Rod Handling System, RHS 140 L830

Rod Handling System, RHS 140

Conditions common for all RHS functions:

• Switch S130 in drilling position => D552-CH1/ON

• Switch B379 (operator in chair) must be activated =>
D550-CH1/ON
• The impact control switch S446A/B must be OFF =>
S111
D550-CH9/10/OFF

The functions of the different rod handling movements are

electrically operated by the RHS control lever S111. The control
lever sends a signal to the PLC which, when the right inputs are
present, activates the corresponding hydraulic valve in order to
perform one of the following movements:
Figure: example, L830 left panel

RHS control lever S111:

ROD CAROUSEL CAROUSEL ROD GRIPPER
TRANSFER GATE ROTATION GRIPPER ROTATION
-To carousel -Open -Clockwise -Hard grip -To carousel
-To drill centre -Closed -Anti-clockwise -Guide grip -To drill centre
-Open

The hydraulic power is supplied from Pump 1 and is limited to 200 bar by pressure reducing
valve 97. Some functions have individual pressure reducers to further limit the pressure.

RHS arm → carousel/hard grip

Button for opening gripper claws

Carousel
rotation Carousel rotation
clockwise anti-clockwise

RHS arm → drill centre/hard grip

(Note: lever has a latch in this position)

Tube transfer
The pressure to the tube transfer cylinders is limited to 100 bars by the pressure reducing
valve 83.

The carousel gates (lower and upper) need to be opened at the same time to let in and let out
drill rods, and this action has to take place before drill rod has been delivered into the carousel
and taken out to the drill centre. The function is activated in connection with the tube transfer
activation.

Since moving to/from the carousel/drill centre applies to different set of conditions, the
movement sequences will be described at different stages.

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 Rod Handling System, RHS 140 L830
To drill centre with a tube

CLAIM: The carousel loaded, the grippers are in the carousel holding on to the tube which is
going to moved, the initial holding state should be hard grip.

Control lever S111 is mechanically latched during this movement, that is to say one push on
the lever and the lever stays there, instead of a spring return to centre position. With the lever
in position it will carry out the whole sequence until the tube is moved into the drill centre.
The function has been introduced to prevent grippers to automatically switch to loose grip
when moved into the drill centre.

Loose grip can be achieved by pulling the lever back to the neutral position, when the arm
reached its end position (drill centre).

Hard grip stage S111 back to neutral Loose grip stage

NOTE! Always put the rod grippers in loose grip before the threads meet in order to let the
tube in the rod gripper rotate. The threads will otherwise be easily damaged.

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 Rod Handling System, RHS 140 L830
Additional conditions:
- Sensor B118 activated, PLC input X10-5/ON. (Arm in carousel.)
- The rod grippers should be in hard grip during this movement as the PLC output X12-
8 and X12-3 are OFF. This is also the normal condition of the grippers.
- RHS control lever S111 to position (b), input D551-CH3/ON.
When all the conditions are met, these two functions will take place in its order:
• Solenoid valve Y310 will be activated by PLC output X15-4. The cylinder speed is
limited by restrictors 86. (Carousel door opens.)
• Solenoid valve Y301B will be activated by PLC output X12-5. The cylinder speed is
limited by restrictors 82. (Tube transfer towards dill centre starts.)

When the tube transfer arm has reached the position between the carousel and drill centre,
sensor B119 will be activated, PLC input X10-2/ON. This results in:
• PLC output X12-5/OFF, Y301B deactivated. (Tube transfer towards drill
centre stops.)
• PLC output X16-12/ON, Y311B activated. (This will rotate the rod grippers
from facing the carousel to facing the drill centre.)

The gripper rotation sequence will continue for 3 seconds, after that:
• PLC output 16-12/ON, Y311B activated. (Even though Y311B is activated,
but the gripper rotation has stopped mechanically.)
• PLC output X15-4/OFF, Y310 deactivated. (Carousel door closes.)
• PLC output X12-5/ON, Y301B activated again. (Tube transfer towards
drill centre continues.)

