TECHNICAL FIELD The present invention relates to a method for bolting. The invention also relates to a computer program product comprising program for a computer to implement a method according to the invention. The invention also relates to a device for bolting and a vehicle provided with the device. BACKGROUND

In mining, it is necessary to reinforce the mine drifts to provide a continuous excavation and safety of personnel working in said mine drift. An effective way to reinforce certain types of mine drifts is to install bolts in the rock to minimize the risk of unwanted cave-ins. A drilling rig may be used for this purpose, which drilling rig is arranged to drill holes in the rock. Bolts may be fastened in the holes in different ways, for example by means of anchoring devices and/or fixing agent such as resin. Existing devices for bolting may be considered to be rather ungainly and bulky, whereby a proper use for bolting in mine drifts with low ceiling heights is difficult or impossible to realize.

Today's devices for bolting are high-maintenance, which is associated with long maintenance times and thereby high costs, both in terms of direct maintenance costs as well as loss of income due to shorter operating hours.

For maintenance personnel to perform maintenance of existing devices for bolting, a very extensive knowledge about the product is required. Training to obtain said extensive knowledge is both costly and time consuming. Furthermore, it is often necessary for the maintenance personnel to participate in further training in product development and safety training, which also results in high costs for maintaining said extensive knowledge about the product.

Today, bolting in mining drifts with a ceiling height of less than, for example, two meters is associated with great problems. There is currently no well- functioning equipment for mechanized bolting in narrow and low mine drifts.

A large part of the bolting performed in low mine drifts today is done manually or with manual semi mechanized equipment. Due to the risk of various accidents when bolting, it is desirable to provide a bolting device where the risk of injury or casualties of operators is reduced or minimized.

Mechanized bolting equipments for rock reinforcement are today available in various designs. According to one method, a feed beam with carriage switching function is used for switching between drilling and bolting. In accordance with what has been described above, this type of bolting equipment is, in several respects, not optimal, partly because it often is too large for effective use in mine drifts with low ceiling heights. According to another method two separate feed beams are used for drilling and bolting respectively, which feed beams are arranged to shift the position of said drilling and bolting by rotating feed devices around a common rotational axis. This type of bolting equipment is likewise bulky and inefficient for rock reinforcement, especially when operating in mine drifts with low ceiling heights.

US 7,704,018B2 and US 7,428,937B2 both describe a module and associated methods for drilling holes in a mine and installing bolts in said drilled holes. The module may include a bolt holder for holding a number of bolts, and a drilling element holder for holding a number of different drilling elements. US2007003382 discloses a module for drilling holes in a rock using a drilling element and installation of bolts in the drilled holes.

SUMMARY OF THE INVENTION

An object of the present invention is to provide a new and advantageous method for bolting.

Another object of the invention is to provide a new and advantageous device for bolting, and a new and advantageous computer program for bolting.

A further object of the invention is to provide a method, a device and a computer program to achieve an operator safe bolting, which works well even for low ceiling heights in a mine drift.

A further object of the invention is to provide a user friendly device for bolting.

A further object of the invention is to provide an alternative method, an alternative device, and an alternate computer program for bolting.

A further object of the invention is to provide a versatile method, a versatile device and a versatile computer program for bolting.

These objects are achieved by a method for bolting according to claim 1.

According to an aspect of the invention there is provided a method for bolting, comprising the steps of:

- providing drill steels for drilling bolting holes;

- providing bolts for rock reinforcement by insertion into said bolting holes;

- providing devices for driving of said drill steels and devices for displacing said drill steels and said bolts respectively, wherein said drill steels and said bolts respectively are alternately brought into active engagement during said bolting;

- providing devices for retrieving a drill steel from a drill steel magazine and positioning said drill steel for drilling and after drilling, returning said drill steel to said magazine, wherein said magazine is fixedly positioned in relation to said devices for retrieving and positioning said drill steel and said bolt respectively;

- providing devices for retrieving a bolt from a bolt magazine and positioning said bolt for installation; and

- retrieving and positioning said drill steel and said bolt respectively by means of at least one controlled moveable actuator arm provided with a gripping tool.

Said positioning may be performed to a position relative to said devices for driving and, when appropriate, to devices for drill support.

According to an aspect of the invention there is provided a method for bolting, comprising the steps of:

- providing drill steels for drilling bolting holes;

- providing bolts for rock reinforcement by insertion into said bolting holes;

- providing devices for driving of said drill steels and devices for displacing said drill steels and said bolts respectively, wherein said drill steels and said bolts respectively are alternately brought into active engagement during said bolting;

- providing devices for retrieving a drill steel from a drill steel magazine and positioning said drill steel for drilling and, after drilling, returning said drill steel to said magazine;

- providing devices for retrieving a bolt from a bolt magazine and positioning said bolt for installation; and - retrieving and positioning said drill steel and said bolt respectively by means of at least one controlled movable actuator arm provided with a gripping tool. This way, an automated method for bolting is achieved. Operators of a drilling rig may advantageously stay in a safe place during bolting. Hereby, the risk of injury is reduced, minimized or eliminated during bolting of, for example, an unsecured rock. According to an aspect of the invention a method for bolting is provided, comprising the steps of:

