US20180171792A1 - Machine and Method of Cutting Material - Google Patents
Machine and Method of Cutting Material Download PDFInfo
- Publication number
- US20180171792A1 US20180171792A1 US15/383,702 US201615383702A US2018171792A1 US 20180171792 A1 US20180171792 A1 US 20180171792A1 US 201615383702 A US201615383702 A US 201615383702A US 2018171792 A1 US2018171792 A1 US 2018171792A1
- Authority
- US
- United States
- Prior art keywords
- machine
- ground
- undercarriage
- cutting
- stabilizer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
- 238000005520 cutting process Methods 0.000 title claims abstract description 85
- 239000000463 material Substances 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims description 30
- 239000003381 stabilizer Substances 0.000 claims abstract description 60
- 230000000087 stabilizing effect Effects 0.000 claims abstract 2
- 230000007935 neutral effect Effects 0.000 claims description 8
- 238000003801 milling Methods 0.000 abstract description 23
- 230000008569 process Effects 0.000 description 13
- 230000006870 function Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000005065 mining Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000005641 tunneling Effects 0.000 description 3
- 229910003460 diamond Inorganic materials 0.000 description 2
- 239000010432 diamond Substances 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000000977 initiatory effect Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- UONOETXJSWQNOL-UHFFFAOYSA-N tungsten carbide Chemical compound [W+]#[C-] UONOETXJSWQNOL-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- E21C11/00—
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
- E21B15/006—Means for anchoring the drilling machine to the ground
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
- E02F3/183—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with digging unit shiftable relative to the frame
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
- E02F3/188—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with the axis being horizontal and transverse to the direction of travel
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
- E02F3/20—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/085—Ground-engaging fitting for supporting the machines while working, e.g. outriggers, legs
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/16—Machines slitting solely by one or more rotating saws, cutting discs, or wheels
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—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
- E21C35/06—Equipment for positioning the whole machine in relation to its sub-structure
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—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
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—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
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
- E21D9/1013—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom
Definitions
- This patent disclosure relates generally to a machine configured for cutting material and the like and, more particularly, to a system and method for controlling components on the machine used to engage the ground surface.
- Mobile machines may be configured for above or underground operation to perform excavation, tunneling, or underground mining. Such machines may have a low profile design and include an undercarriage with continuous tracks or similar propulsion devices to transport the machine about the underground worksite.
- a rotary cutter head is disposed on a tool support and positioning assembly supported by the undercarriage.
- the cutter head can be a circular, drum-like structure that supports a plurality of cutting tools about its circular periphery.
- the cutting tools themselves may be forcibly rotated with respect to the periphery of the cutter head and include bits made of tungsten carbide, synthetic diamond, or similar hard substances to dislodge and chip material away from the cutting surface or wall.
- the tool support and positioning assembly can be configured to move the cutter head in multiple directions to make passes or sweeps with respect to the cutting surface removing successive layers of material from the cutting surface.
- the machine may be configured with extendable and retractable ground-engaging devices that can be extended to engage the ground floor of the worksite.
- extendable and retractable ground-engaging devices is described in U.S. Pat. No. 8,979,209 (“the '209 patent”), which describes an underground machine having a plurality of stabilizers with hydraulically powered leveling and support actuators.
- the leveling and support actuators are extended to engage both the tunnel floor and tunnel roof to brace and support the machine.
- the current disclosure is directed to a machine configured with similar extendable and retractable ground engaging devices to stabilize and support the machine and facilitate the operation.
- the disclosure describes, in one aspect, a machine for aboveground or underground cutting or milling of material such as in excavation, mining or tunneling.
- the machine includes an undercarriage having first and second propulsion devices for propelling the machine about a worksite.
- the machine includes a cutter head disposed on a tool support and positioning assembly that has a cutter boom slidably disposed over the undercarriage.
- the machine also includes a plurality of ground-engaging devices that are extendable and retractable from the undercarriage to engage a ground floor.
- the plurality of ground-engaging device can be configured to be extended and retracted simultaneously through an electronic control system operatively associated with the machine.
- the disclosure describes, in another aspect, a method for underground cutting of material by positioning a machine proximate to a cutting surface.
- a plurality of ground-engaging devices retractably attached to an undercarriage of the machine are simultaneously extended toward the ground floor.
- a cutter head disposed on a cutter boom disposed on the front of the machine is moved toward a cutting surface to remove material from the cutting surface.
- the cutter head is retracted with respect to the cutting surface and the plurality of ground-engaging devices are simultaneously retracted with respect to the undercarriage so that the machine can be trammed to a new position.
- the disclosure describes a machine that includes an undercarriage supported on first and second propulsions devices to propel the machine.
- the machine also includes a cutter head disposed on a tool support and positioning assembly supported on the undercarriage.
- a plurality of stabilizers are included that can extend and retract with respect to the undercarriage to contact a ground floor to support the machine when cutting material.
- a load shield that is also extendably and retractably attached to the undercarriage can extend to engage to the ground floor.
- An electronic control system has a switch for simultaneously extending and retracting the plurality of stabilizers and the load shield.
- FIG. 1 is a front perspective view of an embodiment of a machine configured for cutting material having a rotary cutter head movably supported on an undercarriage with continuous tracks for transporting and tramming the machine with respect to a cutting surface.
- FIG. 2 is a side elevational view of the machine in an underground worksite or tunnel and having a plurality of extendable and retractable ground-engaging devices extended to engage the ground floor.
- FIG. 3 is a schematic representation of a remote control for remotely operating the machine including switches and dials for operating the extendable and retractable ground-engaging devices.
- FIG. 4 is a schematic representation of the toggle switch on the remote control for extending and retracting the ground-engaging devices taken through line 4 - 4 of FIG. 5 .
- FIG. 5 is a flowchart or logic diagram illustrating an embodiment of a routine or process for operating the ground-engaging devices during a milling or cutting operation by the machine.
- FIGS. 1 and 2 there is illustrated in FIGS. 1 and 2 a mobile or movable machine 100 configured for aboveground or underground operation such as excavation, tunneling, or underground mining.
- the machine 100 may be relatively large, on the order of several meters in length, and may be intended to remove material in quantities sufficient to create workspaces that are meters high and wide.
- the machine 100 can include an undercarriage 102 configured with a plurality of continuous tracks 104 disposed on opposite sides of the machine 100 that can propel the machine 100 in the forward or reverse directions as well as turn the machine 100 side-to-side. As shown in FIG.
- the continuous tracks 104 translate as a closed loop or belt with respect to the ground floor 106 to position the machine 100 with respect to a cutting surface or wall 108 from which material such as rock is to be removed. While the illustrated embodiment includes two continuous tracks 104 , other embodiments may include any suitable number of continuous tracks 104 or may utilize different propulsive drive mechanisms such as wheels.
- the machine 100 includes a cutter head 110 having a plurality of cutting tools 112 disposed about its radial periphery.
- the cutter head 110 can include a drum structure 114 that can be made to forcibly rotate about a cutter head axis 116 , thereby revolving the cutting tools 112 with respect to the cutting surface 108 .
- the cutting tools 112 can be supported in corresponding sockets disposed in the drum structure 114 and, in an embodiment, can be made to forcibly rotate or spin within the drum structure 114 for increased cutting action.
- a plurality of bits 118 can be disposed about the exterior surface of the cutting tools 112 .
