip device 12 to
the upper key grip in question would fail for some reason
after re-rotating to the position I, a search sequence is
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performed meaning that it is made a search pattern to and fro
with increasing rotational angles of the rotator 9 and the
second key grip device 12 in order to find an adequate
engagement position. In the event of failed initiation of the
second key grip device after completed search sequence a
signal is emitted meaning that manual assistance has to be
used.
Figs. 4a and b show more clearly the unit 33 for cleaning and
lubricating the male thread 18 of a drill string component.
This unit is very important to guarantee adequate tightening
of two drill string components and in order to avoid unwanted
permanent tightening therebetween. The unit 33 is
automatically activated prior to each adding of a new drill
string component to the drill string.
The unit 33 includes three groups of brushes for cleaning and
lubricating that are supported by a downward open body such
that the entire unit can be brought enclosingly in order to
enclose the thread to be treated.
The first group includes a number of rotational steel brushes
38 set for action against the shoulder 39 of the drill string
component to be treated. These brushes 38 of the first group
are constructed cup-shaped and rotational around respective
axes which are parallel to the axis of the drill string
component to be treated. With their respective brushes
directed essentially axially, they engage the axially directed
surface of the shoulder and cleans it from rigid lubricator
remains etc. and provides effective cleaning for ensuring
adequate contact when threading together with the next drill
string component. When the first group of brushes is brought
down against the shoulder 39, suitably the body of the unit 33
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is rotated as well as the brushes 38 such that the brushes
also will perform a certain cleaning action against the thread
18 itself.
A second group of brushes 40 and a third group of brushes 41
are constructed and arranged for lubricating the thread 18 and
the shoulder 39. It should be noted that the brushes 40 and 41
are axially displaceable in respect of the body of the unit 33
and thereby in respect of the first group of brushes 38, which
is evident from the two mutual positions shown in figs. 4a and
b. Hereby is ensured alternate activation of the brushes 38
(setting according to fig. 4a) or the brushes 40 and 41
(setting according to fig. 4b).
The second group of brushes 40 are arranged with the bristles
directed essentially in a direction in parallel with the axis
of the drill string component whereas the third group of
brushes 41 are arranged with the bristles being angled for
adaption to the cone angle of the thread.
In the parked position of the unit 33, which in principle is
shown in fig. 1, the arrangement is set for lubricating the
brushes 40 and 41. This arrangement can for example include
grease sprayers for co-operation with the brushes 41 and a
grease tray, into which the brushes 40 are dipped.
A cleaning and treatment sequence includes:
1. The brushes 40 and 41 of the unit 33 are filled with
lubricator grease by a grease spray being introduced in the
inside of the brush package and the second group of brushes
are dipped into a grease tray.
2. The unit 33 is swung into the drill string position.
3. The unit 33 is pressed axially downwards towards the thread
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and the shoulder to be treated during rotation of the brush
package, with the brushes in the position shown in fig. 4a for
cleaning the shoulder.
4. The unit 33 is pulled up axially at the same time as the
5 second and third group of brushes 40 and 41 are axially
brought downwards for lubrication as is shown in fig. 4b.
5. The unit 33 is brought axially upwards from the drill
string position and into the parking position in fig. 1.
10 Fig. 4a also shows diagrammatically the principle of the first
sensor arrangement 13 for detecting an adequate height
position or axial position of the upper key grip 14 of the
drill string component 7 in relation to the holding table. 34'
is an emitter of a light beam 36 which is detected by an
15 optical sensor 35.
Fig. 5 shows in greater detail the second key grip device 12
with the four engagement jaws 37 being distributed in
rotational direction and the drill string chuck 10. The
20 engagement jaws 37 co-operate for their activation, that is
their radial positions for engagement with the key grip of the
drill string component, with the activation ring 42. This
activation ring is coupled to the four engagement jaws 37 with
(not shown) link means such that a movement downwards of the
activation ring results in a movement radially inwards of the
engagement jaws 37. In its most downward position, the
activation ring 42 is positioned radially outside the
engagement jaws 37 such that the latter are locked in their
inward engagement position by the activation ring.
A swingable maneuvering fork 43 engages a ring-shaped groove
radially most outwardly on the activation ring 42. The
hydraulic cylinder 44 is pressurized at its respective sides
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in order to provide the maneuvering fork 43 a swinging
movement in the intended direction.
Fig. 5 also shows a principle of the function of the second
sensor arrangement 15 whereby at least one sensor 45 such as a
Hall-effect sensor, a magnetostrictive sensor, a capacitive
sensor, an inductive sensor, an optic sensor or a purely
mechanical rotation detecting sensor is arranged to co-operate
with the plurality of detect indicators 25 in the form of for
example flags, notches or the like arranged in connection
with, on or associated with the second key grip device 12. In
the shown embodiment, the detect indicators 24 are positioned
in line with a central portion of each one of the four
radially movable engagement jaws 37. It is understood that the
detect indicators 25 can be of different kinds depending on
type of sensor arrangement being used.
