Sandvik Mining and Construction Oy

Sandvik Tamrock Oy

Hiab Ab

Sahdvik Tamrock Oy

Markku Keskiniva

Jorma Maeki

Erkki Ahola

Esa Rantala

Jorma Mäki

Mauri Esko

Aimo Helin

Timo Muuttonen

Antti Koskimäki

Ari Kotala

Juha Piispanen

Veikko Räisänen

Hannu Hyttinen

Esko Mauri

Veikko Raisanen

Jorma MÄKI

A vehicle () comprising a vehicle accessory arrangement (), the vehicle accessory arrangement, including a working equipment (), is mounted on the vehicle (), The vehicle accessory arrangement () is configured to receive current position data, e.g. GPS data, and working assignment data including route data for a working assignment for said vehicle () provided with said working equipment (). The accessory control unit () is provided with a vehicle data set comprising control characteristics of the vehicle () on which the accessory arrangement () is mounted, and is configured to determine: The navigation and drive control commands and said working control commands are determined based upon said control characteristics. The vehicle control unit () is configured to determine a mode of operation of said vehicle () among a set of mode of operations including an autonomous mode of operation, and if it is determined that said vehicle () is in an autonomous mode of operation said vehicle control unit () is configured to enable said accessory control unit () to control said vehicle (), by said navigation and drive commands and said working control commands, to fulfil said working assignment.

Vehicle comprising a vehicle accessory arrangement

A vehicle accessory arrangement () structured to be mounted on a vehicle (), the accessory arrangement () comprises a working equipment (), an accessory control unit () configured to determine accessory control signals () and to control said working equipment () by said signals, and an accessory communication bus () comprising a bus interface () configured to connect said accessory communication bus () to a vehicle communication bus () provided at said vehicle. The accessory arrangement () comprises a wireless signal receiver () configured to receive current position data, e.g. GPS data, and working assignment data including route data for a working assignment for said vehicle () provided with said working equipment (). The accessory control unit () is configured to receive a vehicle data set among a plurality of different vehicle data sets, each of said plurality of vehicle data sets comprises control characteristics of a vehicle on which the accessory arrangement may be mounted. The accessory control unit () is configured to determine, based upon said control characteristics, navigation and drive control commands adapted to control said vehicle () provided with said vehicle accessory arrangement () to work in an autonomous mode and to travel along a route of a working assignment, and working control commands adapted to control said vehicle () such that working procedures performed by said working equipment () are supported. And that the accessory control unit () is configured to control said vehicle () provided with said vehicle accessory arrangement (), by said determined navigation and drive commands and working control commands, to fulfil said working assignment.

Vehicle accessory arrangement

A method of small-charge blasting, a rock drilling unit and a front guide to be used therein. By means of a rock drill machine provided in the rock drilling unit, a hole is first drilled into a material to be excavated and, subsequently, a drilling tool is pulled out of the hole. Next, one or more propellants comprising a propellant charge are fed to the bottom of the hole through a propellant feed channel provided in connection with a feed beam. Then, the hole is sealed and the propellant is ignited, whereupon a high gas pressure is generated, which causes fractioning in the material to be excavated. During the feeding and ignition of the propellant, the rock drill machine is kept in a parallel direction with respect to the hole.

Method and apparatus for small-charge blasting

A method for small-charge blasting, and a rock drilling unit used therein. By means of a rock drilling machine of the rock drilling unit, a drill hole is first drilled into material to be excavated, after which one or more cartridges comprising a propellant charge are fed through a drilling tool onto the bottom of the drill hole. The drilling unit comprises a cartridge feed station, which is separate from the rock drilling machine and from which the cartridges may be fed into a longitudinal channel in the drilling tool.

Method and equipment for small-charge blasting

A pressure fluid operated impact device comprising a frame () whereto a tool () is mountable movably in its longitudinal direction, and control means () for controlling pressure fluid feed to the impact device (), as well as a method of generating a stress pulse in a pressure fluid operated impact device. The impact device () comprises a working chamber () and a transmission piston () moving therein. Energy charging means for charging energy of pressure fluid and the control means are coupled to allow periodically alternately pressure fluid to flow to the working chamber () and, correspondingly, to discharge pressure fluid from the working chamber (). In the method, pressure fluid is fed to the working chamber (), which produces a force pushing the transmission piston () in the direction of the tool (), thus generating a stress pulse in the tool ().

Impact device and method for generating stress pulse therein

A method for controlling the operation of a pressure fluid operated percussion device and to a pressure fluid operated percussion device. The method includes influencing the shape of a stress wave by setting a suitable clearance between a transmission piston and a tool. The percussion device is provided with a device for setting the clearance between the transmission piston and the tool.