- the bits 118 can be made of tungsten carbide, polysynthetic diamond, or a similar material having good hardness characteristics. As the bits 118 wear down, the cutting tools 112 may be removed from the cutter head 110 and replaced.
- the cutter head 110 can be supported on a tool support and positioning assembly 120 that is configured to move or pivot in multiple directions or about various axes.
- the tool positioning and support assembly 120 includes a cutter boom 122 that is slidably disposed on the undercarriage 102 to laterally translate in the forward and rearward directions along a boom axis 124 indicted by the double-headed arrow.
- the cutter boom 122 can be generally supported over the continuous tracks 104 on rails or the like to enable translation with respect to the undercarriage 102 .
- the cutter boom 122 can be operatively associated with one or more hydraulic actuators, specifically a boom actuator 126 .
- the boom actuator 126 can be located on a rear portion 128 of the machine 100 and arranged to slide the cutter boom 122 to feed and retract the cutter head 110 disposed at the front portion 129 of the machine 100 .
- the travel distance of the cutter boom 122 between a fully extended position toward the front portion 129 of the machine 100 and a fully retracted position toward the rear portion 128 may be about a meter or more.
- the tool support and positioning assembly 120 can include a swing platform 130 such as a pivot table or the like supported on the cutter boom 122 that pivots the cutter head 110 with respect to the undercarriage 102 .
- Actuation of the swing platform 130 moves the cutter head 110 horizontally in an arc about the vertically orientated swing axis 132 .
- the swing platform 130 can be operatively associated with hydraulic actuators or swing actuators 134 that are connected to either side of the swing platform 130 and to the cutter boom 122 . Extension of one swing actuator 134 and retraction of the other will rotate the swing platform 130 though a horizontal plane about the swing axis 132 .
- the tool support and positioning assembly 120 can include a cantilevered lift arm 140 disposed on the swing platform 130 .
- the cantilevered lift arm 140 can pivot the cutter head 110 along the horizontally extending tilt axis 142 that may be parallel with the cutter head axis 116 .
- the cantilevered lift arm 140 extends over the front portion 129 of the machine 100 and has a hinge or pivot joint 144 that articulates the forward part of the cantilevered lift arm 140 in an up-and-down motion.
- another hydraulic actuator or lift actuator 146 can be operatively arranged on the cantilevered lift arm 140 to articulate the pivot joint 144 .
- the distal end of the cantilevered lift arm 140 can be configured with a roll joint 148 that rolls or rotates the cutter head axis 116 with respect to the rest of the machine 100 .
- the tool support and positioning assembly 120 is capable of moving the cutter head 110 in variety of directions and through a range of motions to facilitate making cutting or milling passes with respect to the cutting surface 108 .
- the hydraulic actuators that serve as the boom actuator 126 , swing actuator 134 , and lift actuator 146 can be configured as double acting hydraulic cylinders with telescoping pistons that extend and retract from the cylinder body.
- one or more of the hydraulic actuators may be replaced with other hydraulic devices or with electric motors or the like.
- the front portion 129 of the machine 100 can be equipped with a gathering head or gathering frame 150 that extends across the width of the machine 100 below the cutter head 110 proximate to the ground floor 106 .
- the gathering frame 150 can be configured to scoop the material from the ground floor 106 and may be designed to adjustably span the width of the ground floor 106 between opposing gathering wings 152 that can adjustably extend outwards from the sides of the machine 100 .
- a conveyer 154 in the form of a translating belt is disposed through the machine 100 that passes the material from the front portion 129 through to the rear portion 128 of the machine 100 .
- the conveyer entrance 156 can be an opening centrally disposed in the skirt of the gathering frame 150 with the conveyer 154 extending lengthwise through the machine 100 above the undercarriage 102 to the conveyer exit 158 located at the rear portion 128 of the machine 100 .
- the gathering frame 150 can include gathering arms 159 that pivotally sweep across the surface of the gathering frame 150 toward the conveyer entrance 156 . Referring to FIG.
- a secondary conveyer system 160 separate from the machine 100 can be positioned proximate to the rear portion 128 of the machine 100 that extends to the entrance of the worksite. Accordingly, the machine 100 and the secondary conveyer system 160 are configured to continuously remove material from the worksite. In an alternative embodiment, instead of a separate conveyer system 160 , carts may be used to carry the material away.
- the machine 100 can be equipped with one or more electric motors 170 that provide power.
- a remote power source such as a generator, can provide three-phase electrical power to the electric motors 170 via cables.
- a hydraulic system 172 including a hydraulic pump and a hydraulic fluid reservoir can be operatively associated with the electrical motors 170 to generate fluid pressure for operation.
- the machine 100 can be equipped with one or more hydraulically extendable and retractable devices that are operatively associated with the hydraulic system 172 .
- the machine 100 can include ground-engaging devices retractably attached to the undercarriage 102 that can be hydraulically extended to contact the ground floor 106 .
- the machine 100 can include one or more stabilizers 180 .
- four stabilizers 180 can be retractably attached to the undercarriage 102 proximate to the corners of the machine 100 .
- the stabilizers 180 can include a hydraulic actuator designated as a stabilizer actuator 182 that extends and retracts a stabilizer leg 184 attached at its distal end to a ground pad 186 .
- the stabilizer leg 184 is extended so that the ground pad 186 contacts the ground floor 106 and braces the machine 100 .
- the stabilizers 180 can be retracted lifting the ground pads 186 so the continuous tracks 104 can move the machine 100 with respect to the ground floor 106 .
- the feed distance the cutter boom 122 can move with respect to the boom axis 124 is fixed and after the cutter boom 122 has been fully extended, the machine 100 needs to be repositioned with respect to the cutting surface 108 to perform the next milling or cutting operation.
- the process of repositioning the machine 100 with respect to the cutting surface 108 between successive milling or cutting operations may be referred to as tramming the machine 100 .
- each stabilizer 180 can operate individually and autonomously from each other.
- each stabilizer 180 can include a pressure sensor 188 monitoring hydraulic pressure in the stabilizer actuator 182 and that is operatively configured to cease extension of the stabilizer leg 184 if the monitored pressure exceeds a pressure threshold, indicating that the stabilizer has firmly engaged the ground floor 106 . Accordingly, even if the ground floor 106 is uneven, each stabilizer 180 extends to a coordinated distance to assist in leveling the machine 100 with respect to the ground floor 106 .
- a ground-engaging device may be a load shield 190 disposed on the rear portion 128 of the machine 100 proximately below the conveyer exit 158 .
- the load shield 190 can prevent the material discharged from the conveyer exit 158 from scattering underneath the undercarriage 102 and can assist directing the discharged material to the secondary conveyer system 160 .
- the load shield 190 can be a flat plate connected perpendicularly to the undercarriage 102 and that extends proximately the width of the machine 100 .
- a hydraulically actuated shield actuator 192 can be operatively connected to pivotally swing the load shield 190 underneath the undercarriage 102 .
- the load shield 190 may be raised and lowered by other methods.
- the gathering frame 150 may be connected to the undercarriage 102 by one or more frame actuators 194 .
- the frame actuators 194 can lower the gathering frame 150 to the ground floor 106 during a milling or cutting operation and can raise the gathering frame 150 when tramming.
