METHOD AND DEVICE FOR STABILIZING A FEEDING SYSTEM OF A Mining OR CONSTRUCTION EQUIPMENT

Abstract

A method for stabilizing a feed system of mining or construction equipment, the feed system comprising at least one feed track, the method being carried out by a stabilizing device, comprising a stinger assembly (10) having a rock engaging end (13), a feed extension assembly (20) connected to the stinger assembly (10) to advance and retract the stinger assembly, and at least one pressure sensor (30), where the method comprises the steps of: controlling (1001) the stinger assembly (10) such that the rock engaging end (13) engages a rock surface, thereby detecting a first pressure P exerted on the stinger assembly (10) by means of the at least one pressure sensor (30); and controlling (1002) the feed extension assembly (20) to force the stinger assembly (10) towards the rock surface to detect, by the at least one pressure sensor (30), a second pressure P'exerted on the stinger assembly (10); and wherein Pgt; 0 and P'gt, 0. A stabilization device configured to perform the method and mining or construction engineering equipment comprising the stabilization device, a computer-implemented method for controlling the operation of the stabilization device, a computer program product for implementing the computer-implemented method and a computer-readable storage medium storing the computer program product.

Description

Technical Field

[0001] The present disclosure relates to a method for stabilizing a feed system of a mining or construction engineering device, a stabilizing device configured to perform the method, and a mining or construction engineering device comprising a stabilizing device. The present disclosure further relates to a computer-implemented method for controlling the operation of a stabilizing device, a computer program product for implementing the computer-implemented method, and a computer-readable storage medium storing the computer program product. Background Art

[0002] Rock bolting is commonly used to provide support to the roof or sides of a cavern in mining and civil engineering works such as tunnelling. The bolt may be a steel rod, rebar or cable installed in a borehole drilled into the roof or wall of a rock formation.

[0003] Mining or construction engineering equipment including a rock bolting system is often used for rock bolting. A typical rock bolting system includes a drill for drilling a hole and a bolting device for installing a bolt into the drill hole. The rock bolting system may have a single feed track or a double feed track.

[0004] In a single feed track rock bolting system, a drilling rig and bolting equipment are sequentially fed into a single feed track to be transported back and forth to the rock surface where a borehole is to be drilled and a bolt is installed into the borehole.

[0005] In a dual feed track rock bolting system, one of the feed tracks (also called the drilling feed track) guides the drilling machine toward the rock surface for drilling a borehole, while the other feed track (also called the bolting feed track) guides the bolting equipment toward the borehole for installing the bolt into the borehole.

[0006] The rock bolting system may further have a stinger for engaging the rock surface to stabilize the feed rail during the drilling and bolting process.The process of stabilizing the feed rail is currently performed by manual operation and relies on the experience of the operator.

[0007] Mining, as well as construction work, are inherently hazardous occupations. Mining and construction environments are hazardous to human health, with hazards ranging from rock collapse to inhalation of toxic particles. Minimizing personnel exposure to hazardous working environments should always be a priority. Therefore, it is absolutely important and necessary to develop remote and / or automated processes for stabilizing feed tracks, where remote and / or automated control replaces or augments on-site operator-based control. Currently, remote and / or automated control can only be achieved through digitization of the process for stabilizing feed tracks. Summary of the invention

[0008] In view of the above, one object of the present disclosure is therefore to provide a digital method for stabilizing a feed system comprising at least one feed track.

[0009] Another object of the present disclosure is to improve work efficiency and productivity.

[0010] Yet another object of the present disclosure is to provide a novel and advantageous method for stabilizing a feed system comprising at least one feed track.

[0011] Yet another object of the present disclosure is to provide a robust and reliable method for stabilizing a feed system comprising at least one feed track.

[0012] Yet another object of the present disclosure is to provide an alternative method for stabilizing a feed system comprising at least one feed track.

[0013] Yet another object of the present disclosure is to facilitate remote control of a process for stabilizing a feed system comprising at least one feed track.

[0014] Yet another object of the present disclosure is to facilitate at least partial automation of a process for stabilizing a feed system comprising at least one feed track.

[0015] According to a first aspect of the present disclosure, the above object is achieved by a method for stabilizing a feed system of a mining or construction engineering device, the feed system comprising at least one feed track, wherein the method is performed by a stabilizing device comprising a stinger assembly having a rock engaging end, a feed extension assembly connected to the stinger assembly for advancing and retracting the stinger assembly, and at least one pressure sensor,

[0016] The method comprises the following steps:

[0017] controlling the stinger assembly so that the rock engaging end engages the rock surface, thereby detecting a first pressure P applied to the stinger assembly via at least one pressure sensor; and

[0018] controlling the feed extension assembly to force the stinger assembly toward the rock surface, thereby detecting a second pressure P' applied to the stinger assembly by at least one pressure sensor;

[0019] And wherein, P>0 and P'>0.