- providing drill steels for drilling bolting holes;

- providing bolts for rock reinforcement by insertion into said bolting holes;

- providing devices for driving of said drill steels and said bolts and devices for displacing said drill steels and said bolts respectively, wherein said drill steels and said bolts respectively alternately are brought into active engagement during said bolting;

- providing devices for retrieving a drill steel from a drill steel magazine and positioning said drill steel for drilling and, after drilling, returning said drill steel to said magazine;

- providing devices for retrieving a bolt from a bolt magazine and positioning said bolt for installation; and

- retrieving and positioning said drill steel and bolt respectively by means of at least one controlled moveable actuator arm provided with gripping tools.

Said magazine may be fixedly positioned in relation to said devices for retrieving and positioning said drill steel and said bolt respectively. Hereby are a limited number of degrees of freedom of said controlled movable actuator arm required, which advantageously results in the possibility to configure said actuator arm with a relatively simple design. Positioning may relate to a position relative said devices for driving and, when appropriate, to devices for drill support. This way, a method providing a reduced risk of drilling taking place under unfavourable angular positions relative to a surface of the rock where the holes are to be drilled is achieved. Hereby is advantageously achieved an efficient drilling method including reduced wear and reduced risk of unwanted wear of the device.

Said positioning may be performed using a guide arrangement for lateral displacement of a feed holder. Hereby is provided a method, which results in a cheap construction, an accurate positioning and a robust operation.

The method may further comprise the step of:

- providing devices for injection of fixing agent in a drill hole.

Hereby is provided a versatile method that contributes to further improved rock reinforcement.

The method may further comprise the step of:

- providing two feed arms, one for drill steels and one for bolts.

Hereby is achieved a versatile method for bolting.

According to an embodiment of the present invention, two feed arms are provided, one for drill steels and an injection device and one for bolts. This way a further versatile method for bolting is achieved. Hereby is provided actuator arms with relatively short range, which are sufficient for efficient operation of the device. Hereby is also presented a method, which provides a less bulky device than a device where longer actuator arms are necessary. According to an aspect of the invention, a faster switching between bolting tool and bolt can hereby be achieved.

The method may further comprise the step of: providing at least one actuator arm comprising turning means for turning said gripping tools towards and away from said magazine and for said positioning of said drill steel and said bolt. The method may further comprise the step of:

- providing at least one actuator arm comprising turning means for attaching and detaching said drill steel respectively.

The method may further comprise the step of:

- providing at least one actuator arm comprising turning means for mounting and dismounting drill steels relative to each other when lengthening/shortening drill steels.

Hereby is advantageously presented a method, which according to an aspect of the invention may be used when relatively long holes are to be drilled in the rock.

Advantageously, according to the present invention there is provided a device for bolting, which is of compact design and in which the bearings and turning means are substantially play-free.

Said at least one actuator arm, which is adapted to handle drill steels and/or bolts, can according to the present invention be positioned with high accuracy. Hereby is advantageously provided a robust device, which effectively can be driven by a dedicated control device. Hereby is achieved an accurate handling of drill steels, bolts, bolt tools and injection pipes.

According to an aspect of the invention there is provided a device for bolting comprising:

- drill steels for drilling bolting holes;

- bolts for rock reinforcement by insertion into said bolting holes;

- devices for driving of said drill steels and devices for displacing said drill steel and said bolts respectively, wherein said drill steels and said bolts respectively alternately are brought into active engagement during said bolting;

- devices for retrieving a drill steel from a drill steel magazine and positioning said drill steel for drilling and, after drilling, returning said drill steel to said magazine, wherein said magazine is fixedly positioned in relation to said devices for retrieving and positioning said drill steel and said bolt respectively;

- devices for retrieving a bolt from a bolt magazine and positioning said bolt for installation; and

- means for retrieving and positioning said drill steel and said bolt respectively, comprising at least one controlled moveable actuator arm provided with a gripping tool.

Said positioning may be performed to a position relative to said devices for driving and, where appropriate, devices for drill support.

According to an aspect of the invention there is provided a device for bolting comprising:

- drill steels for drilling of bolting holes:

- bolts for rock reinforcement by insertion into said bolting holes;

- devices for driving of said drill steels and devices for displacing said drill steels and said bolts respectively, wherein said drill steels and said bolts respectively are alternately brought into active engagement during said bolting;

- devices for retrieving a drill steel from a drill steel magazine and positioning said drill steel for drilling and, after drilling, returning said drill steel to said magazine;

- devices for retrieving a bolt from a bolt magazine and positioning said bolt for installation; and

- means for retrieving and positioning said drill steel and said bolt respectively, comprising at least one controlled moveable actuator arm provided with a gripping tool. According to an aspect of the invention there is provided a device for bolting comprising:

- drill steels for drilling of bolting holes:

- bolts for rock reinforcement by insertion into said bolting holes;

- devices for driving of said drill steels and said bolts and devices for displacing said drill steels and said bolts respectively, wherein said drill steels and said bolts respectively are alternately brought into active engagement during said bolting;

- devices for retrieving a drill steel from a drill steel magazine and positioning said drill steel for drilling and, after drilling, returning said drill steel to said magazine;

- devices for retrieving a bolt from a bolt magazine and positioning said bolt for installation; and

- means for retrieving and positioning said drill steel and said bolt respectively, comprising at least one controlled moveable actuator arm provided with a gripping tool.

