Automated cutting operation of a mining machine

• US 8,807,659 B2
• Filed: 08/03/2012
• Issued: 08/19/2014
• Est. Priority Date: 08/03/2011
• Status: Active Grant

• Current Assignee: Joy Global Underground Mining LLC (Komatsu Ltd.)
• Original Assignee: Joy Mm Delaware Incorporated (Komatsu Ltd.)
• Inventors: Jokonya, Persistence
• Primary Examiner(s): Bagnell, David
• Assistant Examiner(s): GOODWIN, MICHAEL ALAN
• Application Number:
  US13/566,696
• Publication Number:
  US 20130033087A1
• Time in Patent Office: 746 Days
• Field of Search: 299/1.05, 299/1.1, 299/1.4, 299/1.8, 299/10, 299/31, 299/30
• US Class Current: 299/1.4
• CPC Class Codes: E21C 25/06 Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
• CPC Class Codes: E21C 25/16 Machines slitting solely by one or more rotating saws, cutting discs, or wheels
• CPC Class Codes: E21C 27/24 by milling means acting on the full working face , i.e. the rotary axis of the tool carrier being substantially parallel to the working face similar machines for tunneling E21D9/1026
• CPC Class Codes: E21C 31/12 Component parts
• CPC Class Codes: E21C 35/00 Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
• CPC Class Codes: E21C 35/06 Equipment for positioning the whole machine in relation to its sub-structure
• CPC Class Codes: E21C 35/08 Guiding the machine
• CPC Class Codes: E21C 35/10 by feelers contacting the working face
• CPC Class Codes: E21C 35/24 Remote control specially adapted for machines for slitting or completely freeing the mineral control in general G05
• CPC Class Codes: E21D 9/102 by a longitudinally extending boom being pivotable about a vertical and a transverse axis
• CPC Class Codes: E21D 9/108 Remote control specially adapted for machines for driving tunnels or galleries for machines for slitting or completely freeing the mineral E21C35/24
• CPC Class Codes: E21F 13/06 Transport of mined material at or adjacent to the working face

Abstract

Methods and systems for automatically operating a continuous mining machine. One method includes accessing at least one coordinate of a cutting face stored in a computer-readable medium, automatically operating at least one actuator to position a platform a predetermined starting distance from the at least one coordinate, the platform supporting a cutterhead, and automatically operating the at least one actuator to advance the platform toward the cutting face and beyond the at least one coordinate by a predetermined depth-of-cut to perform a cut of the cutting face with the cutterhead.

Claims

1. A method for automatically operating a continuous mining machine, the method comprising:

accessing at least one coordinate of a cutting face stored in a computer-readable medium, the at least one coordinate specifying a position of at least one actuator;

automatically operating the at least one actuator to position a platform a predetermined starting distance from the at least one coordinate, the platform supporting a cutterhead; and

automatically operating the at least one actuator to advance the platform toward the cutting face and beyond the at least one coordinate by a predetermined depth-of-cut to perform a cut of the cutting face with the cutterhead.

2. The method of claim 1, further comprising receiving a command to initiate an automated cutting operation from a remote control unit.

3. The method of claim 1, further comprising

automatically checking at least one machine interlock;

and

stopping automated operation of the mining machine when the at least one machine interlock has been set.

4. The method of claim 1, further comprising automatically operating at least one second actuator to position an arm at a predetermined swing starting position, the arm coupled to the platform and including the cutterhead.

5. The method of claim 4, further comprising automatically operating the at least one second actuator to swing the arm to a maximum swing angle to perform the cut of the cutting face.

6. The method of claim 1, further comprising automatically starting at least one motor to drive the cutterhead.

7. The method of claim 1, further comprising automatically starting a material handling system.

8. The method of claim 1, further comprising automatically controlling pressure of at least one water jet associated with the cutterhead.

9. The method of claim 1, further comprising automatically updating the at least one coordinate based on the depth-of-cut.

10. The method of claim 1, further comprising automatically operating the at least one actuator to retract the platform from the cutting face after performing the cut.

11. The method of claim 1, further comprising automatically tramming the machine to a new position when the at least one actuator reaches a maximum extension.

12. The method of claim 1, further comprising:

(i) automatically operating the at least one actuator to advance the platform toward the cutting face until the cutterhead contacts the cutting face and pressurizes the at least one actuator to a predetermined pressure value, and

(ii) saving the at least one coordinate of the cutting face based on a position of the at least one actuator when the at least one actuator is pressurized to the predetermined pressure value.