- the stabilizer actuators 182 associated with the stabilizers 180 and the shield actuator 192 associated with the load shield can also be configured as double acting hydraulic cylinders with telescoping pistons that extend and retract from the cylinder body. It should be appreciated that operation of the hydraulic actuators is not instantaneous and that extension and retraction may require time to occur.
- an electronic control system 200 can be included as shown in FIG. 1 .
- the electronic control system 200 can have any suitable computer architecture and can be in electronic communication with the various components and systems on the machine 100 to send and receive electronic signals in digital or analog form that enable the electronic control system 200 to monitor and regulate the operations and functions of the machine 100 .
- the electronic control system 160 may execute and process functions, steps, routines, control maps, data tables, charts, and the like saved in and executable from computer readable and writable memory or another electronically accessible storage medium to control the machine 100 .
- the electronic control system 200 can be configured as a microprocessor, an application specific integrated circuit (ASIC), or other appropriate circuitry and may have memory or other data storage capabilities.
- ASIC application specific integrated circuit
- the memory can include any suitable type of electronic memory devices such as random access memory (“RAM”), read only memory (“ROM”), dynamic random access memory (“DRAM”), flash memory and the like.
- RAM random access memory
- ROM read only memory
- DRAM dynamic random access memory
- flash memory any suitable type of electronic memory devices such as random access memory (“RAM”), read only memory (“ROM”), dynamic random access memory (“DRAM”), flash memory and the like.
- RAM random access memory
- ROM read only memory
- DRAM dynamic random access memory
- flash memory and the like.
- the machine 100 may be remotely operated through the electronic control system 200 .
- a remote control 202 can be in communication with the electronic control system 200 to send and receive operation signals that direct operation of the machine 100 . Accordingly, an operator can stand away from the machine 100 while controlling its operations via the remote control 202 .
- Communication between the electronic control system 200 and the remote control 202 may be wireless, i.e., via radio signals or other electromagnetic technology, or may be conducted through control cables.
- the electronic control system 200 and the remote control 202 may be configured for either or both automated or automatic control and operator or manual control of the machine 100 .
- the remote control 202 can be configured with various dials, switches, and controls to interface with the electronic control system 200 .
- the remote control 202 can include a first multi-directional joystick 204 that selectively operates the continuous tracks 104 on the undercarriage 102 to position the machine 100 .
- a second multi-directional joystick 206 can be used to selectively control the tool support and positioning system 120 to orientate and operate the cutter head 110 during a milling or cutting operation.
- the remote control 202 can include a display screen 208 such as a liquid crystal display to provide operational information regarding the machine 100 .
- the remote control can include a toggle switch 210 that includes a mechanical lever that can be moved to various positions to selectively actuate the stabilizer actuators 182 .
- the toggle switch 210 can have a multi-throw configuration with the mechanical lever 211 movable between an extend position 212 to extend the stabilizers 180 to the ground floor 106 , a retract position 214 to retract the stabilizers 180 with respect to the undercarriage 102 , and a neutral position 216 in which the stabilizers 180 remain locked in their extended or retracted position.
- the toggle switch 210 can be configured as a normally opened circuit that requires the mechanical lever 211 of the trigger switch 210 be held in the selected position to continue actuation of the stabilizers 180 , and will bias the mechanical lever back to the neutral position 216 and cease actuation upon release.
- the toggle switch 210 can be configured as a single-throw or single action switch in which the selected actuation of the stabilizers will continue upon release of the mechanical lever 211 .
- the toggle switch 210 may be configured with a counter or detents that switches between ceasing activity upon release and acting as a single-throw switch.
- the mechanical lever 211 may be normally biased to a central, upright orientation corresponding to the neutral position 216 . If the mechanical lever 211 is partially toggled or pivoted in one direction or the other, it may enter the extended position 212 or retracted position 214 where it functions as a normally opened circuit such that release of the mechanical lever 211 biases it back into the neutral position breaking the circuit and ceasing movement of the ground-engaging devices.
- the mechanical lever 211 may physically slide past the detents 220 formed in the slot of the toggle switch 210 into an auto-extend position 222 or an auto-retract position 224 .
- extension or retraction of the ground-engaging devices continues automatically even upon release of the mechanical lever 211 , similar to a single-throw configuration.
- the electrical contacts within the body of the toggle switch 210 can be arranged to recognize the separate positions.
- the detents 220 may provide a tactile indication that the mechanical lever 211 has been toggled into the auto-extend and auto-retract positions 222 , 224 .
- the mechanical lever 211 may be toggled past the detents 220 in the opposite direction.
- cessation of the extension or retraction of the ground-engaging devices can be directed by moving the mechanical lever 211 of the toggle switch 210 in the opposite direction through the neutral position 216 and into the respective extend or retract positions 212 , 214 but before sliding past the detents 220 and into the auto-extend or auto-retract positions 222 , 224 .
- the machine 100 can be configured with different operating modes selectable via a mode switch or mode dial 220 illustrated in FIG. 3 .
- the mode dial 230 can be turned to a positioning mode 232 that enables operation of the continuous tracks 104 but prevents actuation of the cutter head 110 and tool support and positioning assembly 120 .
- the positioning mode 232 may also be selected to tram the machine 100 and move the cutter head 110 proximate to the cutting surface 108 between successive milling or cutting operations.
- the mode dial 230 can be turned to a cutting mode 234 that enables operation of the cutter head 110 and tool support and positioning assembly 120 but prevents engagement of the continuous tracks 104 to avoid unintentional reorientation of the machine 100 .
- the remote control 202 in cooperation with the electronic control system 200 can confirm that the stabilizers 180 have been extended to stabilize the machine 100 prior to initiating the operation or cutting operation.
- the machine 100 may not be configured for remote operation.
- the machine 100 may include an operator station that can accommodate a operator and where a number of the foregoing controls can be accessed for operating the machine, including the toggle switch 210 for raising and lowering the ground-engaging devices and the mode dial 220 for selecting the operating mode of the machine 100 .
- a process 300 for operating the machine 100 that can be conducted through a plurality of steps executed by the electronic control system 200 in conjunction with the remote control 202 .
- the process 300 can be embodied as software including instructions and commands written in computer-executable programming code.
- the process 300 illustrated in FIG. 5 may be specifically intended to regulate and control operation of the extendable and retractable ground-engaging devices.
- the process 300 in an initialization step 302 , can initialize the remote control 202 to communicate operation signals to and from the electronic control system 200 on the machine 100 . Once initialized, operation of the machine 100 can occur through use of the remote control 202 .
- the process 300 may execute a monitoring step 304 that monitors or senses the position of the toggle switch 210 on the remote control 202 . If, in a subsequent toggle position determination step 306 , the process 300 determines the toggle switch 210 has been moved to the extend position 212 indicating that an operator intends to extend the stabilizers 180 to perform a milling or cutting operation, the remote control 202 communicates an extend command 310 to the electronic control system 200 . The extend command 310 directs the stabilizer actuators 182 to extend the stabilizers 180 with respect to the undercarriage 102 (extend stabilizers 312 ).
- the extend command 310 can also act to extend the load shield 190 concurrently by appropriately directing operation of the shield actuator 192 (extend shield 314 ).
- the extend command 310 thereby ties, couples, or latches two operations of the ground-engaging devices together.
- the remote control 202 can communicate a retract command 320 to the electronic control system 200 .
- the retract command 320 directs the stabilizer actuators 182 to retract the stabilizers 180 with respect to the ground floor 106 (retract stabilizers 322 ).
