Method for replacing a drill bit in a rock drilling unit performed by a control device, control device of a rock drilling unit, rock drilling unit and rock drilling machine

Abstract

The invention relates to a method for replacing a drill bit (3) in a rock drilling unit (8) performed by a control device (100), the drill bit (3) being configured to be connected to at least one drill rod (7) by a first threaded connection (40), the rock drilling unit (8) comprising: a first feed device (42) for feeding the at least one drill rod (7) and the drill bit (3) in an axial direction; a rotation device (44) configured to generate a rotational movement of the at least one drill rod (7) and the drill bit (3); a percussion device (46) for providing percussion pulses on the at least one drill rod (7) and the drill bit (3); and a drill bit changer (1) for replacing the drill bit (3) on the at least one drill rod (7), the method comprising: receiving (s101) information about replacing the drill bit (3); controlling (s102) the percussion device (46) to cause the drill bit (3) to punch against a bottom (48) of a drill hole (50) formed so that the first threaded connection (40) between the drill bit (3) and the at least one drill rod (7) is loosened; controlling (s103) the first feed device (42) to move the at least one drill rod (7) and the drill bit (3) out of the drill hole (50); controlling (s104) the rotation device (44) to remove the drill bit (3) from the at least one drill rod (7); controlling (s105) the drill bit changer (1) to replace and replace the drill bit (3); and controlling (s106) the rotation device (44) to attach the at least one drill rod (7) to the drill bit (3) by the first threaded connection (40). The invention also relates to a control device (100), a rock drilling unit (8) and a rock drilling machine (5).

Description

Technical Field

[0001] This disclosure relates to a method for changing a drill bit in a rock drilling unit, executed by a control device, a control device for the rock drilling unit, the rock drilling unit, and a rock drilling machine. This disclosure also relates to computer programs and computer-readable media. Background Technology

[0002] Specialized types of drilling rigs are typically used when performing drilling operations in rocky materials. Different types of drilling rigs exist, among which "DTH" (downhole) rigs and top hammer rigs are two commonly used for performing this operation in a vertical or near-vertical direction. Because rock drilling is carried out in hard materials, special types of drill bits are used for this operation. Such drill bits are typically heavy and can become oily and dirty during use, and may also contain sharp edges and / or material debris that could cause injury when handled. However, the drill bits will require maintenance in the form of replacement and / or regrinding, which in turn necessitates frequent removal and attachment of these drill bits to the drilling rig.

[0003] DTH drilling rigs typically include a splined connection for attaching the drill bit to the rig; however, top hammer drilling rigs usually utilize a threaded connection instead. Drill bit changing systems are known to provide a fully or semi-automatic replacement process for the drilling rig. Drill bit changing systems are designed differently for DTH and top hammer drilling rigs. Summary of the Invention

[0004] Due to the aforementioned characteristics and the handling around the drill bit, this removal and attachment operation is cumbersome, inconvenient, and can sometimes cause personal injury.

[0005] Therefore, an improved method is needed for replacing and handling such drill bits. An improved control device also needs to be developed, configured to perform drill bit replacement operations on the rock drilling unit automatically or at least semi-automatically. A rock drilling unit including such a control device, a rock drilling machine including such a rock drilling unit, a computer program for performing the method, and a computer-readable medium also need to be developed. An automatically controllable rock drilling unit and rock drilling machine also need to be developed.

[0006] Therefore, an object of the present invention is to provide an improved method for changing and handling drill bits. Another object is to develop an improved control device configured to automatically or at least semi-automatically perform drill bit changing operations on a rock drilling unit. Further objects include developing a rock drilling unit including such a control device, a rock drilling machine including such a rock drilling unit, a computer program for performing the method, and a computer-readable medium. Another object is to develop a rock drilling unit and a rock drilling machine that can be automatically controlled.

[0007] These objectives are achieved by a method for changing a drill bit in a rock drilling unit, performed by a control device according to the appended claims, a control device for the rock drilling unit, the rock drilling unit and the rock drilling machine, a computer program, and a computer-readable medium.

[0008] According to an aspect of the invention, a method for replacing a drill bit in a rock drilling unit, executed by a control device, is provided. The drill bit is configured to be connected to at least one drill rod via a first threaded connection. The rock drilling unit includes: a first feed device for feeding at least one drill rod and the drill bit in an axial direction; a rotating device configured to generate rotational motion of at least one drill rod and the drill bit; an impact device for providing impact pulses to at least one drill rod and the drill bit; and a drill bit changer for replacing the drill bit on at least one drill rod. The method includes: receiving information regarding the replacement of the drill bit; controlling the impact device to cause the drill bit to impact the bottom of a formed borehole, thereby disengaging the first threaded connection between the drill bit and at least one drill rod; controlling the first feed device to remove at least one drill rod and the drill bit from the borehole; controlling the rotating device to remove the drill bit from at least one drill rod; controlling the drill bit changer to replace and substitute the drill bit; and controlling the rotating device to attach at least one drill rod to the drill bit via the first threaded connection.

[0009] This has the following advantages: instructions from the control device can control the first feed device, the rotary device, and the impact device to change the drill bit by means of a drill bit changer. Instructions from the control device can be based on information received from sensors and from empirical data. The control device can be configured to initiate drill bit changing based on operational data of the drilling rig and the drill bit connected to it. Therefore, the drill bit changing operation can be automatically initiated between drilling operations when the need for such operation is detected based on operational data. Operational data can be data including any one or a combination of the following: drilling time spent, drilling time spent since the last maintenance, expected time remaining until replacement is needed, meters drilled, meters drilled since the last maintenance, or others. Therefore, if the current state of the drill bit is deemed unsuitable for drilling in the upcoming drilling operation, the control device can initiate the drill bit changing operation. Thus, multiple drilling operations can be executed sequentially in a safe, fast, and efficient manner. Therefore, the objective of providing an improved method for changing and handling drill bits is achieved.

[0010] According to an aspect of the invention, a computer program includes instructions that, when executed by a computer, cause the computer to perform the method. A computer-readable medium includes instructions that, when executed by a computer, cause the computer to perform the method. This has the advantage that the method can be included in pre-programmed software that can be implemented in a drilling unit suitable for utilizing the method.

[0011] According to an aspect of the present invention, a control device for a rock drilling unit is provided. The rock drilling unit includes: a drill bit configured to be connected to at least one drill rod via a first threaded connection; a first feed device for feeding at least one drill rod and the drill bit in an axial direction; a rotating device configured to generate rotational motion of at least one drill rod and the drill bit; an impact device for providing impact pulses to at least one drill rod and the drill bit; and a drill bit changer for replacing a drill bit on at least one drill rod. The control device is configured to: receive information regarding drill bit replacement; control the impact device to cause the drill bit to impact the bottom of a formed borehole, thereby disengaging the first threaded connection between the drill bit and at least one drill rod; control the first feed device to remove at least one drill rod and the drill bit from the borehole; control the rotating device to remove the drill bit from at least one drill rod; control the drill bit changer to replace and substitute the drill bit; and control the rotating device to attach at least one drill rod to the drill bit via the first threaded connection.

