SE539108C2 - Drilling arrangements, vehicles, computer programs and the procedure for holding drill stringers - Google Patents

Abstract

The invention relates to a method in a drilling arrangement (7) for gripping a drill string means (35, 35 ', 36) for removing a drill steel (35) from said drill string means. The method comprises the steps of providing holding means of said drill string (35, 35 ', 36), providing a drive head (20, 37, 39) provided with a drive head (20, 37, 39) provided for drilling the drill steel (35) from the drive head (20, 37, 39), providing an actuating means (42) for to displace a gripping device (21) in an axial direction (X) in an axial direction (X) in the direction from the drive head (20, 37, 39) and to hold in a holding position by means of said gripping device (21) one closest to the drive head (20, 37, 39). ) located drill steel end and to rotate the drill steel (35) out of the remaining drill string means (35 ', 36). The invention also relates to a drilling arrangement and a computer program product including program code for an electronic control unit associated with the drilling arrangement for performing the method. (Fig. 7a)

Description

The present invention relates to an underground method in a drilling arrangement for gripping unstretched drill string means. The invention also relates to a drilling arrangement, a vehicle and an end computer program product comprising program code for an electronic control unit associated with the drilling arrangement to perform the method.

The invention can be attributed to the manufacturing industry for mining equipment and to the mining industry in general, but is not limited to this. BACKGROUND Today's technology of drilling in rock underground sometimes requires an operator to move his drilling rig from the place where he is currently located to another above location to be able to drill in the downward direction. In this way, awkward handling of the drilling equipment up and down is avoided, and problems with drill cuttings, etc., such as falling on the drilling equipment, can make handling more difficult.

Today's technology thus means that a great deal of work is required. Known drilling arrangements mean that the drill string of the drill string is loosened either manually or with the aid of the adjacent drilling arrangement set up and in the drilling direction bulky retaining constructions for retaining the drill steel. Awkward and bulky constructions of today require, as I said, great work effort when drilling upwards. Drill cutters can fall into the drive head of the drilling arrangement, which can mean downtime.

Such handling of detaching drill steel from each other and from the drive head of the drilling arrangement is thus time consuming and can according to known technology be risky for operating personnel.

US 6,230,590 discloses a free-standing gripping key for holding drill steel during upward drilling. EP 2 487 325 describes a gripping claw for holding drill steel. US 5,012,878 discloses a gripping key integrated in a drive head used to detach drill steel from each other.

SUMMARY OF THE INVENTION An object of the present invention is to provide a flexible drilling arrangement.

One object is to provide a drilling arrangement which is user-friendly to use in a mine.

An object of the invention is to provide a new and advantageous method for a drilling arrangement for holding drill string means, especially in riser drilling, but not limiting to such type of drilling.

Another object of the invention is to provide a new and advantageous drilling arrangement for accomplishing said method as well as an advantageous computer program in a drilling arrangement.

An object of the invention is to provide a semi-automatic drilling arrangement, comprising a hub or "wrench" for holding drill steel. One purpose is that it can easily be used for driving an escape head in the direction of the drill arrangement's drive head regardless of the direction of the borehole, i.e. drilling in the upward direction (box hole) should also be cost-effective.

A further object of the invention is to provide a drilling arrangement which is cost effective to use from a time and safety aspect.

A further object of the invention is to provide a drilling arrangement which is compact and easy to manufacture.

A further object of the invention is to provide a drilling arrangement which is reliable.

A further object of the invention is to provide a drilling arrangement and method which is user-friendly during the drilling procedure per se.

These objects are achieved with a method in a drilling arrangement for gripping a drill string means for removal according to claim 1.

According to the present invention there is provided a method of a drilling arrangement for gripping a drill string means for removing a drill steel from said drill string means.

The method comprises: 3 - providing retention of said drill string means; - providing a drive head arranged at the drilling arrangement with a rotation for threading the drill steel from the drive head; - providing an actuating means for displacing an engaging device in an axial direction from an original position in the direction of the drive head, said providing actuating means for holding in a holding position by means of spring action, said gripping device a drill steel end located closest to the driving head; and-rotate the drill steel from the remaining drill string means.

In this way, the actuating means can ensure that the gripping device is displaced in the axial direction from the drive head towards the recess for grip of the drill steel so that it can be held and rotated by the chuck of the drive head. This is particularly advantageous in the case of riser drilling, as the drilling is cut vertically in the upward direction towards the ground surface. The method described herein thus allows reliable operation and the gripping device is guaranteed to be displaced in the direction from an original position at the drive head to a holding position when lugs or locking means of the gripping device are pushed into recesses in the end of the drill steel by means of a rotating shaft ngema ng.

In this way, an operator does not have to manually move the retaining structure in the upward direction for gripping one end of the drill steel for retaining. A necessary upward movement of the groove must take place in order to be able to detach the drill steel from each other. In, for example, riser drilling for drilling two opposite holes or two holes oriented at an angle to each other in the vertical direction, this means a large work effort.

Preferably, the step of providing said actuating means for said displacement of the gripping device in the axial direction comprises spring action.

In this way, a reliable function can be provided. The number of springs can vary from a single enclosing drill steel to a plurality of symmetrically located peripherally or in between. Compression springs can be used as well as tension springs or combinations of these types. 4Different types of spring packages can be used. These can be spring pads, inverted dampers, lowering springs, electromagnetic spring devices, devices with pressurized fluid.

Suitably the step of providing said actuating means for said displacement of the gripping device in the axial direction involves actuation by means of hydraulics and / or pneumatics.

In this way, the drive head can be easily displaced with adjustable force and the power source can be used in, for example, an already existing vehicle.