[0020] The method for stabilizing a feed system comprising at least one feed track according to the present disclosure solves the problem of providing a digital method for stabilizing a feed system. The problem is solved by using a pressure applied to the stinger assembly and detected by at least one pressure sensor for monitoring the contact established between the rock engaging end and the rock surface. Adequate contact between the rock engaging end 13 and the rock surface for stabilizing the feed system is achieved by controlling the operation of the stabilizing device. The method according to the present disclosure has the advantage of stabilizing the feed system in a robust and reliable manner. The method according to the present disclosure has the further advantage of enabling remote and / or automatic control of a process for stabilizing the feed system.

[0021] In some embodiments, the second pressure P' may be higher than or equal to the first pressure P, ie, P' ≥ P.

[0022] In some embodiments, the stinger assembly has an extendable and retractable length L, wherein the stinger assembly comprises a stinger actuator for controlling the stinger assembly length L. The stinger assembly having an extendable and retractable length L has the advantage of more flexibility and improved control during stabilization of the feeding system.

[0023] In some embodiments, the stinger actuator comprises a stinger cylinder and a stinger piston rod, wherein the first pressure P is a first pressure P detected in the stinger cylinder. stinger , and the second pressure P' is the second pressure P' detected in the stinger cylinder stinger Thus, the stinger actuator functions not only as a conventional actuator but also as a device for detecting the pressure exerted on the stinger assembly and monitoring the contact established between the rock engaging end and the rock surface.

[0024] In some embodiments, the feed extension assembly includes a feed actuator for advancing and retracting the stinger assembly. Thus, the feed extension assembly can adjust the spatial position of the stinger assembly through the feed actuator. The feed extension assembly with the feed actuator has the advantage of more flexibility and improved control during stabilization of the feed system.

[0025] In some embodiments, the feed actuator comprises a feed cylinder and a feed piston rod, wherein the first pressure P is a first pressure P detected in the feed cylinder. feed , and the second pressure P' is the second pressure P' detected in the feed cylinder feed Thus, the feed actuator not only functions as a conventional actuator, but also as a device for detecting the pressure exerted on the stinger assembly and monitoring the contact established between the rock engaging end and the rock surface.

[0026] In some embodiments, the first pressure P is predetermined. The predetermined first pressure P may be used to control the operation of the stabilization device during a process for stabilizing the supply system.

[0027] In some embodiments, the second pressure P' is predetermined.The predetermined second pressure P' may be used to control the operation of the stabilization device during a process for stabilizing the supply system.

[0028] Predetermining the first pressure and / or the second pressure applied to the stinger assembly enables and facilitates remote and automatic control of the stabilizing device during a process for stabilizing the feed system. Predetermining the first pressure and / or the second pressure applied to the stinger assembly also improves operator-based control of the stabilizing device during a process for stabilizing the feed system.

[0029] The method as described above may further include a process PD for determining the first pressure P, the process PD comprising the following steps:

[0030] Control the stinger actuator to obtain the fully extended length L of the stinger assembly max ;

[0031] Control the feed extension assembly to have a fully extended length L max advancing the stinger assembly to a first displacement distance D for engaging the rock surface; and

[0032] When contact is established between the rock engaging end and the rock surface, a first pressure P is determined.

[0033] When contact is established between the rock engaging end and the rock surface, the stinger assembly effectively acts as a probe for detecting a first pressure. In determining the first pressure P, a first displacement distance D is also determined, and the feed extension assembly will have a fully extended length L max The stinger assembly is advanced to the first displacement distance D for engaging the rock surface.

[0034] The route of executing the process PD of determining the first pressure P may be recorded in a memory of the control unit.

[0035] In some embodiments, the stabilization device further comprises at least one length sensor configured to measure the first displacement distance D.

[0036] The above method may further include a process PA of adjusting the length L of the stinger assembly, the process PA comprising the following steps:

[0037] Control the stinger actuator to obtain the fully retracted length L of the stinger assembly min ;

[0038] Control the feed extension assembly to have a fully retracted length L min The stinger assembly is advanced to a first displacement distance D; and

[0039] Control the stinger actuator to obtain the length L of the stinger assembly x , where L min <L x <L max .

[0040] In the process PA of adjusting the length L of the stinger assembly, the length L of the stinger assembly is determined at a first displacement distance D. x , the first displacement distance D is determined in the process PD of determining the first pressure P.

[0041] In some embodiments, the stabilizing device further comprises a device configured to measure the length L (L min , L x , L max ) at least one length sensor.

[0042] The above method may further include a process PA of adjusting the position of the stinger assembly, the process PA comprising the following steps:

[0043] Control the stinger actuator to obtain the fully retracted length L of the stinger assembly min ;

[0044] Control the feed extension assembly to have a fully retracted length L min The stinger assembly is advanced to a second displacement distance D',

[0045] Where D'=D+L x ,

[0046] Among them, L x is the length of the stinger assembly, and L min <L x <L max .

[0047] In the process PA of adjusting the position of the stinger assembly, based on the first displacement distance D determined in the process PD of determining the first pressure and the length L of the stinger assembly x , determine the second displacement distance D'.

[0048] In some embodiments, the stabilization device further comprises at least one length sensor configured to measure the second displacement distance D'.

