EP0912816B1 - Cutting control process and device for detecting the depth of cut of kirving tools - Google Patents
Cutting control process and device for detecting the depth of cut of kirving tools Download PDFInfo
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- EP0912816B1 EP0912816B1 EP97929020A EP97929020A EP0912816B1 EP 0912816 B1 EP0912816 B1 EP 0912816B1 EP 97929020 A EP97929020 A EP 97929020A EP 97929020 A EP97929020 A EP 97929020A EP 0912816 B1 EP0912816 B1 EP 0912816B1
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- European Patent Office
- Prior art keywords
- depth
- sensors
- distance
- cutting
- distance sensors
- 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.)
- Expired - Lifetime
Links
- 238000005520 cutting process Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title abstract description 7
- 238000011156 evaluation Methods 0.000 claims abstract description 9
- 238000009412 basement excavation Methods 0.000 claims 2
- 238000005259 measurement Methods 0.000 abstract description 18
- 239000011435 rock Substances 0.000 abstract description 6
- 230000005641 tunneling Effects 0.000 description 11
- 230000035515 penetration Effects 0.000 description 4
- 238000005065 mining Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- KWYUFKZDYYNOTN-UHFFFAOYSA-M Potassium hydroxide Chemical compound [OH-].[K+] KWYUFKZDYYNOTN-UHFFFAOYSA-M 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000002559 palpation Methods 0.000 description 1
- 229940072033 potash Drugs 0.000 description 1
- 235000015320 potassium carbonate Nutrition 0.000 description 1
- BWHMMNNQKKPAPP-UHFFFAOYSA-L potassium carbonate Substances [K+].[K+].[O-]C([O-])=O BWHMMNNQKKPAPP-UHFFFAOYSA-L 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C27/00—Machines which completely free the mineral from the seam
- E21C27/20—Mineral freed by means not involving slitting
- E21C27/24—Mineral freed by means not involving slitting by milling means acting on the full working face, i.e. the rotary axis of the tool carrier being substantially parallel to the working face
-
- 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
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
Definitions
- the invention relates to a device for detection the penetration depth of cutting tools of tunneling machines in the face.
- Partial cutting machines require for the removal of the face first a break in the face. To this end the part cutting machine is moved so that the removal tools into the face over a predetermined depth of penetration penetrate, after which for the propulsion a chamfering of the entire Face face is done. Depending on the circumstances in the Route or the nature of the rock, this takes place Break-in process first in the area of the roof, the center of the face or in the area of the track sole.
- a chamfering is an exact recording of the actual one Depth of cut of the cutting tool required. Both Previously known proposals to record the depth of burglary became a non-driven measuring wheel next to the crawler track the movable part cutting machine.
- This distance measuring distance covered during the burglary process should give information about the depth of burglary.
- dry sole such as in potash mining, has one such measuring device has proven itself. Measurement inaccuracies but result from a different sole quality.
- An exact one Measurement is usually carried out in the area of road jacking
- Directional control devices which of a theodolite in a fixed position, the corresponding measurements respectively.
- the measurement can be carried out using measuring beams, which in turn via receiving devices on the tunneling machine can be recorded and subsequently evaluated.
- For such facilities are thus separate facilities within the route is necessary, especially with bad Sole conditions and poor visibility in the area the tunneling machine distortions of the measurement results are not excluded can be.
- an indirect distance measurement at which directly monitors the movement of the crawler track does not lead to the desired precision, because with uneven, dirty and wet sole the slip is not taken into account is, so that useless measurement data can occur here can.
- the invention now aims to set up a device to create the type mentioned, with which without separate facilities within the track even with poor sole conditions and poor visibility in the area of the tunneling machine sufficiently accurate measurement results for the burglary depth achieved can be.
- the facility should be structurally simple be, so that the operational safety even in rough driving operations is given at all times.
- the device according to the invention essentially consists in that at least in the area of the slewing gear of the tunneling machine two distance sensors facing the working face are the area in front of and behind the cutting track of the Measure the chisel of the cutting heads and that the distance sensors with an evaluation device are connected, the sensor signals a comparison circuit for evaluating the difference of Signals are fed.
- the tunneling machine at least two facing the working face Distance sensors are arranged, if possible short distance and therefore more reproducible even in poor visibility immediately performed a distance measurement, whereby the mining movement is taken into account during tunneling.
- the break-in occurs in the path of the cutting tools behind the cutting tools a greater depth, which a smaller one Depth in front of the cutting tools.
