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CN-116472396-B - Device for controlling drilling parameters during removal of a drill string

CN116472396BCN 116472396 BCN116472396 BCN 116472396BCN-116472396-B

Abstract

The invention relates to a device (2) for controlling a rock drilling machine (3) during removal of a drill string (6) from a borehole, the rock drilling machine (3) being movably arranged on a feeder (7), the device comprising-an actuator (10) arranged to move the rock drilling machine (3) along the feeder (7) in a direction opposite to the drilling direction, -a rotary motor (9) arranged to rotate the drill string (6), and-an actuator controller (4) arranged to control the actuator (10) during removal of the drill string (6) from the borehole, the actuator controller (4) being arranged to control the actuator (10) based on an operating parameter, such as a torque (Tq) generated by the rotary motor (9) to rotate the drill string, according to a first mode or a second mode, wherein the actuator controller (4) is arranged to control the rate of movement (v) of the actuator (10) to move the rock machine (3) in the first mode, and wherein the actuator (4) is arranged to control the rate of movement (v) of the rock machine (3) in the second mode. The invention also relates to a drilling machine (1).

Inventors

  • Gustavo Motsell
  • MAGNUS OLSSON

Assignees

  • 安百拓凿岩有限公司

Dates

Publication Date
20260508
Application Date
20211101
Priority Date
20201127

Claims (10)

  1. 1. An apparatus (2) for controlling a rock drilling machine (3) during removal of a drill string (6) from a borehole, the rock drilling machine (3) being movably arranged on a feeder (7), the apparatus comprising: an actuator (10), which actuator (10) is arranged to move the rock drilling machine (3) along the feeder (7) in a direction opposite to the drilling direction, -A rotation motor (9), the rotation motor (9) being arranged to rotate the drill string (6), and -An actuator controller (4), the actuator controller (4) being arranged to control the actuator (10) during withdrawal of the drill string (6) from a borehole, the actuator controller (4) being arranged to control the actuator (10) according to a first mode and a second mode based on at least one operating parameter from a set of parameters comprising a representation of a torque Tq generated by the rotary motor (9) to rotate the drill string, a representation of a rotational speed R of the drill string provided by the rotary motor (9), a representation of a force F provided by the actuator (10) to move the rock drilling machine (3) in a direction opposite to the drilling direction, and a representation of a movement speed v of the rock drilling machine (3) provided by the actuator (10), Wherein the actuator controller (4) is arranged to control in the first mode a movement speed v at which the actuator (10) moves the rock drilling machine (3) in a direction opposite to the drilling direction, and wherein the actuator controller (4) is arranged to control in the second mode a force F provided by the actuator (10) to move the rock drilling machine (3) in a direction opposite to the drilling direction, and Wherein the actuator controller (4) is configured to switch control of the actuator (10) from the first mode to the second mode in response to a representation of the torque Tq produced by the rotary motor (9) increasing at a rate DTq/dt exceeding a first threshold rate DTq/dt 1 .
  2. 2. The device (2) according to claim 1, wherein the actuator controller (4) is configured to switch control of the actuator (10) from the first mode to the second mode in response to at least one operating parameter from the parameter set exceeding or falling below a first threshold.
  3. 3. The device (2) according to claim 1, wherein the actuator controller (4) is configured to switch control of the actuator (10) from the first mode to the second mode in response to the representation of the torque Tq generated by the rotary motor (9) exceeding a first torque threshold Tq 1 .
  4. 4. The device (2) according to claim 1, wherein a rotation controller (5) is arranged to control the rotation motor of the drilling machine in the second mode to keep the rotation speed R at a first rotation speed R 1 or above the first rotation speed R 1 .
  5. 5. The device (2) according to claim 3 or 4, wherein the rock drilling machine (3) is a hydraulic rock drilling machine, and wherein the representation of the torque Tq produced by the rotary motor (9) is determined from a representation of the rotational pressure P of a hydraulic fluid that is fed to the rotary motor (9) to drive the rotary motor (9) in rotation.
  6. 6. The device (2) according to claim 1, wherein the actuator controller (4) is arranged to control the actuator (10) in the first mode to a movement speed v corresponding to a first movement speed v 1 .
  7. 7. The device (2) according to claim 6, wherein the actuator controller (4) is arranged to control the actuator (10) to a movement speed v corresponding to a second movement speed v 2 when restarting the retrieval operation after confirming that the drill string (6) is blocked, the second movement speed v 2 being lower than the first movement speed v 1 .
  8. 8. Device (2) according to claim 1, wherein the actuator controller (4) is arranged to switch control of the actuator (10) from the second mode to the first mode when a representation of a torque Tq provided by the rotary motor (9) and used to generate a rotational speed R of the drill string (6) corresponding to a first rotational speed R 1 reaches below a second torque threshold Tq 2 .
  9. 9. The device (2) according to claim 1, wherein the actuator (10) comprises a hydraulic motor, and wherein the actuator controller (4) is a control device configured to control the supply of hydraulic fluid to the actuator (10), and wherein the actuator controller (4) controls the flow of hydraulic fluid to the actuator in the first mode and controls the pressure of hydraulic fluid to the actuator (10) in the second mode.
  10. 10. A drilling machine (1), the drilling machine (1) comprising a rock drilling machine (3) and a device (2) according to claim 1, the device (2) being adapted to control the movement of the rock drilling machine (3) during removal of a drill string (6) connected to the rock drilling machine (3) from a drilled borehole.

