AU2016202862B2

AU2016202862B2 - Shovel having a wristing dipper

Info

Publication number: AU2016202862B2
Application number: AU2016202862A
Authority: AU
Inventors: William J. Hren
Original assignee: Joy Global Surface Mining Inc
Current assignee: Joy Global Surface Mining Inc
Priority date: 2011-02-01
Filing date: 2016-05-04
Publication date: 2017-06-08
Anticipated expiration: 2032-01-31
Also published as: AU2017219143A1; AU2016202862A1; AU2017219143B2

Abstract

A rope shovel includes a base including (a) a hoist drum for paying out and reeling in a hoist rope and (b) a boom including a lower end coupled to the base and an upper end opposite the lower end, with the hoist rope extending over the upper end of the boom. The rope shovel also includes a boom attachment moveably coupled to the boom, the boom attachment including a first end and a second end, and an excavating member pivotably coupled to the second end of the boom attachment. The rope shovel also includes an actuator for moving the excavating member relative to the second end of the boom attachment, with the actuator including a first end coupled to the boom attachment. 7704030_1 (GHMatters) P94153.AU.2 PETAK co C Coo 4-D to C-14

Description

SHOVEL HAVING A WRISTING DIPPER 2016202862 16 May 2017

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is a divisional application of application 2015200038 which is a divisional of application 2012200525. This application is also a divisional application of application 2013200539

BACKGROUND

[0002] The present invention relates to rope shovels used in the mining and the construction industries.

[0003] In the mining field, and in other fields in which large volumes of materials must be collected and removed from a work site, it is typical to employ a power shovel including a large dipper, often referred to as a bucket and more generally as an excavating member for shoveling the materials from the work site. After filling the dipper with material, the shovel swings the dipper to the side to dump the material into a material handling unit, such as a dump truck or a local handling unit (e.g., crusher, sizer, or conveyor). Generally, the shovels used in the industry include hydraulic shovels and electric rope shovels. Conventional electric rope shovels typically include a dipper digging component rigidly connected to the dipper handle. This configuration allows the digging attachment to have only two degrees of freedom of movement in the dig path of the dipper: hoist and crowd.

[0004] On a conventional rope shovel, a dipper is attached to a handle, and the dipper is supported by a cable, or rope, that passes over a boom sheave. The rope is secured to a bail that is pivotably coupled to the dipper. During the hoist phase, the rope is reeled in by a hoist drum, lifting the dipper upward through the bank and liberating the material to be dug. 1 9062382_1 (GHMatters) P94153.AU.2

The dipper is hollow with a substantially rectangular cross-section, and the interior walls of the dipper are generally straight. 2016202862 16 May 2017 [0005] The use of the rope to hoist the dipper maximizes the lifting force during the dig cycle. However, the orientation of the dipper relative to the handle is generally fixed during a dig cycle. The operator cannot control the motion of the dipper or other attachment independent of the handle and hoist rope, limiting the ability to adjust the shovel’s performance in response to variation in the digging conditions. The penetration or breakout force of the dipper is largely dependent on the hoist force and the orientation of the dipper. For example, while the hoist force is substantially vertical, the dipper is substantially horizontal with respect to the material to be dug. This significantly limits the amount of hoist force that can be transmitted to breakout force at the digging edge of the dipper. In addition, the dipper lacks versatility: in order to perform a digging operation, the dipper must typically be positioned at the base of the bank and pulled through to the top. This makes it difficult to perform selective digging, or inserting the dipper at an intermediate height of the bank and digging from that point.

SUMMARY

[0006] In one embodiment, the present invention provides a mining shovel comprising a base including a hoist drum for paying out and reeling in a hoist rope; a boom including a lower end coupled to the base and an upper end opposite the lower end, the hoist rope extending over the upper end of the boom; a boom attachment moveably coupled to the boom, the boom attachment including a first end and a second end; an excavating member including a wall and a main body pivotably coupled to the wall, the wall pivotably coupled to the second end of the boom attachment, the main body defining a material receiving opening and a material discharging opening, the main body pivotably coupled to the wall to 2 9062382_1 (GHMatters) P94153.AU.2 selectively close the material discharging opening; and an actuator for moving the excavating member relative to the second end of the boom attachment, the actuator including a first end coupled to the boom attachment. 2016202862 16 May 2017 [0007] The term “excavating member” is understood herein to include, by way of example, members described as a “dipper” and a “bucket”. The term “actuator” is understood herein to include, by way of example, actuators described as a “pivot actuator” and a “dipper actuator”.

[0008] In other embodiments, the present invention provides a digging assembly for a rope shovel, the rope shovel including a boom having an end, the rope shovel further including a hoist rope extending along the boom and passing over the end of the boom, the digging assembly comprising: a handle including a first end and a second end, the handle configured to be supported for rotational movement and translational movement relative to the boom; a bucket configured to be supported by an end of the hoist rope passing over the end of the boom, the bucket including a wall and a main body, the wall having a first side and a second side, the first side pivotably coupled to the second end of the handle as a wrist joint, the main body defining a material receiving opening and a material discharging opening, the main body pivotably coupled to the second side of the wall to selectively close the material discharging opening; and pivot actuator for moving the bucket relative to the second end of the handle, the pivot actuator including a first end coupled to the handle and a second end coupled to the wall of the bucket.