Preferably, the actuating means is supplemented with a link arrangement controlled by means of hydraulics or the like to, in engagement with a gripping device surrounding the ring, lead them down over said lugs or locking means and push them in for engagement in recesses of the drill steel in order to rotate the drill steel by means of the drive head. close-fitting retained drill steel.

Suitably the step of providing said actuating means comprises driving in locking means at least one recess of the drill steel. When the drill steel is rotated relative to the other drill steels for disassembly, a threading takes place.

Preferably, the step of the holding position also includes providing said locking means in engagement with a stop means of the gripping device during the rotation of the drill steel from the remaining drill string means.

Thus, said ring can be made less bulky in the axial direction because the stop means, such as for example a projecting flange of a housing arranged in the gripping device, prevents the ring from ending up next to the locking means, whereby the ring does not have to be widened to always reach the locking means. Since large forces are required on the lugs to hold the drill steel in place, it is important that the inner circumference and locking means of the ring end up in position for the bore of the drill steel.

By using locking means, for example "blocks" which are pushed into the drill steel recess pre-holding by means of the ring provided in an optimal position, the ring can be made as narrow as possible, while the load distribution is optimal, whereby the drilling arrangement can be made less bulky. By means of victory grooves in the "hub" or the hub and in cooperation with a cylinder associated with a hospo actuating means comprising a length sensor means, different types of made of drill steel can be used for the drilling arrangement. It is advantageous that the length sensor is programmed with predetermined length values so that an operator can easily enter input value values in the control unit for the current drill steel.

This means that a user does not have to break an unnecessarily large tunnel or location to make room for the drilling arrangement.

Suitably the locking means of the gripping device comprises a bearing arm over a pivot point which in turn is actuated by the ring which is pushed over and thereby presses in and holds quark lugs in the recess of the drill steel. Because the gripping device grips the drill steel and the gripping device has internal splines in engagement with external splines of a chuck drive head arranged and the external splines of the chuck are engaged with internal splines of a drive unit of the drive head, the drill steel can be rotated. Thanks to a torsionally strong transmission via splines, a displacement in the axial direction can take place. When unloading the drill steel from the other drill string, the drill steel will move from the drill string, whereby of course the leveling device moves in the direction away from the drill string and thus in the direction of the counter-drive head. When loosening the drill steel, the ring is pushed by means of the link arrangement in the direction of the drive head and away from the lugs and opens them.

Preferably, the method also comprises the step of adjusting in the axial direction the gripping device together with a sealing membrane applied thereto, so that during drilling said sealing membrane does not end up level with said recess of the drilling steel.

In this way, drill cuttings, such as dirt, water and rock debris, are prevented from entering the drive head via the recess in the drill steel when a user drills a pilot hole or drills or holds an upward hole during drilling.

Said length sensor means arranged at the cylinder associated with the actuating means (the length sensor means for example in the form of a length sensor built into the cylinder) allows the drilling arrangement to be easily controlled to position the sealing membrane so that it seals against recesses of different types of drill steel.

Preferably, and in case it seems necessary, a sensor is located at the drive head and from the position of the recess of different types of drill steel relative to the thread of the drill steel, the sensor can detect the current location of the recess relative to the chuck in the axial direction and a control unit suitably arranged to control the gripping device. always seal against the drill steel regardless of where the recess is located on the current drill steel.

These objects are also achieved by means of a drilling arrangement defined in the introduction having the features stated in the characterizing part of claim 7.

According to the present invention there is provided a drilling arrangement comprising a drive head for driving an axially slidable internally threaded body and an enclosing body rotatably arranged and axially slidable gripping device, said body being arranged for threading in and out of drilling string means, wherein an actuating means is arranged an initial position displaces said gripping device in the axial direction in the direction from the drive head, the actuating means comprising a spring means.

This results in the design of a compact, non-bulky drilling arrangement. Particularly space-saving is the drilling arrangement in the axial direction of the drive head, i.e. the transverse dimension, for example the longitudinal extent of a mining town. This in turn creates a cost-effectiveness in mining.

This also achieves a reliable drilling arrangement. The actuating means, such as a spring package, displaces the gripping device (including in a hub or hub axially displaceable drive head chuck) in the axial direction away from the drive head (from the original position), i.e. in the direction of the drill steel recess (s) adjacent the drill steel end.

Thanks to such a construction, an opportunity is also created to turn the drive head for driving boreholes upwards, which occurs, for example, in riser drilling. The actuating means, such as said spring package, is preferably arranged to displace the gripping device (hub) in the direction of or in the main direction towards the gravitational force. Preferably, the actuating means comprises a spring means. Preferably the actuating means comprises at least one hydraulic actuator.

In this case, the hub can be operated back by means of a control unit by means of a link arm arrangement.

Preferably, the gripping device comprises a ring element displaceable in the axial direction for driving inwardly in the radial direction a locking means for providing a rotationally fixed connection between the gripping device and the drill steel. Preferably, one end portion of the link arrangement engages with and is mounted on the ring member, so that the axial action of the ring member shields the cam surfaces of the locking means (may be rocker arms arranged to act on blocks, lugs, wedges or similar locking means, arranged for insertion and extension of the drill steel recesses). so that the blocking means in said radial direction drives said blocking means into the recesses of the drill steel.

Suitably the gripping device has a stop means for positioning the ring element in axial direction relative to said locking means.

Preferably, the hub or hub which is part of the gripping device has a flange portion acting as a stop means. The flange portion is alternatively formed at the side of the hub facing away from the drive head.

When threading the other end of the drill steel (closest to the drilled borehole), the drill steel is allowed (by means of, for example, splines) to be moved in the direction of the drive head, whereby the gripping device naturally follows this movement and thus approaches the drive head.

