Sandvik Mining and Construction Patente

A cable guiding device, a mining vehicle, and a method of guiding a trailing electric cable of an electrically powered mining vehicle. A cable guiding device (17) is for guiding a trailing electric cable (14) of an electrically powered mining vehicle (1). The cable guiding device (17) comprises a cable guiding tail (18) which has an elongated arm configuration mountable to the electrically powered mining vehicle (1). The cable guiding device further comprises a cable guiding assembly (19) mounted to the cable guiding tail (18) and comprising guide rollers (28) for guiding the trailing electric cable (14). The cable guiding device further comprises a force assembly (100), being coupled to the cable guiding assembly (19) and/or the cable guiding tail (18), and configured to pull the trailing electric cable (14) out from the cable reel assembly (16) by providing a force to a portion of the trailing electric cable (14) that is unwound from the cable reel assembly.

An underground mining vehicle comprises a load carrying element, a hydraulic operating circuit comprising at least one hydraulic cylinder for operating the load carrying element, and a control system for controlling an operation of the hydraulic operating circuit. The control system comprises at least one data acquisition device for collecting operational data representing an operation of the at least one of the hydraulic operating circuit and the at least one hydraulic cylinder. The control system comprises a control unit configured to control the operation of the hydraulic operating circuit to control, based on the collected operational data, a speed of motion of the at least one hydraulic cylinder for providing a controllable cushioning effect for the at least one hydraulic cylinder.Additionally, a method for controlling an operation of an underground mining vehicle.

A bolting rig and method for rock reinforcing. The bolting rig (1) comprises a bolt storage (12) supported at a front part of a carrier (2) and being movable to a pick-up position (PP). A bolting unit (4) comprises a bolt rack (11) and is positioned to the pick-up position for replenishing several rock bolts (5) simultaneously from a delivery plane (16) of a bolt storage.

A bolting rig and method for rock reinforcing. The bolting rig (1) comprises a movable carrier (2), a bolting boom (3) mounted to a boom mounting point (16), and a bolting unit (4) mounted to the bolting boom. There is also a cable reel arrangement (9) which comprises a cable reel (18) loaded with would cable (26). The cable reel arrangement is located at a front part of the carrier and is in front of the boom mounting point.

Method for monitoring performance of a dust collector of a drilling apparatus, comprising:- providing suction by a suction device for drawing air from a drill hole into a dust collector,- collecting dust with a filter from the air drawn from the drill hole,- monitoring input power of the suction device,- transmitting input power data of the to a controller,- selecting an action automatically by the controller if the input power is decreased.

A method comprises: detecting the mining machine to have lost connection to an external safety system; controlling the mining machine to stop movement of at least a movable carrier of the mining machine while maintaining a motor of the mining machine in operation, in response to detecting the mining machine to have lost the connection to the external safety system; determining not to cause the motor of the mining machine to enter a non-operational state, in response to detecting the mining machine to have re-established the connection to the external safety system within a first predetermined time period; and causing the motor of the mining machine to enter the non-operational state, in response to detecting the mining machine not to have re-established the connection to the external safety system within the first predetermined time period.

Example embodiments relate to configuring a route for a mining machine. An apparatus may comprise: at least one processor; and at least one memory including program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus at least to: receive a requested end position of the mining machine and a requested orientation of the mining machine at the end position; determine a route for navigation of the mining machine to the requested end position such that the mining machine is configured to be in the requested orientation when reaching the requested end position; extend the route from the requested end position in a predetermined driving direction of the mining machine to a position of a wheel block; and transmit a configuration of the extended route to the mining machine.

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A method, comprising: assigning (200) a set of obstacle analysis parameters for a mining vehicle (10), wherein the set of obstacle analysis parameters is specific to a portion of the mining vehicle, detecting (210), by an obstacle detection function of the mining vehicle, an obstacle candidate on the basis of processing scanning data from a scanner of the mining vehicle, performing (220) an obstacle analysis on the basis of a determined size of the obstacle candidate and the set of obstacle analysis parameters assigned for the mining vehicle, to classify the obstacle candidate and determine if the obstacle candidate is an obstacle to be avoided, and providing (230), in response to the obstacle analysis indicating that the obstacle candidate is an obstacle to be avoided, an alarm or control signal to avoid the mining vehicle hitting the obstacle.