[0009] In still other embodiments, the present invention provides a digging attachment for a rope shovel, the rope shovel including a boom, a hoist rope, and a handle, the boom having an end, the hoist rope extending along the boom and passing over the end of the boom, the handle supported for translational and rotational relative to the boom, the 3 9062382_1 (GHMatters) P94153.AU.2 digging attachment comprising: a wall defining a first side and a second side opposite the first side, the first side including a wrist joint configured to be pivotably coupled to an end of the handle; a main body pivotably coupled to the second side of the wall, the main body defining a material receiving opening and a material discharging opening; a pivot actuator for moving the wall relative to the second end of the handle, the pivot actuator including a first end configured to be coupled to the handle and a second end coupled to the wall; and a bucket actuator including a first end coupled to the wall and a second end coupled to the main body, operation of the bucket actuator causing the main body to pivot relative to the wall to selectively close the material discharging opening. 2016202862 16 May 2017 [0010] Also disclosed is a digging attachment for a rope shovel, the rope shovel including a boom, a hoist rope, and a handle, the boom having an end, the hoist rope extending along the boom and passing over the end of the boom, the handle supported for translational and rotational movement relative to the boom, the digging attachment comprising: a wall defining a first side and a second side opposite the first side, the first side including a wrist joint configured to be pivotably coupled to an end of the handle; a main body pivotably coupled to the second side of the wall, the main body defining a material receiving opening and a material discharging opening; and a bail pivotably coupled to one of the wall and the main body, the bail configured to be coupled to the end of the hoist rope to support the digging attachment relative to the end of the boom.

[0011] Other aspects of the invention will become apparent by consideration of the detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Fig. 1 is a side view of a rope shovel according to an embodiment. 4 9062382_1 (GHMatters) P94153.AU.2 [0013] Fig. 2 is a perspective view of an electric rope shovel according to another embodiment. 2016202862 16 May 2017 [0014] Fig. 3 is a perspective view of an electric rope shovel according to yet another embodiment.

[0015] Fig. 4 is a perspective view an electric rope shovel according to another embodiment.

[0016] FIG. 5 is a perspective view of a mining shovel according to another embodiment.

[0017] FIG. 6 is a side view of the mining shovel of FIG. 5. [0018] FIG. 7 is a perspective view of a handle and bucket. [0019] FIG. 7. FIG. 8 is a lower perspective view of the handle and bucket of [0020] FIG. 9 is a cross-section view of the handle and bucket of FIG 8, taken along line 5—5.

[0021] in FIG. 9. FIG. 10 is an enlarged cross-section view of the handle shown [0022] FIG. 11 is a perspective view of a bucket. [0023] FIG. 12 is a side view of the bucket of FIG. 11. [0024] FIG. 13 is a front view of the bucket of FIG. 11. [0025] FIG. 14 is a rear perspective view of the bucket of FIG. 11.

[0026] FIG. 15 is a cross-section view of the bucket of FIG. 13, taken along line 11—11, with the bucket in a closed state. 5 9062382_1 (GHMatters) P94153.AU.2 [0027] FIG. 16 is a cross-section view of the bucket of FIG. 15 with the bucket in an open state. 2016202862 16 May 2017 [0028] FIG. 17 is an enlarged cross-section view of the bucket of FIG. 15.

[0029] FIG. 18 is a side view of the handle and bucket of FIG. 7 during a crowd operation.

[0030] FIG. 19 is a side view of the handle and bucket of FIG. 7 during a digging operation, with a pivot actuator retracted.

[0031] FIG. 20 is a side view of the handle and bucket of FIG. 7 during a digging operation, with a pivot actuator extended.

[0032] It is to be understood that the invention is not limited in its application to the details of the construction and the arrangements of components set forth in the following description or illustrated in the drawings. The present invention is capable of other embodiments and of being practiced or being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.

DETAILED DESCRIPTION

[0033] Conventional electric rope shovels cannot “wrist” the dipper during the initial penetration of the bank of material like hydraulic shovels can. Hydraulic shovels typically possess three degrees of freedom while digging: hoist, crowd, and bucket wrist. These hydraulic shovels demonstrate excellent initial bank penetration at the lower dig heights. Hydraulic shovels, however, lose efficiency later in the dig path cycle. As they rake the bank at higher dig heights, they struggle to keep dig forces high at the bucket teeth. The reason for the weak effort higher in the bank is that the hydraulic shovels must lift the combined weights of the boom, 6 9062382 1 (GHMatters) P94153.AU.2 handle (more generally described as a boom attachment), dipper, and material, whereas the electric shovel does not need to lift the boom. 2016202862 16 May 2017 [0034] On the other hand, electric rope shovels demonstrate excellent dig forces higher in the bank because they utilize the boom point sheave or pulley located high above the ground and away from the dipper. Electric rope shovels use this boom point sheave as a pulley, translating hoist drum torque into rope bail pull in a direction that directly lifts and hoists the dipper load through the bank and into the air. This generates very efficient and powerful dig forces at the dipper teeth. However, because the dipper in conventional electric rope shovels is fixed relative to the dipper arm, the ability to create high digging forces when the dipper is low to the ground is limited by the fixed geometry of the dipper arm, the boom, and the relative locations of the shipper shaft and the boom point sheave.

[0035] Thus, there is a need for an electric rope shovel that incorporates the hoist force of the boom point pulley of an electric shovel, with the dipper wristing feature of a hydraulic shovel. This improved electric shovel provides a highly efficient and versatile digging attachment that can operate efficiently in all types of bank conditions.

