EP0141799A1 - Device for correcting the control or the indication of the position of the drum of a coal cutting machine - Google Patents

Device for correcting the control or the indication of the position of the drum of a coal cutting machine Download PDF

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Publication number
EP0141799A1
EP0141799A1 EP84890128A EP84890128A EP0141799A1 EP 0141799 A1 EP0141799 A1 EP 0141799A1 EP 84890128 A EP84890128 A EP 84890128A EP 84890128 A EP84890128 A EP 84890128A EP 0141799 A1 EP0141799 A1 EP 0141799A1
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Prior art keywords
angle
machine
cutting
frame
loading device
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EP84890128A
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German (de)
French (fr)
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EP0141799B1 (en
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Bernhard Dipl.-Ing. Dröscher
Alfred Zitz
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Voestalpine AG
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Voestalpine AG
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    • 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
    • E21C35/08—Guiding the machine

Definitions

  • the invention relates to a device for correcting the control or display of the position of a cutting tool of a cutting machine, which cutting machine has a loading device, by means of which the front end of the machine, in particular the crawler tracks of the chassis in the front area, can be lifted off the sole.
  • the cutting tool is rotatably mounted on a cutting arm that can be pivoted on all sides, and it is already known to show the position of the cutting tool relative to the frame of the cutting machine on a display device which has the desired profile to be cut, for example in the form of a template.
  • the invention now aims to provide a simple device of the type mentioned at the outset, with which incorrect positions are compensated for, which result from lifting the front part of the machine by means of a loading device, and compliance with the predetermined target profile can be ensured during cutting.
  • the invention essentially consists in that an angular position transmitter for the position of the loading device or a part connected to it is provided relative to the frame of the cutting machine, the signals for correcting the display of the. Height position of the cutting tool or the control thereof, taking into account the machine geometry, are fed to an evaluation circuit, in particular a computer.
  • an angular position transmitter is provided for the position of the loading device relative to the frame of the cutting machine, the extent of the adjustment of the frame of the cutting machine can be taken into account, taking into account the geometry of the articulation. determine the loading ramp on the frame and the cutting arm on the machine and the display device or the control of the position of the cutting tool can be corrected accordingly.
  • the design according to the invention is such that the angular position transmitter is formed by an angle measuring device, in particular an angle encoder or inclinometer, connected to the actuating cylinder of the loading device or the frame or the loading device on the pivot axis thereof relative to the frame.
  • an angle measuring device in particular an angle encoder or inclinometer
  • the evaluation circuit preferably contains a memory in which the pivoting angle of the charging device relative to the frame dependent characteristic curve of the correction angle for the height angle of the cutting tool is stored in accordance with the machine geometry.
  • the pivoting angle of the charging device relative to the frame dependent characteristic curve of the correction angle for the height angle of the cutting tool is stored in accordance with the machine geometry.
  • the evaluation circuit preferably contains at least one comparator which, from the setting of a predetermined angle between the frame and the loading device, forwards the signal of the angular position transmitter or the corresponding correction signal for the elevation angle of the cutting tool to the control of the cutting arm or the display device.
  • FIG. 1 shows a schematic side view of a cutting machine with a loading device which can be lowered under the running surface of the caterpillars of the undercarriage
  • FIG. 2 shows the machine according to FIG. 1 after raising the front end of the crawler undercarriage
  • FIG. 3 shows the correction of the position required in this case of the cutter arm schematically in side view.
  • the frame of a cutting machine is designated 1.
  • the cutting machine has caterpillars 2, by means of which it can be moved in the cross-section of the route.
  • a swivel mechanism is rotatably mounted on a tower about an essentially vertical axis 3, on which a cutting arm 5 is articulated, so that it can pivot about an essentially horizontal axis 4.
  • the cutting arm 5 carries cutting heads 6 with which the rock to be mined can be cut.
  • On frame 1 of the cutting machine is a loading device 7 pivotable about a substantially horizontal axis 8, for which the pivoting of the loading ramp 7, an actuating cylinder 9 is pivoted at 10 on the frame 1. 1, the cutting machine is in a position in which the loading ramp is not lowered below the running surface 11 of the caterpillars 2.
  • the cutting arm 5 is pivoted through an angle ⁇ o relative to the swivel mechanism.
  • the straight line connecting the articulation axis 8 with the tip 12 of the loading ramp 7 encloses an angle ⁇ o with the running surface 11 of the caterpillars.
  • the actuating cylinder 9 of the charging device 7 encloses an angle ⁇ o with a horizontal plane 13.
  • the actuating cylinder 9 is now acted upon by pressure medium, as a result of which the loading ramp 7 arrives below the running surface 11 of the crawler chassis.
  • the front end of the machine and thus the tread 11 is pivoted by an angle ⁇ with respect to the pivot point 14 'in the rear region of the crawler chassis, the angle to the actuating cylinder and the horizontal plane 13 now taking on the value.
  • the cutting head would be raised by an amount a in this case, as a result of which a misalignment occurs relative to the desired profile.
  • the point 15 of the cutting head 6 originally resting on the sole is thus raised by this dimension a, this dimension of the increase a being proportional to sin ⁇ .
  • the angular position transmitter required for determining the incorrect position can act either on the pivot axis 8 or the pivot axis 10 and is indicated schematically in FIG. 3 by 16 and 17.
  • the angular position transmitter 16 can measure the angle ⁇ relative to the frame 1 of the machine, whereas the angular position transmitter 17 can measure the angle ⁇ relative to the horizontal plane 13. 5