- the retract command 320 can also function to concurrently retract the loading shield 190 (retract shield 324 ).
- the extend command 310 and the retract command 320 simultaneously operate both the stabilizer actuators 182 and the shield actuator 192 , thereby reducing the actions taken with respect to the remote control 202 .
- the extend command 310 and the retract command 320 can simultaneously activate the appropriate action of the frame actuator 194 .
- the process 300 can return to a neutral state 328 to maintain the current position of the ground-engaging devices then repeat itself to determine if the position of the ground-engaging device should be changed.
- the process 300 can execute a monitoring step 329 to monitor selection of the mode dial 230 to determine which operating mode has been selected.
- the process further executes a mode determination step 330 that can couple operation of the extendable and retractable ground-engaging devices to the selected operating mode of the machine 100 . For example, if the mode dial 230 is turned to the positioning mode 232 , possibly indicating that the machine 100 is about to tram to reposition the cutter head 110 , the remote control 202 can communicate a tram command 332 to the electronic control system 200 .
- the tram command 332 can activate the stabilizer actuators 182 to retract the stabilizers 180 with respect to the ground floor 106 (retract stabilizers 334 ) so the stabilizers 180 do not obstruct tramming of the machine 100 .
- the tram command 332 can simultaneously activate the shield actuator 192 to retract the load shield 190 (retract shield 336 ) and disengage from the ground floor 106 .
- the tram command 332 ties operation of the stabilizers 180 and load shield 190 together.
- the remote control 202 can communicate a cutting command 342 to the electronic control system 200 concurrently and simultaneously extending the stabilizers 180 (extend stabilizers 344 ) and the load shield 190 (extend load shield 346 ) to contact the ground floor 106 .
- the stabilizers 180 brace the machine 100 and the load shield 190 is appropriately set at the start of the milling or cutting operation.
- the retract and extend commands can direct appropriate actuation of the frame actuator 194 .
- the process 300 can proceed to a neutral state 348 similar to that described above.
- a possible advantage of the mode determination step 330 is that it ensures the extendable and retractable ground-engaging devices are properly situated before the respective operation of the machine may be commenced.
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Abstract
A machine for cutting material includes an undercarriage including propulsion device for propelling the machine and a cutter head disposed on a tool support and positioning assembly movably supported by the undercarriage to remove material from a cutting surface. The machine further includes a plurality of ground-engaging devices connected to the undercarriage that can be simultaneously raised and lowered with respect to a ground floor. Examples of ground-engaging devices include stabilizers for stabilizing the machine when milling or cutting material and a load shield that prevents material from scattering underneath the machine.
Description
- This patent disclosure relates generally to a machine configured for cutting material and the like and, more particularly, to a system and method for controlling components on the machine used to engage the ground surface.
- Mobile machines may be configured for above or underground operation to perform excavation, tunneling, or underground mining. Such machines may have a low profile design and include an undercarriage with continuous tracks or similar propulsion devices to transport the machine about the underground worksite. To perform a cutting or milling operation, a rotary cutter head is disposed on a tool support and positioning assembly supported by the undercarriage. The cutter head can be a circular, drum-like structure that supports a plurality of cutting tools about its circular periphery. The cutting tools themselves may be forcibly rotated with respect to the periphery of the cutter head and include bits made of tungsten carbide, synthetic diamond, or similar hard substances to dislodge and chip material away from the cutting surface or wall. The tool support and positioning assembly can be configured to move the cutter head in multiple directions to make passes or sweeps with respect to the cutting surface removing successive layers of material from the cutting surface.
- It can be appreciated that as the cutter head is swept across the cutting surface during the cutting or milling operation, the machine may experience resistive vibrations and reaction forces, especially when milling hard materials such as rock. Therefore, to provide stabilization and support, the machine may be configured with extendable and retractable ground-engaging devices that can be extended to engage the ground floor of the worksite. One example of such extendable and retractable ground-engaging devices is described in U.S. Pat. No. 8,979,209 (“the '209 patent”), which describes an underground machine having a plurality of stabilizers with hydraulically powered leveling and support actuators. When the machine is positioned to perform a cutting or milling operation, the leveling and support actuators are extended to engage both the tunnel floor and tunnel roof to brace and support the machine. The current disclosure is directed to a machine configured with similar extendable and retractable ground engaging devices to stabilize and support the machine and facilitate the operation.
- The disclosure describes, in one aspect, a machine for aboveground or underground cutting or milling of material such as in excavation, mining or tunneling. The machine includes an undercarriage having first and second propulsion devices for propelling the machine about a worksite. To remove material from a cutting surface, the machine includes a cutter head disposed on a tool support and positioning assembly that has a cutter boom slidably disposed over the undercarriage. The machine also includes a plurality of ground-engaging devices that are extendable and retractable from the undercarriage to engage a ground floor. The plurality of ground-engaging device can be configured to be extended and retracted simultaneously through an electronic control system operatively associated with the machine.
- The disclosure describes, in another aspect, a method for underground cutting of material by positioning a machine proximate to a cutting surface. To brace the machine when cutting material, a plurality of ground-engaging devices retractably attached to an undercarriage of the machine are simultaneously extended toward the ground floor. A cutter head disposed on a cutter boom disposed on the front of the machine is moved toward a cutting surface to remove material from the cutting surface. After making one or passes with respect to the cutting surface, the cutter head is retracted with respect to the cutting surface and the plurality of ground-engaging devices are simultaneously retracted with respect to the undercarriage so that the machine can be trammed to a new position.
- In yet another aspect, the disclosure describes a machine that includes an undercarriage supported on first and second propulsions devices to propel the machine. The machine also includes a cutter head disposed on a tool support and positioning assembly supported on the undercarriage. A plurality of stabilizers are included that can extend and retract with respect to the undercarriage to contact a ground floor to support the machine when cutting material. In addition, a load shield that is also extendably and retractably attached to the undercarriage can extend to engage to the ground floor. An electronic control system has a switch for simultaneously extending and retracting the plurality of stabilizers and the load shield.