13. A system for automatically operating a continuous mining machine, the system comprising:

a platform supporting a cutterhead;

at least one actuator configured to move the platform linearly; and

a control system configured to perform an automated cutting operation without manual interaction by

(i) accessing at least one coordinate of a cutting face stored in a computer-readable medium, the at least one coordinate specifying a position of the at least one actuator,

(ii) operating the at least one actuator to position the platform a predetermined distance from the at least one coordinate, and

(iii) operating the at least one actuator to advance the platform toward the cutting face and beyond the at least one coordinate by a predetermined depth-of-cut to cut the cutting face with the cutterhead.

14. The system of claim 13, wherein the predetermined distance is from approximately 32 millimeters to approximately 38 millimeters.

15. The system of claim 13, further comprising at least one second actuator configured to swing an arm horizontally, the arm coupled to the platform and including the cutterhead.

16. The system of claim 15, wherein the control system is further configured to automatically operate the at least one second actuator to position the arm at a predetermined swing cutting position.

17. The system of claim 16, wherein the predetermined swing cutting position is approximately 12 degrees from a vertical plane defined by a front of the mining machine.

18. The system of claim 15, wherein the control system is further configured to automatically operate the at least one second actuator to swing the arm to a maximum swing angle to perform the cut.

19. The system of claim 13, further comprising at least one second actuator configured to tilt an arm vertically, the arm coupled to the platform and including the cutterhead.

20. The system of claim 19, wherein the control system is further configured to automatically operate the at least one second actuator to position the arm at a predetermined tilt cutting position.

21. The system of claim 20, wherein the control system is further configured to access at least one second coordinate of the cutting face, wherein the tilt cutting position is based on the at least one second coordinate.

22. The system of claim 13, wherein the control system is further configured to automatically start at least one motor driving the cutterhead.

23. The system of claim 13, wherein the control system is further configured to automatically start a material handling system.

24. The system of claim 13, wherein the control system is further configured to automatically control pressure of at least one water jet associated with the cutterhead.

25. The system of claim 13, wherein the control system is further configured to automatically update the at least one coordinate based on the depth-of-cut after performing the cut.

26. The system of claim 13, wherein the control system is further configured to automatically operate the at least one actuator to retract the platform from the cutting face after performing the cut.

27. The system of claim 13, where the control system is further configured to automatically tram the machine to a new position when the at least one actuator reaches a maximum extension.

28. The system of claim 13, wherein the control system is further configured to

(i) automatically operate the at least one actuator to advance the platform toward the cutting face until the cutterhead contacts the cutting face and pressurizes the at least one actuator to a predetermined pressure value, and

(ii) automatically save the at least one coordinate based on a position of the at least one actuator when the at least one actuator is pressurized to the predetermined pressure value.

29. The system of claim 13, wherein the control system is further configured to automatically stop the automated cutting operation.

30. The system of claim 13, wherein the cutterhead includes at least one oscillating disc cutter.

31. A system for automatically operating a continuous mining machine, the system comprising:

a platform;

an arm coupled to the platform and including a cutterhead;

a first actuator configured to move the platform linearly;

a second actuator configured to swing the arm horizontally;

a third actuator configured to tilt the arm vertically; and

a control system configured to

(i) access a first coordinate of the cutting face and a second coordinate of the cutting face stored in a computer-readable medium,

(ii) automatically operate the first actuator to position the platform a predetermined starting distance from the first coordinate,

(iii) automatically operate the second actuator to position the arm at a predetermined cutting position,

(iv) automatically operate the third actuator to position the arm based on the second coordinate,

(v) automatically operate the first actuator to advance the platform toward the cutting face and beyond the first coordinate by a predetermined depth-of-cut,

(vi) automatically operate the second actuator to swing the arm to a maximum swing angle to cut the cutting face with the cutterhead, and

(vii) automatically update the first coordinate based on the predetermined depth-of-cut.

32. The system of claim 31, wherein the control system is further configured to update the at least one coordinate based on a position of the third actuator after performing the cut.

33. The system of claim 31, wherein the control system is further configured to perform steps (i) through (vii) in response to a command received from a remote control unit.

34. The system of claim 31, wherein the cutterhead includes at least one oscillating disc cutter.