[0049] In some embodiments, L min <L x ≤ 1 / 2 ·Lmax .

[0050] In some embodiments, 1 / 2 ·L max ≤L x <L max .

[0051] As previously described, the process PA of adjusting the length L or position of the stinger assembly may be performed according to a recorded route of performing the process PD of determining the first pressure P.

[0052] The process PD of determining the first pressure P followed by the process PA of adjusting the length L or position of the stinger assembly 10 ensures that the rock engaging end 13 of the stinger assembly 10 is placed at an appropriate distance from the target rock surface before the process of initiating the stable feeding system. This has the advantage of providing a robust and reliable process of the stable feeding system, improved working efficiency and productivity.

[0053] In some embodiments, the feed system comprises a drilling feed track and / or a bolting feed track.

[0054] The above object can also be achieved according to a second aspect of a stabilization device configured to perform the method as described above, wherein the stabilization device comprises:

[0055] a stinger assembly having a rock engaging end;

[0056] a feed extension assembly connected to the stinger assembly for advancing and retracting the stinger assembly; and

[0057] At least one pressure sensor.

[0058] In some embodiments, the stinger assembly has an extendable and retractable length L, wherein the stinger assembly includes a stinger actuator for controlling the length L of the stinger assembly.

[0059] In some embodiments, the stinger actuator comprises a stinger cylinder and a stinger piston rod, wherein the first pressure P is a first pressure P detected in the stinger cylinder. stinger , the second pressure P' is the second pressure P' detected in the stinger cylinder stinger .

[0060] In some embodiments, the feed extension assembly includes a feed actuator for advancing and retracting the stinger assembly.

[0061] In some embodiments, the feed actuator comprises a feed cylinder and a feed piston rod, wherein the first pressure P is a first pressure P detected in the feed cylinder. feed , the second pressure P' is the second pressure P' detected in the feed cylinder feed.

[0062] In some embodiments, the stabilization device further comprises a device configured to measure the displacement distance (D, D') and / or length L (L) of the stinger assembly. min , L x , L max ) at least one length sensor.

[0063] The stabilizing device has all the advantages that have been described above in conjunction with the method for stabilizing a feed system of a mining or construction engineering installation.

[0064] The above object is also achieved according to a third aspect of a mining or construction engineering device, which comprises a feed system having at least one feed track and a stabilizing device as described above.

[0065] In some embodiments, the feed system of the mining or construction equipment described above comprises a drilling feed track and / or a bolting feed track.

[0066] The mining or construction equipment has all the advantages that have been described above in connection with the stabilizing device and the method for stabilizing a feed system.

[0067] The above objects can also be achieved according to a fourth aspect of a method performed by a control unit or a computer connected to the control unit for controlling the operation of a stabilization device as described above for stabilizing a feed system comprising at least one feed rail, wherein the method comprises the following actions:

[0068] obtaining data from at least one pressure sensor and / or at least one length sensor;

[0069] Controlling the operation of the stinger assemblies; and

[0070] Controls the operation of the feed extension assembly.

[0071] The above described method for controlling the operation of a stabilizing device, performed by a control unit or a computer connected to the control unit, has the advantage of at least partially automating the process for stabilizing a feed system of a mining or construction engineering apparatus.

[0072] The above described method for controlling the operation of a stabilizing device, performed by a control unit or a computer connected to the control unit, has all the advantages already described above in connection with the method for stabilizing a feed system of a mining or construction engineering apparatus.

[0073] The above-mentioned purpose is also achieved according to a fifth aspect of a computer program product, which comprises instructions, which, when executed on at least one processor, cause the at least one processor to implement a method executed by a control unit or a computer connected to the control unit for controlling the operation of a stabilizing device as described above for stabilizing a feed system comprising at least one feed rail.

[0074] The computer program product provides all the advantages that have been described above in connection with the method as described above for controlling the operation of a stabilizing device for stabilizing a feed system comprising at least one feed rail.

[0075] The above-mentioned purpose is also achieved according to a sixth aspect of a computer-readable storage medium storing a computer program product, the computer program product comprising instructions which, when executed on at least one processor, cause the at least one processor to implement a method executed by a control unit or a computer connected to the control unit for controlling the operation of a stabilizing device as described above for stabilizing a feed system comprising at least one feed rail.

[0076] The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] With reference to the accompanying drawings, a more detailed description follows of embodiments of the present disclosure cited as examples.

[0078] In the attached picture:

[0079] Figure 1 is a schematic diagram of a stabilizer of a feed extension assembly with a fully retracted stinger assembly (a, a') or a fully extended stinger assembly (b, b');

[0080] Figure 2 is a schematic diagram of a stabilizing device of a feed extension assembly with a fully advanced and fully retracted stinger assembly (a, a'), a partially extended or retracted stinger assembly (b, b'), or a fully extended stinger assembly (c, c');

[0081] Figure 3 is a block diagram depicting a method for stabilizing a feed system of mining or construction equipment;

[0082] Figure 4 is a block diagram illustrating a control unit and connections to the control unit. DETAILED DESCRIPTION

[0083] The present disclosure is intended to reduce or even eliminate exposure of personnel to hazardous working environments during the process of stabilizing a feed system for mining or construction engineering equipment. The present disclosure is further intended to reduce manual workload without compromising work efficiency or productivity. The present disclosure enables remote and automatic control of the process of stabilizing a feed system for mining or construction engineering equipment by providing a novel, digital, robust and reliable solution that is superior to the prior art.

