Abstract: A system and method for supplying electric energy to a mining vehicle and a mining vehicle are provided. Electric energy is supplied to the mining vehicle using a system including a bipolar LVDC supply having a certain total voltage. The mining vehicle has at least a first energy unit and a second energy unit. The first energy unit is connected to a part of the certain total voltage and the second energy unit is connected to another part of the certain total voltage.

Abstract: A rock drilling arrangement, rock drilling rig and drilling method is provided. The rock drilling arrangement includes a drilling boom, which is mountable to a carrier of the rock drilling rig. The boom is provided with two rock drilling units arranged movably in the longitudinal direction of the boom. Further, the drilling units may be moved independently relative to each other.

Abstract: A drilling boom and rock drilling rig. The drilling boom includes a basic boom part, a distal end of which is provided with a front joint assembly of a wrist. The wrist connects a feed beam assembly to the basic boom part. The wrist has three joints, which are a roll-over joint, a feed tilt joint and a feed swing joint. The order of the joints of the wrist is optimized when the joints are in the mentioned order. The rock drilling rig is provided with one or more such drilling booms provided with face drilling units or bolting heads.

Abstract: A rock drilling machine, rock drilling rig and method of measuring physical features during rock drilling is provided. The rock drilling machine includes one or more sensing devices, which are arranged in connection with a bendable sensing cord. The sensing cord is fed via a feed passage to a flushing passage of a drilling tool.

Abstract: A method for a zone passage control system for an underground worksite having a plurality of operation zones for autonomously operating mobile vehicle operations includes the steps of associating a first passage control unit with a first zone and a second zone, detecting state parameter information of the first zone and the second zone, merging the first zone and the second zone into a fusion zone on the basis of the state parameter information of the first zone and the second zone, and adapting the zone passage control system to allow a first autonomously operating mobile vehicle to pass the first passage control unit in the fusion zone without interrupting operation of a second autonomously operating mobile vehicle in the first zone and/or the second zone.

Abstract: An apparatus, a method for positioning a rock drilling, and a rock drilling rig is provided. The rock drilling rig includes a mobile drilling platform and a drilling mast connected to the drilling platform. The drilling platform is levelled vertically before initiating drilling. The apparatus determines the needed vertical levelling requirement. The levelling causes displacement of a drilling tool line passing through a drilling tool. The apparatus estimates the displacement and provides aid for the operator to position the drilling platform in order to compensate for the estimated displacement distance.

Abstract: A rock breaking device and a method of monitoring a condition of a tool of a rock breaking device is provided. The rock breaking device includes a frame, a tool, a device for generating stress waves in the tool, measuring means for measuring the stress wave propagating in the tool and at least one computing unit for monitoring a condition of the tool on the basis of the measured stress wave. The at least one computing unit is configured to determine a condition of the tool on the basis of a time of propagation of at least one reflected stress wave component of the stress wave and at least one additional property of the same reflected stress wave component.

Abstract: For starting an AC electric motor of a mining vehicle, it is first accelerated to a first speed with a second AC voltage provided by an onboard battery-powered inverter of the mining vehicle. A phase of a first AC voltage taken from an external grid is compared to a phase of said second AC voltage. If the phase difference between the first and second AC voltages is larger than a predetermined limit, the speed at which said inverter rotates said AC electric motor is changed. If the difference between the phases of the first and second AC voltages is smaller than the predetermined limit, a change is made from rotating the AC electric motor with the second AC voltage to rotating the AC electric motor with the first AC voltage.

Abstract: A feed beam, a rock drilling unit and to a method of manufacturing a feed beam is provided. The feed beam includes a basic profile element, which has two or more superimposed material layers. At least one of the material layers may be made of a composite material.

Abstract: A method of monitoring a rock drilling and a rock drilling device includes generating a stress wave, which propagates in a tool of the rock drilling device, measuring the stress wave propagating in the tool and measuring a drilling parameter indicating a drilling penetration rate. The method further includes identifying, from the measured stress wave propagating in the tool, at least one of a compressive stress wave and a tensile stress wave of a reflected stress wave reflected from a rock to be drilled back to the tool, determining at least one property of the at least one of the compressive stress wave and the tensile stress wave of the reflected stress wave, detecting, on the basis of a change in the at least one property of the at least one of the compressive stress wave and the tensile stress wave, that the tool is approaching the cavity.