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Road Repair (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Bei Schrämmaschinen, deren Ladeeinrichtung (7) unter die Ebene der Lauffläche (11) der Raupen (2) der Vortriebsmaschine absenkbar ist, ergibt sich bei einem derartigen Absenken der Ladeeinrichtung (7) ein Anheben des Vorderendes der Maschine und damit eine Maschinenfehlstellung. Zum Ausgleich der korrekten Lage des Schrämwerkzeuges (6) und des Schrämarmes (5) werden Korrektursignale herangezogen, welche von Winkelstellungsgebern (16 bzw. 17) ausgelöst werden. Mit diesen Winkelstellungsgebern (16 bzw. 17) wird der Schwenkwinkel der Ladeeinrichtung (7) relativ zum Rahmen (1) bzw. der Schwenkwinkel ϑ des Stellzylinders (9) der Ladeeinrichtung (7) relativ zum Rahmen (1) gemessen und rechnerisch das erforderliche Korrektursignal für die Winkelvorgabe Δα ermittelt.In cutting machines, the loading device (7) of which can be lowered below the level of the running surface (11) of the caterpillars (2) of the tunneling machine, such a lowering of the loading device (7) results in a lifting of the front end of the machine and thus a machine malposition. To compensate for the correct position of the cutting tool (6) and the cutting arm (5), correction signals are used which are triggered by angular position sensors (16 or 17). With these angular position sensors (16 and 17) the swivel angle of the charging device (7) relative to the frame (1) or the swivel angle ϑ of the actuating cylinder (9) of the charging device (7) relative to the frame (1) is measured and the required correction signal is calculated determined for the angle specification Δα.

Description

Die Erfindung bezieht sich auf eine Einrichtung zur Korrektur der Steuerung oder Anzeige der Position eines Schrämwerkzeuges einer Schrämmaschine, welche Schrämmaschine eine Ladeeinrichtung aufweist, mittels welcher das Vorderende der Maschine, insbesondere die Raupen des Fahrwerkes im vorderen Bereich, von der Sohle abhebbar ist (sind). Bei derartigen Teilschnittschrämmaschinen ist das Schrämwerkzeug an einem allseitig schwenkbaren Schrämarm drehbar gelagert und es ist bereits bekannt, die Position des Schrämwerkzeuges relativ zum Rahmen der Schrämmaschine auf einer Anzeigevorrichtung darzustellen, welche das zu schrämende Sollprofil beispielsweise in Form einer Schablone aufweist. Zur korrekten Einhaltung des Sollprofiles wurde bereits vorgeschlagen, die Position der Schrämmaschine relativ zu einem Streckenleitstrahl zu erfassen und Fehlstellungen der Maschine, welche sich aus dieser Erfassung der Position relativ zu einem Leitstrahl ergeben, zur Korrektur der Anzeige bzw. der Steuerung der Bewegung des Schrämwerkzeuges zu berücksichtigen. In einfacheren Fällen wird jedoch die Maschine unabhängig von ihrer Stellung relativ zu einem Leitstrahl eingesetzt und bei einer solchen Vorgangsweise kann ausgehend von einer einmal gewählten Position der Schrämmaschine ein bestimmtes Sollprofil unter Berücksichtigung der Schwenkwinkel des Schrämarmes eingehalten werden.The invention relates to a device for correcting the control or display of the position of a cutting tool of a cutting machine, which cutting machine has a loading device, by means of which the front end of the machine, in particular the crawler tracks of the chassis in the front area, can be lifted off the sole. . In such cutting machines, the cutting tool is rotatably mounted on a cutting arm that can be pivoted on all sides, and it is already known to show the position of the cutting tool relative to the frame of the cutting machine on a display device which has the desired profile to be cut, for example in the form of a template. For correct adherence to the target profile, it has already been proposed to detect the position of the cutting machine relative to a line beam and misalignments of the machine, which result from this detection of the position relative to a beam, to correct the display or the control of the movement of the cutting tool consider. In simpler cases, however, the machine is used regardless of its position relative to a guide beam, and in such a procedure, a certain target profile can be maintained, taking into account the swivel angle of the cutting arm, starting from a selected position of the cutting machine.