[0012] This offers the following advantages: Drill bit changing operations in the rock drilling unit can be performed automatically. The first feed device, rotary device, impact device, and drill bit changer are controlled by a control unit, thereby automatically changing drill bits safely. Drill bits that may be heavy, sharp, and / or difficult to hold and handle can be handled completely by means of instructions from the control unit. The drill bit changing operation is executed by the control unit and can be based on information received from sensors and from empirical data. The control unit can be configured to initiate drill bit changing based on the operating data of the drilling rig and the drill bits connected to it. Therefore, the drill bit changing operation can be automatically initiated between drilling operations when the need for such operation is detected based on the operating data.

[0013] According to an aspect of the invention, a rock drilling unit is provided, wherein the rock drilling unit includes at least one control device disclosed herein. The rock drilling unit includes a first feed device, a rotary device, an impact device, and a drill bit changer, all controlled by the control device to automatically change drill bits. This has the advantage that the rock drilling unit can be arranged within a rock drilling machine to enable automatically executed drill bit changing operations.

[0014] According to an aspect of the invention, a rock drill is provided, which includes the rock drilling unit disclosed herein. Different types of drills can be used depending on the typical rock drilling requirements. According to one aspect, the rock drill can be configured for vertical drilling or drilling in an angled direction ranging from about 0° to about 95° relative to a vertical line. Such a rock drill can be a top hammer drill, which uses a threaded connection to attach a drill bit to the rock drill.

[0015] Other objects, advantages, and novel features of the invention will become apparent to those skilled in the art from the following detailed description and by practice of the invention. Although embodiments of the invention are described below, it should be noted that the invention is not limited to the specific details described. Those skilled in the art, upon contact with the teachings herein, will recognize additional applications, modifications, and combinations within the scope of the invention in other fields. Attached Figure Description

[0016] To gain a more complete understanding of this disclosure and its other purposes and advantages, it should be considered in conjunction with the appendix. Figure 1 Please read the detailed description below. In the accompanying drawings, the same reference numerals in the various figures denote similar items, and in the accompanying drawings:

[0017] Figure 1 The illustration shows a perspective view of a rock drill based on an example;

[0018] Figure 2 A side view of a rock drilling unit according to an example is schematically illustrated;

[0019] Figure 3 The illustration shows a perspective view of a drill bit changer based on an example;

[0020] Figure 4 A perspective view of the clamping arm of a drill bit changer according to an example is schematically shown.

[0021] Figure 5 A flowchart based on the example method is shown;

[0022] Figure 6 A flowchart of the method based on the example is shown; and

[0023] Figure 7 The control device or computer according to the embodiment is illustrated schematically. Detailed Implementation

[0024] The detailed description of the examples depicted will be considered as examples including combinations of certain features already described in detail above. Therefore, it should be understood that other examples can be achieved by combining other features into examples not described herein. The accompanying drawings are considered examples, not mutually exclusive combinations. It should also be noted that all drawings shown and described are schematic representations, wherein, for simplicity, common parts of the machinery or the like are not depicted.

[0025] According to an aspect of this disclosure, a method for replacing a drill bit in a rock drilling unit, executed by a control device, is provided. The drill bit is configured to be connected to at least one drill rod via a first threaded connection. The rock drilling unit includes: a first feed device for feeding at least one drill rod and the drill bit in an axial direction; a rotating device configured to generate rotational motion of at least one drill rod and the drill bit; an impact device for providing impact pulses to at least one drill rod and the drill bit; and a drill bit changer for replacing the drill bit on at least one drill rod. The method includes: receiving information regarding the replacement of the drill bit; controlling the impact device to cause the drill bit to impact the bottom of a formed borehole, thereby disengaging the first threaded connection between the drill bit and at least one drill rod; controlling the first feed device to remove at least one drill rod and the drill bit from the borehole; controlling the rotating device to remove the drill bit from at least one drill rod; controlling the drill bit changer to replace and replace the drill bit; and controlling the rotating device to attach at least one drill rod to the drill bit via the first threaded connection.

[0026] The control device can be arranged on the drilling unit or at a distance from it. The control device can be connected to sensors arranged on the drilling unit or at components connected to it. Such sensors can detect the activity or characteristics of the drilling unit or its connected components. The control device may include a memory for storing empirical data.

[0027] Drill bits are used for drilling rocks in hard materials. Drill bits can be designed and shaped to suit the drilling operation to be performed. Such drill bits are typically heavy and may have sharp edges and / or material debris after use. The drill bit is provided with threads adapted to connect to corresponding threads on the drill rod to form a first threaded connection.

[0028] The drilling unit may include an elongated frame or beam on which a first feed device, a rotating device, and an impact device are arranged. The drilling unit may be mounted on and connected to a vehicle by means of a boom, allowing the drilling unit to be positioned in different locations relative to the vehicle and the rock to be drilled. The drilling unit, boom, and vehicle together form a rock drill. The drilling unit may be configured for vertical drilling, which is considered to be entirely vertical or partially deviated from vertical. Therefore, the drilling unit can be tilted and drilled in an angular direction within a range of about 0° to about 95° relative to a vertical line without departing from the scope of this disclosure. In a rock drill, such a drilling unit configured for vertical drilling or drilling in an angular direction within a range of about 0° to about 95° relative to a vertical line can be configured as a top hammer drill.

[0029] The drilling unit may also be equipped with a drill bit changer to assist in automatic drill bit replacement. The drill bit changer may include a drill bit storage device arranged adjacent to and parallel to the drilling center axis of the rock drilling unit, and configured to hold multiple drill bits and allow them to move between storage and exchange positions within the storage device. The drill bit storage device may have a cylindrical drum shape, wherein movement between internal positions within the storage device can be performed by rotation of the cylindrical storage device or by means of rotation of internal components of the cylindrical storage device. Other designs of the drill bit storage device are of course possible without departing from the scope of the disclosure herein.

[0030] The drilling unit may also be equipped with a rod handling system, which includes clamping elements for drill pipes. The rod handling system includes a drill pipe magazine. During drilling operations, the drill pipes can be removed from the magazine by the clamping elements for assembling a drill string with drill pipes, thus allowing for deeper drilling into the rock. When changing drill bits, the drill pipes are disassembled from each other and continuously brought back to the magazine by the clamping elements.

[0031] The first feed mechanism is configured to feed the drill pipe and drill bit axially both during drilling operations and during drill bit changes. The first feed mechanism can be driven axially relative to the drilling unit and along the drilling center axis by means of a hydraulic or pneumatic actuator.

[0032] The rotary device configured to generate the rotational motion of the drill pipe and drill bit can be driven by a first hydraulic or pneumatic machine. The impact device for providing impact pulses to at least one drill pipe and drill bit can be driven by a second hydraulic or pneumatic machine. The impact pulses are provided on the drill pipe along the drilling center axis and are transmitted from the drill pipe to the drill bit.