Percussion device

The invention relates to a method for breaking rock to be drilled in rock drilling, in which method the rock to be drilled is subjected to successive stress pulses via a tool. The method comprises stress pulses being exerted on the rock at a high frequency, and the load proportion calculated on the basis of the values of the frequency and the length (t) of the stress wave being at least 0.075.

Method for breaking rock

A pressure-fluid-operated percussion device includes a frame allowing a tool to be arranged movably in its longitudinal direction. Pressure liquid is fed to the percussion device and returned to a pressure liquid tank. A stress pulse is produced in the tool utilizing pressure of the pressure liquid. A pressure liquid source maintains pressure in the working pressure chamber. Pressure liquid is intermittently fed to the percussion device such that the pressure liquid pushes a transmission piston into a predetermined backward position. Pressure liquid is alternately discharged rapidly from the percussion device so that the pressure of the pressure liquid in the working pressure chamber and the pressure liquid flowing from the pressure liquid source pushes the transmission piston towards the tool, generating a stress pulse in the tool.

Pressure-fluid-operated percussion device

The invention relates to a method for controlling a pressure fluid operated percussion device comprising a working chamber for pressure fluid and in the working chamber a transmission piston installed movably with respect thereto so as to enable a tool installed in the percussion device to be pressed against a material to be broken in order to generate a stress pulse, and to a percussion device. The method comprises adjusting the length of the stress pulse by adjusting the time during which pressure influences the transmission piston. The percussion device comprises an adjustment element and adjustment means for adjusting the influence time of the pressure of the pressure fluid being fed via a control valve and influencing the transmission piston.

Method for controlling pressure fluid operated percussion device, and percussion device

The invention relates to a method and a rock drilling rig for drilling a hole in a rock. In the method the hole is drilled with a so-called top-hammer rock drilling rig including a drill rod and a cone roller bit at the end of the drill rod. During drilling with the percussion device, stress pulses of low amplitude are produced at a high frequency of at least 200 Hz. In the rock drilling rig, the cone roller bit () at the end of the drill rod and the percussion device are configured to feed stress pulses of low amplitude, at the frequency of at least 200 Hz, via the drill rod and the cone roller bit to the rock.

Method and rock drilling rig for hole drilling

A method and software product for controlling a percussion device belonging to a rock-drilling machine, and a percussion device. The impact frequency of the percussion device is set so that the percussion device forms a new compression stress wave to the tool always when reflected waves from the previous compression stress waves reach a first end of the tool. This requires that the impact frequency be set proportional to the propagation time of the stress wave, whereby the length of the used tool and the propagation velocity of the stress wave in the tool material are to be noted.

Method for controlling percussion device, software production, and percussion device

A percussion device for a rock drilling machine or the like, which includes providing an impact, i.e. a stress pulse, to a tool connected to the percussion device. The the stress pulse is provided by way of a stress element of liquid, which is supported to a body of the percussion device. The stress element is subjected to pressure and correspondingly the stress element is released abruptly, whereby the stress energy is discharged as a stress pulse to the tool in direct or indirect contact with the stress element.

Percussion device with a transmission element compressing an elastic energy storing material

A method of generating a stress pulse, and an impact device. In the method, pressure fluid is fed as pressure pulses to a working chamber residing between the frame of the impact device and a tool such that the resulting force presses the tool towards the material to be processed. The impact device comprises a working chamber and device for conveying pressure fluid as pressure pulses thereto such that a force is produced between the frame of the impact device and a tool to press the tool towards the material to be processed.

Method of generating stress pulse in tool by means of pressure fluid operated impact device, and impact device

An impact device includes a frame to which a tool is connectible, and a stress element that is supported on the frame and disposed between the frame and the tool. A hydraulic control system leads pressurized hydraulic fluid into and out of a hydraulic fluid space such that the stress element causes a stress pulse in the tool. The hydraulic control system includes a rotatingly installed control valve that has control openings for intermittently leading the hydraulic fluid out from the hydraulic fluid space.

Impact device with a rotable control valve

A percussion device for a rock drilling machine or the like, which comprises means for providing an impact, i.e. a stress pulse, to a tool connected to the percussion device. The means for proving the stress pulse include a stress element () of liquid, which is supported to a body () of the percussion device and means for subjecting the stress element to pressure and correspondingly for releasing the stress element () abruptly, whereby the stress energy is discharged as a stress pulse to the tool in direct or indirect contact with the stress element.

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Kangasala, Finland

Erkki Ahola