Es sind nun Schrämmaschinen der eingangs genannten Art bekannt geworden, bei welchen zur Erhöhung der Stabilität beim Schrämen die Ladeeinrichtung unter die Ebene der Lau_- flächen der Maschine abgesenkt werden kann, wodurch das Vorderende der Maschine angehoben wird. Bei derartigen Einrichtungen würde die Anzeigevorrichtung immer dann eine falsche Steuerung der Schrämwerkzeuge zur Folge haben, wenn die Änderung der Position der Schrämmaschine, insbesondere die Anhebung der Schrämmaschine im Bereich ihres Vorderendes nicht zusätzlich berücksichtigt wird.There are now shearers of the type mentioned have become known in which to increase the stability when Schrämen the charger below the plane of Lau _- areas of the machine can be lowered is raised whereby the front end of the machine. With such devices, the display device would always result in incorrect control of the cutting tools if the change in the position of the cutting machine, in particular the lifting of the cutting machine in the area of its front end is not additionally taken into account.

Die Erfindung zielt nun darauf ab, eine einfache Einrichtung der eingangs genannten Art zu schaffen, mit welcher Fehlstellungen kompensiert werden, welche sich durch Anheben des Maschinenvorderteiles durch eine Ladevorrichtung ergeben und die Einhaltung des vorgegebenen Sollprofiles beim Schrämen sichergestellt werden kann. Zur Lösung dieser Aufgabe besteht die Erfindung im wesentlichen darin, daß ein Winkelstellungsgeber für die Position der Ladeeinrichtung oder eines mit diesem verbundenen Teiles relativ zum Rahmen der Schrämmaschine vorgesehen ist, dessen Signale zur Korrektur der Anzeige der. Höhenposition des Schrämwerkzeuges oder der Steuerung derselben unter Berücksichtigung der Maschinengeometrie einer Auswerteschaltung, insbesondere einem Rechner, zugeführt sind. Dadurch, daß ein Winkelstellungsgeber für die Position der Ladeeinrichtung relativ zum Rahmen der Schrämmaschine vorgesehen ist, läßt sich das Ausmaß der Verstellung des Rahmens der Schrämmaschine unter Berücksichtigung der Geometrie der Anlenkung. der Laderampe am Rahmen und des Schrämarmes an der Maschine bestimmen und es läßt sich die Anzeigevorrichtung bzw. die Steuerung der Position des Schrämwerkzeuges entsprechend korrigieren.The invention now aims to provide a simple device of the type mentioned at the outset, with which incorrect positions are compensated for, which result from lifting the front part of the machine by means of a loading device, and compliance with the predetermined target profile can be ensured during cutting. To achieve this object, the invention essentially consists in that an angular position transmitter for the position of the loading device or a part connected to it is provided relative to the frame of the cutting machine, the signals for correcting the display of the. Height position of the cutting tool or the control thereof, taking into account the machine geometry, are fed to an evaluation circuit, in particular a computer. Because an angular position transmitter is provided for the position of the loading device relative to the frame of the cutting machine, the extent of the adjustment of the frame of the cutting machine can be taken into account, taking into account the geometry of the articulation. determine the loading ramp on the frame and the cutting arm on the machine and the display device or the control of the position of the cutting tool can be corrected accordingly.