[0033] By receiving information about replacing the drill bit, the control device can receive information from a memory storing operational data. Alternatively or in combination, the control device can receive information from a device that provides operational data. Operational data can be data including any one or a combination of the following: drilling time spent, drilling time spent since the last maintenance, expected time remaining until replacement is needed, meters drilled, meters drilled since the last maintenance, or others.

[0034] The method involves controlling an impact device to cause the drill bit to strike the bottom of the formed borehole, thereby loosening the first threaded connection between the drill bit and at least one drill rod. The control device communicates with the impact device and sends signals to control it. The timing, frequency, and force of the drill bit's impact can be controlled according to the type of rock and the type of drill bit used.

[0035] In the method step of controlling a first feed device to move at least one drill pipe and drill bit out of the borehole, a control device communicates with the first feed device and sends signals for controlling the first feed device. The feed rate and feed distance of the first feed device can be controlled according to the depth of the borehole in the rock.

[0036] In the method step of controlling the rotating device to remove the drill bit from at least one drill pipe, the control device communicates with the rotating device and sends signals for controlling the rotating device. The rotational speed and torque of the rotating device can be controlled according to the state of the first threaded connection.

[0037] By controlling the drill bit changer to replace and substitute drill bits, the control device communicates with the drill bit changer and sends signals for controlling the drill bit changer. The control device can thus control the drill bit storage device and clamping arm included in the drill bit changer.

[0038] In the method step of controlling a rotating device to attach at least one drill pipe to a drill bit via a first threaded connection, a control device communicates with the rotating device and sends signals for controlling the rotating device. The rotational speed and torque of the rotating device can be controlled according to the type of drill pipe, drill bit, and / or the type of the first threaded connection between the drill pipe and the drill bit.

[0039] A rapid and efficient method is provided for automatically or at least semi-automatically changing drill bits in a rock drilling unit. This method allows for the handling of potentially hazardous drill bits and their potential additional connecting parts without the need for manual operation, which in turn provides increased safety and personal safety at the drilling site where the method is performed. It should be recognized that the method proposed herein can provide additional benefits associated with various optional features of the drill bit changer according to this disclosure.

[0040] According to one aspect, after controlling the drill bit changer to replace the drill bit, and before controlling the rotating device to attach at least one drill rod to the drill bit via the first threaded connection, the method further includes: controlling a second feed device of the rock drilling unit to move the support device to a position where the support device abuts the drill bit.

[0041] In this method step, the control device communicates with the second feed device and sends signals for controlling the second feed device. The feed rate and feed distance of the second feed device can be controlled according to the type of drill bit. The second feed device can be axially driven relative to the rock drilling unit and along the drilling center axis by means of a hydraulic actuator or pneumatic actuator. The support device can be a lower support device of the rock drilling unit arranged to support and / or hold / clamp the drill bit or drill rod. Therefore, the drill bit can be supported by the support device, such that the drill bit rests on or abuts against the support device. Alternatively, the support device is moved to a position where the support device can clamp the drill bit. When the drill bit can be supported by the support device, the support device should be arranged below the drill bit so as to support the drill bit from below when the drill bit is held by the clamping device. The advantage of moving the support device to a position where the support device supports the drill bit from below is that various drill bits with different designs can be changed in the rock drilling unit. Because the type and design of drill bits can vary depending on the type of drilling rig, the clamping device may not be able to hold the drill bit without an additional lower support; therefore, this can be provided by a support device. This synchronized movement of the clamping device and the support device increases the versatility of drill bit changes and allows for use in various types of drilling units. The support device for the drilling unit may include two hydraulically controlled clamping devices arranged circumferentially about the drill's central axis and positioned separately along the central axis. Moving the clamping devices to a position close to each other provides support under the drill bit. The support device can be connected to a control device.

[0042] According to one aspect, after controlling the first feed device to remove at least one drill rod and drill bit from the borehole, and before controlling the rotating device to remove the drill bit from at least one drill rod, the method further includes: controlling a clamping element of the rod handling system to clamp at least one drill rod connected to the rotating device; and controlling the rotating device to tighten a second threaded connection between at least one drill rod and the rotating device.

[0043] In this method step, the control device communicates with the clamping element and rotating device of the rod handling system, and thus sends signals for controlling the clamping element and rotating device of the rod handling system. During the step of causing the drill bit to impact the bottom of the formed borehole, thereby loosening the first threaded connection between the drill bit and at least one drill rod, the second threaded connection between the drill rod and the rotating device may also be loosened. The clamping element that removes and inserts the drill rod from and into the rod handling system's magazine can be controlled to securely clamp the drill rod connected to the rotating device, thereby tightening the second threaded connection between at least one drill rod and the rotating device. Thereafter, the rotating device can be controlled to tighten the second threaded connection.

[0044] On one hand, receiving information about replacing drill bits is based on the drill bit's drilling condition.

[0045] Through this method, the control device can receive information from sensors or similar detector elements. For example, sensors or similar detector elements can sense any differences or characteristics of torque from the rotating device and / or characteristics from the impact device to determine the state of the drill bit.

[0046] According to one aspect, controlling the drill bit changer to change and replace drill bits includes: moving the drill bit from the drilling center axis to the drill bit storage device by means of a clamping arm, and then removing a new drill bit from the drill bit storage device and moving the new drill bit to the drilling center axis.

[0047] The drill bit storage device may include multiple storage positions for holding drill bits. Each storage position may hold one drill bit, which may be a drill bit ready for use or a drill bit used in a previous drilling operation. An exchange position may be a single position within the storage device from which the drill bit can be retrieved or positioned, wherein internal movement of the storage device can be used to position a desired slot for holding a specific drill bit at the exchange position. The drill bit changer may also include a clamping arm comprising a clamping device configured for selectively clamping drill bits, the clamping arm being arranged to move the clamping device between the exchange position and the drilling center axis of the drilling unit. The clamping arm and clamping device may be hydraulically controlled, wherein the movement and clamping of the clamping arm and clamping device can be applied with high precision and apply large forces to the functional components. Furthermore, since the clamping arm only needs to move to a single position within the drill bit storage device, the movement of the clamping arm can be performed by means of pivoting motion, which reduces the complexity of the design of the clamping arm and clamping device.

[0048] This disclosure also relates to a computer program including instructions that, when executed by a computer, cause the computer to perform the methods disclosed above. The invention further relates to a computer-readable medium including instructions that, when executed by a computer, cause the computer to perform the methods disclosed above. The method can be contained in pre-programmed software that can be implemented in a drilling unit suitable for utilizing the method. The pre-programmed software can be stored in a control device. Alternatively or in combination, the software can be stored in a memory or computer located at a distance from the control device.

[0049] Furthermore, this disclosure relates to a control device for a rock drilling unit, the rock drilling unit comprising: a drill bit configured to be connected to at least one drill rod via a first threaded connection; a first feed device for feeding at least one drill rod and the drill bit in an axial direction; a rotating device configured to generate rotational motion of at least one drill rod and the drill bit; an impact device for providing impact pulses to at least one drill rod and the drill bit; and a drill bit changer for replacing a drill bit on at least one drill rod, the control device being configured to: receive information regarding drill bit replacement; control the impact device to cause the drill bit to impact the bottom of a formed borehole, thereby loosening the first threaded connection between the drill bit and at least one drill rod; control the first feed device to remove at least one drill rod and the drill bit from the borehole; control the rotating device to remove the drill bit from at least one drill rod; control the drill bit changer to replace and substitute the drill bit; and control the rotating device to attach at least one drill rod to the drill bit via the first threaded connection.