In figs. 6a, b and c, the holding table 5 with the first key
grip device 11 and the principle of detecting an adequate
rotational position of the upper key grip 14 is shown.
The first key grip device 11 is arranged linearly displaceable
between an inactive position, which is shown in figs. 6a and b
and an active position or engagement position which is shown
in fig. 6c. The first key grip device 11 is arranged
displaceable along linear guides arranged on the holding table
5 between these positions and is thereby permanently non-
rotationally connected to the holding table 5. In the shown
embodiment, the displaceability is performed by a pair of
hydraulic cylinders.
The first sensor arrangement 13 includes in this embodiment
two orthogonally arranged sensor devices.
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It is understood that with the upper key grip 14 in an
adequate rotational position (fig. 6b), an optical signal in
the form of light beams 36' and 36" being generated by light
emitters 34' and 34" can be registered by optical sensors 35'
and 35" respectively of the first sensor arrangement, whereas
an erroneous rotational position (6a) of the upper key grip 14
makes that such an optical signal is blocked. It is understood
from these figures that also at an erroneous position in
height of the upper key grip 14, such an optical signal will
be blocked.
It is also possible to generate and detect two (or more) light
beams on different heights or one light beam being extending
in the height direction in order to increase height precision
during measuring. The light beams 36' and 36" can also be at
different heights.
With the upper key grip 14 in adequate rotational position
(fig. 6b) and height position in respect of the holding table
5, verified by the optical sensors 35' and 35" respectively
of the first sensor arrangement, the first key grip device 11
can now be inserted into engagement with the upper key grip 24
which is shown in fig. 6c.
Fig. 7 illustrates a method sequence according to an
embodiment of the invention, wherein:
Position 26 indicates the start of the sequence.
Position 27 indicates that in connection with establishing a
tightening co-operation between the drill string chuck and an
upper thread of a drill string component being held by the
first key grip device, sense a second rotational position of
the second key grip means through the second sensor
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arrangement, and storing of data in respect of the second
rotational position.
Position 28 indicates freeing of the first key grip device and
performing a reaming operation corresponding to the length of
a drill string component.
Position 29 indicates after performed reaming operation
detecting a first rotational position of a key grip on next
drill string component through the first sensor arrangement,
rotation and displacing the drill string until the key grip is
aligned and applying the first key grip device into said key
grip.
Position 30 indicates breaking of a thread between the pulled-
up drill string component and the drill string chuck.
Position 31 indicates initiating the second key grip device to
the upper key grip of the pulled-up drill string component
starting out from said stored data, breaking a thread between
the pulled-up, uppermost drill string component and next drill
string component and taking away the free drill string
component.
Position 32 indicates the end of the sequence.
The sequence is performed repeatedly as required. The sequence
steps according to the above positions can be supplemented
with further steps, for example taking account to so called
continued rolling, which means that after terminating
rotational driving, the drill string with drill bit and
connected rotator will continue to rotate a certain angle
because of the inertia in the system. This continued rolling
is preferably estimated repeatedly during the process and is
taken into account when applying the first key grip device 11
with the aid of the first sensor arrangement 13.
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Further steps can also be preferred according to what is
explained in the above description.
The invention can be further modified within the scope of the
following claims. The principle of the invention can thus be
used in different types of boring machines such as besides
reaming boring also for so called slot boring, wherein a
plurality of partly overlapping holes are bored side by side.
The principle is useable during raiseboring and box boring. It
should be understood that boring can be performed in all
directions with the boring machine directed downwards
according to the annexed figures, sideways and upwards.
Furthermore, the boring machine can be set inclining for
boring with different angles to the vertical direction as well
as to the horizontal plane.
Consequently, it is thereby understood that the term
"uppermost drill string component" not necessarily has to mean
uppermost positioned drill string component but sooner the
drill string component being closest to the driving head.
The invention has mainly been described starting out from the
reaming process when drill string components are successively
taken away from the drill string. This process is the most
complicated and requires the most of measures to be automated.
A boring machine according to the invention can advantageously
be used automatically also during adding drill string
components to the drill string, wherein in that case the
second key grip device 12 is not required.
It is not excluded that the second sensor arrangement 15 for
detecting a second rotational position of the second key grip
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device 12 is associated with any part of the rotator and emits
an indirect value of the second rotational position.
It is also fully possible to apply an absolute angle sensor as
5 the second sensor arrangement 15 for sensing the second
rotational position of the second key grip device. In this
case no measuring method of the angle A has to be performed.
Sensing rotation of a drill string component 7 for verifying
10 adequate breaking of the thread between the drill string chuck
and the drill string component can also be accomplished
through other rotation sensor means than through a detector
wheel 22 belonging to the gripper 20. For example an optical
sensor can be arranged separately on the rig.
The method can be realized with drill string components with
only one key grip but it is preferred that the drill string
components provide un upper and a lower key grip in order to
enhance gripping with the two key grip devices.