According to an aspect of the invention the device has a flexible and robust design, which also is reliable and easy to maintain. No mechanical adjustments are necessary for positioning said drill steel and said bolt as a computerized control system is arranged for, among other, said positioning of drill steel and bolt. Said magazines may, at the device, be fixedly positioned in relation to the devices for retrieving and positioning said drill steel and said bolt. Hereby is provided a compact device for bolting. Further is advantageously provided a relatively simple design of the device, wherein said magazines do not need to be moved. With the proposed embodiment comprising fixedly mounted magazines, only a fairly simple programming of a control unit for controlling the operation of the inventive device is required. Without unnecessary moving parts is also provided an inventive embodiment where minimal maintenance is required, which is also cost effective. According to an aspect of the invention, bolts and bolting tools may thus exist arranged at predetermined locations, which is advantageous in many respects. At the device, the positioning may relate to a position relative to said devices for driving and, when appropriate, devices for drill support. Hereby is achieved a reduced risk of drilling taking place at unfavourable angular positions relative to a surface of the rock where holes are to be drilled. Hereby is advantageously achieved an efficient drilling operation including reduced wear and reduced risk of unwanted wear of the device.

The device may further include a guide arrangement for lateral displacement of a feed holder for achieving said positioning. Hereby is provided a simple embodiment of the device which is both inexpensive to construct and allows accurate positioning and robust operation.

The device may further comprise:

- devices for injection of fixing agent in a drill hole.

Hereby is provided a versatile solution, which contributes to further improved rock reinforcement.

The device may further comprise:

- two feed arms, one for drill steels and one for bolts. Hereby are actuator arms with relatively short range sufficient for efficient operation of the device. Hereby is also provided a device, which is less bulky than a device where longer operating arms are necessary. According to an aspect of the invention a faster switching between bolting tool and bolt can hereby be achieved

The device may further comprise:

- two feed arms, one for drill steels and an injection device and one for bolts respectively. Hereby are actuator arms with relatively short range sufficient for efficient operation of the device. Hereby is also provided a device, which is less bulky than a device where longer operating arms are necessary. According to an aspect of the invention a faster switching between bolting tool and bolt can hereby be achieved The device may further comprise:

- turning means arranged on at least one actuator arm for turning said gripping tool towards and away from said magazine and for said positioning of said drill steel and said bolt respectively. Said turning means may comprise turning cylinders. According to an embodiment said turning means may be hydraulically controlled. According to an embodiment said turning means may be electrically controlled.

The device may further comprise:

- turning means arranged on at least one actuator arm for attaching and detaching said drill steel respectively. Hereby is provided functionality to attach, for example, drill steels or an extension drill steel to a dedicated neck of a feeding device of the inventive device for bolting. Hereby is provided functionality to detach, for example, a drill steel or extension drill steel from a designated neck of a feeding device of the inventive device for bolting.

The device may further comprise:

- turning means arranged on at least one actuator arm for mounting and dismounting drill steels relative to each other when lengthening/shortening drill steels.

Hereby is advantageously achieved a device, which according to an aspect of the invention may be used when relatively long holes are to be drilled in the rock.

The above objects are also achieved by a vehicle comprising the device for bolting. The vehicle may be a motor vehicle. The vehicle may be a drilling rig adapted for mining. According to an aspect of the invention there is provided a computer program for bolting, wherein said computer program comprises program code stored on a, by a computer, readable medium for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any of the claims 1 - 8.

According to an aspect of the invention there is provided a computer program for bolting, wherein said computer program comprising program code for causing an electronic control unit, or another computer connected to the electronic control unit to perform the steps according to any of the claims 1-8.

According to an aspect of the invention there is provided a computer program for bolting by means of a device according to any of the claims 9-16, wherein said computer program comprises program code stored on a, by a computer readable, medium for causing an electronic control unit or another computer connected to the electronic control unit to perform the step of: - retrieving and positioning drill steel and bolt respectively by means of at least one controlled moveable actuator arm provided with a gripping tool. Software comprising program code for bolting can easily be updated or replaced. Moreover, different parts of the software comprising program code for bolting can be replaced independently. This modular configuration is advantageous from a maintenance perspective. According to an aspect of the invention there is provided a computer program product comprising a program code stored on a, by a computer readable, medium for performing the method steps according to any of the claims 1-8, when said computer program is run on an electronic control unit or another computer connected to the electronic control unit .