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FIG. 1 is a front perspective view of an embodiment of a machine configured for cutting material having a rotary cutter head movably supported on an undercarriage with continuous tracks for transporting and tramming the machine with respect to a cutting surface. -
FIG. 2 is a side elevational view of the machine in an underground worksite or tunnel and having a plurality of extendable and retractable ground-engaging devices extended to engage the ground floor. -
FIG. 3 is a schematic representation of a remote control for remotely operating the machine including switches and dials for operating the extendable and retractable ground-engaging devices. -
FIG. 4 is a schematic representation of the toggle switch on the remote control for extending and retracting the ground-engaging devices taken through line 4-4 ofFIG. 5 . -
FIG. 5 is a flowchart or logic diagram illustrating an embodiment of a routine or process for operating the ground-engaging devices during a milling or cutting operation by the machine. - Now referring to the drawings, wherein like reference numbers refer to like elements, there is illustrated in
FIGS. 1 and 2 a mobile ormovable machine 100 configured for aboveground or underground operation such as excavation, tunneling, or underground mining. Themachine 100 may be relatively large, on the order of several meters in length, and may be intended to remove material in quantities sufficient to create workspaces that are meters high and wide. To propel or transport themachine 100 about the underground worksite, themachine 100 can include anundercarriage 102 configured with a plurality ofcontinuous tracks 104 disposed on opposite sides of themachine 100 that can propel themachine 100 in the forward or reverse directions as well as turn themachine 100 side-to-side. As shown inFIG. 2 , thecontinuous tracks 104 translate as a closed loop or belt with respect to theground floor 106 to position themachine 100 with respect to a cutting surface orwall 108 from which material such as rock is to be removed. While the illustrated embodiment includes twocontinuous tracks 104, other embodiments may include any suitable number ofcontinuous tracks 104 or may utilize different propulsive drive mechanisms such as wheels. - To cut or mill material from the
cutting surface 108, themachine 100 includes acutter head 110 having a plurality ofcutting tools 112 disposed about its radial periphery. Thecutter head 110 can include adrum structure 114 that can be made to forcibly rotate about acutter head axis 116, thereby revolving thecutting tools 112 with respect to thecutting surface 108. Thecutting tools 112 can be supported in corresponding sockets disposed in thedrum structure 114 and, in an embodiment, can be made to forcibly rotate or spin within thedrum structure 114 for increased cutting action. To impact and dislodge material from thecutting surface 108, a plurality ofbits 118 can be disposed about the exterior surface of thecutting tools 112. Thebits 118 can be made of tungsten carbide, polysynthetic diamond, or a similar material having good hardness characteristics. As thebits 118 wear down, thecutting tools 112 may be removed from thecutter head 110 and replaced. - To move the
cutter head 110 in passes or sweeps with respect to thecutting surface 108, thecutter head 110 can be supported on a tool support andpositioning assembly 120 that is configured to move or pivot in multiple directions or about various axes. For example, to feed thecutter head 110 into thecutting surface 108 or to retract thecutter head 110 from thecutting operations 108, the tool positioning andsupport assembly 120 includes acutter boom 122 that is slidably disposed on theundercarriage 102 to laterally translate in the forward and rearward directions along aboom axis 124 indicted by the double-headed arrow. Thecutter boom 122 can be generally supported over thecontinuous tracks 104 on rails or the like to enable translation with respect to theundercarriage 102. To cause thecutter boom 122 to translate along the forward and rearward directions along aboom axis 124, thecutter boom 122 can be operatively associated with one or more hydraulic actuators, specifically aboom actuator 126. Theboom actuator 126 can be located on arear portion 128 of themachine 100 and arranged to slide thecutter boom 122 to feed and retract thecutter head 110 disposed at thefront portion 129 of themachine 100. In an embodiment, the travel distance of thecutter boom 122 between a fully extended position toward thefront portion 129 of themachine 100 and a fully retracted position toward therear portion 128 may be about a meter or more. - To cause the
cutter head 110 to sweep in a side-to-side motion, the tool support andpositioning assembly 120 can include aswing platform 130 such as a pivot table or the like supported on thecutter boom 122 that pivots thecutter head 110 with respect to theundercarriage 102. Actuation of theswing platform 130 moves thecutter head 110 horizontally in an arc about the vertically orientatedswing axis 132. To actuate theswing platform 130, theswing platform 130 can be operatively associated with hydraulic actuators orswing actuators 134 that are connected to either side of theswing platform 130 and to thecutter boom 122. Extension of oneswing actuator 134 and retraction of the other will rotate theswing platform 130 though a horizontal plane about theswing axis 132. - To vertically raise and lower the
cutter head 110 with respect to theground floor 106 and cuttingsurface 108, the tool support andpositioning assembly 120 can include a cantileveredlift arm 140 disposed on theswing platform 130. The cantileveredlift arm 140 can pivot thecutter head 110 along the horizontally extendingtilt axis 142 that may be parallel with thecutter head axis 116. In particular, thecantilevered lift arm 140 extends over thefront portion 129 of themachine 100 and has a hinge orpivot joint 144 that articulates the forward part of the cantileveredlift arm 140 in an up-and-down motion. To actuate the cantileveredlift arm 140, another hydraulic actuator orlift actuator 146 can be operatively arranged on the cantileveredlift arm 140 to articulate thepivot joint 144. In a further possible embodiment, to twist or roll thecutter head 110, the distal end of the cantileveredlift arm 140 can be configured with aroll joint 148 that rolls or rotates thecutter head axis 116 with respect to the rest of themachine 100. - Hence, the tool support and
positioning assembly 120 is capable of moving thecutter head 110 in variety of directions and through a range of motions to facilitate making cutting or milling passes with respect to thecutting surface 108. The hydraulic actuators that serve as theboom actuator 126,swing actuator 134, andlift actuator 146 can be configured as double acting hydraulic cylinders with telescoping pistons that extend and retract from the cylinder body. However, in other embodiments of themachine 100, one or more of the hydraulic actuators may be replaced with other hydraulic devices or with electric motors or the like. - Because the
cutter head 110 is disposed over thefront portion 129 of themachine 100, the material it removes from the cuttingsurface 108 will gather in front of themachine 100 and can hinder further milling or cutting operations. To remove the gathered material, thefront portion 129 of themachine 100 can be equipped with a gathering head orgathering frame 150 that extends across the width of themachine 100 below thecutter head 110 proximate to theground floor 106. Thegathering frame 150 can be configured to scoop the material from theground floor 106 and may be designed to adjustably span the width of theground floor 106 between opposing gatheringwings 152 that can adjustably extend outwards from the sides of themachine 100. - To remove the material collected by the
gathering frame 150, aconveyer 154 in the form of a translating belt is disposed through themachine 100 that passes the material from thefront portion 129 through to therear portion 128 of themachine 100. Theconveyer entrance 156 can be an opening centrally disposed in the skirt of thegathering frame 150 with theconveyer 154 extending lengthwise through themachine 100 above theundercarriage 102 to theconveyer exit 158 located at therear portion 128 of themachine 100. To direct the material to theconveyer 154, thegathering frame 150 can include gatheringarms 159 that pivotally sweep across the surface of thegathering frame 150 toward theconveyer entrance 156. Referring toFIG. 2 , during the cutting or milling operation, to remove material discharged at theconveyer exit 158, asecondary conveyer system 160, separate from themachine 100 can be positioned proximate to therear portion 128 of themachine 100 that extends to the entrance of the worksite. Accordingly, themachine 100 and thesecondary conveyer system 160 are configured to continuously remove material from the worksite. In an alternative embodiment, instead of aseparate conveyer system 160, carts may be used to carry the material away. - Because the