[0050] This offers the following advantages: Drill bit changing operations in the rock drilling unit can be performed automatically. The first feed device, rotary device, impact device, and drill bit changer are controlled by a control unit, thereby enabling safe and automatic drill bit changing. Drill bits that may be heavy, sharp, and / or difficult to hold and handle can be handled entirely by means of instructions from the control unit. The drill bit changing operation is performed by the control unit and can be based on information received from sensors and empirical data. The control unit can be configured to initiate drill bit changing based on the operating data of the drilling rig and the drill bits connected to it. Therefore, the drill bit changing operation can be initiated automatically.

[0051] It should be understood that all examples described for the method aspects of this disclosure performed by the control device also apply to the drilling unit, drilling machine, and control device aspects of this disclosure. That is, the control device can be configured to perform any step of the method according to the various examples described above. Therefore, the control device can be configured to perform the method steps according to the corresponding examples described above, according to the following aspects.

[0052] According to one aspect, the control device can thus be configured to control the second feed device of the drilling unit to move the support device to a position where the support device abuts the drill bit. According to another aspect, the control device can be configured to control the clamping element of the rod handling system to clamp at least one drill rod connected to the rotating device; and to control the rotating device to tighten the second threaded connection between at least one drill rod and the rotating device. According to another aspect, the received information regarding drill bit replacement is based on the drilling condition of the drill bit. According to another aspect, the drill bit changer for replacing and replacing drill bits is controlled by moving the drill bit from the drilling center axis to the drill bit storage device by means of a clamping arm, and subsequently removing a new drill bit from the drill bit storage device and moving the new drill bit to the drilling center axis.

[0053] The control device can be implemented as a single entity or distributed across two or more physical entities. The control device may include one or more computers. Therefore, the control device can be implemented or carried out by means of a control apparatus including a processor and memory containing instructions that, when executed by the processor, cause the control device to perform the methods disclosed herein.

[0054] Furthermore, this disclosure relates to a rock drilling unit comprising: a drill bit configured to be connected to at least one drill rod via a first threaded connection; a first feed device for feeding at least one drill rod and the drill bit in an axial direction; a rotating device configured to generate rotational motion of at least one drill rod and the drill bit; an impact device for providing impact pulses to at least one drill rod and the drill bit; and a drill bit changer for changing a drill bit on at least one drill rod, wherein the rock drilling unit includes at least one control device as disclosed herein.

[0055] The drilling unit may include an elongated frame or beam on which a first feed device, a rotating device, and an impact device are arranged. The drilling unit may be mounted on and connected to a vehicle by means of a boom, allowing the drilling unit to be positioned in different locations relative to the vehicle and the rock to be drilled. The drilling unit, boom, and vehicle together form a rock drill. The drilling unit may be configured for vertical drilling, which is considered to be entirely vertical or partially deviated from vertical. Therefore, the drilling unit can be tilted and drilled in an angular direction within a range of about 0° to about 95° relative to a vertical line without departing from the scope of this disclosure. In a rock drill, such a drilling unit configured for vertical drilling or drilling in an angular direction within a range of about 0° to about 95° relative to a vertical line can be configured as a top hammer drill.

[0056] The control device can be arranged on the drilling unit or at a distance from it. The control device can be connected to sensors arranged on the drilling unit or at components connected to it. Such sensors can detect the activity or characteristics of the drilling unit or its connected components. The control device may include a memory for storing empirical data.

[0057] The drilling unit may also be equipped with a drill bit changer to assist in automatic drill bit replacement. The drill bit changer may include a drill bit storage device arranged adjacent to and parallel to the drilling center axis of the rock drilling unit, and configured to hold multiple drill bits and allow them to move between storage and exchange positions within the storage device. The drill bit storage device may have a cylindrical drum shape, wherein movement between internal positions within the storage device can be performed by rotation of the cylindrical storage device or by means of rotation of internal components of the cylindrical storage device. Other designs of the drill bit storage device are of course possible without departing from the scope of the disclosure herein.

[0058] The drilling unit may also be equipped with a rod handling system, which includes clamping elements for drill pipes. The rod handling system includes a drill pipe magazine. During drilling operations, the drill pipes can be removed from the magazine by the clamping elements for assembling a drill string with drill pipes, thus allowing for deeper drilling into the rock. When changing drill bits, the drill pipes are disassembled from each other and continuously brought back to the magazine by the clamping elements.

[0059] The first feed mechanism is configured to feed the drill pipe and drill bit axially both during drilling operations and during drill bit changes. The first feed mechanism can be driven axially relative to the drilling unit and along the drilling center axis by means of a hydraulic or pneumatic actuator.

[0060] The rotary device configured to generate the rotational motion of the drill pipe and drill bit can be driven by a first hydraulic or pneumatic machine. The impact device for providing impact pulses to at least one drill pipe and drill bit can be driven by a second hydraulic or pneumatic machine. The impact pulses are provided on the drill pipe along the drilling center axis and are transmitted from the drill pipe to the drill bit.

[0061] According to one aspect, the drill bit changer includes a drill bit storage device for drill bits and a clamping arm for moving the drill bit between the drill bit storage device and the drilling center axis.

[0062] The drill bit storage device may include at least one drill bit sensor arranged to monitor the drill bits located in the storage device. Therefore, the control device can provide information not only about the current drilling operation but also about drilling operations to be performed at a later time. Since the drill bit storage device can hold multiple drill bits, the control device can monitor the number of drill bits present in the device quickly and easily, making the planning of drilling operations faster and more efficient. The operator can also receive information from the control device about the number of drill bits present in the device.

[0063] The control unit can also be arranged to determine the operating status of the drill bit based on its operational data, and to provide a signal to the user interface when a drill bit change is required. Therefore, the control unit can assist in the continuous monitoring of multiple drill bits, which can be used to maximize the utilization of each drill bit in the system. The control unit can estimate the operating status of the drill bit based on incoming operational data associated with other uses of the drill bit during drilling operations. The operating status can be determined by the control unit and provided to the operator before an upcoming drill bit change operation is required.

[0064] The drill bit storage device may include an enclosed protective housing. The housing may include at least a first door located at the exchange position, which may be arranged to selectively open and close depending on the drill bit exchange operation being performed. This results in the protection of the drill bits stored within the storage device from dust, dirt, oil, debris, or similar substances that may be common at the drilling site. Protecting the stored drill bits in this way increases their lifespan and ensures that the drill bits are in good shape and condition when they are withdrawn from the storage device for use in drilling operations.