[0036] Figs. 1 - 4 illustrate rope shovels 10 according to various embodiments of the present invention. Like parts are identified using the same reference numbers. Referring to Fig. 1, the rope shovel 10 includes a lower base 15 that is supported on drive tracks 20, and an upper base 25 (also called a deck) positioned on a rotational structure 30 that is mounted to the lower base 15. The rotational structure 30 allows rotation of the upper base 25 relative to the lower base 15. The upper base 25 includes, among other elements, an operating area 33 in which an operator or a driver sits to operate the rope shovel 10. 7 9062382_1 (GHMatters) P94153.AU.2 [0037] The rope shovel 10 further includes a boom 45 extending upwardly and forwardly from the upper base 25. The boom 45 includes a first end 46 coupled to the upper base 25 and a distal second end 47. The illustrated boom 45 is curved and has “banana” or a “V” shape, while the curved boom 45 offers certain advantages, other embodiments may include a substantially straight boom. The boom 45 includes a lower attachment point 26 where the boom 45 is coupled to the upper base 25 by pin joints or other suitable attachment mechanisms. The boom 45 also includes an upper attachment point 54 to which a support strut 48 is connected. The support strut 48 extends downwardly and rearwardly from the upper attachment point 54 and is coupled to the upper base 25. Together the strut 48, upper base 25, and boom 45 define a substantially rigid triangulated structure that supports the boom 45 in an upright orientation. 2016202862 16 May 2017 [0038] The illustrated curved boom 45 includes a generally vertical first portion 31 that extends generally upwardly from the base 25, and an angled second portion 32 that extends at an angle from the first portion 31 toward the second end 47 of the boom. The first portion 31 of the boom 45 is angled with respect to the second portion 32 of the boom. In some embodiments, the angle between the first portion 31 and the second portion 32 of the boom can be between about one hundred and twenty degrees and about one hundred and sixty degrees. More specifically, the angle between the first portion 31 and the second portion 32 can be between approximately one hundred and sixty degrees. In other words, the second portion 32 of the boom 45 is offset between about twenty and about sixty degrees from the first portion 31 of the boom 45. In particular, the offset between the second portion 32 of the boom 45 and the first portion 31 can be twenty degrees. The illustrated boom 45 is of a one piece construction combining the first and the second portions 31, 32 of the boom. In other embodiments, the boom 45 can be formed from two or 8 9062382_1 (GHMatters) P94153.AU.2 more separate pieces joined by welding, pin joints, fasteners, or any other attachment mechanisms. 2016202862 16 May 2017 [0039] The rope shovel 10 also includes a digging attachment comprising a boom attachment 50 (also called a boom handle) pivotally coupled to the boom 45 and an excavating member in the form of a dipper 55 pivotally coupled to the boom attachment 50. The dipper 55 includes dipper teeth 56 and is used to excavate the desired work area, collect material, and transfer the collected material to a desired location (e.g., a material handling vehicle). The boom attachment 50 is pivotally mounted to the boom 45 at a first pivot location 42, and the dipper 55 is pivotally mounted to the boom attachment 50 at a second pivot location 49. In the illustrated embodiment, the first pivot location 42 is positioned generally where the first portion 31 and the second portion 32 of the boom 45 connect or intersect.

[0040] The illustrated boom attachment 50 includes a first or upper arm 64 and a second or lower arm 65 pivotally coupled to the upper arm at a third pivot location 51. The upper arm 64 is pivotally coupled to the boom 45 at the first pivot location 42, and the dipper 55 is pivotally coupled to the lower arm 65 at the second pivot location 49. The pivotal connections between the upper and lower arms 64, 65 and the dipper 55 provide a multi-degree-of-freedom system that allows the dipper 55 to be maneuvered through a range of motion that includes the dashed-line representation of the upper and lower arms 64, 65 and the dipper 55 in Fig. 1. This range of motion is greater than a conventional rope shovel having a rigid boom attachment 50 and a fixed dipper 55. While the illustrated embodiment shows the first, second, and third pivot locations 42, 49, and 51 as pin joints, other mechanical connections such as cams, linkages, gear sets, and the like may also be used to achieve the desired relative movement between the upper arm 64, the lower arm 65, and the dipper 55. In this regard, the “pivot locations” may not necessarily be 9 9062382_1 (GHMatters) P94153.AU.2 located on or coincide with a structural portion of the rope shovel 10, but may instead be located at a fixed or moveable location in space as defined by the specific mechanical connection between the respective components. 2016202862 16 May 2017 [0041] The illustrated rope shovel 10 includes a plurality of hydraulic cylinders for controlling movement of the boom attachment 50 and the dipper 55. The boom attachment 50 is controlled by a first actuator in the form of a first hydraulic cylinder 66 having a first end coupled to the base 25 and a second end coupled to a mounting point 67 on the upper arm 64 of the boom attachment 50. The dipper 55 is controlled by a second actuator in the form of a second hydraulic cylinder 71 having a first end coupled to the third pivot location 51 and a second end coupled to a mounting point 68 on the dipper 55. The first hydraulic cylinder 66 is therefore operable to pivot the upper arm 64 about the first pivot location 42 relative to the base 25 and boom 45, and the second hydraulic cylinder 71 is operable to pivot the dipper 55 about the second pivot location 49 relative to the lower arm 65.