Further objects, advantages and novel features of the present invention will become apparent to those skilled in the art from the following details, as well as by practice of the invention. Even though the invention is described below, it should be apparent that the invention is not limited to the specific details described. Persons skilled in the art having access to the teachings herein will recognize additional applications, modifications and incorporations in other fields, which are within the scope of the invention.

BRIEF 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 to be read together with the accompanying drawings wherein the same references refer to the same parts in the various figures, and in which:

Figure 1 schematically illustrates a vehicle according to an embodiment of the invention;

Figure 2 schematically illustrates a device for bolting, according to an embodiment of the invention;

Figure 3 schematically illustrates a device for bolting, according to an aspect of the invention;

Figure 4 schematically illustrates a device for bolting, according to an aspect of the invention;

Figure 5 schematically illustrates a device for bolting, according to an aspect of the invention;

Figure 6 schematically illustrates a device for bolting, according to an aspect of the invention;

Figure 7 schematically illustrates a device for bolting, according to an aspect of the invention;

Figure 8a schematically illustrates a flowchart for a method, according to an embodiment of the invention; Figure 8b schematically illustrates in further detail a flowchart for a method, according to an embodiment of the invention; and

Figure 9 schematically illustrates a computer, according to an embodiment of the invention.

DETAILED DESCPRITION OF THE DRAWINGS

Figure 1 shows a vehicle 100. The exemplified vehicle 100 is according to an embodiment a so-called drilling rig adapted for mining. The vehicle 00 may be a motor vehicle with 4, 6 or 8 wheels, wherein a suitable number of drive wheel sets are arranged at the vehicle 100.

The vehicle 100 is provided with the inventive device 299 for bolting.

The vehicle 100 may be operator-controlled, wherein one or more operators may be located on board the vehicle during propulsion of the vehicle. According to an alternative, the vehicle 100 is remote-controlled, wherein one or more operators may be located at a control centre located above ground. According to an alternative, the vehicle is arranged for autonomous control.

Herein the term "link" relates to a communication link, which may be a physical line such as an opto-electronic communication line, or a non- physical line such as a wireless connection, for example a radio or microwave link.

Figure 2 shows a device 299 for bolting. The device 299 is arranged on the vehicle 100 as described with reference to Figure 1. The device 299 comprises a frame 230, which is arranged to hold a feed holder 240 and a feeder 235. Said frame 230 is described in further detail with reference to Figure 3 below. Said feed holder is described in further detail with reference to Figure 4 below. Said feeder 235 is described in further detail with reference to Figure 5 below.

Said frame 230 is arranged to support a drill support device 290. Said drill support device 290 is arranged to, where applicable, hold a drill steel 201 when drilling.

The device 299 comprises drive means 280 for driving said drill steel 201 during drilling. Said drive means 280 may be a rock drill of appropriate dimensions and driving power.

The device 299 comprises, according to an embodiment, a first actuator arm 251 and a second actuator arm 252. Said first actuator arm 251 and second actuator arm 252 are described in further detail with reference to Figure 6 below. Said first actuator arm 251 is arranged at a first side of the device 299. Said second actuator arm 252 is arranged at a second side of the device 299.

The device 299 comprises a first magazine 270. Said first magazine 270 is arranged at said first side of the device 299. Said first magazine 270 is arranged to detachably hold a number of bolting tools.

Said bolting tools may comprise a suitable number of drill steels 201. Said drill steels 201 may be of any suitable dimension.

Said bolting tools may also comprise a suitable number of extension drill steels 202. Said extension drill steels 202 are configured appropriately to, if necessary, enable lengthening of said drill steel 201. Said bolting tools may also comprise one or more injection means 700. Said injection means 700 are described in further detail with reference to Figure 7 below. Said injection means 700 may be arranged to provide fixing agent, such as resin, into drilled holes, which will receive a bolt 203 for rock reinforcement.

The device 299 comprises a second magazine 260. Said second magazine 260 is arranged at a second side of the device 299. Said second magazine 260 is arranged to detachably hold a suitable number of bolts 203. Said bolts 203 may be of suitable dimension. It should be noted that said bolts 203 may be of mutually different sizes and types. Said bolts 203 may comprise fastening means such as barb means or anchoring devices, or other suitable means for fixedly installing said bolts in drilled holes.

The device 299 comprises a first control unit 200. The first control unit 200 is arranged to automatically control operation of the device 299. The first control unit 200 is arranged to control the operation of the parts included in the device 299, for example said first actuator arm 251 , said second actuator arm 252, said feeder 240, said drive means 280 and said drill support 290. The first control unit 200 is further arranged to control operation of for example the injection means 700. A second control unit 2 0 is arranged for communication with the first control unit 200 via a link L210. The second control unit 210 may be detachably connected to the first control unit 200. The second control unit 210 may be an external control unit to the vehicle 100. The second control unit 210 may be arranged to perform the inventive method steps according to the invention. The second control unit 210 may be used to load the software into the first control unit 200, particularly software for performing the inventive method. The second control unit 210 may alternatively be arranged for communication with the first control unit 200 via an internal network in the vehicle. The second control unit 210 may be arranged to perform substantially identical functions as the first control unit 200. Figure 2 illustrates only one link L200 which is arranged for communication with a part of the device 299. In this example, there is thus provided a possibility for the first control unit 200 to control the operation of said drive means 280 by means of control signals via said link L200. The device 299 may comprise a number of links for control of the various constituent parts of the device 299. These other links have been omitted to make Figure 2 clear.