machine 100 may be intended for underground work where exhaust from internal combustion engines would be unacceptable, referring toFIG. 1 , themachine 100 can be equipped with one or moreelectric motors 170 that provide power. A remote power source, such as a generator, can provide three-phase electrical power to theelectric motors 170 via cables. In the embodiments in which thecontinuous tracks 104 and hydraulic actuators of the tool support andpositioning assembly 120 are hydraulically operated, ahydraulic system 172 including a hydraulic pump and a hydraulic fluid reservoir can be operatively associated with theelectrical motors 170 to generate fluid pressure for operation. To further facilitate the milling or cutting operation, themachine 100 can be equipped with one or more hydraulically extendable and retractable devices that are operatively associated with thehydraulic system 172. For example, themachine 100 can include ground-engaging devices retractably attached to theundercarriage 102 that can be hydraulically extended to contact theground floor 106. - Referring to
FIG. 2 , as a more specific example, to stabilize and support themachine 100 during a cutting or milling operation as thecutter head 110 is fed into the cuttingsurface 108, themachine 100 can include one ormore stabilizers 180. In the illustrated embodiment, fourstabilizers 180 can be retractably attached to theundercarriage 102 proximate to the corners of themachine 100. Thestabilizers 180 can include a hydraulic actuator designated as astabilizer actuator 182 that extends and retracts astabilizer leg 184 attached at its distal end to aground pad 186. During the milling or cutting operation, thestabilizer leg 184 is extended so that theground pad 186 contacts theground floor 106 and braces themachine 100. However, if thecutter head 110 must be repositioned with respect to the cuttingsurface 108, thestabilizers 180 can be retracted lifting theground pads 186 so thecontinuous tracks 104 can move themachine 100 with respect to theground floor 106. For example, the feed distance thecutter boom 122 can move with respect to theboom axis 124 is fixed and after thecutter boom 122 has been fully extended, themachine 100 needs to be repositioned with respect to the cuttingsurface 108 to perform the next milling or cutting operation. The process of repositioning themachine 100 with respect to the cuttingsurface 108 between successive milling or cutting operations may be referred to as tramming themachine 100. - In an embodiment, the
stabilizers 180 can operate individually and autonomously from each other. Specifically, eachstabilizer 180 can include apressure sensor 188 monitoring hydraulic pressure in thestabilizer actuator 182 and that is operatively configured to cease extension of thestabilizer leg 184 if the monitored pressure exceeds a pressure threshold, indicating that the stabilizer has firmly engaged theground floor 106. Accordingly, even if theground floor 106 is uneven, eachstabilizer 180 extends to a coordinated distance to assist in leveling themachine 100 with respect to theground floor 106. - As another example of a ground-engaging device may be a
load shield 190 disposed on therear portion 128 of themachine 100 proximately below theconveyer exit 158. Theload shield 190 can prevent the material discharged from theconveyer exit 158 from scattering underneath theundercarriage 102 and can assist directing the discharged material to thesecondary conveyer system 160. In an embodiment, theload shield 190 can be a flat plate connected perpendicularly to theundercarriage 102 and that extends proximately the width of themachine 100. To lower theload shield 190 to contact theground floor 106 during a milling or cutting operation, and to raise theload shield 190 during tramming, a hydraulically actuatedshield actuator 192 can be operatively connected to pivotally swing theload shield 190 underneath theundercarriage 102. In other embodiments, however, theload shield 190 may be raised and lowered by other methods. As a further example of a ground-engaging device, in an embodiment thegathering frame 150 may be connected to theundercarriage 102 by one ormore frame actuators 194. The frame actuators 194 can lower thegathering frame 150 to theground floor 106 during a milling or cutting operation and can raise thegathering frame 150 when tramming. - The stabilizer actuators 182 associated with the
stabilizers 180 and theshield actuator 192 associated with the load shield can also be configured as double acting hydraulic cylinders with telescoping pistons that extend and retract from the cylinder body. It should be appreciated that operation of the hydraulic actuators is not instantaneous and that extension and retraction may require time to occur. - To control operation of the
machine 100, anelectronic control system 200 can be included as shown inFIG. 1 . Theelectronic control system 200 can have any suitable computer architecture and can be in electronic communication with the various components and systems on themachine 100 to send and receive electronic signals in digital or analog form that enable theelectronic control system 200 to monitor and regulate the operations and functions of themachine 100. Theelectronic control system 160 may execute and process functions, steps, routines, control maps, data tables, charts, and the like saved in and executable from computer readable and writable memory or another electronically accessible storage medium to control themachine 100. To perform these functions and operations, theelectronic control system 200 can be configured as a microprocessor, an application specific integrated circuit (ASIC), or other appropriate circuitry and may have memory or other data storage capabilities. The memory can include any suitable type of electronic memory devices such as random access memory (“RAM”), read only memory (“ROM”), dynamic random access memory (“DRAM”), flash memory and the like. Although in the schematic representation ofFIG. 1 , theelectronic control system 200 is represented single, discrete unit, in other embodiments, theelectronic control system 200 and its functions may be distributed among a plurality of distinct and separate components. - In an embodiment, the
machine 100 may be remotely operated through theelectronic control system 200. As illustrated inFIG. 1 , aremote control 202 can be in communication with theelectronic control system 200 to send and receive operation signals that direct operation of themachine 100. Accordingly, an operator can stand away from themachine 100 while controlling its operations via theremote control 202. Communication between theelectronic control system 200 and theremote control 202 may be wireless, i.e., via radio signals or other electromagnetic technology, or may be conducted through control cables. As described more fully below, in an embodiment, theelectronic control system 200 and theremote control 202 may be configured for either or both automated or automatic control and operator or manual control of themachine 100. - Referring to
FIG. 3 in addition toFIGS. 1 and 2 , theremote control 202 can be configured with various dials, switches, and controls to interface with theelectronic control system 200. For example, theremote control 202 can include a firstmulti-directional joystick 204 that selectively operates thecontinuous tracks 104 on theundercarriage 102 to position themachine 100. A secondmulti-directional joystick 206 can be used to selectively control the tool support andpositioning system 120 to orientate and operate thecutter head 110 during a milling or cutting operation. In addition to the foregoing, theremote control 202 can include adisplay screen 208 such as a liquid crystal display to provide operational information regarding themachine 100. - To extend the
stabilizers 180 prior to initiating a milling or cutting operation, the remote control can include atoggle switch 210 that includes a mechanical lever that can be moved to various positions to selectively actuate thestabilizer actuators 182. In an embodiment, thetoggle switch 210 can have a multi-throw configuration with themechanical lever 211 movable between an extendposition 212 to extend thestabilizers 180 to theground floor 106, a retractposition 214 to retract thestabilizers 180 with respect to theundercarriage 102, and aneutral position 216 in which thestabilizers 180 remain locked in their extended or retracted position. In a further embodiment, thetoggle switch 210 can be configured as a normally opened circuit that requires themechanical lever 211 of thetrigger switch 210 be held in the selected position to continue actuation of thestabilizers 180, and will bias the mechanical lever back to theneutral position 216 and cease actuation upon release. In other embodiments, thetoggle switch 210 can be configured as a single-throw or single action switch in which the selected actuation of the stabilizers will continue upon release of themechanical lever 211. - In a further embodiment, illustrated in