[0084] As used herein, "advance" means to move forward relative to a reference position or to move forward relative to a reference position.

[0085] Herein, "retract" means to move backward relative to a reference position or to move backward relative to a reference position.

[0086] The words "advance" and "retract" are defined herein as antonyms.

[0087] As used herein, "extend" means to extend or to increase in length.

[0088] As used herein, "retract" means to move back or to shorten in length.

[0089] The words "extend" and "retract" are defined herein as antonyms.

[0090] Herein, the length L of the stinger assembly 10 is used to represent Figure 1 and Figure 2 The extendable or retractable length of the stinger assembly 10 shown in FIG. max is the fully extended length of the stinger assembly 10, L min is the fully retracted length of the stinger assembly 10, and L x is the partially extended or retracted length of the stinger assembly 10 .

[0091] As used herein, “displacement distance” refers to the distance that the stinger assembly 10 is advanced or retracted regardless of the length L of the stinger assembly 10 .

[0092] According to a first aspect of the present disclosure, there is provided a method for stabilizing a feed system of a mining or construction engineering device. Figure 3 ), the feed system comprising at least one feed track, wherein the method comprises a stabilizing device ( Figure 1 and Figure 2 ), the stabilizing device comprising a stinger assembly 10 having a rock engaging end 13, a feed extension assembly 20 connected to the stinger assembly 10 for advancing and retracting the stinger assembly 10, and at least one pressure sensor 30, wherein the method comprises the following steps, which may be performed in any suitable order:

[0093] controlling 1001 the stinger assembly 10 so that the rock engaging end 13 engages a rock surface, thereby detecting a first pressure P applied to the stinger assembly 10 via at least one pressure sensor 30; and

[0094] Controlling 1002 the feed extension assembly 20 to force the stinger assembly 10 toward the rock surface, thereby detecting a second pressure P' applied to the stinger assembly 10 through at least one pressure sensor 30;

[0095] And wherein, P>0 and P'>0.

[0096] Figure 3 is a block diagram depicting a method as described above for stabilizing a feed system of a mining or construction equipment. Optional method steps are Figure 3 Marked with dotted lines.

[0097] The method according to the present disclosure may be manually operated on-site by an operator, remotely operated, and / or automatically operated.

[0098] The method for stabilizing a feed system comprising at least one feed track according to the present disclosure solves the problem of providing a digital method for stabilizing a feed system. The problem is solved by using a pressure applied to the stinger assembly 10 and detected by at least one pressure sensor 30 for monitoring the contact established between the rock engaging end 13 and the rock surface. Adequate contact between the rock engaging end 13 and the rock surface for stabilizing the feed system is achieved by controlling the operation of the stabilizing device. The method according to the present disclosure has the advantage of stabilizing the supply system in a robust and reliable manner. The method according to the present disclosure has the further advantage of facilitating more precise manual control of the process for stabilizing the feed system. The method according to the present disclosure has the further advantage of enabling remote and / or automatic control of the process for stabilizing the feed system.

[0099] A second pressure P' is exerted on the stinger assembly 10 when initial contact has been established between the rock engaging end 13 and the rock surface, which is indicated by detecting the first pressure P.

[0100] In some embodiments, the second pressure P' may be higher than or equal to the first pressure P, ie, P' ≥ P.

[0101] In some embodiments ( Figure 3 ), the first pressure P is predetermined so that a suitable initial contact between the rock engaging end 13 and the rock surface for stabilizing the feed system can be achieved. The predetermined first pressure P can be used to control the operation of the stabilizing device during the process for stabilizing the feed system.

[0102] In some embodiments the second pressure P' is predetermined to enable adequate contact between the rock engaging end 13 and the rock surface for a stabilizing feed system. The predetermined second pressure P' may be used to control the operation of the stabilizing device during a process for stabilizing the feed system.

[0103] Predetermining the first pressure and / or the second pressure applied to the stinger assembly 10 enables and facilitates remote and automatic control of the stabilizing device during the process for stabilizing the feed system. Predetermining the first pressure and / or the second pressure applied to the stinger assembly 10 also improves operator-based control of the stabilizing device during the process for stabilizing the feed system.

[0104] In some embodiments ( Figure 3 ), the method further comprises a process PD for determining a first pressure P, wherein the process PD comprises the following steps, which may be performed in any suitable order:

[0105] Control 001 the stinger actuator to obtain the fully extended length L of the stinger assembly 10 max ;

[0106] Control 002 feed extension assembly 20 to have a fully extended length L max advancing the stinger assembly 10 to a first displacement distance D to engage the rock surface; and

[0107] When contact is established between the rock engaging end 13 and the rock surface, a first pressure P is determined 003 .