- the distance sensors can be stationary or together with the slewing gear be arranged pivotable so that each immediately a measurement is made in front of and behind the cutting tool and thus a corresponding comparison through difference formation is made possible.
- An improvement of the measurement results by averaging of peak values can take place in that, as one preferred training corresponds, the distance sensors pivotable are arranged. With such swiveling sensors can scan a relatively large area of the working face , where peak values can be filtered out and that Measurement result is improved. Immediate information about the area in the immediate vicinity of the cutting heads or the Cutting tools can be ensured that the distance sensors arranged at the same height of the tunneling machine are.
- the burglary depth is evaluated in a particularly simple manner Way, as already indicated, by forming a difference, for what the Sensor signals from a comparison circuit for evaluating the difference the signals are fed.
- Another possibility of evaluating measurement data for the Distance to the face is that the sensor signals with from side distance sensors known per se be compared in the evaluation device. To this Relocation of the machine can also be taken into account such side distance sensors for example in DE-A1 44 39 601 are described.
- the training is advantageously taken such that the sensors and / or another sensor on the lower working area alignable and that the signal from these sensors via an evaluation circuit with the drive for the break-in connected is. If such a measurement has a high degree of filling results in the loading device, another burglary process be delayed until the removal in to the required extent.
- FIG. 1 shows a side view of a tunnel boring machine with the device according to the invention
- FIG. 2 a plan view of the illustration of FIG. 1st
- Fig. 1 is a part-cutting machine which is movable on a crawler track 1 2 shown, the swivel mechanism designated 3 is.
- On the swivel mechanism is one in the vertical direction and laterally pivotable boom arm 4 articulated, the swivel mechanism even pivotable about the axis 5 in the horizontal direction is.
- the cantilever arm 4 carries cutting heads 6, which in the illustration 1 in the face over a depth of burglary te are presented.
- the jacking motion to dismantle of the rock is done by swiveling the Swivel mechanism 3 about the substantially vertical axis 5 in essentially horizontal direction.
- Neighboring the slewing gear are arranged distance sensors 7, whereby, as in particular 2 shows such distance sensors are arranged on both sides of the swivel mechanism 3.
- the Right distance sensor seen in machine longitudinal direction is with 7 denotes, whereas the opposite sensor denotes 8 is.
- the sensors 7 and 8 can themselves be arranged in a stationary manner be, or hinged to the tunneling machine 2 his.
- the pivoting in a substantially vertical Direction leads to a palpation of the face over the Area in which the break-in has already taken place, so the largest measured value plus the distance to the working face corresponds to the penetration depth te.
- the distance sensors can in a conventional manner, for example as ultrasonic sensors be trained and operated in the manner of an echo sounder become.
- there are other radiation sources, such as Infrared rays can be used for the sensor, each time from the difference in the transit time between the sent and the reflected Signal is closed at the respective distance.
- a pile 10 can be seen, whereby, as shown in FIG. 1, a relatively high degree of filling depending on the swivel position of the boom arm 4 is possible.
- the distance to the pile 10 can also measured via sensors 7 or 8 or separate sensors are too small a distance here too high Filling the charging device 9 results. If the filling is too high the further burglary can be interrupted until the Removal to the desired extent while increasing the measured distance to the pile 10 is done.
- the cantilever arm 4 is when cutting in the direction of arrow 11 pivoted, being in the already milled section in the Track of the cutting heads increased the greater the distance Penetration depth is measured.
- One in this lane Sensor 8 thus measures a higher value for the distance than that Sensor 7, so that the difference of these signals directly Burglary depth can be determined.
- the measured values of the distance sensor 7 may be greater than the measured values of the Distance sensor 8.
- the material hitting the loading device is over a continuous conveyor 12 to drop or handover end 13 of this conveyor transported and can subsequently in conventional Way to be transported away.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Earth Drilling (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Gear Processing (AREA)
- Automatic Control Of Machine Tools (AREA)
Abstract
Description
Die Erfindung bezieht sich auf eine Einrichtung zur Erfassung der Einbruchstiefe von Schrämwerkzeugen von Vortriebsmaschinen in die Ortsbrust.The invention relates to a device for detection the penetration depth of cutting tools of tunneling machines in the face.