In one example, the first control unit 200 is arranged to control the operation of said first actuator arm 251 and said second actuator arm 252 by suitable hydraulic equipment (not shown). In one example, the first control unit 200 is arranged to control the operation of said first actuator arm 251 and said second actuator arm 252 by suitable mechanical equipment (not shown).

An operator may, by actuator means (not shown), signal connect to the first control unit 200 and actively control the device 299 for bolting.

According to an alternative an operator may, by means of a computer (not shown) and suitable user interface, initiate and monitor automatic bolting according to the inventive method. There is a signal connection between said computer and the first control unit 200.

Figure 3 schematically illustrates a device for bolting, according to an aspect of the invention. Herein, said frame 230 is illustrated schematically in further detail. Said frame 230 is arranged to support said drill support 290.

Said frame 230 is further arranged to support a guide 232. Said guide 232 is arranged for displacing said feed holder 240. Said guide 232 is arranged to provide a lateral displacement of said feed holder 240. Said guide 232 may also be referred to as guide arrangement 232. Said guide 232 is arranged to provide proper positioning of a bolt 203, a drill steel 201 or extension drill steel 202 in operation of the device 299. Said positioning may thus be performed using the guide arrangement 232 for lateral displacement of said feed holder 240.

Said frame 230 is arranged to support said second magazine 260 for holding a number of bolts 203. Said second magazine 260 may, according to an embodiment, comprise a first portion 261 and a second portion 262. Said first portion 261 is provided with an appropriate number of recesses 263a. Said second portion 262 is provided with a suitable number of recesses 263b, preferably the same number of recesses provided at the first portion 261. According to an embodiment, a particular recess 263a of the first portion 261 is associated with a particular recess 263b of the second portion 262. Said pair of recesses 263a and 263b is arranged to detachably hold a bolt 203. It should be noted that said second magazine 260 may be configured in alternative ways.

According to an embodiment of the device 299, hydraulic means (not shown) are provided to lock said bolts 203 with at least one hydraulic clamping cylinder. An appropriate number of clamping cylinders may be arranged at said second magazine 260. Said hydraulic means may be arranged to hold and release said bolts independently. Said first control unit 200 is arranged to control said hydraulic means as appropriate.

According to an alternative embodiment, said second magazine 260 is provided with elastic holding elements, which are arranged to detachably hold said bolts 203. Said elastic holding elements may consist of rubber.

Said first portion 261 is, according to an embodiment, fixedly arranged at the frame 230. Said second portion 262 is, according to an embodiment, fixedly arranged at the frame 230. Hereby, bolts 203 may be positioned at predetermined positions. In this example, the frame 230 may be provided with an extendable support element 233, which in an extended state provides increased stability of the device 299 during drilling or bolting. Figure 4 schematically illustrates a device for bolting according to an aspect of the invention. Said feed holder 240 is herein illustrated in further detail.

Said feed holder 240 is arranged to be supported by the frame 230 with suitable fixing points as illustrated in Figure 3 above.

Said feed holder 240 is arranged to support said first magazine 270 for holding a variety of bolting tools. Said first magazine 270 may according to an embodiment comprise a first portion 271 and a second portion 272. Said first portion 271 is provided with an appropriate number of recesses 271a. Said second portion 272 is provided with a suitable number of recesses 271b, preferably the same number of recesses as provided at the first portion

271. According to an embodiment, a particular recess 271a of the first portion 271 is thus associated with a particular recess 271b of the second portion

272. Said pair of recesses 271a and 271b is arranged to detachably hold a bolting tool. It should be noted that said second magazine 272 may be configured in alternative ways.

Figure 5 schematically illustrates a device for bolting, according to an aspect of the invention. Figure 5 illustrates the feeder 235 in further detail.

The feeder 235 comprises a feed cylinder 236, which is arranged to move the rock drill 280 by a feed guide configuration 231 during operational use. Said feed cylinder may be hydraulically actuated. Said rock drill 280 may be detachably arranged at a carriage arrangement 237, which carriage arrangement 237 is fixedly attached to said feed guide configuration 23 . A push surface 238 is fixedly attached to said feed guide configuration 231. Said push surface 238 is arranged to support a bolt 203 for bolting at one end thereof, wherein a second end of said bolt 203 for bolting is the end, which is inserted into the drilled hole.