[0108] When contact is established between the rock engaging end 13 and the rock surface, the stinger assembly 10 effectively acts as a probe for detecting a first pressure. In determining the first pressure P, a first displacement distance D is also determined, and the feed extension assembly 20 will have a fully extended length L max The stinger assembly 10 is advanced to the first displacement distance D to engage the rock surface.

[0109] The route of executing the process PD for determining the first pressure P may be recorded in the memory 602 of the control unit 600 ( Figure 4 ).

[0110] Herein, by "route" is meant the path, progression or process of the stabilizing device from a starting point to a destination where contact is established between the rock engaging end 13 of the stinger assembly 10 and the rock surface so that the first pressure P can be detected.

[0111] In some embodiments ( Figure 3), the method further comprises a process PA of adjusting the length L of the stinger assembly 10, wherein the process PA comprises the following steps, which may be performed in any suitable order:

[0112] The stinger actuator is controlled 101 to obtain the fully retracted length L of the stinger assembly 10 min ;

[0113] Control 102a advances the extension assembly 20 to have a fully retracted length L min The stinger assembly 10 is advanced to a first displacement distance D; and

[0114] Control 103 the stinger actuator to obtain the length L of the stinger assembly x , where L min <L x <L max .

[0115] In the process PA of adjusting the length L of the stinger assembly 10, the length L of the stinger assembly 10 is determined at a first displacement distance D. x The first displacement distance D is determined in the process PD of determining the first pressure P

[0116] The method as described above may further include a process PA of adjusting the position of the stinger assembly 10, wherein the process PA includes the following steps, which may be performed in any suitable order:

[0117] The stinger actuator is controlled 101 to obtain the fully retracted length L of the stinger assembly 10 min ;

[0118] Control 102b feeds the extension assembly 20 to have a fully retracted length L min The stinger assembly 10 is advanced to a second displacement distance D',

[0119] Where D'=D+L x ,

[0120] Among them, L x is the length of the stinger assembly 10, and L min <L x <L max .

[0121] In the process PA of adjusting the position of the stinger assembly 10, based on the first displacement distance D determined in the process PD of determining the first pressure P and the length L of the stinger assembly 10 x , determine the second displacement distance D'.

[0122] In some embodiments, L min <L x≤ 1 / 2 ·L max .

[0123] In some embodiments, 1 / 2 ·L max ≤L x <L max .

[0124] As previously described, the process PA of adjusting the length L or position of the stinger assembly 10 may be performed based on a recorded route of performing the process PD of determining the first pressure P.

[0125] The process PD of determining the first pressure P followed by the process PA of adjusting the length L or position of the stinger assembly 10 ensures that the rock engaging end 13 of the stinger assembly 10 is placed at an appropriate distance from the target rock surface before the process of initiating the stable feeding system. This has the advantage of providing a robust and reliable process of the stable feeding system, improved working efficiency and productivity.

[0126] According to a second aspect of the present disclosure, there is provided a stabilizing device configured to perform the method as described above for stabilizing a feed system of a mining or construction engineering device, the feed system comprising at least one feed track, wherein the stabilizing device comprises:

[0127] a stinger assembly 10 having a rock engaging end 13;

[0128] a feed extension assembly 20 connected to the stinger assembly 10 for advancing and retracting the stinger assembly 10; and

[0129] At least one pressure sensor 30 .

[0130] The stabilizing device has all the advantages that have been described above in conjunction with the method for stabilizing a feed system of a mining or construction installation.

[0131] In some embodiments ( Figure 1 and Figure 2 ), the stinger assembly 10 has an extendable and retractable length L, wherein the stinger assembly 10 includes a stinger actuator for controlling the length L of the stinger assembly 10.

[0132] Figure 1 The stabilizer is shown in a bottom view (a) and a side view (a') with the stabilizer fully retracted and having a length L min The feed extension assembly 20 of the stinger assembly 10 is shown fully retracted.

[0133] Figure 1 Also shown are a bottom view (b) and a side view (b') of the stabilizer with the stabilizer fully retracted and having a length Lmax The feed extension assembly 20 of the fully extended stinger assembly 10 is shown.

[0134] Figure 2 The bottom view (a) and the side view (a') of the stabilizer are shown, with the stabilizer having a length L fully advanced. min The feed extension assembly 20 of the stinger assembly 10 is shown fully retracted.

[0135] Figure 2 Also shown is a bottom view (b) and a side view (b') of the stabilizer with a fully advanced stabilizer having a length L x The feed extension assembly 20 of the stinger assembly 10 is shown in FIG.

[0136] Figure 2 Further shown are a bottom view (c) and a side view (c') of the stabilizer with a fully advanced stabilizer having a length L max The feed extension assembly 20 of the fully extended stinger assembly 10 is shown.

[0137] The stinger assembly 10 with an extendable and retractable length L has the advantage of more flexibility and improved control during stabilization of the feeding system. The stinger actuator may be any type of actuator suitable for the intended use. The stinger actuator may be an electric, hydraulic or pneumatic actuator.