In besonders einfacher Weise ist die Ausbildung erfindungsgemäß so getroffen, daß .der Winkelstellungsgeber von eienm mit dem Stellzylinder der Ladeeinrichtung oder dem Rahmen bzw. der Ladeeinrichtung an der Schwenkachse derselben relativ zum Rahmen verbundenen Winkelmeßgerät, insbesondere einem Winkelkodierer oder Inklinometer, gebildet ist.In a particularly simple manner, the design according to the invention is such that the angular position transmitter is formed by an angle measuring device, in particular an angle encoder or inclinometer, connected to the actuating cylinder of the loading device or the frame or the loading device on the pivot axis thereof relative to the frame.

Insbesondere bei Verwendung elektrischer oder elektronischer Anzeigevorrichtungen bzw. Steuerungen enthält vorzugsweise die Auswerteschaltung einen Speicher, in welchem die vom Schwenkwinkel der Ladeeinrichtung relativ zum Rahmen abhängige Kennlinie des Korrekturwinkels für den Höhenwinkel des Schrämwerkzeuges entsprechend der Maschinengeometrie gespeichert ist. Die Berücksichtigung der Maschinengeometrie ist hiebei insbesondere deshalb erforderlich, weil die Anlenkachse der Laderampe in der Regel von der Anlenkachse des Schrämarmes verschieden ist und daher ein bestimmter Schrägstellungswinkel der Laderampe relativ zum Rahmen einen von diesem Winkel verschiedenen Abweichungswinkel in der Position des Schrämarmes zur Folge hat, wenn der Rahmen der Schrämmaschine angehoben wird. Die Auswerteschaltung enthält hiebei vorzugsweise wenigstens einen Komparator, welcher ab Einstellung eines vorgegebenen Winkels zwischen Rahmen und Ladeeinrichtung das Signal des Winkelstellungsgebers bzw. das entsprechende Korrektursignal für den Höhenwinkel des Schrämwerkzeuges an die Steuerung des Schrämarmes oder die Anzeigevorrichtung weiterleitet.In particular when using electrical or electronic display devices or controls, the evaluation circuit preferably contains a memory in which the pivoting angle of the charging device relative to the frame dependent characteristic curve of the correction angle for the height angle of the cutting tool is stored in accordance with the machine geometry. Consideration of the machine geometry is necessary in particular because the articulation axis of the loading ramp is generally different from the articulation axis of the cutting arm and therefore a specific inclination angle of the loading ramp relative to the frame results in a different angle of deviation in the position of the cutting arm from this angle, when the frame of the cutting machine is raised. The evaluation circuit preferably contains at least one comparator which, from the setting of a predetermined angle between the frame and the loading device, forwards the signal of the angular position transmitter or the corresponding correction signal for the elevation angle of the cutting tool to the control of the cutting arm or the display device.

Die Erfindung wird nachfolgend an Hand eines in der Zeichnung dargestellten Ausführungsbeispieles näher erläutert.The invention is explained in more detail below with reference to an embodiment shown in the drawing.

In dieser zeigen Fig. 1 eine schematische Seitenansicht einer Schrämmaschine mit einer unter die Lauffläche der Raupen des Fahrwerkes absenkbaren Ladeeinrichtung, Fig. 2 die Maschine nach Fig. 1 nach Anhebung des Vorderendes des Raupenfahrwerkes und Fig. 3 die in diesem Fall erforderliche Korrektur der Position des Schrämarmes schematisch in der Seitenansicht.1 shows a schematic side view of a cutting machine with a loading device which can be lowered under the running surface of the caterpillars of the undercarriage, FIG. 2 shows the machine according to FIG. 1 after raising the front end of the crawler undercarriage, and FIG. 3 shows the correction of the position required in this case of the cutter arm schematically in side view.