According to an embodiment, said push surface 238 is arranged adjacent to said rock drill 280. Hereby, said push surface 238 and said rock drill 280 may be used alternately as desired. Said guide 232 as illustrated, for example, with reference to Figure 3 is arranged to laterally displace the feed holder 240, and thereby the feeder 235 to achieve positioning of the feeder 235 and thereby positioning of a bolt 203 or a bolting tool.

The first control unit 200 is arranged to control operation of for example the feeder 235 comprising said feed cylinder 236, said feed guide arrangement 231 , said rock drill 280 and said guide 232, according to stored control routines.

Figure 6 schematically illustrates a device for bolting, according to an aspect of the invention. Figure 6 illustrates an actuator arm configuration 600.

Said actuator arm configuration 600 comprises a body 610, which body 610 is attached to said frame 230.

A first actuator arm 251 is arranged at a first side of said body 610. Said first actuator arm 251 comprises a first turning means 601. Said first turning means 601 is mounted in said body 610 at a first end thereof. Said first turning means 601 is provided with a portion 602 at a second end thereof.

Said first turning means 601 is arranged to turn said portion 602 within a predetermined first angular range V1 , in a controlled manner. Said first angular range V1 may be a predetermined angular range. Said first angular range V1 may be any suitable angular range. V1 may, for example, be defined by the range [10, 180] degrees. Said portion 602 is mounted in an element 607. Said element 607 may according to an example embodiment be omitted from the first actuator arm 251. Said first actuator arm 251 may comprise a suitable number of elements 607 to provide a desired configuration for adaptation to said first magazine 271.

Said first actuator arm 251 comprises a second turning means 603. Said second turning means 603 is at a first end mounted in said element 607. Said second turning means 603 is at a second end provided with a gripping tool 604. Said second turning means 603 is arranged to turn said gripping tool 604 within a predetermined second angular range V2 in a controlled manner. Said second angular range V2 may be a predetermined angular range. Said second angular range V2 may be any suitable angular range. V2 may, for example, be defined by the range [10, 180] degrees.

The first control unit 200 is adapted to control said first turning means 601 and said second turning means 603 and said gripping means 604 so that automatic bolting is achieved. Hereby, for example said first turning means 601 and said second turning means 603, and said gripping means 604 may be controlled such that a selected bolting tool can be used and restored in the first magazine 271.

A second actuator arm 252 is arranged at a second side of said body 610. Said second actuator arm 252 comprises a first turning means 611. Said first turning means 611 is mounted in said body 610 at a first end thereof. Said first turning means 611 is provided with a portion 612 at a second end thereof. Said first turning means 611 is arranged to turn said portion 612 within a predetermined first angular range V1 in a controlled manner. Said first angular range V1 may be a predetermined angular range. Said first angular range V1 may be any suitable angular range. V1 may, for example, be defined by the range [10, 180] degrees. Said second actuator arm 252 comprises a second turning means 613. Said second turning means 613 is at a first end mounted in portion 612. Said second turning means 613 is at a second end provided with a gripping tool 614. Said second turning means 613 is arranged to turn said gripping tool 614 within a predetermined second angular range V2 in a controlled manner. Said second angular range V2 may be a predetermined angular range. Said second angular range V2 may be any suitable angular range. V2 may, for example, be defined by the range [10, 180] degrees.

The first control unit 200 is adapted to control said first turning means 611 and said second turning means 613 and said gripping means 614 so that automatic bolting is achieved. Hereby, for example, said first turning means 611 and said second turning means 613 and said gripping means 614 may be controlled such that a selected bolt 203 can be used for rock reinforcement.

Said first turning means 601 and 611 may be hydraulically controlled. Said second turning means 602 and 612 may be hydraulically controlled.

Said first turning means 601 and 611 may be electrically controlled. Said second turning means 602 and 612 may be electrically controlled.

According to an embodiment, at least one actuator arm configuration 600 is provided with only one turning means 601 and only one gripping tool 604.

According to an embodiment, at least one actuator arm configuration 600 is provided with two turning means 601 and 602 and only one gripping tool 604. According to an embodiment, at least one actuator arm configuration 600 is provided with three turning means, and only one gripping tool 604. According to an embodiment, at least one actuator arm of the actuator arm configuration 600 is provided with any suitable number of turning means and any suitable number of gripping tools. Hereby is advantageously achieved a possibility to adjust the actuator arm configuration appropriately. The actuator arm configuration 600 may be arranged in a number of ways by, in different embodiments, providing said turning means, portions and elements in a desired manner and relative positioning.

It should be noted that said actuator arm configuration 600 may comprise more than two actuator arms.

According to an example, said actuator arm configuration comprises three actuator arms, wherein two actuator arms may be arranged on the first side of the body 610 and one at the other side of the body 610.

According to example, said actuator arm configuration comprises four actuator arms, wherein two actuator arms may be arranged on the first side of the body 610 and two actuator arms may be arranged on the other side of the body 610.

According to an example, said actuator arm configuration comprises four actuator arms, wherein three actuator arms may be arranged on the first side of the body 610 and one actuator arm may be arranged on the other side of the body 610.