[0138] In some embodiments ( Figure 1 and Figure 2 ), the stinger actuator comprises a stinger cylinder 11 and a stinger piston rod 12; and wherein the first pressure P is a first pressure P detected in the stinger cylinder 11 stinger , and the second pressure P' is the second pressure P' detected in the stinger cylinder 11 stinger Thus, the stinger actuator functions not only as a conventional actuator but also as a device for detecting the pressure exerted on the stinger assembly 10 and monitoring the contact established between the rock engaging end 13 and the rock surface.

[0139] Preferably, the pressure (P stinger , P' stinger ) is used in the method as described above.

[0140] In some embodiments ( Figure 1 and Figure 2 ), the feed extension assembly 20 includes a feed actuator for advancing and retracting the stinger assembly 10. Therefore, the feed extension assembly 20 can adjust the spatial position of the stinger assembly 10 through the feed actuator.

[0141] The feed extension assembly 20 with the feed actuator has the advantage of more flexibility and improved control during stabilization of the feed system. The feed actuator may be any type of actuator suitable for the intended use. The feed actuator may be an electric, hydraulic or pneumatic actuator.

[0142] In some embodiments ( Figure 1 and Figure 2 ), the feed actuator comprises a feed cylinder 21 and a feed piston rod 22; and wherein,

[0143] The first pressure P is the first pressure P detected in the feed cylinder 21. feed ,

[0144] The second pressure P' is the second pressure P' detected in the feed cylinder 21 feed Thus, the feed actuator functions not only as a conventional actuator but also as a device for detecting the pressure exerted on the stinger assembly 10 and monitoring the contact established between the rock engaging end 13 and the rock surface.

[0145] However, the friction generated during the process for stabilizing the feed system may disturb the pressure (P feed , P' feed ).

[0146] In some embodiments, the stabilizing device further includes a device configured to measure the displacement distance (D, D') and / or length L (L) of the stinger assembly 10. min , L x , L max ) at least one length sensor 40. The length sensor 40 may be a linear sensor, a dimensional sensor, a distance measuring device, an extensometer, an inductive sensor, or any other type of length sensor suitable for the intended use.

[0147] According to a third aspect of the present disclosure, there is provided mining or construction engineering equipment comprising a feed system having at least one feed track and a stabilizing device as described above.

[0148] The mining or construction equipment has all the advantages that have been described above in connection with the stabilizing device and the method for stabilizing a feed system.

[0149] The mining or construction equipment may be a mining or construction drilling machine suitable for various mining operations or construction projects. The mining or construction equipment may be a drilling machine, a bolting machine or a rock bolting machine configured for drilling and bolting.

[0150] Typically, the feed system and the stabilizing device are arranged on a feed beam of a mining or construction equipment.

[0151] In some embodiments, the feed system comprises a drilling feed track and / or a bolting feed track.

[0152] According to a fourth aspect of the present disclosure, a method for controlling the operation of a stabilizing device as described above for stabilizing a feed system comprising at least one feed rail, performed by a control unit 600 or a computer connected to the control unit 600, is provided, wherein the method comprises the following actions:

[0153] obtaining data from at least one pressure sensor 30 and / or at least one length sensor 40;

[0154] controlling the operation of the stinger assembly 10; and

[0155] The operation of the feed extension assembly 20 is controlled.

[0156] The above described method for controlling the operation of a stabilizing device, performed by the control unit 600 or a computer connected to the control unit 600, has the advantage of at least partially automating the process for stabilizing a feed system of a mining or construction equipment.

[0157] The above described method for controlling the operation of a stabilizing device, performed by the control unit 600 or a computer connected to the control unit (600), has all the advantages already described above in connection with the method for stabilizing a feed system of a mining or construction equipment.

[0158] like Figure 4 As shown in , the control unit 600 can be connected to the stinger assembly 10, the feed extension assembly 20, the pressure sensor 30 and the length sensor 40 via communication links 100a, 100b, 100c and 100d, respectively. The control unit 600 includes at least one processor 601, at least one memory 602 and at least one data port 603. The at least one processor 601 is generally an electronic processing circuit that processes input data and provides appropriate outputs.

[0159] According to a fifth aspect of the present disclosure, a computer program product is provided comprising instructions which, when executed on at least one processor 601, cause the at least one processor 601 to implement a method for controlling the operation of a stabilizing device as described above for stabilizing a feed system comprising at least one feed rail, executed by a control unit 600 or a computer connected to the control unit 600.

[0160] The computer program product provides all the advantages that have been described above in connection with the method as described above for controlling the operation of a stabilizing device for stabilizing a feed system comprising at least one feed rail.

[0161] According to some embodiments herein, a computer program is provided, which comprises program code for causing a control unit 600 or a computer connected to the control unit 600 to implement the method as described above for controlling the operation of a stabilizing device as described above for stabilizing a feed system comprising at least one feed rail.

[0162] The computer program may include routines for obtaining data from the at least one pressure sensor 30 or the at least one length sensor 40 , controlling the operation of the stinger assembly 10 , and controlling the operation of the feed extension assembly 20 .