[0042] The second hydraulic cylinder 71 provides a controllable force on the dipper 55 for creating forward and backward movement of the dipper 55. Thus, the second hydraulic cylinder 71 allows the dipper 55 to “wrist” during travel through the digging path of the shovel 10. Wristing the dipper during penetration of the bank of material allows for quicker and more efficient collection of material and gives the shovel operator the versatility needed for selective and forceful digging in the bank. It should be noted that second hydraulic cylinder 71 can be substituted with other mechanical devices and structures. For example, pivoting rack and pinion systems, pneumatic cylinders, pistons, electric motors and the like can also be used to move the dipper 55. These alternative mechanisms can also be used to replace the first hydraulic cylinder 66. Thus, the entire 10 9062382_1 (GHMatters) P94153.AU.2 digging attachment can be manufactured without any hydraulics, if desired. 2016202862 16 May 2017 [0043] The boom 45 includes a pulling mechanism 58 mounted at the second end 47 of the boom 45. In some embodiments, the pulling mechanism 58 comprises a pulley or boom sheave 60. A flexible hoist rope 62 is attached to a connecting portion 73 of the boom attachment 50 and at least partially supports the boom attachment 50 and the dipper 55. In other embodiments (not shown), the hoist rope 63 can be directly attached to the dipper 55. For example, the rope 63 can be attached to the dipper connecting element 57. The flexible hoist rope extends from the connecting portion 73 (or the connecting element 57), over the sheave 60 and is then wrapped around a hoist drum 63 that is mounted on the upper base 25 of the electric shovel 10. The flexible hoist rope 62 may be or include one or more than one rope that may pass over the sheave 60 multiple times. In this regard, the connecting portion 73 may be or include an equalizer capable of equalizing the load on the various ropes 62 or rope portions that support the dipper 55. The hoist drum 63 is powered by an electric motor (not shown) that provides turning torque to the drum 63 through a geared hoist transmission (not shown).

[0044] The sheave 60 is rotatably coupled to the second end 47 of the boom 45 between a pair of sheave support members 37 located at the second end 47 of the boom 45 (only one of the sheave support members 37 is visible in Fig. 1). A rod or a load pin 34 extends between the sheave support members 37 and through the sheave 60, thereby rotatably coupling the sheave 60 to the boom 45. Thus, the sheave 60 rotates about the rod or the load pin 34. In other embodiments, alternative mechanisms for connecting the sheave 60 to the boom 45 can be used. Rotation of the hoist drum 63 reels in and pays out the hoist rope 62, which travels over the sheave 60 and raises and lowers the dipper 55. 11 9062382_1 (GHMatters) P94153.AU.2 [0045] A common feature of the illustrated embodiments is that if the hoist rope 62 is removed, the boom attachment 50 will have one unrestrained degree-of-freedom associated with the third pivot location 51. Thus, the first and second hydraulic cylinders 66, 71 cannot, by themselves, fully coordinate movement of the boom attachment 50 and the dipper 55. Rather, it is combined operation of the first and second hydraulic cylinders 66, 71 and the hoist rope 62 that allows for complete control of the boom attachment 50 and dipper 55. 2016202862 16 May 2017 [0046] In operation, the boom attachment 50 that extends from the boom 45 is driven by the first hydraulic cylinder 66 positioned on the base 25. Using that force, the upper 64 arm of the boom attachment drives the lower arm 65 by utilizing the pinned connection at the third pivot location 51. Rotating the upper arm 64 thrusts the lower arm 65 and the dipper 55 into the bank of material. This constitutes crowd force. Rotation or wristing of the dipper 55 is provided by the second hydraulic cylinder 71, which is mounted between the boom attachment 50 and the dipper 55. At the same time, the pulley 60 and hoist drum 63 cooperate to apply forces to the hoist rope 62 that lift the dipper 55 through the bank of material and into the air. The dipper 55 is simultaneously driven by the boom attachment 50 and the hoist force generated by the rope 62 driven by the hoist drum 63 and over the pulley 60. Thus, the shovel 10 possesses three degrees of digging freedom: hoist, crowd, and bucket wrist.

[0047] The above-described combined and coordinated operation of the hoist drum 63 and hoist rope 62 with the first and second hydraulic cylinders 66, 71 provide efficient digging forces throughout the range of motion of the boom attachment 50 and dipper 55. For example, when the boom attachment 50 and dipper 55 are in the position shown in dashed lines in Fig. 1, compared to the hoist rope 62, the hydraulic cylinders 66, 71 are in a position of superior mechanical advantage for driving the dipper 55 generally forwardly into the bank. After the boom attachment 50 12 9062382_1 (GHMatters) P94153.AU.2 and dipper 55 are pushed into the bank and moved further away from the lower base 15, compared to the hydraulic cylinders 66, 71, the hoist rope 62 occupies a position of superior mechanical advantage for raising the dipper generally vertically through the bank of material. Thus, by coordinating operation of the hydraulic cylinders 66, 71 and the hoist rope 62, strong, efficient dig forces can be maintained throughout the range of motion of the boom attachment 50 and dipper 55. 2016202862 16 May 2017 [0048] Figs. 2-4 illustrate alternative embodiments of the rope shovel 10 that, other than the specific differences discussed below, are generally similar in configuration and operation to the rope shovel 10 of Fig. 1.

[0049] Because Figs. 2-4 are perspective views, the specific structure of the strut 48 is more fully shown in Figs. 2-4. The strut 48 entirely replaces the gantry structure used in many conventional shovels. In some embodiments, the strut 48 includes two parallel strut legs 49 coupled by rigid-connect members 51. One end 52 of the strut 48 is coupled to the base 25 at a location spaced apart from the first end 46 of the boom 45. A second end 53 of the strut 48 is coupled to the boom 45 by connecting each strut leg 49 to the upper attachment point 54 of the boom 45. In some embodiments, the second end 53 of the strut 48 is coupled to the general area where the first portion 31 and the second portion 32 of the boom 45 connect or intersect. The strut 48 supports the boom 45 in the upright position.