FIG. 4 , thetoggle switch 210 may be configured with a counter or detents that switches between ceasing activity upon release and acting as a single-throw switch. For example, themechanical lever 211 may be normally biased to a central, upright orientation corresponding to theneutral position 216. If themechanical lever 211 is partially toggled or pivoted in one direction or the other, it may enter theextended position 212 or retractedposition 214 where it functions as a normally opened circuit such that release of themechanical lever 211 biases it back into the neutral position breaking the circuit and ceasing movement of the ground-engaging devices. However, if themechanical lever 211 is pushed or toggled further into the extend or retractpositions detents 220 formed in the slot of thetoggle switch 210 into an auto-extendposition 222 or an auto-retractposition 224. In the auto-extend and auto-retractpositions mechanical lever 211, similar to a single-throw configuration. The electrical contacts within the body of thetoggle switch 210 can be arranged to recognize the separate positions. Thedetents 220 may provide a tactile indication that themechanical lever 211 has been toggled into the auto-extend and auto-retractpositions mechanical lever 211 may be toggled past thedetents 220 in the opposite direction. In another embodiment, cessation of the extension or retraction of the ground-engaging devices can be directed by moving themechanical lever 211 of thetoggle switch 210 in the opposite direction through theneutral position 216 and into the respective extend or retractpositions detents 220 and into the auto-extend or auto-retractpositions - In an embodiment, the
machine 100 can be configured with different operating modes selectable via a mode switch ormode dial 220 illustrated inFIG. 3 . For example, to move and position themachine 100 at the underground worksite, themode dial 230 can be turned to apositioning mode 232 that enables operation of thecontinuous tracks 104 but prevents actuation of thecutter head 110 and tool support andpositioning assembly 120. Thepositioning mode 232 may also be selected to tram themachine 100 and move thecutter head 110 proximate to the cuttingsurface 108 between successive milling or cutting operations. To conduct a milling or cutting operation, themode dial 230 can be turned to a cuttingmode 234 that enables operation of thecutter head 110 and tool support andpositioning assembly 120 but prevents engagement of thecontinuous tracks 104 to avoid unintentional reorientation of themachine 100. When the cuttingmode 234 is selected, theremote control 202 in cooperation with theelectronic control system 200 can confirm that thestabilizers 180 have been extended to stabilize themachine 100 prior to initiating the operation or cutting operation. - It should be appreciated that in an alternative embodiment, the
machine 100 may not be configured for remote operation. In such an embodiment, themachine 100 may include an operator station that can accommodate a operator and where a number of the foregoing controls can be accessed for operating the machine, including thetoggle switch 210 for raising and lowering the ground-engaging devices and themode dial 220 for selecting the operating mode of themachine 100. - Referring to
FIG. 4 , there is illustrated aprocess 300 for operating themachine 100 that can be conducted through a plurality of steps executed by theelectronic control system 200 in conjunction with theremote control 202. Theprocess 300 can be embodied as software including instructions and commands written in computer-executable programming code. Theprocess 300 illustrated inFIG. 5 may be specifically intended to regulate and control operation of the extendable and retractable ground-engaging devices. Referring toFIGS. 1-4 , in aninitialization step 302, theprocess 300 can initialize theremote control 202 to communicate operation signals to and from theelectronic control system 200 on themachine 100. Once initialized, operation of themachine 100 can occur through use of theremote control 202. - For example, the
process 300 may execute amonitoring step 304 that monitors or senses the position of thetoggle switch 210 on theremote control 202. If, in a subsequent toggleposition determination step 306, theprocess 300 determines thetoggle switch 210 has been moved to the extendposition 212 indicating that an operator intends to extend thestabilizers 180 to perform a milling or cutting operation, theremote control 202 communicates an extendcommand 310 to theelectronic control system 200. The extendcommand 310 directs thestabilizer actuators 182 to extend thestabilizers 180 with respect to the undercarriage 102 (extend stabilizers 312). Because the operation will likely be conducted with theconveyer 154 operating, the extendcommand 310 can also act to extend theload shield 190 concurrently by appropriately directing operation of the shield actuator 192 (extend shield 314). The extendcommand 310 thereby ties, couples, or latches two operations of the ground-engaging devices together. - If the
position determination step 306 instead determines that thetoggle switch 210 has been moved to the retractposition 214, for example to tram themachine 100, theremote control 202 can communicate a retractcommand 320 to theelectronic control system 200. The retractcommand 320 directs thestabilizer actuators 182 to retract thestabilizers 180 with respect to the ground floor 106 (retract stabilizers 322). Similarly, the retractcommand 320 can also function to concurrently retract the loading shield 190 (retract shield 324). Hence, the extendcommand 310 and the retractcommand 320 simultaneously operate both thestabilizer actuators 182 and theshield actuator 192, thereby reducing the actions taken with respect to theremote control 202. In the embodiments where thegathering frame 150 can be selectively positioned, the extendcommand 310 and the retractcommand 320 can simultaneously activate the appropriate action of theframe actuator 194. In a further embodiment, theprocess 300 can return to a neutral state 328 to maintain the current position of the ground-engaging devices then repeat itself to determine if the position of the ground-engaging device should be changed. - In another embodiment, the
process 300 can execute amonitoring step 329 to monitor selection of themode dial 230 to determine which operating mode has been selected. The process further executes a mode determination step 330 that can couple operation of the extendable and retractable ground-engaging devices to the selected operating mode of themachine 100. For example, if themode dial 230 is turned to thepositioning mode 232, possibly indicating that themachine 100 is about to tram to reposition thecutter head 110, theremote control 202 can communicate atram command 332 to theelectronic control system 200. To prepare for tramming, thetram command 332 can activate thestabilizer actuators 182 to retract thestabilizers 180 with respect to the ground floor 106 (retract stabilizers 334) so thestabilizers 180 do not obstruct tramming of themachine 100. Thetram command 332 can simultaneously activate theshield actuator 192 to retract the load shield 190 (retract shield 336) and disengage from theground floor 106. Hence, thetram command 332 ties operation of thestabilizers 180 andload shield 190 together. - Likewise, if the mode determination step 330 determines the
mode dial 230 is turned to the cuttingmode 234, theremote control 202 can communicate a cuttingcommand 342 to theelectronic control system 200 concurrently and simultaneously extending the stabilizers 180 (extend stabilizers 344) and the load shield 190 (extend load shield 346) to contact theground floor 106. Hence, thestabilizers 180 brace themachine 100 and theload shield 190 is appropriately set at the start of the milling or cutting operation. Again, in the embodiments where thegathering frame 150 is movable, the retract and extend commands can direct appropriate actuation of theframe actuator 194. Theprocess 300 can proceed to aneutral state 348 similar to that described above. A possible advantage of the mode determination step 330 is that it ensures the extendable and retractable ground-engaging devices are properly situated before the respective operation of the machine may be commenced. - It will be appreciated that the foregoing description provides examples of the disclosed system and technique. However, it is contemplated that other implementations of the disclosure may differ in detail from the foregoing examples. All references to the disclosure or examples thereof are intended to reference the particular example being discussed at that point and are not intended to imply any limitation as to the scope of the disclosure more generally. All language of distinction and disparagement with respect to certain features is intended to indicate a lack of preference for those features, but not to exclude such from the scope of the disclosure entirely unless otherwise indicated.
- Recitation of ranges of values herein are merely intended to serve as a shorthand method of referring individually to each separate value falling within the range, unless otherwise indicated herein, and each separate value is incorporated into the specification as if it were individually recited herein. All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context.
- The use of the terms “a” and “an” and “the” and “at least one” and similar referents in the context of describing the invention (especially in the context of the following claims) are to be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. The use of the term “at least one” followed by a list of one or more items (for example, “at least one of A and B”) is to be construed to mean one item selected from the listed items (A or B) or any combination of two or more of the listed items (A and B), unless otherwise indicated herein or clearly contradicted by context.
- Accordingly, this disclosure includes all modifications and equivalents of the subject matter recited in the claims appended hereto as permitted by applicable law. Moreover, any combination of the above-described elements in all possible variations thereof is encompassed by the disclosure unless otherwise indicated herein or otherwise clearly contradicted by context.