The link arrangement adapts to this movement and also the actuating means, such as the spring package. In such a movement, the flange portion of the hub prevents ring element ports from being outside an area for the action of said locking means. Thus, the inter-element in the axial direction needs to be designed with a wide mantle surface, which enables a non-axial drilling borehole.

Alternatively, the actuating means has a spring element arranged at a link arrangement, which spring element moves the gripping device initially from the original position. A cylinder-containing piston and piston rod are arranged to actuate a shorter arm which in turn via said spring element influences a longer arm supporting the gripping device. Suitably, said cylinder is arranged to pivot the shorter arm about a pivot point common to the longer arm in order to actuate the gripping device in a disengaged position via said spring element.

In this way a disengagement is obtained which gives a smooth and rigid action of the gripping device, in particular the threading of the drilling steel from the next drilling steel as the gripping device follows the drilling steel in direction towards the drive head. The spring element allows a free movement of the longer arm joint towards the shorter arm while the cylinder causes the shorter arm to pivot back to the original position.

Suitably the gripping device comprises a sealing membrane having an internal circumference adapted to the diameter of the drill steel. Preferably, the drilling arrangement is arranged with a single control unit which controls the gripping device to place the sealing membrane in an alternative position around the drilling steel than in the area of the recess of the drilling steel for said locking means. This functionality is mainly used when drilling or escaping boreholes.

The above objects are also achieved with a vehicle comprising the drilling arrangement, which vehicle may be a motor vehicle. The vehicle can be a drilling rig intended for mining.

According to the invention, there is provided a computer program for a drilling arrangement to grip a drill string means for removing a drill steel from said drill string means, said computer program comprising a program code stored on a computer readable medium for performing the method steps according to any one of claims 1 to 6 when the computer program is run an electronic control unit associated with the drilling arrangement.

Software that includes program code for positioning the drilling arrangement can be easily updated or replaced. Furthermore, different parts of the software can be replaced independently of each other.

This modular configuration is advantageous from a maintenance perspective.

According to one aspect of the invention, there is provided a computer program product comprising a program code stored on a computer readable medium for performing the method steps of any of claims 1 to 6 when a computer program is run on an electronic controller associated with the drilling device.

Additional objects, advantages, and novel features of the present invention will be apparent to those skilled in the art from the following skilled in the art, and in the practice of the invention. While the invention is so defined by the following claims, it should be pointed out that the invention is not limited to the features stated therein, but further embodiments and combinations of embodiments described are possible. For example, the drilling arrangement per se may comprise a remote-controlled vehicle transporting the equipment to the intended location. The vehicle can be set up for autonomous steering. For example, a communication link may be a physical line, such as a wireless optoelectric communication line, or a non-physical line, connection, for example, a radio or microwave link. SUMMARY DESCRIPTION OF THE DRAWINGS For a more complete understanding of the present invention and further objects and advantages thereof, , reference is now made to the following detailed description which is to be read in conjunction with the accompanying drawings, in which like reference numerals refer to like parts in the various figures, and in which drawings schematically: Figure 1 illustrates a vehicle carrying a drilling arrangement according to an embodiment of the invention; Figure 2 illustrates the vehicle of Figure 1 when positioning the drilling arrangement; Figure 3 illustrates a gripping device of the drilling arrangement according to an embodiment of the invention; Figures 4a to 4h illustrate sub-steps for removing drill steel from a drill string according to an aspect of the invention; Figure 5 illustrates an aspect of the invention where so-called ridge drilling is performed; Figures 6a to 6f show an aspect of the invention in more detail; Figures 7a to 7c illustrate an embodiment of link arrangement; Figure 8 shows a gripping device and actuating means according to an aspect of the invention; Figures 9a to 9j illustrate various aspects of the invention; Figures 10a to 10b illustrate flow charts of methods according to various aspects of the invention; and Figure 11 illustrates a control unit according to an embodiment of the invention. DETAILED DESCRIPTION OF THE FIGURES Details which are not of major importance to the inventive concept are omitted in the drawing for the purpose of clarifying the figures.

With reference to Figure 1, a vehicle 1 is shown. According to one embodiment, the exemplified vehicle 1 is a so-called drilling rig 3 adapted for mining. The vehicle 1 is a motor vehicle with four wheels 5 and is provided with a drilling arrangement 7. The drilling arrangement 7 shown in Figure 1 is a transport position for transporting the drilling arrangement 7 to a position for drilling underground (for example mine, tunnel etc.) Figure 2 illustrates the vehicle 1 in Figure 1 when positioning the drilling arrangement 7. The drilling arrangement 7 is placed in position between two wall sections 9 of a space 11, in which the extent of the drilling arrangement 7 is oriented in the borehole direction.

According to this embodiment, the vehicle 1 is operator-controlled by an operator (not shown) by means of a first control unit 100. A communication link between the drilling arrangement 7 and the control unit 100 is shown by reference numeral L100. A second control unit 110 is arranged in pre-communication with the first control unit 100 and is an external control unit and is used to be loaded via software to the first control unit 100 via the link L110 which is part of an internal network in the vehicle 1.

The operator maneuvers four support legs 13 (only two are shown) to take struts against said wall section 9. A drive means 15, in the form of two double-acting hydraulic cylinders 17, is coupled to the support legs 13. Between the hydraulic cylinders 17 is a motor unit 19 comprising gearbox and a wide a feed head 20 arranged chuck (not shown) pivotally mounted with single swing sector of 180 degrees. The operator operates the feed head 20 to pivot to a first end position, in which the chuck faces the position of the first borehole to be drilled, and the control unit 100 locks the feed head 20 in a first position. A first drill steel (not shown) is fitted by threading the chuck with one end and its other end a drill bit (not shown). Installation of drill steel takes place through the operator's care via the control unit100. The control unit 100 then provides, under the supervision of the operator, drive of the drill bit and continuously controls hydraulic pressure both in terms of pressure applied to the hydraulic cylinders 17 and pressure driving the rotation of the motor unit 19 in the feed head 20 for rotation of the drill bit. The control unit 100 thus controls the operation of the drilling arrangement 7 by means of control signals via the link L100. A second drill steel (not shown) is threaded on the first drill steel and subsequent drill steel is threaded on as the drill bit works its way into the rock.