Figure 7 schematically illustrates a device for bolting, according to an aspect of the invention. Hereby injection means 700 is described in further detail.

Injection means 700 may comprise a passage 720, which is arranged to convey a fixing agent from a reservoir (not shown). Said feed may be achieved by a dedicated feeding means (not shown), such as for example a feed pump. Said passage 720 is provided with a nozzle 730, through which the fixing agent is applied to a drilled hole, which may be provided with an inserted bolt 203.

The passage 720 is arranged on a support element 710, which support element may be inserted into the hole in a desired manner by means of the feeder 235. Figure 8a schematically illustrates a flowchart of a method for bolting, according to an embodiment of the invention. The method comprises a first method step S801. The step S801 comprises the steps of:

- providing drill steels for drilling bolting holes;

- providing bolts for rock reinforcement by insertion into said bolting holes; - providing devices for driving of said drill steels and devices for displacing said drill steels and said bolts respectively, wherein said drill steels and said bolts respectively alternately are brought into active engagement during said bolting;

- providing devices for retrieving a drill steel from a drill steel magazine and positioning said drill steel for drilling and after drilling returning said drill steel to said magazine;

- providing devices for retrieving a bolt from a bolt magazine and positioning said bolt for installation; and

- retrieving and positioning said drill steel and said bolt respectively by means of at least one controlled moveable actuator arm provided with a gripping tool.

After step S801 the method is ended.

Figure 8b schematically illustrates a flowchart of a method for bolting, according to an embodiment of the invention.

The method comprises a first method step S810. Method step S810 comprises the step of providing drill steels for drilling bolting holes. After the method step S810, a subsequent method step S820 is performed.

The method step S820 comprises the step of providing bolts for rock reinforcement by insertion into said bolting holes. After the method step S820 a subsequent method step S830 is performed.

The method step S830 comprises the step of providing devices for driving of said drill steels and the bolts and devices for displacing said drill steels and said bolts respectively, wherein said drill steels and said bolts respectively alternately are brought into active engagement during said bolting. After the method step S830 a subsequent method step S840 is performed.

The method step S840 comprises the step of providing devices for retrieving a drill steel from a drill steel magazine and positioning said drill steel for drilling and after drilling returning said drill steel to said magazine. After the method step S840 a subsequent method step S850 is performed.

The method step S850 comprises the step of providing devices for retrieving a bolt from a bolt magazine and positioning said bolt for installation. After the method step S850 a subsequent method step S860 is performed.

The method step S860 comprises the step of retrieving and positioning said drill steel and said bolt respectively by means of at least one controlled movable actuator arm provided with a gripping tool. After the method step S860 the method is ended.

Below are briefly described a number of operating sequences of the device for bolting, according to various aspects of the present invention

Handling of drill steel According to an aspect of the invention is performed a sequence, comprising the steps of:

B1) Turning an actuator arm 251 from an idle position to a position where a drill steel 201 can be retrieved. This position may be a predetermined position at a drill steel magazine 271 ;

B2) Gripping the drill steel 201 ;

B3) Moving the drill steel 201 to a position adapted for active engagement;

B4) Positioning the drill steel 201 ;

B5) Attaching the drill steel 201 to the rock drill 280;

B6) Driving the drill steel 201 by means of the rock drill 280;

B7) Clamping the drill steel 201 by means of a drill support 290;

B8) Releasing the drill steel 201 by means of said drill support 290;

B9) Moving the rock drill back to an initial position;

B10) Detaching the drill steel 201 from the rock drill 280;

B11) Gripping the drill steel 201 ;

B12) Moving the drill steel 201 to a position adapted for storing;

B13) Positioning the drill steel 201 on a therefore dedicated position in the drill steel magazine 271 ;

B14) Turning the actuator arm 251 from a position where the drill steel 201 has been left to an idle position.

The first control unit 200 is arranged to control the operation of the device 299, including performing at least one of the steps B1-B14.

Handling of extension rod

51 ) Turning an actuator arm 251 from an idle position to a position where an extension drill steel 202 may be retrieved. This position may be a predetermined position at a drill steel magazine 270;

52) Gripping the extension drill steel 202; 53) Moving the extension drill steel 202 to a position adapted for active engagement;

54) Positioning the extension drill steel 202;

55) Attaching the extension drill steel 202 to an already positioned drill steel and a neck of the device 299;

56) Driving the drill steel 202, including a drill steel 201 and said extension drill steel 202, by means of the rock drill 280;

57) Clamping the drill steel 202, including a drill steel 201 and at least one extension drill steel 202, by means of a drill support 290;

S8) Releasing the extension drill steel 202 from said drill support 290;

S9) Moving the rock drill 280 back to an initial position;

510) Detaching the extension drill steel 202 from the drill steel 201 and said neck;

511 ) Gripping the extension drill steel 202;

S12) Moving the extension drill steel 202 to a position adapted for storing;

513) Positioning the extension drill steel 202 on a therefore dedicated position in the drill steel magazine 270;

514) Turning the actuator arm 251 from a position where the extension drill steel has been left to an idle position.