Teilschnittschrämmaschinen erfordern für das Abbauen der Ortsbrust zunächst ein Einbrechen in die Ortsbrust. Zu diesem Zweck wird die Teilschnittschrämmaschine verfahren, sodaß die Abbauwerkzeuge in die Ortsbrust über eine vorbestimmte Einbruchtiefe eindringen, wonach für den Vortrieb ein Abschrämen der gesamten Ortsbrustfläche erfolgt. Je nach den Gegebenheiten in der Strecke bzw. der Beschaffenheit des Gesteins, erfolgt dieser Einbruchvorgang zunächst im Bereich der Firste, der Ortsbrustmitte oder im Bereich der Streckensohle. Für ein automatisiertes Schneiden bzw. Schrämen ist ein exaktes Erfassen der tatsächlichen Einbruchstiefe des Schrämwerkzeuges erforderlich. Bei den bisher bekannten Vorschlägen, die Einbruchstiefe zu erfassen, wurde ein nicht angetriebenes Wegmeßrad neben dem Raupenfahrwerk der verfahrbaren Teilschnittschrämmaschine mitgeführt. Die von diesem Wegmeßrad erfaßte Wegstrecke während des Einbruchvorganges soll hiebei Aufschluß über die Einbruchstiefe geben. Bei trockener Sohle, wie beispielsweise im Kalibergbau, hat sich eine derartige Meßeinrichtung durchaus bewährt. Meßungenauigkeiten ergeben sich aber bei anderer Sohlenbeschaffenheit. Eine exakte Messung wird im Bereich des Streckenvortriebes üblicherweise mit Richtungskontrolleinrichtungen gewährleistet, bei welchen von einem ortsfest angeordneten Theodoliten die entsprechenden Messungen erfolgen. Die Messung kann über Meßstrahlen erfolgen, welche über Empfangseinrichtungen an der Vortriebsmaschine wiederum erfaßt und in der Folge ausgewertet werden können. Für derartige Einrichtungen sind somit gesonderte Einrichtungen innerhalb der Strecke nötig, wobei insbesondere bei schlechten Sohlenverhältnissen und schlechten Sichtverhältnissen im Bereich der Vortriebsmaschine Verzerrungen der Meßergebnisse nicht ausgeschlossen werden können. Auch eine indirekte Wegmessung, bei welcher unmittelbar die Fahrbewegung des Raupenfahrwerkes überwacht wird, führt nicht zu der gewünschten Präzision, da bei unebener, schmutziger und nasser Sohle der Schlupf nicht berücksichtigt wird, sodaß es hier zu unbrauchbaren Meßdaten kommen kann.Partial cutting machines require for the removal of the face first a break in the face. To this end the part cutting machine is moved so that the removal tools into the face over a predetermined depth of penetration penetrate, after which for the propulsion a chamfering of the entire Face face is done. Depending on the circumstances in the Route or the nature of the rock, this takes place Break-in process first in the area of the roof, the center of the face or in the area of the track sole. For an automated Cutting or chamfering is an exact recording of the actual one Depth of cut of the cutting tool required. Both Previously known proposals to record the depth of burglary became a non-driven measuring wheel next to the crawler track the movable part cutting machine. The of this distance measuring distance covered during the burglary process should give information about the depth of burglary. At dry sole, such as in potash mining, has one such measuring device has proven itself. Measurement inaccuracies but result from a different sole quality. An exact one Measurement is usually carried out in the area of road jacking Directional control devices, which of a theodolite in a fixed position, the corresponding measurements respectively. The measurement can be carried out using measuring beams, which in turn via receiving devices on the tunneling machine can be recorded and subsequently evaluated. For such facilities are thus separate facilities within the route is necessary, especially with bad Sole conditions and poor visibility in the area the tunneling machine distortions of the measurement results are not excluded can be. Also an indirect distance measurement, at which directly monitors the movement of the crawler track does not lead to the desired precision, because with uneven, dirty and wet sole the slip is not taken into account is, so that useless measurement data can occur here can.