Mounting of drill steel (not shown) takes place in succession by the operator's care via the control unit. The control unit 100 continuously controls the drive of the drill bit and simultaneously controls hydraulic pressure for hydraulic cylinders 17 and motor unit 19. When escaping the borehole, the drill string is pulled towards the drilling arrangement 7. threaded by the drill string 36 one by one and also threaded from the chuck of the feed head. At each step for threading out a drill steel (can also be a drill pipe or similar drill string unit) for removal, the drill steel which is connected to the drill steel which is located closest to the feed head is held. The drill steel to be removed and which is located closest to the feed head is first threaded out of the chuck. This is achieved by holding the drill steel adjacent to it in a rotationally fixed manner relative to the hole drilled by means of a gripper member. In this way, the chuck will thread out of the drill steel during its rotation. The direction of rotation is the opposite direction of rotation for drilling. This is followed by a step of threading out the drill bit closest to the feed head from this adjacent drill bit. This is done by holding the feed head adjacent the drill bit in a rotationally fixed manner relative to the chuck, so that the chuck co-rotates this drill steel during its rotation so that it threads out of the adjacent drill steel. Now that the feed head closest to the drill steel is free at both ends, it is removed and the feed head is moved to the free end of the next drill bit and the chuck is threaded on. Evacuation or pick-up of the drill string continues and the procedure is repeated until the last drill steel has been removed.

Figure 3 illustrates in a perspective view a gripping device 21 of a drilling arrangement 7 according to an embodiment of the invention. The gripping device 21 is built up of a hub housing 23 and a ring element 25 slidably mounted around it in the axial direction X. The hub housing 23 comprises a centrally through hole 27 formed with internal splines 29. External splines for engagement with splines 29. The chuck is in turn axially movable and rotatably mounted with its outer splines engaged with splines of a rotating drive means (not shown) coupled to the gearbox of the drill bit 7 (not shown). By means of victory grooves (not shown) in the housing 23 together with a detection means (not shown) for detecting the position of a drill steel, different types of make of drill steel can be used for the drilling arrangement 7.

A link arrangement 31 is mounted about an axis Y extending across the axial direction X. The task of the link arrangement 31 is to hold in position and guide the ring element 25 the circumference of the upper hub housing 23 and via the ring element 25 thereby influence the displacement of the gripping device 21 along the drill steel (not shown) and influence the locking means 33 of the gripping device 21.

Figures 4a to 4h schematically illustrate sub-steps for removing drill steel 35 from a single-drill string 36 according to an aspect of the invention. Figure 4a shows a drilling arrangement 7 clamped to a mining site by means of a support leg 13 and hydraulics (not shown but only a hint of a dotted line). The drilling arrangement 7 comprises a drive head 37 for rotating an axially direction X slidable internally threaded chuck 39, and an enclosing chuck 39 rotatably arranged and in axial direction X slidable gripping device 21. The chuck 39 is designed for threading said drill steel 35. The gripping device 21 is mounted suspended around the chuck 39 and a biased compression spring 41 is provided to actuate the hub of the gripping device 21 (not shown). Figure 4a shows the drilling arrangement 7 rotating a drill string 36 for receiving a borehole 43. In this case an escape is performed by means of an escape head 45. The direction of rotation for drilling is clockwise ME. Figure 4b shows a moment where said drill steel 35's held drill steel 35 'is held by a key 47 which holds and the support drill string 36 and the escape head 45. The chuck 39 is rotated counterclockwise MO and the end 38 of the drill steel 35 facing the drive head 37 is threaded out of the chuck 39. Figure 4c stopped and the prestressed compression spring 41 is arranged to displace said gripping device 21 from the original position U (see Figure 4a) next to the drive head 37 in said first direction from the drive head 37 after the axial direction X. In this way it is ensured that the gripping device 21 is reliably is pushed down over recesses 51 of said end 38 of the drill steel 35.

Figure 4d shows a moment where locking means 33 of the gripping device 21 are forced into their respective recess 51 to provide a torsionally fixed connection between the gripping device 21 and the drill steel 35. The chuck 39 is then rotated counterclockwise again, shown in Figure 4e, the gripping device 1321 threaded drill steel 35 'held by the key 47. In such a threading, the drill steel 35 is pushed against the drive head 37 and splines of the type shown in Figure 3 allow displacement of the chuck 39 in the axial direction towards the drive head 37. At the same time rotational drive of the chuck 39 to cause rotation of the drill steel 35 and said threading.

Figure 4f shows a moment in which a hydraulic (not shown) acts on the gripping device 21 in one direction against the spring force of the prestressed spring 41 to displace a locking means 33 in said direction X towards the drive head 37 after a pull-out of the locking means from said recess 51. When the gripping device 21 has been displaced towards the drive head 37, the drill steel 35 can be removed, as shown in Figure 4g.

Figure 4h finally shows how the drilling arrangement 7 is positioned in a position adjacent to the previously applied drill steel 35 ', which may now constitute the first-mentioned drilling steel. Chuck thread on the drill steel and the escape progresses a distance D corresponding to the length of a drill steel 35, 35 '. The procedure is repeated from the step shown in Figure 4a.