The first control unit 200 is arranged to control the operation of the device 299, including performing at least one of the steps S1-S14.

Handling of injection means

11 ) Turning an actuator arm 251 from an idle position to a position where an injection means 700 can be retrieved. This position may be a predetermined position at a drill steel magazine 270;

12) Gripping said injection means 700;

I3) Moving said injection means 700 to a position adapted for active engagement;

I4) Positioning said injection means 700; 15) Attaching said injection means 700 to a therefore dedicated neck of the device 299;

16) Driving said injection means 700, including inserting a nozzle 730 into a drilled hole in the rock. Said driving also including the feeding of a fixing agent into said hole. Said fixing agent may be configured as resin cartridges according to an embodiment of the present invention;

17) Releasing said injection means 700 from said neck. Said releasing may include detaching said injection means from said neck;

18) Gripping said injection means 700;

I9) Moving said injection means 700 to a position adapted for storing;

110) Positioning said injection means 700 on a therefore dedicated position in for example the drill steel magazine 270;

111 ) Turning the actuator arm 251 from a position where said injection means 700 has been left to an idle position.

The first control unit 200 is arranged to control the operation of the device 299, including performing at least one of the steps 11- 111.

Handling of bult

G1 ) Turning a second actuator arm 252 from an idle position to a predetermined position where a bolt 203 can be retrieved. This predetermined position may be a predetermined position at a bolt magazine 260;

G2) Gripping said bolt 203;

G3) Moving said bolt 203 to the push surface 238;

G4) Positioning said bolt 203;

G5) Closing said drill support 290;

G6) Inserting the bolt 203 a predetermined distance into the drill hole;

G7) Moving the rock drill 280 to a predetermined position;

G8) Moving the feeder 235 to a drill centre; G9) Inserting the bolt 203 further during a rotary movement by said rock drill 280;

G10) Moving the rock drill 280 to a predetermined position;

G11 ) Turning the actuator arm 252 to an idle position.

The first control unit 200 is arranged to control the operation of the device 299, including performing at least one of the steps G1 -G11.

Referring to Figure 9, a diagram of an embodiment of a device 900 is shown. The control units 200 and 210 described with reference to Figure 2 may in an embodiment comprise the device 900. The device 900 comprises a nonvolatile memory 920, a data processing unit 910 and a read/write memory 950. The non-volatile memory 920 has a first memory portion 930 wherein a computer program, such as an operating system, is stored for controlling the operation of the device 900. The device 900 further comprises a bus controller, a serial communication port, l/O-means, an A/D-converter, a time- and date input and transmission unit, an event counter and an interrupt controller (not shown). The non-volatile memory 920 also has a second memory portion 940.

A computer program P is provided comprising routines for operating a device 299 for bolting in accordance with the teachings herein. The program P comprises routines for operating said first actuator arm 251 and said second actuator arm 252. The program P comprises routines for automated drilling and bolting in accordance with the inventive method.

The program P comprises routines for automated drilling and bolting, including automated operation of injection means 700 in accordance with the inventive method.

The program P comprises routines for performing the steps B1-B14, S1-S14, 11-111 and G1-G11. The program P may be stored in an executable manner or in compressed manner in a memory 960 and/or in a read/write memory 950. When it is described that the data processing unit 910 performs a specific function, it is understood that the data processing unit 910 performs a specific part of the program which is stored in the memory 960, or a specific part of the program stored in the read/write memory 950. The data processing unit 910 can communicate with a data port 999 via a data bus 915. The non-volatile memory 920 is adapted for communication with the data processing unit 910 via a data bus 912. The separate memory 960 is adapted to communicate with the data processing device 910 via a data bus 911. The read/write memory 950 is adapted to communicate with the data processing device 910 via a data bus 914. To the data port 999 may, for example, the links L200 and L210 be connected (see Figure 2).

When data is received at the data port 999 it is stored temporarily in the second memory portion 940. When the received input data has been temporarily stored, the data processing unit 910 is prepared to perform execution of code in a manner described above. According to an embodiment, the signals received at the data port 599 comprise information on the operational status of parts of the device 299, for example the rock drill 280. According to an embodiment, the signals received at the data port 599 comprise information on the operational status of the actuator arms 251 and 252. The received signals at the data port 999 may be used by the device 900 for controlling the operation of the device 299.

Parts of the methods described herein may be performed by the device 900 by means of the data processing unit 910 that runs the program stored in the memory 960 or read/write memory 950. When the device 900 is running the program, the herein described methods are executed. The previous description of the preferred embodiments of the present invention has been provided for the purpose of illustration and description of the invention. It is not intended to be comprehensive or to limit the invention to the described embodiments. Obviously, many modifications and variations will become apparent to the skilled person. The embodiments were chosen and described to best explain the principles of the invention and its practical applications, thereby allowing persons skilled in the art to understand the invention for various embodiments and with the various modifications suitable for the intended use.