Aus der Publikation Devy M. et al: "Mining robotics: Application of computer vision t the automotation of a road header", Robotics and autonomous systems, Band 11, Nr. 2, 1. September 1993, Seiten 65-74, ist bereits eine Einrichtung zur Steuerung des Schneidprozesses von Vortriebsmaschinen bekannt, bei der ein Ultraschall-Abstandssensor zur Distanzbestimmung zur Ortsbrust neben anderen Kontrolleinrichtungen für einen automatischen Schneidbetrieb vorgesehen ist. Die Daten des Abstandssenors und der anderen Kontrolleinrichtungen werden einer Auswerteeinrichtung zugeführt und in der Berechnung eines Ausbruchplans verwendet.From the publication Devy M. et al: "Mining robotics: Application of computer vision t the automation of a road header ", Robotics and autonomous systems, Volume 11, No. 2, September 1, 1993, Pages 65-74, is already a device for controlling the Cutting process of tunneling machines known in which an ultrasonic distance sensor to determine the distance to the face next to other control devices for an automatic Cutting operation is provided. The data of the distance sensor and the other control devices become an evaluation device fed and used in the calculation of an outbreak plan.
Die Erfindung zielt nun darauf ab, eine Einrichtung der eingangs genannten Art zu schaffen, mit welcher ohne gesonderte Einrichtungen innerhalb der Strecke auch bei schlechten Sohlenverhältnissen und schlechter Sicht im Bereich der Vortriebsmaschine ausreichend genaue Meßergebnisse für die Einbruchstiefe erzielt werden können. Die Einrichtung soll konstruktiv einfach aufgebaut sein, sodaß die Betriebssicherheit auch im rauhen Vortriebsbetrieb jederzeit gegeben ist. Zur Lösung dieser Aufgabe besteht die erfindungsgemäße Einrichtung im wesentlichen darin, daß im Bereich des Schwenkwerkes der Vortriebsmaschine wenigstens zwei zur Ortsbrust gerichteter Abstandssensoren angeordnet sind, die jeweils den Bereich vor und hinter der Schneidspur der Meißel der Schrämköpfe messen und daß die Abstandssensoren mit einer Auswerteeinrichtung verbunden sind, wobei die Sensorsignale einer Vergleichsschaltung zur Auswertung der Differenz der Signale zugeführt sind. Dadurch, daß im Bereich des Schwenkwerkes der Vortriebsmaschine wenigstens zwei zur Ortsbrust gerichteter Abstandssensoren angeordnet sind, wird über möglichst kurze Distanz und damit auch bei schlechter Sicht besser reproduzierbar unmittelbar eine Abstandsmessung vorgenommen, wobei die Abbaubewegung beim Vortrieb Berücksichtigung findet. Bei einem Bestreichen der Ortsbrust durch die Schrämwerkzeuge nach erfolgtem Einbruch ergibt sich in der Bahn der Schrämwerkzeuge hinter den Schrämwerkzeugen eine größere Tiefe, welchen eine geringere Tiefe vor den Schrämwerkzeugen gegenübersteht. Die Abstandssensoren können stationär oder gemeinsam mit dem Schwenkwerk verschwenkbar angeordnet sein, sodaß unmittelbar jeweils vor und hinter dem Schrämwerkzeug eine Messung vorgenommen wird und damit ein entsprechender Vergleich durch Differenzbildung ermöglicht wird. Eine Verbesserung der Meßergebnisse durch Ausmitteln von Spitzenwerten kann dadurch erfolgen, daß, wie es einer bevorzugten Ausbildung entspricht, die Abstandssensoren verschwenkbar angeordnet sind. Mit derartigen verschwenkbaren Sensoren kann ein relativ großer Bereich der Ortsbrust abgetastet werden, wobei Spitzenwerte ausgefiltert werden können und das Meßergebnis verbessert wird. Ein unmittelbarer Aufschluß über den Bereich in unmittelbarer Nähe der Schrämköpfe bzw. der Schrämwerkzeuge kann dadurch sichergestellt werden, daß die Abstandssensoren auf gleicher Höhe der Vortriebsmaschine angeordnet sind.The invention now aims to set up a device to create the type mentioned, with which without separate facilities within the track even with poor sole conditions and poor visibility in the area of the tunneling machine sufficiently accurate measurement results for the burglary depth achieved can be. The facility should be structurally simple be, so that the operational safety even in rough driving operations is given at all times. To solve this task the device according to the invention essentially consists in that at least in the area of the slewing gear of the tunneling machine two distance sensors facing the working face are the area in front of and behind the cutting track of the Measure the chisel of the cutting heads and that the distance sensors with an evaluation device are connected, the sensor signals a comparison circuit for evaluating the difference of Signals are fed. Because in the area of the swivel mechanism the tunneling machine at least two facing the working face Distance sensors are arranged, if possible short distance and therefore more reproducible even in poor visibility immediately performed a distance measurement, whereby the mining movement is taken into account during tunneling. At after brushing the face with the cutting tools The break-in occurs in the path of the cutting tools behind the cutting tools a greater depth, which a smaller one Depth in front of the cutting tools. The distance sensors can be stationary or together with the slewing gear be arranged pivotable so that each immediately a measurement is made in front of and behind the cutting tool and thus a corresponding comparison through difference formation is made possible. An improvement of the measurement results by averaging of peak values can take place in that, as one preferred training corresponds, the distance sensors pivotable are arranged. With such swiveling sensors can scan a relatively large area of the working face , where peak values can be filtered out and that Measurement result is improved. Immediate information about the area in the immediate vicinity of the cutting heads or the Cutting tools can be ensured that the distance sensors arranged at the same height of the tunneling machine are.