In Fig. 1 ist der Rahmen einer Schrämmaschine mit 1 bezeichnet. Die Schrämmaschine weist Raupen 2 auf, mittels welcher sie im Streckenquerschnitt verfahrbar ist. An einem Turm ist um eine im wesentlichen vertikale Achse 3 ein Schwenkwerk drehbar gelagert, an welcher, um eine im wesentlichen horizontale Achse 4 schwenkbar ein Schrämarm 5 angelenkt ist. Der Schrämarm 5 trägt Schrämköpfe 6, mit welchen das abzubauende Gestein geschrämt werden kann. Am Rahmen 1 der Schrämmaschine ist eine Ladeeinrichtung 7 um eine im wesentlichen horizontale Achse 8 schwenkbar, wobei für die die Verschwenkung der Laderampe 7 ein Stellzylinder 9 bei 10 am Rahmen 1 schwenkbar angelenkt ist. Bei der Darstellung nach Fig. 1 befindet sich die Schrämmaschine in einer Position, bei welcher die Laderampe nicht unter die Lauffläche 11 der Raupen 2 abgesenkt ist. Bei der dargestellten Position des Schrämkopfes 6 in Anlage an der Sohle der.Strecke ist der Schrämarm 5 um einen Winkel ∝o relativ zum Schwenkwerk verschwenkt. Die die Anlenkachse 8 mit der Spitze 12 der Laderampe 7 verbindende Gerade schließt mit der Lauffläche 11 der Raupen einen Winkel γo ein. Der Stellzylinder 9 der Ladeeinrichtung 7 schließt mit einer Horizontalebene 13 einen Winkel ϑo ein. In der Darstellung nach Fig. 2 wird nun der Stellzylinder 9 mit Druckmittel beaufschlagt, wodurch die Laderampe 7 unterhalb der Lauffläche 11 des Raupenfahrwerkes gelangt. Das Vorderende der Maschine und damit die Lauffläche 11 wird hiebei bezüglich des Drehpunktes 14 'im hinteren Bereich des Ra.upenfahrwerkes um einen Winkel ε verschwenkt, wobei der Winkel zum Stellzylinder und der Horizontalebene 13 nunmehr den Wert annimmt. Ohne Korrektur des Winkels αo für die Schwenklage des Schrämarmes 5 würde sich in diesem Fall eine Anhebung des Schrämkopfes um einen Betrag a ergeben, wodurch eine Fehlstellung relativ zum Sollprofil eintritt. Der ursprünglich an der Sohle anliegende Punkt 15 des Schrämkopfes 6 wird somit um dieses Maß a angehoben, wobei dieses Maß der Anhebung a proportional mit sin ε ist. Die Verbindung zwischen Anlenkachse 8 und der Spitze 12 der Ladeeinrichtung 7 schließt nunmehr mit der Lauffläche 11 einen Winkel γ = γo + Δγ ein.In Fig. 1, the frame of a cutting machine is designated 1. The cutting machine has caterpillars 2, by means of which it can be moved in the cross-section of the route. A swivel mechanism is rotatably mounted on a tower about an essentially vertical axis 3, on which a cutting arm 5 is articulated, so that it can pivot about an essentially horizontal axis 4. The cutting arm 5 carries cutting heads 6 with which the rock to be mined can be cut. On frame 1 of the cutting machine is a loading device 7 pivotable about a substantially horizontal axis 8, for which the pivoting of the loading ramp 7, an actuating cylinder 9 is pivoted at 10 on the frame 1. 1, the cutting machine is in a position in which the loading ramp is not lowered below the running surface 11 of the caterpillars 2. In the illustrated position of the cutting head 6 in contact with the bottom of the section, the cutting arm 5 is pivoted through an angle ∝o relative to the swivel mechanism. The straight line connecting the articulation axis 8 with the tip 12 of the loading ramp 7 encloses an angle γo with the running surface 11 of the caterpillars. The actuating cylinder 9 of the charging device 7 encloses an angle ϑo with a horizontal plane 13. In the illustration according to FIG. 2, the actuating cylinder 9 is now acted upon by pressure medium, as a result of which the loading ramp 7 arrives below the running surface 11 of the crawler chassis. The front end of the machine and thus the tread 11 is pivoted by an angle ε with respect to the pivot point 14 'in the rear region of the crawler chassis, the angle to the actuating cylinder and the horizontal plane 13 now taking on the value. Without correcting the angle αo for the swivel position of the cutting arm 5, the cutting head would be raised by an amount a in this case, as a result of which a misalignment occurs relative to the desired profile. The point 15 of the cutting head 6 originally resting on the sole is thus raised by this dimension a, this dimension of the increase a being proportional to sin ε. The connection between the articulation axis 8 and the tip 12 of the loading device 7 now includes an angle γ = γo + Δγ with the tread 11.

In diesem Falle gelten folgende Beziehungen.