[0050] In some embodiments, the strut 48 is pivotally connected to the base 25 and to the boom 45 via moving pin joints or other types of connectors. During shovel operation, the strut 48 can be exposed to both compression and tension loads and forces. Therefore, the strut 48 can be provided with shock absorbing connectors such as various types of spring assemblies incorporated into the pinned attachment joints between the strut 48, the base 25, and the boom 45. These shock absorbing 13 9062382_1 (GHMatters) P94153.AU.2 connectors can reduce the overall stiffness of the strut assembly when compression and tension forces are acting on the strut, thereby reducing or eliminating shock loading and in turn reducing the overall stresses experienced by the various components. 2016202862 16 May 2017 [0051] Figs. 2-4 also show that the upper arm 64 comprises a pair of spaced apart upper arm members 43, and the lower arm 65 comprises a pair of spaced apart lower arm members 39. The embodiments of Figs. 2 and 3 include a boom 45 having a pair of spaced apart boom members 44. The two boom members 44 are attached to and extend from the upper base 25, and the first hydraulic cylinder 66 extends through the space between the two boom members 44 and between the pair of upper arm members 43 for coupling to the mounting point 67. The embodiment of Fig. 4, on the other hand, includes a substantially solid boom first portion 31 and a pair of first hydraulic cylinders 66 are positioned on each side of the boom 45 and extend to mounting points 67 associated with each of the upper arm members 43. As also shown in Fig. 4, the mounting points 67 are on the underside of the upper arm members 43, or below an imaginary line drawn between the first and third pivot locations 42, 51. In Figs. 1-3, the mounting point(s) 67 are located above an imaginary line drawn between the first and third pivot locations 42, 51. Thus, the specific configuration and arrangement of the first hydraulic cylinder (s) 66 can vary depending upon, among other things, the specific configuration of the boom 45 and the upper arm 64.

[0052] Similarly, the specific configuration and arrangement of the second hydraulic cylinder 71, which can include more than one hydraulic cylinder, can vary depending upon the specific configuration and arrangement of the lower arm 65 and the dipper 55. For example, in Fig. 1, the second hydraulic cylinder 71 has one end coupled to the third pivot location 51. In other embodiments, such as the embodiments of Figs. 2 and 4, the second hydraulic cylinder(s) 71 can be coupled to the lower arm 14 9062382_1 (GHMatters) P94153.AU.2 65 at a second mounting location 79. The second mounting location 79 can be either above (Fig. 2) or below (Fig. 4) an imaginary line drawn between the second and third pivot locations 49, 51. One benefit of the embodiments of Figs. 1 and 2, where the second hydraulic cylinder 71 is positioned above the lower arm 65, is that if the lower arm 65 accidentally strikes a loading vehicle or other structure during operation, the hydraulic cylinder 71 is less likely to be damaged. In still other embodiments, such as the embodiment of Fig. 3, the second hydraulic cylinders 71 can be coupled to the upper arm 64, such that the second mounting location 79 is located on the upper arm 64. Other embodiments can include various other intermediate structures through which the second hydraulic cylinders 71 can be attached to the upper arm 64 or the lower arm 65. Further, in some embodiments, the hydraulic cylinders 71 are attached to the lower portion of the dipper 55 (Figs. 3 and 4). In other embodiments, the hydraulic cylinders 71 can be attached to the upper portion of the dipper 55 (Figs. 1 and 2). 2016202862 16 May 2017 [0053] FIGS. 5 and 6 illustrate a mining shovel 110 according to another embodiment of present invention. The mining shovel 110 is shown resting on a support surface, or floor, and includes a base 122, a boom 126, a first member or handle 130, a bucket 134, and a pivot actuator 136. The base 122 includes a hoist drum 140 (FIG. 5) for reeling in and paying out a cable, or hoist rope 142. The boom 126 includes a first end 146 coupled to the base 122, a second end 150 opposite the first end 146, a boom sheave 154, a saddle block 158, and a shipper shaft 162 (FIG. 5). The boom sheave 154 is coupled to the second end 150 of the boom 126 and guides the rope 142 over the second end 150. The rope 142 is coupled to the bucket 134 by a bail 166. The bucket 134 is raised or lowered as the rope 142 is reeled in or paid out, respectively, by the hoist drum 140. The saddle block 158 is rotatably coupled to the boom 126 by the shipper shaft 162, which is positioned between the first end 146 15 9062382 1 (GHMatters) P94153.AU.2 and the second end 150 of the boom 126 and extends through the boom 126. The shipper shaft 162 includes a spline pinion 170 (FIG. 10). The handle 130 is moveably coupled to the boom 126 by the saddle block 158. 2016202862 16 May 2017 [0054] Referring to FIGS. 7 and 8, the first member or handle 130 includes a pair of arms 178 defining a first end 182, a second end 186, and a rack 190 (FIG. 8) for engaging the spline pinion 170 (FIG. 8). The first end 182 of the handle 130 is moveably received in the saddle block 158, and the handle 130 passes through the saddle block 158 such that the handle 130 is configured for rotational and translational movement relative to the boom 126 (FIG. 5). Stated another way, the handle 130 is linearly extendable relative to the saddle block 158 and is rotatable about the shipper shaft 162. In the illustrated embodiment, the handle 130 is substantially straight. In other embodiments, the handle 130 may include a curved portion. As shown in FIGS. 9 and 10, the rack 190 engages the spline pinion 170, and rotation of the shipper shaft 162 facilitates translational movement of the handle 130 via a rack and pinion mechanism.