Figure 5 illustrates an aspect of the invention where so-called ridge drilling is performed. This embodiment refers to moments when the drilling arrangement 7 is turned with the thread 39 of the chuck 39 upwards (for drilling from a mining site underground in the direction of the ground surface). Two springs 41 'cause the gripping device 21 to be displaced in the direction of the drive head 37 to facilitate locking of the gripping device 21 against the recesses 5 of the drill steel 35. A second gripping device 47' holds the fixed drill string 36 and the escape head 45. The drilling arrangement 7 is suspended in a support device (not shown). (not shown) (such as hydraulics) for feeding the drive head 37 in the axial direction X. A pivoting mechanism 60 is arranged to pivot the drive head 180 degrees about an axis extending orthogonally to the axial direction X. The rotation of 180 degrees takes place from a first position when the axis of rotation of the chuck 39 (also of the drive head 37 or the drill steel) corresponds to the axial direction X to a second position when the axis of rotation of the natural chuck 39 also corresponds to the axial direction. This functionality in combination with said drilling arrangement 7 allows a very efficient riser drilling. It is advantageous when said functionality and removal of drilling steel takes place semi-automatically and a control unit 100 (shown in Figure 2) enables an operator-controlled method. Both the gripping device 21 and the oscillating mechanism 60 are then arranged for signal connection with the control unit 100.

When the drive of the first borehole is complete, the successive drill bits 35, 35 '14 are detached from each other. They are threaded together in a direction of rotation opposite to the direction of rotation (when drilling) of the drill string 36 under the supervision of the control unit 100. After the last drill steel is removed from the chuck, the feed head 20 (180 degrees) pivots about an axis extending transversely to the hydraulic cylinders. The movement takes place from a position where the direction of the rotational axis of the feed head 20, in line with the longitudinal direction of the drill steel 35, corresponds to the direction or extent of the position of the hydraulic cylinder cylinders the axis of the center of rotation is parallel to said direction of the action movement of the hydraulic cylinders 17. The operator thus operates the feed head 20 to pivot to a second end position, wherein the chuck is facing the position of a second borehole to be drilled, and the control unit 100 ensures locking of the feed head 20. A first drill steel (not shown) is threaded into the chuck again and a drill bit begins driving other holes in a different direction.

Figures 6a to 6f show an aspect of the invention in more detail. Figure 6a illustrates a drive head 37 comprising a chuck 39. The chuck 39 is rotatably and slidably mounted to the drive unit 53 of the drive head 37. A spring package 41 "(only two springs are shown) of an actuating member 42 is arranged between said drive unit 53 and a gripping device 21 for active and direct actuation of the housing 22 of the gripping device 21. The gripping device 21 comprises a hub 24 formed by the housing 22 slidably mounted at the chuck 39 in the axial direction and the hub 22. The hub 24 has an edge flange 40. The gripping device 21 further comprises a ring 25 'formed with groove 55, in which groove 55 a guide element 57 is arranged to guide the ring 25 'in the axial direction X. Figure 6a further shows a first drill steel 35 threaded in the chuck 39. The drill steel 35 has two recesses 51. The recesses 51 are each formed with flat surfaces against which blocks 59 can be brought for locking and gripping of the drill steel 35 by means of the gripping device 21. The ring 25 'cooperates with rocker arms 61 for actuating n of blocks 59.

Figure 6b shows how the spring package 41 "of an actuating member 42 acts on the gripping device 21 in the direction of the recesses 51. The thread of the drill steel 35 facing the drive unit 53 is the original threaded chuck 39. A link arrangement (not shown) is designed to actuate the ring 25 'in movement. blocks 59 in the recesses 51 of the drill steel 35, which is shown in Figure 6c. Figure 6c also shows an initial threading of the drill steel 35 from the other drill steel of the drill string (not shown) .The gripping device 21 is rotatably and slidably connected to the chuck 39 via engaging means (such as splines). ) and holds the drill steel 35, which drill steel 35 rotates together with the gripping device 21 and the chuck 39 while the drill string 35 'of the drill string 36' closest to said drill steel 35 is locked by means of a locking means (such as key 47 in Figure 4b). Figure 6d shows how the gripping device 21 is displaced towards drive unit 53 together with the drill steel 35 at the threading of the drill steel 35 from the drill string (not shown). the springs 41 will now be compressed (leaning against the rotating part of the drive unit 53) and assume the position of bias. Such a bias produced automatically by the applicant's tests has proved to be effective in mining, since mechanisms for influencing the gripping device 21 can thereby be made less bulky than known drilling arrangements. It is advantageous for a non-bulky drilling arrangement in mining. Figure 6d also shows according to this described embodiment how the locking means 33 or blocks 59 are provided in engagement with the recesses 51. In this holding position, when the drill steel 35 is displaced towards the drive unit 53, the saw edge flange 40 will be applied to the blocks 59 (or locking means 33) with which the ring 25 ' is retained in position against the blocks 59 and does not slip off them. Since large forces are required to hold the fixed drill steel 35 when separating drill steel from each other, it is important that the ring 25 'abut the rocker arms 61 in line with the blocks 59. This solution with edge flange 40 guiding the ring 25' in position with the blocks 59, allows the ring 25 to is designed with a relatively small dimension seen in the axial direction X, which in turn means that the drilling arrangement 7 can be made less bulky than known drilling arrangements.

Figure 6e shows how the ring 25 ', after the threading of the drill steel 35 from adjacent drill steel has been effected, is displaced up against a second edge 40' of the hub housing 22 thereby releasing the blocks 59 from the recesses. A link arrangement (not shown) driven by pneumatic gripper in and for the gripping device 21 in the direction back towards the drive unit 53, which is shown in Figure 6f, the spring package 41 ”being further biased to its original position U.