Description

Device for controlling drilling parameters during removal of a drill string Technical Field The present invention relates to devices for controlling operational drilling parameters during removal of a drill string from a borehole. The invention also relates to a drilling machine comprising such a device. Background In the field of rock drilling, various drilling parameters such as the rotational speed of the drill string, the feed force acting on the drilling machine, the impact force etc. are continuously monitored and controlled throughout the drilling operation. After the drilling operation is completed, the drill string is retrieved from the borehole on a root-by-root basis, preferably in a manner that takes as little time as possible. This can be achieved by pulling the drill string backwards with a constant and relatively high speed of movement while the drill string is continuously rotated. A problem that may occur is that during removal of the drill string, the drill string may get stuck somewhere inside the hole. Typically, this means that the drill string will need to be re-advanced until it can again be removed by restarting the feeding or pulling of the drill string backwards. This is cumbersome not only because it is time consuming, but also because it may cause undesirable tension in the drill string and/or other parts of the drilling apparatus. The drill string is usually very strong in its axial direction, i.e. in the drilling direction, but not as strong in the orthogonal direction, so that forces that may occur in this direction when a deadlock occurs may cause damage to parts of the drill string. It would be advantageous to achieve an apparatus and method that overcomes or at least alleviates at least one or some of the disadvantages of the prior art. In particular, it would be advantageous to find an apparatus and method that minimizes downtime due to unwanted deadlocks. Disclosure of Invention It is an object of the present invention to provide an apparatus and method for retrieving a drill string from a bore in an efficient and reduced risk of causing problems with downtime and/or material damage. This object is achieved by means of the present invention according to a first aspect and a second aspect. According to a first aspect, the invention relates to an apparatus for controlling a rock drilling machine during removal of a drill string from a borehole, the rock drilling machine being movably arranged on a feeder, the apparatus comprising: an actuator arranged to move the rock drilling machine along the feeder in a direction opposite to the drilling direction, -A rotation motor arranged to rotate the drill string, and An actuator controller arranged to control the actuator during withdrawal of the drill string from the borehole, the actuator controller being arranged to control the actuator according to the first mode or the second mode based on at least one operating parameter from a set of parameters comprising a representation of a torque generated by the rotation motor to rotate the drill string, a representation of a rotational speed of the drill string provided by the rotation motor, a representation of a force provided by the actuator to move the rock drilling machine in a direction opposite to the drilling direction, and a representation of a movement speed of the rock drilling machine provided by the actuator, Wherein the actuator controller is arranged to control in a first mode a movement speed of the actuator for moving the rock drilling machine in a direction opposite to the drilling direction, and wherein the actuator controller is arranged to control in a second mode a force provided by the actuator for moving the rock drilling machine in a direction opposite to the drilling direction. An advantage of the device is that it can be adjusted between a first mode and a second mode, wherein the first mode should be used when the environment allows the device to quickly remove the drill string from the borehole. On the other hand, when precautions are deemed necessary based on given operating parameters, the actuator may be operated in a second mode that is more fail safe. Thus, an overall fast and reliable operation is provided without compromising the function of the drilling apparatus. According to an embodiment of the invention, the actuator controller is configured to switch control of the actuator from the first mode to the second mode in response to at least one operating parameter from the parameter set exceeding or falling below a first threshold. This is an advantageous way of initializing the operation according to the second mode when needed. According to an embodiment of the invention, the actuator controller is configured to switch control of the actuator from the first mode to the second mode when the representation of the torque generated by the rotary motor exceeds a first torque threshold. The torque generated by the rotary motor may advantageously be used