Die Auswertung der Einbruchstiefe erfolgt in besonders einfacher Weise, wie bereits angedeutet, durch Differenzbildung, wofür die Sensorsignale einer Vergleichsschaltung zur Auswertung der Differenz der Signale zugeführt sind. Der jeweils größere Meßwert für die Distanz vermindert um den jeweils geringeren Meßwert für eine an anderer Stelle gemessene Distanz ergibt unmittelbar die Tiefe des Einbruches und damit die gewünschte Information.The burglary depth is evaluated in a particularly simple manner Way, as already indicated, by forming a difference, for what the Sensor signals from a comparison circuit for evaluating the difference the signals are fed. The larger measured value for the distance minus the lower measured value for a distance measured elsewhere immediately gives that The depth of the break-in and thus the desired information.
In besonders einfacher Weise können die zu Beginn des Meßvorganges gemessenen Signale mit den geometrischen Daten der Vortriebsmaschine verglichen und in Beziehung gesetzt werden, sodaß eine Kalibrierung des Ausgangswertes erfolgen kann. Durch kontinuierlichen Vergleich der Meßdaten zweier Sensoren können Ungleichmäßigkeiten in der Ortsbrust, wie Einbrüche bzw. große herunterfallende Gesteinsbrocken aus der Auswertung eliminiert werden. Die Erfassung der konkret gegebenen Einbruchstiefe erlaubt es jederzeit, derartige Meßdaten mit den Sohldaten für das Schneiden in bestimmten Gesteinsarten oder Vorgaben bezüglich des nächsten Streckenausbaues verglichen werden.This can be done in a particularly simple manner at the beginning of the measuring process measured signals with the geometric data of the tunneling machine compared and related, so that the output value can be calibrated. Through continuous Comparison of the measurement data of two sensors can make non-uniformities in the face, like burglaries or large ones falling rocks are eliminated from the evaluation become. The recording of the specifically given burglary depth allowed it at any time, such measurement data with the base data for the Cutting in certain rock types or specifications regarding of the next route expansion.
Eine weitere Möglichkeit der Auswertung von Meßdaten für den Abstand zur Ortsbrust besteht darin, daß die Sensorsignale mit von an sich bekannten Seitenabstandssensoren ermittelten Sensorsignalen in der Auswerteeinrichtung verglichen werden. Auf diese Weise kann ein Versetzen der Maschine mitberücksichtigt werden, wobei derartige Seitenabstandssensoren beispielsweise in der DE-A1 44 39 601 beschrieben sind.Another possibility of evaluating measurement data for the Distance to the face is that the sensor signals with from side distance sensors known per se be compared in the evaluation device. To this Relocation of the machine can also be taken into account such side distance sensors for example in DE-A1 44 39 601 are described.
Ein weiterer Einbruch soll in der Regel dann noch nicht durchgeführt werden, wenn die Ladeeinrichtung noch nicht hinreichend geräumt ist, da sonst Probleme mit dem Abtransport des geschrämten Materials bestehen. Die in Richtung zur Ortsbrust gerichteten Abstandssensoren erlauben auch hier eine zusätzliche Information, wobei die Ausbildung mit Vorteil so getroffen ist, daß die Sensoren und/oder ein weiterer Sensor auf den unteren Ortsbrustbereich hin ausrichtbar und daß das Signal dieser Sensoren über eine Auswerteschaltung mit dem Antrieb für den Einbruch verbunden ist. Wenn eine derartige Messung einen hohen Befüllungsgrad der Lädeeinrichtung ergibt, kann ein weiterer Einbruchsvorgang solange verzögert werden bis die Abförderung in dem erforderlichen Maße erfolgt ist.As a rule, no further burglary should be carried out yet if the charging device is not yet sufficient is cleared, otherwise there will be problems with the removal of the cut Material exist. Those facing the face Distance sensors also provide additional information here, the training is advantageously taken such that the sensors and / or another sensor on the lower working area alignable and that the signal from these sensors via an evaluation circuit with the drive for the break-in connected is. If such a measurement has a high degree of filling results in the loading device, another burglary process be delayed until the removal in to the required extent.