Figures 7a to 7c show an aspect of the invention showing a link arrangement 65 pivotally disposed about an axis 66 extending transversely to the axial axis X. According to this aspect, a first link arm 67 drives a ring member 25 "over two second link arms 69 actuating them to pivot and hold drill steel 35 by means of a hydraulic cylinder 71. Four springs 41 "'(only two are shown) have previously displaced the gripping device 21 in the direction of the drive head 37. In this position, threading of the drill steel 35 can be started by rotating the chuck 39.

Surface splines of the chuck 39 engage with internal splines of the hub 24. In Figure 7b, the link arrangement 65 follows the movement of the drill steel 35 towards the drive head 37 after the drill bit 35 at the exit from a threaded drill steel (such as 35 'in Figure 4e) will move towards the drive head 37. 7c shows as an example how the first link arm 67 of the link arrangement 65 pushes the gripping device 21 against the drive head 37 and thereby biases the four springs 41 "'to the original position U. In that position the blocks 59 are also free and the drill steel 35 can be removed from the drill arrangement 7 manually or automatically by an operating arm (not shown).

Figure 8 illustrates a gripping device 21 according to a further embodiment of the invention. The gripping device 21 comprises a hub 24 'having an internal central bushing 27'. The bushing 27 'is formed with splines 29. A sealing washer 73 is arranged at the side of the hubs 24' facing away from the drive head. 37. The gripping device 21 is guided in position along the axial axis X so that the sealing washer 73 ends up sealingly at least next to a recess 51 of the drill steel 35.

Figure 9a schematically shows an actuating member 42 in the form of hydraulic cylinders H. Figure 9b schematically shows an actuating member 42 in the form of combined spring element 41 "'and pneumatic cylinders H.

Figure 9c schematically shows an actuating member 42 in the form of a resilient rubber bellows member 41 "" arranged centrally around the axial shaft which is pressurized for actuating the gripping device 21. Figure 9d schematically shows an actuating member 42 in the form of a lever 68 actuated by a tension spring 41 "".

Figure 9e schematically shows an actuating member 42 where a spring element 80 of a link arrangement 65 is arranged between a short arm K and a long arm L. A cylinder C-containing piston and rod is arranged to actuate the short arm K which in turn via spring element 80 acts on it long arm L supporting the gripping device 21. The original position U first acts on the spring element 80, which presses the long arm L in the direction from the short arm K so that the gripping device 21 ends up in the position of engagement (not shown) 17 around the drill steel (not shown). Thereafter, the cylinder C is actuated to contract with which the short arm K is rotated to compress the spring element 80. In this position shown in Figure 9f, the short arm K is also disengaged from the long arm L with which the gripping device 21 via the long arm L obtains a satisfactory degree of freedom F in movement along the axial direction X.

Figure 9g schematically shows how a link arrangement 65 is constructed according to an aspect of the invention. An arm 70 does not engage the ring 25 when the hub 24 is pushed in the direction away from the drive head 37. Springs 41 ensure that the hub 24 is moved in the direction from the drive head 37. That is, when cylinder 71 is retracted, the ring will move in direction P3 (see Figure 9h) from the drive head 37 due to the fact that the outer end Ä of the link arm 67 follows an ear S of the cylinder71 in an opposite direction marked with P1 in Figure 9h. When the hub 24 is attached to the victory ring SR on the chuck, the arm 70 is "activated" by the cylinder 71 and the spring 80 receives and ensures that the ring 25 is pressed further in the direction from the drive head 37 and the ring in turn blocks (not shown) in the correct position. Figure 9j shows diagrammatically how at a position S said link arm 67 is released from the arm 70 and the cylinder 71 acts in the direction P4 the arm 70 via the spring 80 so that the ring is forcibly pressed over said blocks.

Figures 9g to 9i thus schematically show a cylinder 71 used for "activating" or "inactivating" the gripping device 21 by moving a ring element 25. The cylinder 71 is also used according to an aspect for positioning a sealing membrane in engagement (reference 73i Figure 8). A positioning that can involve 20-30 mm additional movement for engagement of the mantle surface of the drill bit depending on the value entered in the control unit for the currently used drill steel. A spring means 41 ensures that the gripping device 21 is always pressed against the ring element 25, until the gripping device 21 comes into the correct position on the chuck 39. Thereafter, the arm 70 presses on the link arm 67 'so that blocks are pressed into the drill string means. By the ring element 25 being actuated by both the cylinder 71 and the spring 80 and in cooperation with the arm 70 a "floating" function is obtained. Thus, the height of the gripping device 21 (seen in the axial direction X) can be optimized. That is to say, a ring element 25 with a smaller dimension in the X-direction can be achieved since the ring element will always be optimally placed.

The first link arm 67 is actuated by the hydraulic cylinder 71 for displacing the hub 24 'in the direction of the drive head 37 by means of the ring 25 "coupled to the first link arm 67. A releasable coupling between the hydraulic cylinder 71 and the end of the first link arm 67 facing away from the hub 24 'enables a disengagement when the third arm 70 via the front link arm 67 actively holds the hub 24' in position when unloading the drill steel 35 from the closing drill steel 35 '. This is especially important in said unloading to be able to allow such disengagement to avoid disturbance of the hydraulic cylinder 71 contraction The third arm 70 also allows a relatively large torque and thus positioning force to be applied to the ring 25 ”for holding rocker arms against blocks and in abutment against the flange 40.

One aspect could be that the third arm 70 thus presses the first link arm 67 and thus the hub 24 'in the direction away from the drive head 37 by abutting the ring 25 "against the edge flange 40 (see Fig. 8) and a spring element 80 arranged between the third arm 70 and the first link arm 67 allows a smooth and resilient movement of the first link arm 67 in engagement with the ring 25 ".