[0065] The first door of the housing can be coupled to the clamping arm, wherein the first door automatically opens and closes according to the movement of the clamping arm. This simplifies the operation of the first door, as its operation can be performed fully automatically in conjunction with the clamping arm. Since the first door should typically only be opened during drill bit changing operations, during such operations, the opening and closing of the first door can be reliably and efficiently synchronized with and controlled by the movement of the clamping arm during the movement of the first door.

[0066] Furthermore, this disclosure relates to a rock drilling machine that includes a rock drilling unit as disclosed herein.

[0067] A rock drill includes a drilling unit as disclosed herein. Additionally, the rock drill may include a drilling platform, such as a vehicle. Connecting the drilling unit to the vehicle allows the rock drill to be easily moved to different locations and positions during drilling operations. The drilling unit can be mounted on and connected to the vehicle by means of a boom, allowing the drilling unit to be positioned in different locations relative to the vehicle and the rock to be drilled.

[0068] According to one aspect, the rock drilling mechanism is designed for vertical drilling or drilling in an angled direction within a range of about 0° to about 95° relative to the vertical line.

[0069] The drilling rig may include multiple interchangeable drill rods, wherein a drill bit may be disposed at the end section of the end drill rod. The drill bit may be attached to the end section by means of a threaded connection. The rock drilling mechanism is designed for vertical drilling. However, the rock drilling rig may also be configured to drill in directions deviating from vertical drilling. Such a rock drilling rig may be configured to drill in an angled direction ranging from about 0° to about 95° relative to the vertical line.

[0070] The drilling rig can be a top hammer drilling rig. This has the advantage that commonly used drilling rigs can be configured with a drill bit changer according to this disclosure, which allows for at least semi-automatic changing of drill bits. Therefore, commonly used top hammer drilling rigs can be equipped with a reliable and safe system for changing the drill bits of the rig. Thus, an effective and reliable drilling rig is provided that offers a safe and convenient working environment by means of a system arranged on the rig, eliminating the need for manual drill bit changing.

[0071] This disclosure will now be further explained with reference to the accompanying drawings.

[0072] Figure 1 A perspective view of a rock drill 5 according to an example is shown. The rock drill 5 includes a drilling unit 8, which may include an elongated frame or beam 2. The drilling unit 8 can be arranged on and connected to a vehicle 6 by means of a boom 4, such that the drilling unit 8 can be positioned in different locations relative to the vehicle 6 and the rock to be drilled. The drilling unit 8, boom 4, and vehicle 6 together form the rock drill 5. The drill 5 is configured for vertical drilling, which will be considered entirely vertical or partially deviated from vertical. Therefore, the drill 5 can be tilted and drilled in an angular direction ranging from about 0° to about 95° relative to a vertical line without departing from the scope of this disclosure. The drill 5 may include a plurality of interchangeable drill rods 7 ( Figure 2 The plurality of drill rods 7 are arranged to form a drill string within the rock drilling unit 8 of the drilling rig 5. Each drill rod 7 includes threads that penetrate the drilled borehole 50. Figure 2As the depth increases, the option to connect an additional drill rod 7 is provided. The drill bit 3 is arranged at the end section of the end drill rod 7, wherein the drill bit 3 can be attached to the end section by means of a first threaded connection 40.

[0073] The drilling rig 5 may also include a support device 9, such as a lower support device, which may be located in the lower part of the rock drilling unit 8 and arranged to support and / or hold / clamp the drill bit 3 or drill rod 7. The support device 9 may be used for maintenance and / or assembly / disassembly of these components. In addition, the support device 9 may guide the drill rod 7.

[0074] Figure 1 The drilling rig 5 shown may also include a drill bit changer 1 for automatic or at least semi-automatic replacement of the drill bit 3. The drill bit changer 1 is arranged close to the ground plane and parallel to the drilling center axis 15 of the drilling unit 8. The term "drilling center axis 15" can be considered as the borehole 50 drilled by means of the drilling rig 5. Figure 2 The drill bit changer 1 is arranged to align with the drilling center axis 15 during use. If the drilling unit 8 is tilted at an angle, the drill bit changer 1 and its entry part can also be tilted together with the drilling center axis 15 and the drilling unit 8.

[0075] Figure 2 A schematic side view of a drilling unit 8 according to an example is illustrated. A drill bit 3 is configured to be connected to a drill rod 7 via a first threaded connection 40. The drilling unit 8 includes a first feed device 42 configured to feed at least one drill rod 7 and drill bit 3 in an axial direction. A rotating device 44 is configured to generate rotational motion of at least one drill rod 7 and drill bit 3. An impact device 46 is configured to provide impact pulses on at least one drill rod 7 and drill bit 3. A drill bit changer 1 is arranged on the drilling unit 8 for changing the drill bit 3 on the drill rod 7. The rotating device 44 and the impact device 44 are arranged on the first feed device 42. The rotating device 44 and the impact device 44 are configured to be displaced by means of the first feed device 42. The first feed device 42 is arranged on an elongated frame or beam 2. The first feed device 42 is configured to feed the drill rod 7 and drill bit 3 in an axial direction both during drilling operations and during drill bit 3 changes. The first feed device 42 can be axially driven relative to the drilling unit 8 and along the drilling center axis 15 by means of a hydraulic actuator or pneumatic actuator 10. A control device 100 is connected to the first feed device 42, the rotary device 44, the impact device 46, and the drill bit changer 1. The control device 100 can be connected to a sensor 11, which is arranged on the drilling unit 8 or at a component connected to the drilling unit 8. The control device 100 can receive information from a memory 12 that stores operational data.

[0076] The control device 100 is configured to receive information regarding the replacement of the drill bit 3; to control the impact device 46 to cause the drill bit 3 to impact the bottom 48 of the formed borehole 50, thereby loosening the first threaded connection 40 between the drill bit 3 and at least one drill rod 7; to control the first feed device 42 to remove at least one drill rod 7 and the drill bit 3 from the borehole 50; to control the rotation device 44 to remove the drill bit 3 from at least one drill rod 7; to control the drill bit changer to replace and replace the drill bit 3; and to control the rotation device 44 to attach at least one drill rod 7 to the drill bit 3 via the first threaded connection 40.

[0077] Furthermore, the control device 100 is configured to control the second feed device 52, thereby moving the support device 9 to a position where the support device 9 abuts against the drill bit 3. The second feed device 52 can be axially driven relative to the rock drilling unit 8 and along the drilling center axis 15 by means of a hydraulic actuator or a pneumatic actuator. The control device 100 is connected to the second feed device 52. The support device 9 is connected to the control device 100. The control device 100 is also configured to control the clamping element 54 of the rod handling system 56 to clamp at least one drill rod 7 connected to the rotating device 44; and to control the rotating device 44 to tighten the second threaded connection 58 between at least one drill rod 7 and the rotating device 44. The rod handling system 56 includes a magazine 60 for the drill rod 7. The control device 100 is connected to the rod handling system 56. The drill bit changer 1 for replacing and replacing drill bit 3 is controlled by moving drill bit 3 from the drilling center axis 15 to drill bit storage device 13 by means of clamping arm 21, and then retrieving new drill bit 3 from drill bit storage device 13 and moving new drill bit 3 to drilling center axis 15.