When the tube transfer arm have reached position drill centre, sensor B120 will
be activated, PLC input X10-3/ON. This results in:
• PLC output X12-5/ON, Y301B activated. (Tube transfer towards drill
centre stops mechanically.)
• PLC output X16-12/ON, Y311B activated. (Gripper rotation has stopped
mechanically.)
• PLC output X12-8/OFF and X12-3/OFF, Y306 and Y300 deactivated.
(Hard grip)
SEQUENCE COMPLETE

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 Rod Handling System, RHS 140 L830
To carousel without a tube

CLAIM: The carousel could still have tubes in it or not, arm has to move back to carousel in
order to get the next tube to drill; and/or moving back to carousel to allow drilling.

Additional conditions:
- Sensor B120 activated, PLC input X10-3/ON. (Arm in drill centre.)
- RHS control lever S111 top button pushed, input D551-CH6/ON. The rod grippers
should be in open grip during this movement.
- RHS control lever S111 to position (a), input D551-CH2/ON.
When all the conditions are met, this function will take place:
• Solenoid valve Y310 will be deactivated by PLC output X15-4. (Carousel door is
closed.)
• Solenoid valve Y300 will be activated by PLC output X12-3. (Rod grippers are open.)
• Solenoid valve Y301A will be activated by PLC output X12-4. The cylinder speed is
limited by restrictors 82. (Arm transfer towards carousel starts.)

When the tube transfer arm has reached the position between the carousel and drill centre,
sensor B119 will be activated, PLC input X10-2/ON. This results in:
• PLC output X12-4/OFF, Y301A deactivated. (Arm transfer towards carousel
stops.)
• PLC output X18-1/ON, Y311A activated. (This will rotate the rod grippers
from facing the drill centre to facing the carousel.)

The gripper rotation sequence will continue for 3 seconds, after that:
• PLC output 18-1/ON, Y311A activated. (Even though Y311A is activated,
but the gripper rotation has stopped mechanically.)
• PLC output X12-4/ON, Y301A activated again. (Arm transfer towards
carousel continues.)

When the tube transfer arm have reached position carousel, sensor B118 will be
activated, PLC input X10-5/ON. This results in:
• PLC output X12-4/ON, Y301A activated. (Arm transfer towards
carousel stops mechanically.)
• PLC output X18-1/ON, Y311A activated. (Gripper rotation has stopped
mechanically.)
SEQUENCE COMPLETE

86
 Rod Handling System, RHS 140 L830
To carousel with a tube

CLAIM: The carousel empty or not, tubes are supposed to be put back to the carousel.

Additional conditions:
- Sensor B120 activated, PLC input X10-3/ON. (Arm in drill centre.)
- Sensor B178 deactivated, PLC input X16-1/OFF. (No tube in carousel outlet.)
- The rod grippers should be in hard grip during this movement as the PLC output X12-
8 and X12-3 are OFF. This is also the normal condition of the grippers.
- RHS control lever S111 to position (a), input D551-CH2/ON.
When all the conditions are met, these two functions will take place in its order:
• Solenoid valve Y310 will be activated by PLC output X15-4. The cylinder speed is
limited by restrictors 86. (Carousel door opens.)
• Solenoid valve Y301A will be activated by PLC output X12-4. The cylinder speed is
limited by restrictors 82. (Tube transfer towards carousel starts.)

When the tube transfer arm has reached the position between the carousel and drill centre,
sensor B119 will be activated, PLC input X10-2/ON. This results in:
• PLC output X12-4/OFF, Y301A deactivated. (Tube transfer stops.)
• PLC output X18-1/ON, Y311A activated. (This will rotate the rod grippers
from facing the drill centre to facing the carousel.)

The gripper rotation sequence will continue for 3 seconds, after that:
• PLC output 18-1/ON, Y311A activated. (Even though Y311A is activated,
but the gripper rotation has stopped mechanically.)
• PLC output X12-4/ON, Y301A activated again. (Tube transfer towards
carousel continues.)

When the tube transfer arm have reached position carousel, sensor B118 will be
activated, PLC input X10-5/ON. This results in:
• PLC output X12-4/ON, Y301A activated. (Tube transfer towards
carousel stops mechanically.)
• PLC output X18-1/ON, Y311A activated. (Gripper rotation has stopped
mechanically.)
• PLC output X15-4/OFF, Y310 activated. (Carousel door closes.)
SEQUENCE COMPLETE

87
 Rod Handling System, RHS 140 L830
To drill centre without a tube

CLAIM: The carousel could be empty or not, the grippers are in hard grip state in carousel.
This is the case when drilling has been done, tubes are being pulled out and need to
be picked up from the drill centre.