Figure 9j schematically shows a spring element 41 directly connected to a link arm 67 in the absence of a shorter arm (such as 70 in the previous Figure 9i). This is made possible by the coupling of the cylinder 71 or (may be push rod, piston rod end or cylinder ear) to the end of the link arm being made flexible, i.e. at position FL running in a hole elongated at the cylinder ear assigned to the cylinder.

Figure 10a shows a flow chart according to an aspect of the invention. The first step involves starting. The method further comprises, in a drilling arrangement, gripping a drill string means for removing a drill steel from said drill string means. The method includes the steps of providing retention 202 of said drill string means; providing a drive head arranged at the drilling arrangement with a rotation 203 for threading the drill steel from the drive head; providing an actuating means for displacing from an initial position in the axial direction 204 a gripping device in the direction of the drive head; and holding 205 in a holding position by means of said gripping device a drill steel end located closest to the drive means and rotating it 206 out of the remaining drill string means.

Figure 10b shows a flow chart in which the method step 302 comprises providing holding of said drill string means 36, providing a drive head 20, 37 provided with the drilling arrangement 7 for threading out of the drill steel 35 from the drive head 20, 37, 19 to provide an actuating means 42 for in an axial direction X displace a gripping device 21 in the direction of the drive head 20, 37, and hold in a holding position by means of said gripping device 21 a drill steel end located closest to the drive head 20, 37 and to rotate the drill steel 35 out of remaining drill string means 36.

Figure 11 illustrates a control unit according to an embodiment of the invention. Herein, a diagram of an embodiment of a device 400 is shown. The control units 100 and 110 described with reference to Figure 2 comprise according to this embodiment said device 400. The device 400 comprises a non-volatile memory 401, a data processing unit 402 and a read / write memory 403. the non-volatile memory 401 has a first memory portion 404 in which a computer program P, such as an operating system, is stored to control the operation of the device400. Further, the device 400 includes a bus controller, a serial communication port, I / O means, an A / D converter, a time and date input and transfer unit, a single event counter and an interrupt controller (not shown). The non-volatile memory 401 also has a second memory portion 405.

A computer program P is provided which comprises routines for removing said drill steel 35 from the drill string 36 one by one in series according to one embodiment. The program P comprises routines for adjusting a hydraulic pressure of the actuating means 42 to thereby regulate an axial force on the gripping device 21. The program P further comprises routines for the release bearing gripping device 21 to move from the drive head 37 and to change the direction of rotation of the chuck 39 and stop the rotation. Likewise, the program P comprises routines for positioning the drive head 37 at the free end of the drill string 36, threading the chuck 39, driving the drill string 36 out of the borehole, and gripping the drill string 36 according to the method described herein. In this embodiment, the program P is stored in an executable manner or compressed in a memory and / or in a read / write memory 406.

When it is described that the data processing unit 402 performs a certain function, it should be understood that the data processing unit 402 performs a certain part of the program P which is stored in the memory 406, or a certain part of the program P which is stored in the read / write memory 403. The data processing device 402 can communicate with a data port DP via a data bus 407. The non-volatile memory 401 is intended for communication with the data processing unit 402 via a data bus 408. The separate memory 406 is intended to communicate with the data processing unit 402 via a data bus 409. The read / write memory 403 is arranged to communicate with the data processing unit 402 via a data bus 410. To the data port DP, e.g. links L100 and L101 are connected (see Figure 2).

When data is received on the data port DP, it is temporarily stored in the second memory part 405. When the received input data has been temporarily stored, the data processing unit 402 is arranged to perform code execution in a manner described above. According to one embodiment, signals received at the data port DP include information about a prevailing hydraulic pressure of the actuator 42 of the actuator 42 and hydraulic pressure for rotation of the drive head 37 causing rotation on the drill string and providing opposite rotation for threading.

According to one embodiment, signals received at the data port include information on complete removal of drill steel 35 or during drilling the current position of the drill steel 35 recess pre-positioning of seal. Said information can be detected with dedicated sensors or entered manually in the first control unit by means of a pressure screen (not shown). The received signals on the data port DP can be used by the device 400 to regulate the said hydraulic pressure on the basis of detected current values. Parts of the methods described are performed by the device by means of the data processing unit 402 running the program P stored in the memory 406 or the read / write memory 403 and when the device 400 runs said program, said methods are executed.

While the invention is so defined by the following claims, it is to be pointed out that the invention is not limited to the features stated therein, but further embodiments and combinations of described embodiments are possible. For example, drilling arrangements may include a remote controlled vehicle transporting the equipment to the intended location. The vehicle can be set up for autonomous steering. For example, a communication link may be a physical line, such as an optoelectric communication line, or a non-physical line, such as a single wire connection, for example a radio or microwave link. Removal of drill steel afterwards can be done completely automatically, semi-automatically or manually. The drilling can be attributed to riser drilling or other escape drilling where one seeks to connect a space with two other spaces and the spaces are located one level, horizontally, vertically or in between. The stop means may, in addition to being formed by a flange or end edge of the gripping device, be formed by stop lugs or projections of a hub included in the gripping device. Locking means such as blocks or wedges are advantageously dimensioned to fit the actual recesses that occur in the drill steel for splicing. Actuating means may, in addition to being a spring or a single spring, be formed by a motor-driven push rod to effect the movement in the axial direction. The motor drive can be electric, pneumatic or hydraulic. Likewise, a single type of magnetic means or electromagnetic means can effect the initial movement. For example, the initial movement of the gripping device starting from the original position in the direction away from the drive head can also take place with both spring force and intermediate link arrangement influenced by hydraulic cylinder. The actuating means may be attached to the drive housing head non-rotating about the axis of rotation of the chuck or rotate together with the chuck and the gripping means about the axis of rotation. The actuating means can support the gearbox or greenhouse of the counter-drive head. It can also be attached to another foundation supporting the drive of the gripping device in the direction from the drive head and from the original position. Definition of drill steel of the drill string, can also be synonymous with drill pipe, "pipe", or the like. Ladder drilling is often used to drive boreholes, such as shafts and / or risers between a first, second and third space. Thus, in riser drilling, spaces at different levels or horizontally lying spaces in a mine can be connected for communication, for example ventilation, material transport or elevator can be set up. Usually a pilot hole is drilled first in a first direction from the drilling arrangement. Double-acting hydraulic cylinder is operated to feed a rotating drive head. This creates a compressive force, such as the presser drill bit in the direction from the drilling arrangement and a pulling force in the opposite direction to feed back the drill bit. This traction force can also be used for escaping a wider hole in the direction back to the drilling arrangement. The drill string has sections with drill steel, drill rods, drill pipes, etc., which sections are built on or removed gradually based on the feed direction.