Claims (22)
1. A machine for removing material, the machine comprising:
an undercarriage including a first propulsion device and a second propulsion device for propelling the machine about an worksite;
a cutter head disposed on tool support and positioning assembly including a cutter boom that is slidably disposed on the undercarriage; and
a plurality of ground-engaging devices that are extendable and retractable, with respect to the undercarriage, to engage a ground floor,
the plurality of ground-engaging device are configured to be extended and retracted simultaneously through an electronic control system operatively associated with the machine.
2. The machine of claim 1 , wherein the plurality of ground-engaging devices includes a stabilizer and a load shield.
3. The machine of claim 2 , wherein the stabilizer includes a stabilizer actuator that hydraulically extends and retracts a stabilizer leg attached to a ground pad.
4. The machine of claim 3 , wherein the load shield is pivotally connected to the undercarriage and can be pivoted with respect to the undercarriage by a shield actuator.
5. The machine of claim 4 , further comprising a conveyer disposed through the machine from a conveyer entrance to a conveyer exit to move material from a front portion of the machine to a rear portion of the machine, and the load shield is disposed proximate to the conveyer exit.
6. (canceled)
7. The machine of claim 1 , further comprising a remote control for communicating with the electronic control system on the machine, and the remote control includes a switch for simultaneously extending and retracting the plurality of ground-engaging devices.
8. (canceled)
9. A method for removing material, the method comprising:
positioning a machine in a first position proximate to a cutting surface;
detecting a command to perform a cutting operation to remove material from the cutting surface;
simultaneously extending a plurality of ground-engaging devices retractably attached to an undercarriage of the toward a ground floor, based on detecting the command to perform the cutting operation;
feeding a cutter head disposed on a cutter boom of the machine toward the cutting surface to remove the material from the cutting surface;
detecting a command to move the machine to a second position with respect to the cutting surface;
retracting the cutter head from the cutting surface, based on detecting the command to move the machine to second position, prior to moving the machine to the second position with respect to the cutting surface;
simultaneously retracting the plurality of ground-engaging devices with respect to the ground floor, based on detecting the command to move the machine to the second position, prior to moving the machine to the second position.
10. The method of claim 9 , wherein the plurality of ground-engaging devices includes a stabilizer for stabilizing the machine when cutting material from the cutting surface and a loading shield disposed proximate to a conveyer exit in a rear portion of the machine.
11. The method of claim 10 , further comprising receiving a operation signal from a remote control communicating with an electronic control system on the machine.
12. The method of claim 11 , wherein the operation signal simultaneously extends or retracts the plurality of ground-engaging devices.
13. The method of claim 12 , wherein the operation signal is a cutting command to move the cutter head toward the cutting surface.
14. The method of claim 13 , wherein the remote control includes a toggle switch providing multi-throw configuration with an extend position, retract position, and neutral position.
15. The method of claim 14 , wherein the toggle switch is a single-throw switch.
16. The method of claim 10 , wherein the stabilizer includes a stabilizer actuator configured to hydraulically extend and retract a stabilizer leg attached to a ground pad.
17. The method of claim 16 , wherein the stabilizer actuator is operatively associated with a pressure sensor configured to cease extension of the stabilizer leg upon hydraulic pressure exceeding a pressure threshold.
18. A machine comprising:
an undercarriage supported on a first propulsion device and a second propulsion device to propel the machine;
a cutter head disposed on a tool support and positioning assembly supported on the undercarriage;
a plurality of stabilizers extendably and retractably connected to the undercarriage that can extend to contact a ground floor to support the machine when cutting material;
a load shield extendably and retractably attached to the undercarriage that can extend to engage to the ground floor; and
an electronic control system having a switch that simultaneously extends and retracts the plurality of stabilizers and the load shield based on receiving a command to perform an operation associated with the switch.
19. The machine of claim 18 , wherein the plurality of stabilizers each includes a stabilizer actuator configured to hydraulically extend and retract a stabilizer leg attached to a ground pad.
20. The machine of claim 19 , wherein the load shield is disposed proximate to a conveyer exit of a conveyer that extends through the machine.
21. The machine of claim 1 , wherein the electronic control system is configured to automatically retract the stabilizers upon detecting a tram command to move the machine.
22. The machine of claim 1 , wherein the electronic control system is configured to extend the stabilizer upon detecting a cutting command to being a cutting operation.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/383,702 US20180171792A1 (en) | 2016-12-19 | 2016-12-19 | Machine and Method of Cutting Material |
PCT/EP2017/083315 WO2018114806A1 (en) | 2016-12-19 | 2017-12-18 | Machine and method of cutting material |
Applications Claiming Priority (1)
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US15/383,702 US20180171792A1 (en) | 2016-12-19 | 2016-12-19 | Machine and Method of Cutting Material |
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US20180171792A1 true US20180171792A1 (en) | 2018-06-21 |
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US15/383,702 Abandoned US20180171792A1 (en) | 2016-12-19 | 2016-12-19 | Machine and Method of Cutting Material |
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WO (1) | WO2018114806A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10138617B2 (en) * | 2016-08-12 | 2018-11-27 | The Charles Machine Works, Inc. | Ground-engageable attachment for a vehicle |
US20220341323A1 (en) * | 2019-08-26 | 2022-10-27 | Epiroc Rock Drills Aktiebolag | A mining machine and a method for rock excavation |
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US4056284A (en) * | 1974-08-05 | 1977-11-01 | Gewerkschaft Eisenhutte Westfalia | Machines for use in mining or tunnelling work |
US4192551A (en) * | 1978-10-10 | 1980-03-11 | Bethlehem Steel Corporation | Remote control system for mining machines |
US5192115A (en) * | 1991-05-28 | 1993-03-09 | The Robbins Company | Tramming mobile mining machine |
US5246274A (en) * | 1992-06-04 | 1993-09-21 | Amvest Corporation | Remote mining haulage system with self-advancing mobile tailpiece and method of operating same |
US6062650A (en) * | 1995-02-07 | 2000-05-16 | Advanced Technology For Rock Excavation Inc. | Continuous control system for a mining or tunnelling machine |
US20020060450A1 (en) * | 1999-05-18 | 2002-05-23 | Kem D. Ahlers | Auto-up switch for simulaneously retracting a pair of stabilzer legs on a backhoe loader machine |
US20100109417A1 (en) * | 2002-10-15 | 2010-05-06 | Minister Of Natural Resources Canada | Automated Excavation Machine |
US20120032494A1 (en) * | 2010-08-03 | 2012-02-09 | Veldman Charl C | Underground boring machine |
US20140091612A1 (en) * | 2011-05-16 | 2014-04-03 | Caterpillar Global Mining Europe Gmbh | Mobile mining machine and method for driving tunnels, roadways or shafts, in particular in hard rock |
US20130033085A1 (en) * | 2011-08-03 | 2013-02-07 | Colin Anthony Wade | Stabilization system for a mining machine |
US20150204190A1 (en) * | 2012-08-15 | 2015-07-23 | Caterpillar Global Mining Europe Gmbh | Mobile mining |
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US10138617B2 (en) * | 2016-08-12 | 2018-11-27 | The Charles Machine Works, Inc. | Ground-engageable attachment for a vehicle |
US20220341323A1 (en) * | 2019-08-26 | 2022-10-27 | Epiroc Rock Drills Aktiebolag | A mining machine and a method for rock excavation |
Also Published As
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WO2018114806A1 (en) | 2018-06-28 |
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