Figure imgb0001
Figure imgb0002
Figure imgb0003
Figure imgb0004
Figure imgb0005
 In this case, the following relationships apply.
Figure imgb0001
Figure imgb0002
Figure imgb0003
Figure imgb0004
Figure imgb0005

Aus diesen Beziehungen, in welchen 14, 15 den Abstand zwischen den Punkten 14 und 15 bedeutet, ist klar ersichtlich, daß eine Reihe von maschinen-spezifischen Proportio-. nalitätsfaktoren namentlich k1 und k2 berücksichtigt werden müssen, um die korrekte Position des Schrämkopfes, d.h. die Absenkung des Kopfes 6 an die Sohle, um den Abstand a sicherzustellen. Der erforderliche Korrekturwinkel Δα, ist aus Fig. 3 ersichtlich, in welcher die Fehlposition des Schrämkopfes 6 strichliert eingezeichnet und die korrekte Position relativ zum aufzufahrenden Sollprofil in ausgezogenen Linien dargestellt ist.From these relationships, in which 14, 15 means the distance between points 14 and 15, it is clearly evident that a number of machine-specific proportions. Nality factors namely k 1 and k 2 must be taken into account in order to ensure the correct position of the cutting head, ie the lowering of the head 6 to the sole, in order to ensure the distance a. The required correction angle Δα can be seen from FIG. 3, in which the incorrect position of the cutting head 6 is shown in dashed lines and the correct position relative to the target profile to be opened is shown in solid lines.

Der für die Ermittlung der Fehlstellung erforderliche Winkelstellungsgeber kann entweder an der Schwenkachse 8 oder der Schwenkachse 10 angreifen und ist in Fig. 3 schematisch mit 16 und 17 angedeutet. Der Winkelstellungsgeber 16 kann hiebei den Winkel γ elativ zum Rahmen 1 der Maschine messen, wohingegen der Winkelstellungsgeber 17 den Winkel ϑ relativ zur Horizontalebene 13 messen kann. 5The angular position transmitter required for determining the incorrect position can act either on the pivot axis 8 or the pivot axis 10 and is indicated schematically in FIG. 3 by 16 and 17. The angular position transmitter 16 can measure the angle γ relative to the frame 1 of the machine, whereas the angular position transmitter 17 can measure the angle ϑ relative to the horizontal plane 13. 5

Claims (4)

1. Einrichtung zur Korrektur der Steuerung oder Anzeige der Position eines Schrämwerkzeuges (6) einer Schrämmaschine, welche Schrämmaschine eine Ladeeinrichtung (7) aufweist, mittels welcher das Vorderende der Maschine, insbesondere die Raupen (2) des Fahrwerkes im vorderen Bereich, von der Sohle abhebbar ist (sind), dadurch gekennzeichnet, daß ein Winkelstellungsgeber (16, 17) für die Position der Ladeeinrichtung (7) oder eines mit diesem verbundenen Teiles relativ zum Rahmen (1) der Schrämmaschine vorgesehen ist, dessen Signale zur Korrektur der Anzeige der Höhenposition des Schrämwerkzeuges (6) oder der Steuerung derselben unter Berücksichtigung der Maschinengeometrie einer Auswerteschaltung, insbesondere einem Rechner, zugeführt sind.1. Device for correcting the control or display of the position of a cutting tool (6) of a cutting machine, which cutting machine has a loading device (7), by means of which the front end of the machine, in particular the caterpillars (2) of the chassis in the front area, from the sole can be lifted, characterized in that an angular position transmitter (16, 17) for the position of the loading device (7) or a part connected to it is provided relative to the frame (1) of the cutting machine, the signals for correcting the display of the height position of the cutting tool (6) or the control thereof, taking into account the machine geometry of an evaluation circuit, in particular a computer. 2. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß der Winkelstellungsgeber (17) von einen mit dem Stellzylinder (9) der Ladeeinrichtung (7) oder dem Rahmen (1) bzw. der Ladeeinrichtung (7) an der Schwenkachse derselben relativ zum Rahmen (1) verbundenen Winkelmeßgerät (16), insbesondere einem Winkelkodierer oder Inklinometer, gebildet ist.2. Device according to claim 1, characterized in that the angular position transmitter (17) from one with the actuating cylinder (9) of the loading device (7) or the frame (1) or the loading device (7) on the pivot axis thereof relative to the frame ( 1) connected angle measuring device (16), in particular an angle encoder or inclinometer, is formed. 3. Einrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Auswerteschaltung einen Speicher enthält, in welchem die vom Schwenkwinkel der Ladeeinrichtung (7) relativ zum Rahmen (1) abhängige Kennlinie des Korrekturwinkels (Δα) für den Höhenwinkel (α) des Schrämwerkzeuges (6) entsprechend der Maschinengeometrie gespeichert ist.3. Device according to claim 1 or 2, characterized in that the evaluation circuit contains a memory in which the characteristic of the correction angle (Δα) for the height angle (α) of the cutting tool dependent on the pivoting angle of the loading device (7) relative to the frame (1) (6) is saved according to the machine geometry. 4. Einrichtung nach Anspruch 1, 2 oder 3, dadurch gekennzeichnet, daß die Auswerteschaltung wenigstens einen Komparator enthält, welcher ab Einstellung eines vorgegebenen Winkels zwischen Rahmen (1) und Ladeeinrichtung (7) das Signal des Winkelstellungsgebers bzw. das entsprechende Korrektursignal für den Höhenwinkel (Δα des Schrämwerkzeuges (6) an die Steuerung des Schrämarmes (5) oder eine Anzeigevorrichtung weiterleitet.4. Device according to claim 1, 2 or 3, characterized in that the evaluation circuit contains at least one comparator which from setting one predefined angle between frame (1) and loading device (7) forwards the signal of the angular position transmitter or the corresponding correction signal for the elevation angle (Δα of the cutting tool (6) to the control of the cutting arm (5) or a display device.
EP84890128A 1983-07-15 1984-07-10 Device for correcting the control or the indication of the position of the drum of a coal cutting machine Expired EP0141799B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT2606/83 1983-07-15
AT0260683A AT378572B (en) 1983-07-15 1983-07-15 CORRECTION DEVICE FOR CONTROLLING OR DISPLAYING THE POSITION OF A BREWING TOOL OF A BREWING MACHINE