[0163] According to a sixth aspect of the present disclosure, a computer-readable storage medium storing a computer program product is provided, the computer program product comprising instructions which, when executed on at least one processor 601, cause the at least one processor 601 to implement a method for controlling the operation of a stabilizing device as described above for stabilizing a feed system comprising at least one feed rail, executed by a control unit 600 or a computer connected to the control unit 600.

[0164] The computer-readable storage medium has all the advantages that have been described above in conjunction with the computer program product.

[0165] According to some embodiments herein, a computer-readable storage medium storing a computer program is provided, wherein the computer program comprises program code for causing a control unit 600 or a computer connected to the control unit 600 to implement a method as described above for controlling the operation of a stabilizing device as described above for stabilizing a feed system comprising at least one feed rail. The computer-readable storage medium may comprise a non-volatile memory (NVM) for storing the computer program.

[0166] Although the present invention has been described according to the example embodiments set forth above, it should be understood that the examples are given for illustrative purposes only and should not be considered as limitations on the claims, as many variations thereof are possible without departing from the scope of the present invention. Each feature disclosed or shown in this disclosure may be incorporated in the claims alone or in any appropriate combination with any other features disclosed or illustrated herein.

Claims

1. A method for stabilizing a feed system of a mining or construction engineering device, the feed system comprising at least one feed track, wherein: The method is performed by a stabilization device, the stabilization device comprising: A stinger assembly (10) having a rock engaging end (13); a feed extension assembly (20) connected to the stinger assembly (10) for advancing and retracting the stinger assembly (10); and at least one pressure sensor (30), Wherein, the method comprises the following steps: controlling (1001) the stinger assembly (10) so that the rock engaging end (13) engages a rock surface, thereby detecting a first pressure P applied to the stinger assembly (10) by the at least one pressure sensor (30); and controlling (1002) the feed extension assembly (20) to force the stinger assembly (10) toward the rock surface, thereby detecting a second pressure P' applied to the stinger assembly (10) via the at least one pressure sensor (30); And wherein, P>0 and P'>0.

2. The method according to claim 1, wherein: P'≥P.

3. The method according to claim 1 or 2, wherein: The stinger assembly (10) has an extendable and retractable length L, and wherein the stinger assembly (10) comprises a stinger actuator for controlling the length L of the stinger assembly (10).

4. The method according to claim 3, wherein: The stinger actuator comprises a stinger cylinder (11) and a stinger piston rod (12), and wherein: The first pressure P is the first pressure P detected in the stinger cylinder (11). stinger , The second pressure P' is the second pressure P' detected in the stinger cylinder (11) stinger .

5. A method according to any one of the preceding claims, wherein: The feed extension assembly (20) includes a feed actuator for advancing and retracting the stinger assembly (10).

6. The method according to claim 5, wherein: The feed actuator comprises a feed cylinder (21) and a feed piston rod (22), and wherein: The first pressure P is the first pressure P detected in the feed cylinder (21). feed , The second pressure P' is the second pressure P' detected in the feed cylinder (21) feed .

7. A method according to any one of the preceding claims, wherein: The first pressure P is predetermined.

8. A method according to any one of the preceding claims, wherein: The second pressure P' is predetermined.

9. The method according to claim 7 or 8, wherein: The method further comprises a process PD for determining the first pressure P, the process PD comprising the following steps: Controlling (001) the stinger actuator to obtain a fully extended length L of the stinger assembly (10) max ; Control (002) the feed extension assembly (20) to extend the feed extension assembly (20) to have the fully extended length L max The stinger assembly (10) is advanced to a first displacement distance D for engaging the rock surface; and When contact is established between the rock engaging end (13) and the rock surface, the first pressure P is determined (003).

10. The method according to claim 9, wherein: The method further comprises a process PA of adjusting the length L of the stinger assembly (10), the process PA comprising the following steps: Controlling (101) the stinger actuator to obtain a fully retracted length L of the stinger assembly (10) min ; Control (102a) the feed extension assembly (20) to have the fully retracted length L min The stinger assembly (10) is advanced to the first displacement distance D; and Controlling (103) the stinger actuator to obtain a length L of the stinger assembly (10) x , where L min <L x <L max .

11. The method according to claim 9, wherein: The method further comprises a process PA of adjusting the position of the stinger assembly (10), the process PA comprising the following steps: Controlling (101) the stinger actuator to obtain a fully retracted length L of the stinger assembly (10) min ; Control (102b) the feed extension assembly (20) to have the fully retracted length L min The stinger assembly (10) is advanced to a second displacement distance D', Where D'=D+L x , Among them, L x is the length of the stinger assembly (10), and L min <L x <L max .

12. The method according to claim 10 or 11, wherein: L min <L x ≤1 / 2·L max .

13. The method according to claim 10 or 11, wherein: 1 / 2·L max ≤L x <L max 。 14. The method according to any one of claims 3 to 13, wherein: The stabilizing device further comprises a device configured to measure the displacement distance (D, D') and / or the length L (L min , L x , L max ) of at least one length sensor (40).

15. A method according to any one of the preceding claims, wherein: The feed system comprises a drilling feed track and / or a bolting feed track.

