Automated pre-tramming operation of a mining machine

• US 8,820,846 B2
• Filed: 08/03/2012
• Issued: 09/02/2014
• 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:
  US13/566,719
• Publication Number:
  US 20130033088A1
• Time in Patent Office: 760 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 a first actuator to position a platform a predetermined clearance distance from the at least one coordinate, the platform supporting a cutterhead, and automatically operating a second actuator to position an arm at a tramming position after positioning the platform the predetermined clearance distance from the at least one coordinate, the arm coupled to the platform and including 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 a first actuator;

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

automatically operating a second actuator to position an arm at a tramming position after positioning the platform the predetermined clearance distance from the at least one coordinate,

the arm coupled to the platform and including the cutterhead.

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

3. The method of claim 1, further comprising

automatically checking at least one machine interlock;

and

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

4. The method of claim 1, wherein automatically operating the first actuator includes automatically operating the first actuator to position the platform approximately 50 millimeters from the at least one coordinate.

5. The method of claim 1, wherein automatically operating the second actuator includes automatically operating the second actuator to position the arm approximately parallel with a longitudinal axis of the mining machine.

6. The method of claim 1, further comprising automatically operating the first actuator to position the platform at a predetermined cutting position after positioning the arm at the tramming position.

7. The method of claim 6, wherein automatically operating the first actuator to position the platform at the predetermined cutting position includes automatically operating the first actuator to position the platform at a minimum stroke of the first actuator.

8. The method of claim 6, operating the first actuator to position the platform at the predetermined cutting position includes automatically operating the first actuator to extend the first actuator from approximately 1097 millimeters to approximately 1103 millimeters.

9. The method of claim 1, further comprising tramming the mining machine.

10. The method of claim 1, further comprising:

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

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

11. 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; and

a control system configured to perform an automated pre-tramming operation without requiring 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 first actuator,

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

(ii) operating the second actuator to swing the arm to a predetermined tramming position after positioning the platform the predetermined clearance distance from the at least one coordinate.

12. The system of claim 11, wherein the predetermined clearance distance is approximately 50 millimeters.

13. The system of claim 11, wherein the tramming position includes a position of the arm approximately parallel to a longitudinal axis of the mining machine.

14. The system of claim 11, wherein the control system is further configured to automatically operate the first actuator to position the platform at a predetermined cutting position after positioning the arm at the tramming position.

15. The system of claim 14, wherein the predetermined cutting position is a minimum stroke of the first actuator.

16. The system of claim 14, wherein the predetermined cutting position is an extension of the first actuator from approximately 1097 millimeters to approximately 1103 millimeters.

17. The system of claim 11, wherein the control system is further configured to tram the mining machine.

18. The system of claim 11, wherein the control system is further configured to

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

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

19. The system of claim 11, wherein the cutterhead includes at least one oscillating disc cutter.

20. 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; and

a control system configured to

(i) automatically access at least one coordinate of a cutting face, the at least one coordinate specifying a position of the first actuator,

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

(iii) automatically operate the second actuator to swing the arm to a tramming position after positioning the platform the predetermined distance from the at least one coordinate,

(iv) automatically operate the first actuator to position the platform at a predetermined cutting position after swinging the arm to the tramming position, and

(v) tram the machine after the platform is positioned at the cutting position.

21. The system of claim 20, wherein the control system is further configured to perform steps (i) through (iv) in response to a command received from a remote control unit.

22. The system of claim 20, wherein the cutterhead includes at least one oscillating disc cutter.