[0055] As best shown in FIG. 9, the bucket 134 is pivotably coupled to the second end 186 of the handle 130 at a wrist joint 192. The bail 166 is coupled to the rope 142 (FIG. 5) passing over the boom sheave 154 (FIG. 5) and is pivotably coupled to the bucket 134 about a first joint, or bail joint 194. In the illustrated embodiment, the wrist joint 192 and the bail joint 194 are pin couplings. In other embodiments, the bail 166 is pivotably coupled to the handle 130. Furthermore, in the illustrated embodiment, the bail 166 is substantially similar to the bail described in U.S. Patent Application No. 13/691,024, filed November 30, 2012, the entire contents of which are incorporated herein by reference. In still other embodiments, the bucket 134 may be coupled to another type of hoist actuator at the bail joint 194. 16 9062382_1 (GHMatters) P94153.AU.2 [0056] The pivot actuator 136 controls the pitch of the bucket 134 by rotating the bucket 134 about the wrist joint 192. Referring to FIGS. 8 and 9, the pivot actuator 136 includes a first end 196 coupled to the handle 130 at a second joint 198 and a second end 1102 coupled to the bucket 134 at a third joint 1104. The third joint 1104 is spaced apart from the wrist joint 1102 by a distance 1106 (FIG. 12). In the illustrated embodiment, the pivot actuator 136 includes a pair of hydraulic cylinders directly coupled between a lower portion of the handle 130 and a lower portion of the bucket 134. In other embodiments, a different type of actuator may be used. In still other embodiments, the actuator is coupled between an upper portion of the handle 130 and/or an upper portion of the bucket 134. In still other embodiments, the pivot actuator 136 is coupled to the bucket via an intermediate linkage. An intermediate linkage may include a secondary member that is pivotably coupled between the bucket 134 and the second end 1102 of the actuator 136, and the secondary link may also be coupled to the handle by a ternary link. The intermediate linkage may also include a “Z-bar” arrangement in which the second end 1102 of the pivot actuator 136 is coupled to one end of a link that is pivotable relative to the handle 130 and a secondary link or actuator is coupled between a second end of the pivoting link and the bucket 134. 2016202862 16 May 2017 [0057] As described above, the bucket 134 is connected to three components: 1) the second end 186 of the handle 130 at the wrist joint 192; 2) the pivot actuator 136 at the third joint 1104; and 3) the hoist rope 142 at the bail joint 194. The relative positions of the wrist joint 192, the bail joint 194, the second joint 198, and the third joint 1104 may be altered to optimize the behavior of the bucket 134 during a dig cycle.

[0058] As shown in FIGS. 11 and 12, the bucket 134 is a clamshell-type bucket including a main body 1110, an end wall or rear wall 1114, and a bucket actuator 1118 (FIGS. 14-16). The main body 1110 is pivotably coupled to the rear wall 1114 about a bucket joint 1122. The 17 9062382_1 (GHMatters) P94153.AU.2 main body 1110 defines a material receiving opening 1126 on one end and a material discharging opening 1130 (FIG. 16) on an opposite end. The main body 1110 includes a lower wall 1138 and side walls 1142 extending between the material receiving opening 1126 and the material discharging opening 1130 (FIG. 16), and a digging edge or lip 1146 proximate the material receiving opening. In the illustrated embodiment, the side walls 1142 are coupled to the rear wall 1114 via the bucket joint 1122. 2016202862 16 May 2017 [0059] As shown in FIG. 13, the lip 1146 includes a plurality of spaced-apart teeth 1150. The lip 1146 forms a curved, continuous transition or profile between the lower wall 1138 and the side walls 1142 rather than a square corner. The curved profile of the lip 1146 is positioned to engage the material to be dug and reduces torsion loads on the side walls 1142. That is, the corner between each side wall 1142 and the lower wall 1138 is round and at least one tooth 1150 is positioned along the rounded corner proximate each side wall 1142. In one embodiment, the radius of the round is greater than or equal to 5% of a width of the bucket 134 as measured from one side wall 1142 to the other side wall 1142. The large radius profile facilitates movement of the bucket 134 through the material to be dug, increasing the digging efficiency. As best shown in FIG. 15, the lower wall 1138 includes an inner surface 1154 that generally forms an acute angle relative to the rear wall 1114.

[0060] Referring to FIGS. 14-16, the bucket actuator 1118 is coupled between the rear wall 1114 and the main body 1110 such that operation of the actuator 1118 causes the main body 1110 to rotate about the bucket joint 1122, separating the main body 1110 from the rear wall 1114 and discharging any material contained within the bucket 134. In the illustrated embodiment, the bucket actuator 1118 includes a pair of hydraulic cylinders coupled between the main body 1110 and the rear wall 1114 18 9062382_1 (GHMatters) P94153.AU.2 such that retraction of the cylinders causes the main body 1110 and the rear wall 1114 to separate. 2016202862 16 May 2017 [0061] As shown in FIG. 17, the inner surface 1154 of the lower wall 1138 defines a discharge portion or edge 1162 proximate a lower portion 1164 of the rear wall 1114. When the bucket 134 is closed (FIG. 15), the discharge edge 1162 abuts the rear wall 1114. As the bucket 134 opens, the discharge edge 1162 moves away from the rear wall 1114, tracing a path 1166 defined by the articulation of the discharge edge 1162 about the bucket joint 1122 (FIG. 16). The inner surface 1154 (which supports the material contained within the bucket 134) remains above the path 1166 of the discharge edge 1162 as the main body 1110 articulates about the bucket joint 1122. Stated another way, the inner surface 1154 remains generally higher than the discharge edge 1162 so that moving the main body 1110 away from the wall 1114 creates a void through which the contents of the bucket 134 falls. The discharge edge 1162 facilitates discharge of the material because it does not catch or trap any of the contents of the bucket 134. This increases the efficiency of the bucket 134 and reduces the load on the bucket actuator 1118 by reducing the weight of material that the main body 1110 supports when the bucket 134 is opened (FIG. 16).