16. A stabilization device configured to perform a method for stabilizing a feed system of mining or construction engineering equipment, the feed system comprising at least one feed track, wherein: The stabilizing device comprises: A stinger assembly (10) having a rock engaging end (13); a feed extension assembly (20) connected to the stinger assembly (10) for advancing and retracting the stinger assembly (10); and at least one pressure sensor (30), Wherein, the method comprises the following steps: controlling (1001) the stinger assembly (10) so that the rock engaging end (13) engages a rock surface, thereby detecting a first pressure P applied to the stinger assembly (10) by the at least one pressure sensor (30); and controlling (1002) the feed extension assembly (20) to force the stinger assembly (10) toward the rock surface, thereby detecting a second pressure P' applied to the stinger assembly (10) via the at least one pressure sensor (30); And wherein, P>0 and P'>0.

17. The stabilizing device according to claim 16, wherein: P'≥P.

18. A stabilizing device according to claim 16 or 17, wherein: The stinger assembly (10) has an extendable and retractable length L, and wherein the stinger assembly (10) comprises a stinger actuator for controlling the length L of the stinger assembly (10).

19. The stabilizing device according to claim 18, wherein: The stinger actuator comprises a stinger cylinder (11) and a stinger piston rod (12), and wherein: The first pressure P is the first pressure P detected in the stinger cylinder (11). stinger , The second pressure P' is the second pressure P' detected in the stinger cylinder (11) stinger .

20. A stabilising device according to any one of claims 16 to 19, wherein: The feed extension assembly (20) includes a feed actuator for advancing and retracting the stinger assembly (10).

21. The stabilizing device according to claim 20, wherein: The feed actuator comprises a feed cylinder (21) and a feed piston rod (22), and wherein: The first pressure P is the first pressure P detected in the feed cylinder (21). feed , The second pressure P' is the second pressure P' detected in the feed cylinder (21) feed .

22. A stabilising device according to any one of claims 16 to 21, wherein: The first pressure P is predetermined.

23. A stabilising device according to any one of claims 16 to 22, wherein: The second pressure P' is predetermined.

24. A stabilising device according to claim 22 or 23, wherein: The method further comprises a process PD for determining the first pressure P, the process PD comprising the following steps: Controlling (001) the stinger actuator to obtain a fully extended length L of the stinger assembly (10) max ; Control (002) the feed extension assembly (20) to extend the feed extension assembly (20) to have the fully extended length L max The stinger assembly (10) is advanced to a first displacement distance D for engaging the rock surface; and When contact is established between the rock engaging end (13) and the rock surface, the first pressure P is determined (003).

25. The stabilizing device according to claim 24, wherein: The method further comprises a process PA of adjusting the length L of the stinger assembly (10), the process PA comprising the following steps: Controlling (101) the stinger actuator to obtain a fully retracted length L of the stinger assembly (10) min ; Control (102a) the feed extension assembly (20) to have the fully retracted length L min The stinger assembly (10) is advanced to the first displacement distance D; and Controlling (103) the stinger actuator to obtain a length L of the stinger assembly (10) x , where L min <L x <L max .

26. The stabilizing device of claim 24, wherein: The method further comprises a process PA of adjusting the position of the stinger assembly (10), the process PA comprising the following steps: Controlling (101) the stinger actuator to obtain a fully retracted length L of the stinger assembly (10) min ; Control (102b) the feed extension assembly (20) to have the fully retracted length L min The stinger assembly (10) is advanced to a second displacement distance D', Where D'=D+L x , Among them, L x is the length of the stinger assembly (10), and L min <L x <L max .

27. A stabilising device according to claim 25 or 26, wherein: L min <L x ≤1 / 2·L max .

28. A stabilising device according to claim 25 or 26, wherein: 1 / 2·L max ≤L x <L max 。 29. A stabilising device according to any one of claims 18 to 28, wherein: The stabilizing device further comprises a device configured to measure the displacement distance (D, D') and / or the length L (L min , L x , L max ) of at least one length sensor (40).

30. Mining or construction engineering equipment comprising a feed system having at least one feed track and a stabilizing device according to any one of claims 16 to 29.

31. The mining or construction engineering apparatus of claim 30, wherein: The feed system comprises a drilling feed track and / or a bolting feed track.

32. A method for stabilizing the feed system comprising at least one feed track, performed by a control unit (600) for controlling the operation of the stabilization device according to any one of claims 16 to 29 or a computer connected to the control unit (600), wherein: The method comprises the following actions: obtaining data from the at least one pressure sensor (30) and / or the at least one length sensor (40); controlling the operation of the stinger assembly (10); as well as Controlling the operation of the feed extension assembly (20).

33. A computer program product comprising instructions which, when executed on at least one processor (601), cause the at least one processor (601) to implement the method for stabilizing the feed system comprising at least one feed rail according to claim 32.

34. A computer-readable storage medium storing a computer program product comprising instructions which, when executed on at least one processor (601), cause the at least one processor (601) to implement the method for stabilizing the feed system comprising at least one feed rail according to claim 32.

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