Loose grip is needed first when the grippers have been moved into the drill centre, because
only loose grip can allow the breakout table to take place and then allow the upper tube to
rotate out of the lower tube/drill bit which is being held in the lower breakout table. Loose
grip can be achieved by pulling the lever to the neutral position. Manual switching is needed
here since the lever is latched in this position.

Once the upper rod has been unthreaded, hard grip needs to be activated in order to allow the
rotation unit to be unthreaded. Hard grip can be achieved by pulling the lever backwards to
the “arm to drill centre” position, thus breaking the conditions for loose grip.

Loose grip stage S111 to arm to drill centre Hard grip stage

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 Rod Handling System, RHS 140 L830
Additional conditions:
- Sensor B118 activated, PLC input X10-5/ON. (Arm in carousel.)
- RHS control lever S111 top button pushed, input D551-CH6/ON. The rod grippers
should be in open grip during this movement.
- RHS control lever S111 to position (b), input D551-CH3/ON.
When all the conditions are met, this function will take place:
• Solenoid valve Y310 will be deactivated by PLC output X15-4. (Carousel door is
closed.)
• Solenoid valve Y300 will be activated by PLC output X12-3. (Rod grippers are open.)
• Solenoid valve Y301B will be activated by PLC output X12-5. The cylinder speed is
limited by restrictors 82. (Arm transfer towards dill centre starts.)

When the tube transfer arm has reached the position between the carousel and drill centre,
sensor B119 will be activated, PLC input X10-2/ON. This results in:
• PLC output X12-5/OFF, Y301B deactivated. (Arm transfer towards dill centre
stops.)
• PLC output X16-12/ON, Y311B activated. (This will rotate the rod grippers
from facing the carousel to facing the drill centre.)

The gripper rotation sequence will continue for 3 seconds, after that:
• PLC output X16-12/ON, Y311B activated. (Even though Y311B is
activated, but the gripper rotation has stopped mechanically.)
• PLC output X12-5/ON, Y301B activated again. (Arm transfer towards drill
centre continues.)

When the tube transfer arm have reached position drill centre, sensor B120 will
be activated, PLC input X10-3/ON. This results in:
• PLC output X12-5/ON, Y301B activated. (Arm transfer towards drill
centre stops mechanically.)
• PLC output X16-12/ON, Y311B activated. (Gripper rotation has stopped
mechanically.)
SEQUENCE COMPLETE

Carousel rotation
Additional conditions:
• The rod gipper arms must be in drill centre position or in the middle position, sensor
switch B120 or B119 ON, PLC input X10-3 or X10-2/ON.
• RHS control lever S111, to position (c) or (d), input X550-CH4 or CH5/ON.
The carousel stop positions are determined by the two sensors B182 (CCW) and B183 (CW).
The carousel rotation motor solenoid valve Y303A/B is activated by PLC output X15-2
(CWW) AND X15-1 (CW).
When rotation is activated it will continue until the corresponding sensor is activated, giving
input to PLC X14-8 and X13-1 respectively. The rotation speed is limited by restrictors 85.
To facilitate the rotation of the carousel, the rod grippers must be at the drill centre or at the
middle position, i.e. B120 or B119 activated.

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 Rod Handling System, RHS 140 L830
Rod grippers
There are three rod gripper positions, which are controlled by solenoid valves Y300 and
Y306.
o Hard grip
Additional conditions:
None. Hard grip is the normal state of the grippers. None of the
solenoid valves are activated with the result that system pressure,
200 bar, is acting to keep the gripper closed.
o Open grippers
Additional conditions:
• RHS control lever S111, top button pushed, input X550-
CH6/ON.
Solenoid valve Y300 is activated by PLC output X12-3.
o Guide grip (loose grip)
Additional conditions:
• RHS control lever S111 must be in middle position, no signal
from the RHS switch to the PLC.
• Sensor B120 activated, PLC input X10-3/ON.
Guide grip can only be achieved when the rod grippers are in the
drill-centre position and when there is no signal from RHS switch
to the PLC.
Solenoid valve Y306 in the guide grip valve block 80, is activated
by PLC output X12-8. In this case, the gripper pressure is set by
the pressure relief valve 80a set to 10 bar (adjustable, see figure
right and below). The 0.6 mm restrictor 80b limits the amount of
oil passing over the relief valve.
The pressure to the cylinders would be just enough to support the
weight of the drill rod without obstructing the rod from rotating in the grippers.