[0062] As shown in FIGS. 18-20, during a dig cycle, the operator extends, or crowds, the handle 130 into a bank of material 1170 (FIG. 18) to be dug, exerting a crowd force 1174 (FIG. 18) on the bucket 134. The operator extends the pivot actuator 136, exerting a pivot force 1178 at the third joint 1104 to rotate the bucket 134 about the wrist joint 192. The bank 1170 exerts a reaction force 1182 on the teeth 1150. The reaction force 1182 creates a moment about the wrist joint 192 to rotate the bucket in a first direction (clockwise in the embodiment of FIG. 18). The reaction force 1182 is a compressive load working against the pivot force 1178, which drives the bucket 134 about the wrist joint 192 in a second direction 19 9062382_1 (GHMatters) P94153.AU.2 opposite the first direction (i.e., counter-clockwise in the embodiment of FIG. 18) to penetrate the bank 1170. In addition, the hoist rope 142 (FIG. 5) exerts a hoist force 1186 that acts along the hoist rope 142 (FIG. 5). 2016202862 16 May 2017 [0063] As shown in FIG. 19, the hoist force 1186 is offset from the wrist joint 192 by a distance 1190. This creates a moment about the wrist joint 192 acting in a second direction opposite the moment created by the reaction force 1182 (i.e., counter-clockwise in FIG. 18). The hoist force 1186 therefore supplements the pivot force 1178 in penetrating the bank 1170. The reaction force 1182 of the bank 1170 creates a moment on the wrist joint 192 that is proportional to the distance between the digging edge 1146 and the wrist joint 192. A breakout force opposes this moment and is proportional to the sum of the hoist force 1186 acting at a distance 1190 from the wrist joint 192 and the pivot force 1178 acting at a distance 1106 (FIG. 12) from the wrist joint 192.

[0064] Referring to FIGS. 19 and 20, as the bucket 134 moves through the bank 1170 (FIG. 20), the operator rotates the bucket 134 toward a more vertical orientation (FIG. 20), and the reaction force 1182 of the bank 1170 decreases. As the bucket 134 rotates, the offset distance 1190 between the hoist force 1186 and the wrist joint 192 also decreases, reducing the rotational moment about the wrist joint 192. The hoist force 1186 assists in lifting the bucket 134 through the bank 1170. The operator then positions the bucket 134 over a desired dump location and actuates the bucket actuator 1118 (FIG. 14). This causes the main body 1110 to pivot about the bucket joint 1122, separating the main body 1110 from the rear wall 1114 and discharging the material (FIG. 14).

[0065] In addition, the pivot force 1178 generally acts on the lower portion 1164 of the rear wall 1114. This is advantageous when the bucket 134 is resting on the ground because extending the pivot actuator 136 causes the bucket 134 to pivot against the ground. In this condition, the 20 9062382J (GHMatters) P94153.AU.2 lower portion 1164 of the bucket 134 acts as a fulcrum, essentially prying the teeth 1150 into the bank 1170 and allowing full utilization of the hoist force 1186 reacting about the wrist joint 192. 2016202862 16 May 2017 [0066] Because the pitch of the bucket 134 is actively controlled by the pivot actuator 136, the bucket 134 may be inserted in the bank 1170 at virtually any height. The breakout force of the bucket 134 is driven by the pivot force 1178 and the hoist force 1186, instead of being almost entirely dependent on the hoist force 1186 provided by the tension in the rope 142. This eliminates the need for the operator to re-position the bucket 134 at the base of the bank 1170 to initialize each dig cycle. Rather, the operator can selectively dig the bank 1170.

[0067] The combination of the bucket 134 coupled to both the pivot actuator 136 and the hoist rope 142 via the bail 166 takes advantage of the hoist force 1186 to increase the breakout force of the bucket 134 at the entry point into the bank 1170 while maintaining the advantageous lifting force of the hoist rope 142 during the hoist phase. The combination also provides a prying motion of the bucket 134, increasing the breakout force at the base of the bank 1170. Furthermore, the ability to selectively dig the bank 1170 improves the versatility of the shovel 110.

[0068] In addition, the continuous curved lip 1146 eliminates the square corners in the profile of the bucket 134. This reduces the resistance of the material at the sides 1142 of the bucket 134, therefore reducing the force required to penetrate the bank 1170. In addition, this provides a more balanced loading condition on the bucket 134, which reduces the torsional load on the bucket 134 and decreases wear on the bucket 134. Overall, these features increase the digging efficiency and the working life of the bucket 134. Furthermore, the angled inner surface 1154 of the main body 1110 facilitates discharge of the material from the bucket 134. This feature reduces the load on the bucket actuator 1118, reduces 21 9062382_1 (GHMatters) P94153.AU.2 the amount of time it takes to dump the material, and reduces the possibility of material binding the bucket 134 by becoming caught between the main body 1110 and the rear wall 1114. 2016202862 16 May 2017 [0069] Various features and advantages of the invention are set forth in the following claims.

[0070] In the claims which follow and in the preceding disclosure, except where the context requires otherwise due to express language or necessary implication, the word “comprise” or variations such as “comprises” or “comprising” is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the present disclosure.