The drill string has at its one end a drill bit or the like for receiving holes. Wide feedback loosens drill steel from each other one at a time. Different auxiliary mechanisms exist today to detach the drill steel from each other. Various means exist for attaching drill steel to a drive head, such as clamping, bolting, magnetism, etc.

Alternatively, the drilling arrangement according to an aspect of the invention may be remotely controlled, wherein an operator remote from the drilling arrangement, for example from the ground surface, may control the method 22 of holding drill string means and removing it from the drilling arrangement. According to another alternative, the drilling arrangement can be a remote-controlled vehicle arranged with the drilling arrangement, wherein an operator remotely controls the vehicle to the intended place for drilling, drills and sedant back. According to another alternative, the drilling arrangement comprising a carrier can be of an autonomous nature, whereby an operator only needs to start the procedure and the process proceeds by itself to completion.

Claims (11)

A method of a drilling arrangement (7) for gripping a drill string means (36) for removing a drill steel (35) from said drill string means, comprising: - providing holding of said drill string means (36). ), - providing a drive head (20, 37) provided in the drilling arrangement (7) for rotating to thread the drill steel (35) from the drive head (20, 37); - providing an actuating means (42) for moving from an original position (U) in an axial direction (X) displacing a gripping device (21) in the direction of the drive head (20, 37), said providing the actuating means (42) including spring action, and holding in a holding position by said gripping device (21) a proximal driving head (20, 37) and rotate the drill steel (35) out of the remaining drill string means (36). A method according to claim 1, wherein the step of providing said actuating means (42) displaces said gripping device (21) in the axial direction (X) includes actuation by means of hydraulics and / or pneumatics. . A method according to any one of claims 1 or 2, wherein the step of providing saw impact means (42) comprises driving locking means (33, 59) into at least one recess (51) of the drill steel (35). A method according to claim 3, wherein the step of holding in a holding position also comprises providing said locking means (33, 59) in engagement with a stop means (40) of the gripping device (21) during the rotation of the drill steel (35) from remaining drill string means (36). A method according to any one of the preceding claims, wherein the method also comprises the step of adjusting in the axial direction (X) the gripping device (21) together with a sealing device (73) attached thereto, so that during sealing said sealing device (73) does not end up level with a recess (51) in the drill steel (35). A method according to any one of the preceding claims, wherein the actuating means (42) is arranged to displace the gripping device (21) in the direction of or substantially in the direction of the gravitational force. Drilling arrangement comprising a drive head (20, 37) for driving an internally threaded body (39) slidable in the axial direction (X) and an enclosing body (39) rotatably arranged and in the axial direction (X) slidable gripping device (21) , said body (39) is arranged for threading in and out of drilling string means (36), characterized in that an actuating means (42) is arranged to displace said gripping device (21) from an original position (U) in the axial direction in the direction from the drive head ( 20, 37), the actuating means (42) comprising a spring means (41, 41 ', 41 ", 41"', 41 "", 41 "" ') Drilling arrangement according to claim 7, wherein the actuating means (42) comprises at least one hydraulic actuator (71, C, H). 20 Drilling arrangement according to claim 7 or 8, wherein the gripping device (21) comprises a ring element (25, 25 ', 25 ") displaceable in the axial direction (X) for driving inwardly in radial direction a locking means (33, 59) for effecting rotationally fixed connection between the gripping device (21) and a drill steel (35) Drilling arrangement according to claim 9, wherein the gripping device (21) has a stop means (40) for positioning the ring element (25, 25 ', 25 ") in the axial direction (X) relative to said locking means (33, 59). A drilling arrangement according to any one of claims 7-10, wherein the gripping device (21) comprises a sealing device (73) having an internal circumference adapted to the diameter of the drilling steel (35) A vehicle comprising a drilling arrangement (7) according to any one of claims 7 to Vehicle according to claim 12, wherein the vehicle (1) is a drilling rig (3) intended for mining. Computer program (P) in a drilling arrangement (7), comprising a drive head (20, 37) for driving an internally threaded body (39) slidable in the axial direction (X), and the enclosing body (39) rotatably arranged and in the axial direction (X) slidable gripping device (21), said body (39) is arranged for threaded drilling string means (36) in and out, an actuating means (42) is arranged to displace said gripping device (21) from a position of origin (U) in a first direction from the drive head (20, 37), wherein the computer program (P) comprises a program code stored on a computer readable medium for performing the method steps according to any one of claims 1 to 6, the computer program (P) is run on an electronic control unit (100) associated with borra rra ngemanget (7). A computer program product comprising a program code stored on a computer readable medium for performing the method steps according to any one of claims 1 to 6 when a computer program (P) is run on an electronic control unit (100) associated with the drilling device (7).