[0078] Figure 3 A perspective view of a drill bit changer 1 according to an example is shown, in which the components of the drilling unit 8 in which the drill bit changer 1 is arranged are also shown. The drilling unit 8 can be as follows: Figure 1 neutralization Figure 2 The drilling unit 8 shown, or a similar drilling unit, may be configured for vertical drilling or drilling in an angled direction ranging from about 0° to about 95° relative to a vertical line. The drilling unit 8 may include a collection 60 of multiple interchangeable drill rods 7. The drilling unit 8 may also include a lower support device 9. The drilling unit 8 may also include an additional support element 14 configured to loosen the threaded connection 16 of the drill rods 7. Figure 2 The additional support element 14 of the drilling unit 8 may include two hydraulically controlled clamping devices 27, which are arranged circumferentially around the drilling center axis 15 and at separate positions along the drilling center axis 15.

[0079] The drill bit changer 1, having a drill bit storage device 13, can be arranged adjacent to and parallel to the drilling center axis 15 of the drilling unit 8, and arranged to hold a plurality of drill bits 3 and allow the drill bits 3 to move between storage positions 17 and exchange positions 19 included in the drill bit storage device 13. The drill bit storage device 13 can have a cylindrical drum shape, wherein movement between the internal positions 17, 19 within the drill bit storage device 13 can be performed by rotation of such cylindrical storage device 13 or by means of rotation of internal components of cylindrical storage device 13. Each storage position 17 can hold one drill bit 3, which can be a drill bit 3 ready for use or a drill bit 3 used in a previous drilling operation. The exchange position 19 can be a single position within the storage device 13 from which the drill bit 3 can be removed or positioned, wherein internal movement of the storage device 13 can be used to position a desired slot for holding a particular drill bit 3 at the exchange position 19. The clamping arm 21 of the drill bit changer 1 can also include a clamping device 23 configured for selectively clamping the drill bit 3. The clamping arm 21 is arranged to allow the clamping device 23 to move between the exchange position 19 and the drilling center axis 15 of the drilling unit 8. For example... Figure 3 As shown, the clamping arm 21 and clamping device 23 can be hydraulically controlled, wherein the movement and clamping of the clamping arm 21 and clamping device 23 can be applied with high precision and a large force can be applied to the functional components. Furthermore, since the clamping arm 21 only needs to move to a single position 19 within the drill bit storage device 13, the movement of the clamping arm 21 can be performed by means of pivoting motion, which reduces the complexity of the design of the clamping arm 21 and the clamping device 23.

[0080] The clamping device 23 may also include a sensor 11 arranged to monitor the operating state of the clamping device 23 and the pressure applied toward the drill bit 3. Figure 2 This sensor 11 can be easily arranged within or at the hydraulic system of the clamping device 23 because the internal pressure of the hydraulic cylinder controlling the clamping movement of the clamping device 23 is directly related to when the clamping device 23 engages the object. Therefore, the sensor 11 can be used to ensure that the clamping device 23 always provides the same amount of clamping force to the object (such as a drill bit), regardless of the size of the object.

[0081] The clamping arm 21 may also include a sensor 11 arranged to monitor the movement of the clamping arm 21. Similar to the sensor 11 used for the clamping device 23, this sensor 11 may be located within or at the hydraulic system used to control the clamping arm 21. Other types of sensors 11, such as IR sensors or similar sensors, may of course be used without departing from the scope of this disclosure. By monitoring the movement of the clamping arm 21, it should be noted that this monitoring can also be used to obtain positional information relating to the position of the clamping arm 21 at any given time and therefore also to the position of the clamping device 23 at any given time. Thus, the movement and positioning of the clamping arm 21, as well as deviations of the clamping arm 21, can be monitored with high accuracy and reliability. If, for example, the clamping arm 21 removes the drill bit 3 from the drill center axis 15 and the drill bit 3 becomes stuck in its predetermined path for some reason, the internal pressure of the hydraulic system will increase at an unexpected time, and the sensor 11 can issue an alarm for an unexpected situation to the drill bit changer 1.

[0082] Drill bit changer 1 is connected to control device 100 ( Figure 2 The control device 100 is arranged to receive input from the sensor 11 and the drilling unit 8, and to control the movement of the clamping arm 21, the clamping device 23, the drill bit storage device 13, and the additional support element 14 of the drilling unit 8. The control device 100 may be located within the drill bit changer 1 or at a remote location, such as, for example, in the operator's room of the drilling rig 5. The control device 100 may be connected to the sensor 11, the drill bit changer 1, and the drilling unit 8 via a wired or wireless interface, according to existing technology.

[0083] By connecting the control device 100 not only to the drill bit changer 1 and its components, but also to the drilling unit 8 and its components, the control device 100 allows the drilling unit 8 and the drill bit changer 1 to interact and cooperate, providing more efficient operation performed by the drill bit changer 1. Furthermore, since the control device 100 can control and manage machinery such as the additional support element 14 of the drilling unit 8, the drill bit changer 1 itself requires less complex machinery, thus reducing its manufacturing cost.

[0084] The drill bit storage device 13 may also include at least one drill bit sensor 11 arranged to monitor drill bits 3 located at positions 17, 19 of the drill bit storage device 13. Such at least one sensor 11 may be an optical sensor, a pressure sensor, or a similar sensor, and may be arranged to monitor whether the drill bit 3 is located at a specific position 17, 19, or, in the case of multiple such sensors 11, to monitor whether the drill bit 3 is located at multiple positions 17, 19. Such a sensor 11 may also be a more complex sensor device arranged not only to monitor positioning within the storage device 13, but also to analyze and evaluate the drill bits 3 positioned within the storage device 13. This sensor device can scan the surface of the drill bit 3 and compare the surface of the drill bit 3 with a predetermined surface of a functional drill bit 3, wherein the control device 100 can provide the operator of the drilling unit 8 with information related to the status of the drill bits 3 positioned in the storage device 13. This allows faulty drill bits 3 to be detected and replaced, thereby extending the uptime of the drilling unit 8.

[0085] The control device 100 can be configured to initiate automatic or at least semi-automatic replacement of the drill bit 3 based on operating data of the drilling unit 8 and the drill bit 3 connected to the drilling unit 8. This operating data can be data including any one or a combination of the following: drilling time spent, drilling time since the last maintenance, expected time remaining until replacement is needed, meters drilled, meters drilled since the last maintenance, or others. This operating data can relate to the drilling unit 8, each drill bit 3 arranged in the drill bit changer 1, or both the drilling unit 8 and each drill bit 3 arranged in the drill bit changer 1. By taking this operating data into account and using available drilling schemes, if it is determined that the current drill bit 3 will be completely inoperable for the next hole 50 to be drilled, the control device 100 can therefore initiate automatic or at least semi-automatic replacement of the drill bit 3 in the hole 50 (…). Figure 2 The drill bit change operation is automatically initiated between drilling operations. Since it is not necessary to check the drill bit 3 between the holes 50 to be drilled, a significant amount of wasted time can be saved in drilling schemes involving multiple holes 50.