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A rock drilling rig and method of handling drill bits. The rock drilling rig (1) comprises a drilling boom (3) provided with a rock drilling unit (4). The rock drilling rig also comprises one or more drill bit magazines (10) for storing the drill bits (9). The magazine comprises a bit change position (13) defined by physical guide surfaces (14) capable to direct the rock drilling unit into correct position and orientation for executing change of the drill bit.

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A bolting head, bolting rig, and method of reinforcing a rock surface. The bolting head (4) comprises a frame (5), a bolting unit (6) provided with a bolt driver (8), and a rock drilling unit (7). The bolting head further comprises a holding device (12) with movable gripping elements (29) for gripping and holding drilling and bolting tools. At least one indexing actuator (16) is arranged to index the bolting unit and the rock drilling unit in relation to the holding device.

A hammer drill assembly (2) for coupling to a drill string having a drill bit (12) positioned at the forward end (8) having a drill head (16) and a bit shaft (14); wherein a plurality of axially extending bit splines (28) project radially outwards from a radially outward facing surface of the bit shaft; wherein each of the bit splines comprises a bit spline tip (30) at its axially rearward end having a rearward axially outer edge (48) and a central bit spline longitudinal axis (32); and a driver sub (26) provided axially rearward of the drill bit comprising a plurality of axially extending driver sub splines (34) projecting radially inwards from an inward facing surface of the driver sub; characterised in that: the rearward axially outer edge on at least of one of bit spline tips is non-perpendicular to the bit spline longitudinal axis along at least 25% of the width of the bit spline tip.

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An actuator arrangement (1) for an inlet air valve of a compressor system of a mining machine, the actuator arrangement comprises a linear actuator (11) comprising a movable element (10), operatively connected via a lever mechanism (6, 7, 8, 9; 6, 7, 8, 9, 91, 92) to a shaft (4) of a closing element (3) of the inlet air valve. A linear movement of the movable element (10) of the linear actuator (11) is transmitted via the lever mechanism to a rotation movement of the shaft (4) of the closing element (3) of the inlet air valve, wherein a transmission ratio of the lever mechanism is configured to vary during a movement of the movable element (10) of the linear actuator (11).

A shank sleeve assembly, a rock drilling machine, and a method. The assembly (26) is mountable around a shank adapter (8) in a rock drilling machine (6) and comprises a shank bushing (27) having two-piece configuration comprising a first bushing component (27a) and a second bushing component (27b) connectable against each other. The assembly further comprises a bearing bushing (30) arrangeable to surround the two-piece shank bushing and allowing rotation between the shank bushing and the bearing bushing.

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A control system, rock drilling rig and method for controlling coupling measures. The control system (CS) is for controlling coupling and uncoupling measures of a threaded coupling of a rock drilling tool (7). The control system is configured to detect initial minimum feed force (Ffmin) required for moving a rock drilling apparatus (6) in forward direction (FA) and is configured to implement the detected minimum feed force during the coupling.

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A connector arrangement, drilling arrangement and method for high voltage electro pulse drilling of rock. The connector arrangement (Ca) comprises a high voltage joint (Cj) for connecting high voltage conductors (7, 7a, 7b) and being surrounded by a ground conductor (9). There are flushing channels (11) between the joint and the ground conductor for allowing passage of flushing fluid (F).

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According to an example aspect of the present invention, there is provided a method, comprising: obtaining route plan information, indicative of a set of route points for a tunnel system of an underground worksite for at least partially autonomous driving of a vehicle, further comprising performing for at least some of route points in the set: detecting space information indicative of spaces required by the vehicle at associated route points, generating a set of envelopes on the basis of the space information, wherein an envelope is indicative of space required by the vehicle at an associated route point, and controlling visualization of the set of envelopes in a tunnel model to represent planned route trace of the vehicle when driving via the route points.

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An apparatus, method and computer program product for: receiving information on a first position of an element positioned by a boom (450) based on a pre-programmed automation sequence, receiving image information comprising a representation of a target position (470) of the element and at least part of the element, determining, based on the image information, a second position of the element (420) and a target position of the element, determining a position error (460) based on the second position of the element and the target position of the element, and providing, based on the position error, control information for adjusting the first position of the element until at least one criterion for proceeding with the pre-programmed automation sequence is fulfilled.

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