Abstract: A device for dampening noise and a rock drilling rig. The noise dampening device includes a skin structure and a frame, which are separate elements. The skin structure is configured to form a space for receiving at least a part of the rock drilling unit and includes several noise dampening panels, which are mounted to the frame in a removable manner.

Abstract: A rock drilling machine, rock drilling rig and method of reinforcing rock surfaces by means of grouting material is provided. The grouting material is fed through the rock drilling machine to a drilling tool connected to the rock drilling machine. The rock drilling machine include a flushing feed path, which is utilized in the feeding of the grouting material.

Abstract: An underground mining vehicle includes an electric motor for driving the vehicle, a rechargeable battery for supplying electric energy to the electric motor and a charging system for recharging the rechargeable battery. A control unit is configured to control an operation of the charging system for controlling the recharging of the battery. The control unit is configured to have a number of selectable recharging modes (FRM, SLRM, SERM) and to control the recharging of the battery according to the selected recharging mode (FRM, SLRM, SERM). The vehicle also has a transmitter controlled by the control unit for sending a status notification about an automatic change from a recharging mode to another recharging mode to an operator remote terminal device of an operator of the vehicle.

Abstract: A seal for a tool of a breaking hammer, a sealing arrangement, a breaking hammer and a method of sealing a tool of breaking hammer is provided. The seal includes a resilient first seal element and a rigid second seal element. The first seal element is fastened to a seal housing and the second seal element is fastened to the first seal element. The second seal element provides mechanical protection for the first seal element.

Abstract: An underground mining vehicle includes an electric motor for driving the vehicle and a rechargeable battery for supplying electric energy to the electric motor. A charging system is connected to an electric power source external to the vehicle for recharging the at least one rechargeable battery. A cooling system is connected to a cooling agent source external to the vehicle for cooling the rechargeable battery. At least one detection element for detecting the cooling system is connected to the external cooling agent source.

Abstract: A gripping device, rock drilling unit and method of gripping drilling tools is disclosed. The gripping device includes a frame and at least one elastic gripping element connected in a fluid-tight manner to the frame. The gripping element may be expanded by conveying pressurized fluid between surfaces of the frame and the gripping element, whereby the gripping element moves against surfaces of the drilling tool and generates friction forces and support.

Abstract: The present disclosure relates to a rotation unit and method for adjusting bearing clearance. The rotation unit includes a shaft that is rotated around its longitudinal axis by a rotating motor. The shaft is supported to a body of the rotation unit by a bearing assembly. The rotation unit further includes an adjusting arrangement for generating pre-load for the bearing assembly and adjusting bearing clearance. The adjusting arrangement includes an axial adjusting space and at least one pair of half-elements arranged between axial adjusting surfaces limiting the adjusting space.

Abstract: A method for controlling loading material to a bucket of a work machine from a stack of material is disclosed. The method includes the steps: of selecting a control profile to be used as a basic control profile including indications for positions of at least one of the bucket and the boom of the work machine as a function of a distance traveled by the work machine with reference to a reference location; obtaining information of a distance traveled by the work machine while loading material to the bucket; examining at least one condition regarding the work machine during loading; and determining, on the basis of the examined condition, whether another position than indicated by the selected control profile is to be used for at least one of the bucket and the boom.

Abstract: A method for providing a mining work machine at a work site with production control information, the method including: assigning, on the basis of overall production management information of the work site, the mining work machine with production control information, defining tasks to be performed by the work machine; downloading the control information to a mobile terminal from one or more downloading points associated with a production management system, the mobile terminal and the one or more downloading points including an application for mutually synchronizing desired control information; providing the mobile terminal in a vicinity of the mining work machine, the mining work machine further having an application for mutually synchronizing desired control information; performing an authentication between the mobile terminal and the mining work machine; selecting the control information to be downloaded to the mining work machine; and downloading the selected control information to the mining work machine w