[0086] The control device 100 can also be arranged to determine the operating status of the drill bit 3 based on its operating data, and to provide a signal to the interface when a drill bit needs to be replaced. If certain operating data—such as previously spent drilling time, the type of material used for a particular drill bit 3, etc.—is known in advance, and the drill bit 3 is used for drilling, the control device can then monitor and update this operating data to provide and update the operating status for the drill bit 3. If, for example, it is estimated that the drill bit 3 can drill a certain amount of time in a certain type of material, the control device 100 can increase the operating time for the drill bit 3 and monitor the use of the drill bit 3 over time. This data can then be stored in memory and tracked for each specific drill bit 3 in the drill bit changer 1, wherein the drill bit 3 located in storage location 17 of the drill bit storage device 13 can be monitored according to its individual operating status. Such information can then be sent to a user interface or the like to display the operating status of all available drill bits 3, which the operator of the drill rig 5 can use to better plan future drilling operations. The control device 100 can also plan drilling operations in conjunction with the provided drilling scheme, wherein a suitable drill bit 3 moves to the exchange position 19 when a hole is to be drilled—the operating condition of the drill bit 3 is considered suitable for the hole. By allowing the control device 100 to plan drilling operations in this way and automatically initiate drill bit changing operations, a significant amount of time can be saved, and the drill bit 3 can be used at the maximum capacity of the combination of drill bits 3.

[0087] Figure 4 A perspective view of the clamping arm of a drill bit changer 1 according to an example is schematically illustrated. The clamping arm 21 of the drill bit changer 1 includes a clamping device 23 configured for selectively clamping a drill bit 3. Figure 4In this configuration, the clamping arm 21 moves to the drilling center axis 15 of the drilling unit 8 and is positioned above the support device 9. The support device 9 can be a lower support device of the drilling unit 8 arranged to support and / or hold / clamp the drill bit 3 or drill rod 7. Therefore, the drill bit 3 can be supported by the support device 9, such that the drill bit 3 rests on or abuts against the support device 9. Alternatively, the support device 9 is moved to a position where it can clamp the drill bit 3. In the case where the drill bit 3 can be supported by the support device 9, the support device 9 should be positioned below the drill bit 3 so as to support the drill bit 3 from below when it is held by the clamping device 23. The advantage of moving the support device 9 to a position where it supports the drill bit 3 from below is that various drill bits 3 with different designs can be replaced within the drilling unit 8. Because the type and design of the drill bit 3 can vary depending on the type of drilling rig 5, the clamping device 23 may not be able to hold the drill bit 3 without the support device 9, which can therefore be provided by the support device 9. With the help of this movement of the clamping device 23 and the support device 9, the replacement of the drill bit 3 can thus increase its uses and be used in various types of drilling units 8.

[0088] Figure 5 A flowchart of a method according to an example is shown. This method is executed by a control device 100 for changing the drill bit in the rock drilling unit 8. Therefore, this method relates to... Figures 1 to 4 The disclosed drilling unit 8 controls the replacement of drill bit 3. Drilling unit 8 includes: a first feed device 42 for feeding at least one drill rod 7 and drill bit 3 axially; a rotating device 44 configured to generate rotational motion of at least one drill rod 7 and drill bit 3; an impact device 46 for providing impact pulses to at least one drill rod 7 and drill bit 3; and a drill bit changer 1 for replacing the drill bit 3 on at least one drill rod 7.

[0089] The method includes: receiving information from sl01 regarding the replacement of drill bit 3; controlling sl02 an impact device 46 to cause drill bit 3 to impact the bottom 48 of the formed borehole 50, thereby loosening the first threaded connection 40 between drill bit 3 and at least one drill rod 7; controlling sl03 a first feed device 42 to remove at least one drill rod 7 and drill bit 3 from the borehole 50; controlling sl04 a rotation device 44 to remove drill bit 3 from at least one drill rod 7; controlling sl05 a drill bit changer 1 to replace and replace drill bit 3; and controlling sl06 a rotation device 44 to attach at least one drill rod 7 to drill bit 3 through the first threaded connection 40.

[0090] Figure 6 A flowchart of a method according to an example is shown. This method is executed by a control device 100 for replacing the drill bit 3 in the rock drilling unit 8. Therefore, this method relates to... Figures 1 to 4 Controlling the replacement of drill bit 3 in the rock drilling unit 8 disclosed herein. The method includes: receiving information sl01 regarding the replacement of drill bit 3; controlling sl02 an impact device 46 to cause drill bit 3 to impact the bottom 48 of the formed borehole 50, thereby loosening the first threaded connection 40 between drill bit 3 and at least one drill rod 7; controlling sl03 a first feed device 42 to remove at least one drill rod 7 and drill bit 3 from the borehole 50; controlling sl04 a rotation device 44 to remove drill bit 3 from at least one drill rod 7; controlling sl05 a drill bit changer 1 to replace and replace drill bit 3; and controlling sl06 a rotation device 44 to attach at least one drill rod 7 to drill bit 3 through the first threaded connection 40.

[0091] After controlling the sl05 drill bit changer 1 to replace the drill bit 3, and before controlling the sl06 rotating device 44 to attach at least one drill rod 7 to the drill bit 3 via the first threaded connection 40, the method further includes: controlling the second feed device 52 of the sl07 rock drilling unit 8 to move the support device 9 to a position where the support device 9 abuts against the drill bit 3.

[0092] After controlling the first feed device 42 of sl03 to remove at least one drill rod 7 and drill bit 3 from the borehole 50, and before controlling the rotating device 44 of sl04 to remove drill bit 3 from at least one drill rod 7, the method further includes: controlling the clamping element 54 of the rod handling system 56 of sl08 to clamp at least one drill rod 7 connected to the rotating device 44; and controlling the rotating device 44 of sl09 to tighten the second threaded connection 58 between at least one drill rod 7 and the rotating device 44.

[0093] Figure 7 This is a schematic diagram of the device 500 design. (Refer to...) Figure 2 and Figure 3 The described control device 100 may include device 500 in the design. Device 500 includes non-volatile memory 520, a data processing unit 510, and read / write memory 550. The non-volatile memory 520 has a first storage element 530 in which a computer program, such as an operating system, is stored for controlling the functions of device 500. Device 500 also includes a bus controller, a serial communication port, I / O devices, an A / D converter, a time and date input and transmission unit, an event counter, and an interrupt controller (not depicted). The non-volatile memory 520 also has a second storage element 540.

[0094] A computer program P is provided, which includes routines for controlling a rock drill 5. Program P may be stored in an executable form or in a compressed form in a memory 560 and / or a read / write memory 550.

[0095] When the data processing unit 510 is described as performing a specific function, this means that the data processing unit 510 implements a specific part of the program stored in the memory 560 or a specific part of the program stored in the read / write memory 550.

[0096] Data processing device 510 can communicate with data port 599 via data bus 515. Non-volatile memory 520 is intended to communicate with data processing unit 510 via data bus 512. Separate memory 560 is intended to communicate with data processing unit 510 via data bus 511. Read / write memory 550 is adapted to communicate with data processing unit 510 via data bus 514.

