Automatic control system and method for a machine used for excavating drifts, tunnels, stopes, or caverns
First Claim
1. A system for automatically controlling the operation of a machine used for excavating drifts, tunnels, stopes, or caverns of a predetermined profile, said machine having a rotatable head on which are mounted at least two cutting arms which are rotatable with the head and extend in the direction of excavation, at least one of said cutting arms being radially pivotable by means of a hydraulic cylinder having a piston and a shaft one end of which is connected to the piston and the other acts on each pivotable cutting arm to pivot the same, said system comprising:
- means for continuously measuring angular position φ
of the head as it is rotating;
means for continuously measuring radial position angle θ
of each pivotable cutting arm;
a computer responsive to output signals of said means for measuring φ and
θ
, said computer controlling valve means which continuously control flow of hydraulic fluid to the hydraulic cylinder so that for each angular position φ
of the head, each pivotable cutting arm is radially positioned at a preset angle θ
according to a predetermined profile code stored in the computer memory for cutting said predetermined profile.
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Accused Products
Abstract
An automatic control of the operation of a machine used for excavating drifts, tunnels, stopes, caverns or the like of a predetermined profile having a rotatable head (10) and cutting arms (14, 16) mounted on the head for rotation therewith, extending in the direction of excavation with at least one cutting arm (14, 16) being radially pivotable. The angular position (φ) of the head (10) is continuously measured and the output signals from these measurements are processed by the computer (44) which controls the angular positions of the head and of the arms according to a predetermined profile code or program stored in the computer memory for cutting the predetermined profile. Additional sensors (54,56) may be provided to control other parameters such as RPM of the rotating head, the force exerted on the arms, the positioning of the machine and the like.
56 Citations
27 Claims
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1. A system for automatically controlling the operation of a machine used for excavating drifts, tunnels, stopes, or caverns of a predetermined profile, said machine having a rotatable head on which are mounted at least two cutting arms which are rotatable with the head and extend in the direction of excavation, at least one of said cutting arms being radially pivotable by means of a hydraulic cylinder having a piston and a shaft one end of which is connected to the piston and the other acts on each pivotable cutting arm to pivot the same, said system comprising:
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means for continuously measuring angular position φ
of the head as it is rotating;means for continuously measuring radial position angle θ
of each pivotable cutting arm;a computer responsive to output signals of said means for measuring φ and
θ
, said computer controlling valve means which continuously control flow of hydraulic fluid to the hydraulic cylinder so that for each angular position φ
of the head, each pivotable cutting arm is radially positioned at a preset angle θ
according to a predetermined profile code stored in the computer memory for cutting said predetermined profile. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for automatically controlling the operation of a machine used for excavating drifts, tunnels, stopes, or caverns of a predetermined profile, said machine having a rotatable head on which at least two cutting arms are mounted which are rotatable with the head and extend in the direction of excavation, at least one of said cutting arm being radially pivotable, said method comprising the steps of:
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continuously measuring angular position φ
of the head as it is rotating;continuously measuring radial position angle θ
of each pivotable cutting arm;processing output signals from the measurements of φ and
θ
, and controlling the machine so that for each angular position φ
of the head, each pivotable cutting arm is radially positioned at a preset angle θ
according to a predetermined profile code. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27)
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Specification