[0071] It is to be understood that, if any prior art publication is referred to herein, such reference does not constitute an admission that the publication forms a part of the common general knowledge in the art, in Australia or any other country. 22 9062382_1 (GHMatters) P94153.AU.2

Claims

CLAIMS What is claimed is:

1. A mining shovel comprising: a base including a hoist drum for paying out and reeling in a hoist rope; a boom including a lower end coupled to the base and an upper end opposite the lower end, the hoist rope extending over the upper end of the boom; a boom attachment moveably coupled to the boom, the boom attachment including a first end and a second end; an excavating member including a wall and a main body pivotably coupled to the wall, the wall pivotably coupled to the second end of the boom attachment, the main body defining a material receiving opening and a material discharging opening, the main body pivotably coupled to the wall to selectively close the material discharging opening; and an actuator for moving the excavating member relative to the second end of the boom attachment, the actuator including a first end coupled to the boom attachment.
2. The shovel of claim 1, wherein the excavating member is coupled to the hoist rope passing over the upper end of the boom.
3. The shovel of claim 2, wherein in use the hoist rope exerts a tension force on the excavating member inducing a moment on the excavating member to rotate about the second end of the boom attachment in a first direction.
4. The shovel of claim 3, wherein the actuator is a hydraulic cylinder such that extension of the cylinder causes the excavating member to rotate about the second end of the boom attachment in the first direction.
5. The shovel of claim 3, wherein the tension force acts on the excavating member at a first joint and the excavating member is pivotably coupled to the second end of the boom attachment at a wrist joint that is offset from the first joint.
6. The shovel of claim 5, wherein operation of the actuator changes the offset distance between the wrist joint and the first joint, thereby changing the moment induced by the tension force acting on the excavating member.
7. The shovel of any one of the preceding claims, wherein the actuator further includes a second end coupled to the excavating member at a second joint that is offset from the wrist joint.
8. A digging assembly for a rope shovel, the rope shovel including a boom having an end, the rope shovel further including a hoist rope extending along the boom and passing over the end of the boom, the digging assembly comprising: a handle including a first end and a second end, the handle configured to be supported for rotational movement and translational movement relative to the boom; a bucket configured to be supported by an end of the hoist rope passing over the end of the boom, the bucket including a wall and a main body, the wall having a first side and a second side, the first side pivotably coupled to the second end of the handle as a wrist joint, the main body defining a material receiving opening and a material discharging opening, the main body pivotably coupled to the second side of the wall to selectively close the material discharging opening; and a pivot actuator for moving the bucket relative to the second end of the handle, the pivot actuator including a first end coupled to the handle and a second end coupled to the wall of the bucket.
9. The digging assembly of claim 8, wherein the first side of the wall is pivotably coupled to the second end of the handle at a wrist joint, wherein the hoist rope exerts a tension force on the bucket at a position that is offset from the wrist joint, the tension force inducing a moment on the bucket in a first direction about the wrist joint.
10. The digging assembly of claim 8 or 9, wherein the pivot actuator is a hydraulic cylinder and the second end of the pivot actuator is coupled to the wall at a second joint offset from the wrist joint, extension of the cylinder causing the bucket to rotate about the second end of the first member in a first direction.
11. The digging assembly of any one of claims 8-10, wherein the main body includes a pair of side walls and a lower wall extending between the side walls, the side walls spaced apart by a bucket width, the main body defining a digging edge extending at least partially around the material receiving opening, the digging edge defining a continuous round profile extending between each side wall and the lower wall.
12. The digging assembly of claim 11, wherein the bucket further includes a plurality of teeth positioned along the length of the digging edge.
13. The digging assembly of claim 11 or 12, wherein the round profile extending between the side wall and the lower wall has a radius that is at least 5% of the bucket width.
14. The digging assembly of any one of claims 8-13, further comprising a bucket actuator including a first end coupled to the wall and a second end coupled to the main body such that operation of the bucket actuator causes the main body to pivot relative to the wall.
15. The digging assembly of any one of claims 8-14, wherein actuation of the pivot actuator changes an offset distance between the tension force and the wrist joint, thereby changing the moment induced by the tension force.
16. The digging assembly of any one of claims 8 - 15, further comprising a bail pivotably coupled to the wall of the bucket, the bail configured to be coupled to the end of the hoist rope.
17. A digging attachment for a rope shovel, the rope shovel including a boom, a hoist rope, and a handle, the boom having an end, the hoist rope extending along the boom and passing over the end of the boom, the handle supported for translational and rotational relative to the boom, the digging attachment comprising: a wall defining a first side and a second side opposite the first side, the first side including a wrist joint configured to be pivotably coupled to an end of the handle; a main body pivotably coupled to the second side of the wall, the main body defining a material receiving opening and a material discharging opening; a pivot actuator for moving the wall relative to the second end of the handle, the pivot actuator including a first end configured to be coupled to the handle and a second end coupled to the wall; and a bucket actuator including a first end coupled to the wall and a second end coupled to the main body, operation of the bucket actuator causing the main body to pivot relative to the wall to selectively close the material discharging opening.
18. The digging attachment of claim 17, wherein the bucket actuator is a hydraulic cylinder, extension of the hydraulic cylinder causing the main body to move toward a position in which the material discharging opening is closed.
19. The digging attachment of claim 17 or 18, wherein the pivot actuator is a hydraulic cylinder and the second end of the pivot actuator is coupled to the wall at a second joint offset from the wrist joint, extension of the cylinder causing the wall and main body to rotate about the wrist joint in a first direction.
20. The digging attachment of any one of claims 17 - 19, wherein the main body includes a pair of side walls and a lower wall extending between the side walls, the side walls spaced apart by a bucket width, the main body defining a digging edge extending at least partially around the material receiving opening, the digging edge defining a continuous round profile extending between each side wall and the lower wall.
21. The digging attachment of claim 20, wherein the round profile extending between the side wall and the lower wall has a radius that is at least 5% of the bucket width.
22. The digging attachment of any one of claims 17 - 21, wherein the hoist rope exerts a tension force on the wall at a position that is offset from the wrist joint, the tension force inducing a moment on the wall in a first direction about the wrist joint.
23. The digging attachment of any one of claims 17 - 22, wherein actuation of the pivot actuator changes an offset distance between the tension force and the wrist joint, thereby changing the moment induced by the tension force.
24. The digging attachment of any one of claims 17-23, further comprising a bail pivotably coupled to the wall, the bail configured to be coupled to the end of the hoist rope.