[0097] When data is received on data port 599, the data is temporarily stored in the second storage element 540. Once the received input data has been temporarily stored, the data processing unit 510 prepares to execute the code as described above.

[0098] The various parts of the method described herein can be implemented by means of a data processing unit 510 in device 500, which runs a program stored in memory 560 or read / write memory 550. When device 500 runs the program, the method described herein is executed.

[0099] The foregoing description of embodiments has been provided for illustrative and descriptive purposes. The foregoing description is not intended to be exhaustive or to limit the embodiments to the described variations. Many modifications and variations will be apparent to those skilled in the art. Embodiments have been selected and described to best illustrate the principles and practical applications, and thereby enable those skilled in the art to understand the invention in relation to various embodiments and modifications suitable for the intended use of the invention. The foregoing components and features can be combined among the different embodiments described within the framework of this disclosure.

Claims

1. A method for replacing a drill bit (3) in a rock drilling unit (8), executed by a control device (100), the drill bit (3) being configured to be connected to at least one drill rod (7) via a first threaded connection (40), the rock drilling unit (8) comprising: A first feed device (42) is used to feed the at least one drill rod (7) and the drill bit (3) in the axial direction; A rotating device (44) configured to generate rotational motion of the at least one drill rod (7) and the drill bit (3); Impact device (46) for providing impact pulses on at least one drill rod (7) and the drill bit (3); as well as A drill bit changer (1) for replacing a drill bit (3) on at least one drill rod (7), the method comprising: Receive (s101) information regarding the replacement of the drill bit (3); Control (sl02) the impact device (46) to cause the drill bit (3) to impact the bottom (48) of the formed drill hole (50), thereby loosening the first threaded connection (40) between the drill bit (3) and the at least one drill rod (7); Control (sl03) the first feed device (42) to move the at least one drill rod (7) and the drill bit (3) out of the borehole (50); The clamping element (54) of the control (sl08) rod handling system (56) is used to clamp the at least one drill rod (7) connected to the rotating device (44); Control (sl09) the rotating device (44) to tighten the second threaded connection (58) between the at least one drill rod (7) and the rotating device (44); Control (sl04) the rotating device (44) to remove the drill bit (3) from the at least one drill rod (7); Control (sl05) the drill bit changer (1) to replace and substitute the drill bit (3); and Control (sl06) the rotating device (44) to attach the at least one drill rod (7) to the drill bit (3) via the first threaded connection (40).

2. The method according to claim 1, wherein, After controlling (sl05) the drill bit changer (1) to replace the drill bit (3), and before controlling (sl06) the rotating device (44) to attach the at least one drill rod (7) to the drill bit (3) via the first threaded connection (40), the method further includes: Control (sl07) the second feed device (52) of the rock drilling unit (8) to move the support device (9) to the position where the support device (9) abuts the drill bit (3).

3. The method according to claim 1, wherein, The information received (s101) regarding the replacement of the drill bit (3) is based on the drilling status of the drill bit (3).

4. The method according to claim 1, wherein, Controlling (sl05) the drill bit changer (1) to change and replace the drill bit (3) includes: moving the drill bit (3) from the drilling center axis (15) to the drill bit storage device (13) by means of the clamping arm (21), and then taking out a new drill bit (3) from the drill bit storage device (13) and moving the new drill bit (3) to the drilling center axis (15).

5. A non-transitory computer-readable medium storing instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 4.

6. A control device (100) for a rock drilling unit (8), the rock drilling unit (8) comprising: A drill bit (3) configured to be connected to at least one drill rod (7) via a first threaded connection (40); A first feed device (42) is used to feed the at least one drill rod (7) and the drill bit (3) in the axial direction; A rotating device (44) configured to generate rotational motion of the at least one drill rod (7) and the drill bit (3); Impact device (46), said impact device (46) for providing impact pulses on said at least one drill pipe (7) and said drill bit (3); and A drill bit changer for changing drill bits (3) on at least one drill rod (7), the control device (100) being configured to: Receive information regarding the replacement of the drill bit (3); Control the impact device (46) to make the drill bit (3) impact the bottom (48) of the drill hole (50) formed, thereby loosening the first threaded connection (40) between the drill bit (3) and the at least one drill rod (7); Control the first feed device (42) to move the at least one drill rod (7) and the drill bit (3) out of the borehole (50); The clamping element of the control lever processing system is used to clamp the at least one drill rod (7) connected to the rotating device (44); Control the rotating device (44) to tighten the second threaded connection (58) between the at least one drill rod (7) and the rotating device (44); Control the rotating device (44) to remove the drill bit (3) from the at least one drill rod (7); Control the drill bit changer to replace and substitute the drill bit (3); and The rotating device (44) is controlled to attach the at least one drill rod (7) to the drill bit (3) via the first threaded connection (40).

7. The control device (100) according to claim 6, wherein, The control device (100) is configured to control the second feed device (52) of the rock drilling unit (8) to move the support device (9) to a position where the support device (9) abuts the drill bit (3).

8. The control device (100) according to any one of claims 6 to 7, wherein, The information received regarding the replacement of the drill bit (3) is based on the drilling condition of the drill bit (3).

9. The control device (100) according to any one of claims 6 to 7, wherein, The drill bit changer for replacing the drill bit (3) is controlled by moving the drill bit (3) from the drilling center axis (15) to the drill bit storage device (13) by means of a clamping arm (21), and then taking out a new drill bit (3) from the drill bit storage device (13) and moving the new drill bit (3) to the drilling center axis (15).

10. The control device (100) according to claim 8, wherein, The drill bit changer for replacing the drill bit (3) is controlled by moving the drill bit (3) from the drilling center axis (15) to the drill bit storage device (13) by means of a clamping arm (21), and then taking out a new drill bit (3) from the drill bit storage device (13) and moving the new drill bit (3) to the drilling center axis (15).

11. A rock drilling unit (8), comprising: A drill bit (3) configured to be connected to at least one drill rod (7) via a first threaded connection (40); A first feed device (42) is used to feed the at least one drill rod (7) and the drill bit (3) in the axial direction; A rotating device (44) configured to generate rotational motion of the at least one drill rod (7) and the drill bit (3); Impact device (46) for providing impact pulses on at least one drill rod (7) and the drill bit (3); as well as A drill bit changer (1) for changing the drill bit (3) on the at least one drill rod (7), wherein the rock drilling unit (8) includes at least one control device (100) according to any one of claims 6 to 10.

12. The rock drilling unit (8) according to claim 11, wherein, The drill bit changer (1) includes a drill bit storage device (13) for the drill bit (3) and a clamping arm (21) for moving the drill bit (3) between the drill bit storage device (13) and the drilling center axis (15).

13. A rock drill (5) comprising a rock drilling unit (8) according to any one of claims 11 to 12.

14. The rock drill (5) according to claim 13, wherein, The rock drill (5) is configured for vertical drilling or drilling in an angled direction within a range of 0° to 95° relative to the vertical line.

Images