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EP0141799A1 true EP0141799A1 (en) 1985-05-15
EP0141799B1 EP0141799B1 (en) 1987-03-04

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EP84890128A Expired EP0141799B1 (en) 1983-07-15 1984-07-10 Device for correcting the control or the indication of the position of the drum of a coal cutting machine

Country Status (8)

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US (1) US4578627A (en)
EP (1) EP0141799B1 (en)
AT (1) AT378572B (en)
AU (1) AU3058384A (en)
DE (1) DE3462535D1 (en)
IN (1) IN161896B (en)
PL (1) PL248116A1 (en)
ZA (1) ZA844597B (en)

Cited By (1)

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US4952000A (en) * 1989-04-24 1990-08-28 Thin Seam Miner Patent B.V., The Netherlands Method and apparatus for increasing the efficiency of highwall mining

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AT384076B (en) * 1985-11-08 1987-09-25 Voest Alpine Ag DEVICE FOR DETERMINING THE CHANGING DIRECTION OF A BREAKING MACHINE
US4834803A (en) * 1987-07-27 1989-05-30 Knowlton Glenn C Method and apparatus for applying liquid acid to a surface
US4986724A (en) * 1987-11-10 1991-01-22 Cincinnati Milacron Inc. System for compensated motion of coupled robot axes
US6857706B2 (en) * 2001-12-10 2005-02-22 Placer Dome Technical Services Limited Mining method for steeply dipping ore bodies
US7695071B2 (en) * 2002-10-15 2010-04-13 Minister Of Natural Resources Automated excavation machine
US7192093B2 (en) * 2004-04-23 2007-03-20 Placer Dome Technical Services Limited Excavation apparatus and method

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US3415574A (en) * 1966-03-11 1968-12-10 Habegger Ag Maschf Tunnel driving machine steering system
DE1758833A1 (en) * 1968-08-16 1971-03-25 Krupp Gmbh Device for the height control of a tunneling machine
AT339235B (en) * 1975-09-02 1977-10-10 Voest Ag SCRAPING MACHINE

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4952000A (en) * 1989-04-24 1990-08-28 Thin Seam Miner Patent B.V., The Netherlands Method and apparatus for increasing the efficiency of highwall mining

Also Published As

Publication number Publication date
AU3058384A (en) 1985-01-17
DE3462535D1 (en) 1987-04-09
IN161896B (en) 1988-02-20
US4578627A (en) 1986-03-25
ZA844597B (en) 1985-02-27
ATA260683A (en) 1985-01-15
AT378572B (en) 1985-08-26
EP0141799B1 (en) 1987-03-04
PL248116A1 (en) 1985-01-16

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