Abstract: A mine vehicle and a method of preventing a mine vehicle from colliding. The mine vehicle (1) includes at least one scanner (13, 14) to scan the environment in front of the vehicle. On the basis of the scanning, an obstacle-free route is determined whose outermost points in a sideward direction are stored as memory points (21). At least one sideward safe area (15b) has been predetermined around the vehicle (1). A control system checks that no memory point (21) resides within the safe area (15b).

Abstract: The rock drilling rig comprises a first control unit (8) arranged on a carrier (1) and a second control unit (9) arranged to a rock drilling apparatus (4). The first control unit (8) and the second control unit (9) communicate with each other by means of a first data communications link (10). The rock drilling apparatus (4) has one or more sensors (11, 12, 15), the measuring results of which are processed in the second control unit (9) and only then transmitted to the first control unit (8) that controls actuators regulating the operation of the rock drilling apparatus (4). Correspondingly, the rock breaking machine, such as a breaking hammer, comprises one or more sensors (11, 12, 15) and a control unit (9).

Abstract: A method and a control system for controlling rock drilling. A control unit of a rock drilling apparatus is provided with one or more control modes, each determining the drilling variables to be measured, their threshold values and the operating principles according to which the operating parameters of drilling are controlled to achieve a desired control criterion.

Abstract: The invention relates to a rock drilling arrangement and a method and program for controlling rock drilling on the basis of specific energy consumption. The specific energy of drilling is the quantity of energy used per a unit of length of the drilled hole. Not only the used impact energy, but also the energy used by at least one other sub-process is taken into account when determining the specific energy. Rotation energy is typically included, but feeding energy and flushing energy can also be considered. Drilling variables are adjusted so that the specific energy is of a predetermined size.

Abstract: A method for automatically guiding a mining machine (14) provided with a route determined as successive route determined as successive route points in the mine. In the method, data relating to the successive points are used for determining additional route between the successive route points for guiding the mining machine (14).

Abstract: The invention relates to a control valve, a percussion device and a method of controlling a working cycle of a percussion device. A percussion device (1) for breaking rock includes an impact element (8) controlled by a control valve (2). The control valve includes a control element (5) arranged to control channels (7b) leading to a working pressure surface (9) of the impact element (8). The control element, during a working cycle of the control valve, is arranged to open and close pressure channels at several connecting moments so that during one working cycle of the valve, several impact pulses are arranged to be produced.

Abstract: The invention relates to a control valve, a percussion device and a method of controlling a working cycle of a percussion device. The percussion device (1) used for breaking rock comprises an impact element (8), which is controlled by a control valve (2). The control valve comprises a control element (5), which is arranged to control channels (7b) leading to a working pressure surface (9) of the impact element (8). The movement of the control element to its extreme position is arranged to form a closed pressure space, where pressure medium compresses and converts kinetic energy of the control element into pressure energy. The pressure energy is re-converted into kinetic energy and utilized when the control element changes its direction.

Abstract: A hydraulic hammer having a sealing bushing includes a percussion piston that delivers strokes to a tool. A lower part of the percussion piston is sealed with respect to a frame by the sealing bushing, which includes one or more lower seals. The sealing bushing does not contribute to the bearing of the percussion piston and it is arranged in place through the lower end of the hydraulic hammer.

Abstract: The invention relates to a method for controlling at least two hydraulic actuators, to a monitoring valve and a rock drilling apparatus. The monitoring valve (10) is connected to the input channel of a first actuator through a sensing channel (9) and controls a load-sense circuit (6?) of a second actuator. The pressure of the load-sense circuit (6?) is set by a force of a spring element (12) and biased by a control element (42) of the monitoring valve with differential pressure sensing.

Abstract: The rock drill apparatus (1) comprises a rock drill machine (6) provided with a percussion device (4), a feed device (9) and a tool (7), the tool (7) end comprising a bit (8) for breaking rock. The tool (7) is arranged to transmit impact energy generated by the percussion device (4) as a compression stress wave to the bit. The feed device (9) is arranged to thrust the tool (7) and the bit (8) against the rock to be drilled, whereby on drilling at least part of the compression stress wave generated by the percussion device (4) to the tool (7) reflects from the rock to be drilled back to the tool (7) as tensile stress, and impact energy of the percussion device (4) is adjusted on the basis of the level of tensile stress (?v) reflecting from the rock.

Abstract: The invention relates to an axial bearing and to a rock drilling machine pro-vided with an axial bearing. The axial bearing (100) comprises a first piston (20) and a second piston (21). Axial contact surfaces (60, 43a) between the pistons (20, 21) are arranged in the same pressure space (28). The same pressure fluid fed to the axial bearing acts on the contact surfaces and on working pressure surfaces of the pistons.

Abstract: A crushing hammer, and a fastening element, side plate, and protective casing for the crushing hammer. The crushing hammer comprises at least two alternative fastening elements with which it can be fastened to a boom of a work machine. The fastening can be done with a separate fastening element that is equipped with a plane surface for flange mounting and openings for a pin mounting. The fastening elements may also be formed to side plates, between which the crushing hammer is arranged. The fastening elements may further be integrated to the protective casing.

Abstract: In a hydraulic system for mining equipment and a method of adjusting the power of a rock drill machine, at least one mining actuator used for detaching rock is connected to a dedicated separate hydraulic circuit having a special hydraulic pump. The power of the mining actuator is adjusted by changing the hydraulic power generated by the separate hydraulic circuit of the hydraulic pump.

Abstract: A method and an apparatus for monitoring the operation of a percussion device, which percussion device comprises a percussion piston and a pressure channel for supplying pressure medium to the percussion device for moving the percussion piston. The method and the apparatus measure pressure pulsation of the pressure medium acting in the pressure channel, which pressure pulsation is depicted as a pressure curve. From pressure pulsation are determined parameters depicting the operating state of the percussion device and the operating state of the percussion device is determined on the basis of the parameters. In addition, an arrangement for controlling the operation of the percussion device on the basis of the operating state of the percussion device.

Abstract: An impact device for a rock drill. The rock drill includes a tool and a mechanism for delivering a stress pulse to the tool. That mechanism includes an impact element supported to a frame of the drill, and a mechanism for subjecting the impact element to stress and thereafter releasing the impact element suddenly from the stress, whereupon stored stress energy in the impact element is discharged in the form of a stress pulse directed at the tool.

Abstract: The invention relates to a method for controlling at least two hydraulic actuators, to a monitoring valve and a rock drilling apparatus. The monitoring valve (10) is connected to the input channel of a first actuator through a sensing channel (9) and controls a load-sense circuit (6?) of a second actuator. The pressure of the load-sense circuit (6?) is set by a force of a spring element (12) and biased by a control element (42) of the monitoring valve with differential pressure sensing.

Abstract: A crushing hammer, and a fastening element, side plate, and protective casing for the crushing hammer. The crushing hammer comprises at least two alternative fastening means with which it can be fastened to a boom of a work machine. The fastening can be done with a separate fastening element that is equipped with a plane surface for flange mounting and openings for a pin mounting. The fastening means may also be formed to side plates, between which the crushing hammer is arranged. The fastening means may further be integrated to the protective casing.