Feed Beam Orientation Control for Rock Drilling Accuracy
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Solution Overview
Problem
Rock drilling apparatuses face inaccuracies in hole direction due to orientation changes caused by forces applied when the support is pushed against the ground, leading to deviations in the boom and feed beam alignment.
Innovation Solution
The apparatus and method involve defining and compensating for orientation changes using a kinematic model, adjusting the boom and feed beam positions based on parameters like the orientation of the boom, feed beam, hole direction, and carrier inclination, either before, during, or after the support is driven onto the ground, using a control unit and sensors to ensure precise alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the support is pushed against the ground to stabilize the feed beam, then the stability of drilling is improved, but the orientation accuracy of the boom and feed beam deteriorates due to force-induced position changes and bending
Solution Approach 1:
The control unit calculates and applies compensation values to the boom and feed beam orientations before the support is pushed against the ground. This preliminary action anticipates the orientation changes that will occur during drilling, adjusting the initial positions to counteract the expected deviations caused by pushing the support against the ground.
Solution Approach 2:
The system uses sensors to detect the actual positions and orientations of the carrier, boom, and feed beam, then feeds this information back to the control unit. The control unit continuously adjusts the compensation values based on this feedback, comparing actual positions with target positions and modifying the orientation commands to maintain accuracy despite forces applied during drilling.
2Ease of operation
If forces are applied to push the support against the rock, then the drilling function is enabled, but the position and alignment of the apparatus change, causing direction errors
Solution Approach 1:
The control unit calculates compensation values that apply preliminary anti-action to counteract the harmful effects of pushing forces. By adjusting the boom and feed beam orientations in advance based on detected positions and predetermined compensation data, the system pre-compensates for the direction errors that would otherwise be caused by applying forces to push the support against the rock.
Solution Approach 2:
The system dynamically changes operational parameters including boom orientation angle, feed beam orientation angle, and compensation values based on detected positions and drilling conditions. The control unit modifies these parameters in real-time to maintain accurate hole direction despite changes in loading conditions when forces are applied during drilling.
3Adaptability or versatility
If the boom is allowed to bend under drilling forces, then the flexibility and adaptability improve, but the orientation deviation increases
Solution Approach 1:
Sensors detect the actual positions and orientations of the boom and feed beam, providing continuous feedback to the control unit. This feedback mechanism allows the system to monitor bending and orientation changes in real-time, enabling continuous adjustment of compensation values to maintain precision despite the boom's flexibility under drilling forces.
Solution Approach 2:
The system transitions from static orientation settings to dynamic adjustment, where the control unit continuously modifies boom and feed beam orientations based on real-time sensor data and detected positions. This dynamic approach allows the system to adapt to bending and flexibility while maintaining orientation accuracy through continuous compensation.
Data Source
Figure 1a~1b
Figure 2a~2c
Figure 3a~3b
AI summary
Rock drilling apparatus and method for controlling the orientation of a feed beam (7) of a rock drilling apparatus comprising a carrier (1), a drilling boom (2) attached at a first end to the carrier (1), a feed beam (7) attached turnably to a second end of the drilling boom (2), a drilling unit (5) attached movably along the feed beam (7), and a support (8) attached to the feed beam (7) for supporting the drilling boom (2) onto the ground. The orientation of the boom (2) and feed beam (7) are adjusted to compensate for the orientation change caused by driving the support (8) onto the ground.