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 Rod Handling System, RHS 140 L830
Drill steel supports & suction hood
Conditions for these functions:
• The Drilling/Tramming switch S130 must be in drilling position
o Drill steel supports, upper and lower – L830
The drill steel supports are controlled by switches S119 (upper) and S187 (lower), which
operates solenoid valves Y361A-B and Y350A-B respectively. The cylinder speed is
limited by restrictors 91 and 92.
o Drill steel support, upper and lower – L740CR
Both the upper and lower drill steel supports are controlled by one switch S187, which
operates solenoid valves Y361A-B. The cylinder speed is limited by restrictor 91.
o Suction hood
The suction hood is controlled by switch S167, which operates solenoid valve Y357. The
hydraulic pressure downwards is limited by pressure reducing valve 94 set to 40 bar, and
the cylinder speed is limited by restrictor 93.

Breakout table and rock drill lock

Conditions for these functions:
• The Drilling/Tramming switch S130 must be in drilling position
o Breakout wrench, clockwise and anti-clockwise rotation
The Breakout wrench is controlled by switch S258, which opens solenoid valves Y352A-
B respectively. The cylinder speed is limited by restrictors 87.
o Breakout table, upper and lower
The breakout table is controlled by switch S260 (upper) and S259 (lower), which operates
solenoid valves Y356A-B and Y354A-B respectively. The pressure to the upper breakout
table cylinder limited by pressure reducing valve 88, and the pressure to the lower
breakout table cylinder is limited by pressure reducing valve 89.
o Rock drill lock rotation – L740CR only
The rock drill lock is controlled by switch S257, which opens solenoid valve Y359. The
hydraulic pressure to the cylinder is limited by pressure reducing valve 98 set to 50 bar.

Service winch (Option)

The service winch is a pure hydraulic function that works aside of the PLC. Solenoid valve
Y208 controls the moving direction of the winch, and it is activated by a lever that sits on the
lower drill steel support.

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 RHS 140 – L830
Input / Signal

Switch S130 in Drilling pos.

Operator in chair switch B379

1
 RHS 140 – L830
Input / Signal

S130/1 - D552, CH 1/ON

B379 - D550, CH 1/ON

S111 - D551, CH 2/3/4/5/6/ON

X10-5 B118

X10-2 B119

X10-3 B120

X15-2 B182

X15-1 B183

Output on indicator card

X11-13 Y310

X17-1 Y301A/B

X11-14 Y311A/B

X13-11 Y303A/B

X12-3 Y300

X12-8 Y306

2
 L830
1 B118

Page 33

1 Y310

Page 42 When moving to drill center with hard grip

Tube transfer from carousel 1

3
 L830
Y301B

2 3 Off for 3 seconds when B119 is activated.

Page 41

3 B119

Page 31

3 On when B119 is activated.

Y311B

Page 42 Tube transfer from carousel 2

4
 L830

Y301B

4 3 seconds later.
Page 41

5 B120

Page 31
Tube transfer from carousel 3

5
 200 bar

RHS (from pump 1)

Y300
unactivated
= hard grip

Y300

Y310
Y301B
Y311B

6
 Y306

200 bar

RHS (from pump 1)

Y300
Loose grip
E.g. when
theading into drill
breakout table

7
 L830, L740CR

1 2 Rotation stops for 1 second.

Y303A

Page 41

B182 2

Page 32 Carousel rotation CCW

8
9
Y303A
200 bar

RHS (from pump 1)

 200 bar

RHS (from pump 1)

Y300
Open grip
E.g. when
moving empty
gripper back to
carousel

10