Die Erfindung wird nachfolgend anhand eines in der Zeichnung schematisch dargestellten Ausführungsbeispieles näher erläutert. In dieser zeigen Fig. 1 eine Seitenansicht auf eine Streckenvortriebsmaschine mit der erfindungsgemäßen Einrichtung und Fig. 2 eine Draufsicht auf die Darstellung nach Fig. 1.The invention is described below with reference to a drawing schematically illustrated embodiment. 1 shows a side view of a tunnel boring machine with the device according to the invention and FIG. 2 a plan view of the illustration of FIG. 1st
In Fig. 1 ist eine auf einem Raupenfahrwerk 1 verfahrbare Teilschnittschrämmaschine
2 dargestellt, deren Schwenkwerk mit 3 bezeichnet
ist. Am Schwenkwerk ist ein in Höhenrichtung und seitlich
schwenkbarer Auslegerarm 4 angelenkt, wobei das Schwenkwerk
selbst um die Achse 5 in horizontaler Richtung verschwenkbar
ist. Der Auslegerarm 4 trägt Schrämköpfe 6, welche bei der Darstellung
nach Fig. 1 in die Ortsbrust über eine Einbruchstiefe
te eindringend dargestellt sind. Die Vortriebsbewegung zum Abbauen
des Gesteines erfolgt hiebei durch Verschwenken des
Schwenkwerkes 3 um die im wesentlichen vertikale Achse 5 in im
wesentlichen horizontaler Richtung. Dem Schwenkwerk benachbart
sind Abstandssensoren 7 angeordnet, wobei, wie sich insbesondere
aus der Draufsicht nach Fig. 2 ergibt, derartige Abstandssensoren
zu beiden Seiten des Schwenkwerkes 3 angeordnet sind. Der
in Maschinenlängsrichtung gesehen rechte Abstandssensor ist mit
7 bezeichnet, wohingegen der gegenüberliegende Sensor mit 8 bezeichnet
ist. Die Sensoren 7 bzw. 8 können selbst ortsfest angeordnet
sein, oder aber schwenkbar an der Vortriebsmaschine 2 angelenkt
sein. Die Verschwenkung in im wesentlichen vertikaler
Richtung führt hiebei zu einem Abtasten der Ortsbrust über den
Bereich, in welchem der Einbruch bereits stattgefunden hat, sodaß
der jeweils größte Meßwert dem Abstand zur Ortsbrust zuzüglich
der Einbruchstiefe te entspricht. Die Abstandssensoren können
in konventioneller Weise beispielsweise als Ultraschallsensoren
ausgebildet sein und nach Art eines Echolotes betrieben
werden. Alternativ sind andere Strahlungsquellen, wie beispielsweise
Infrarotstrahlen für den Sensor einsetzbar, wobei jeweils
aus der Differenz der Laufzeit zwischen abgesendetem und reflektierem
Signal auf die jeweilige Distanz geschlossen wird.In Fig. 1 is a part-cutting machine which is movable on a crawler track 1
2 shown, the swivel mechanism designated 3
is. On the swivel mechanism is one in the vertical direction and laterally
Bei der Darstellung nach Fig. 1 ist auf einer Ladeeinrichtung 9
ein Haufwerk 10 ersichtlich, wobei, wie Fig. 1 zeigt, hier ein
relativ hoher Befüllungsgrad je nach Schwenklage des Auslegerarmes
4 möglich ist. Der Abstand zum Haufwerk 10 kann gleichfalls
über die Sensoren 7 bzw. 8 oder gesonderte Sensoren gemessen
werden, wobei ein zu geringer Abstand hier eine zu hohe
Befüllung der Ladeeinrichtung 9 ergibt. Bei zu hoher Befüllung
kann das weitere Einbruchschrämen unterbrochen werden bis die
Abförderung in dem gewünschten Ausmaß unter Vergrößerung des
gemessenen Abstandes zum Haufwerk 10 erfolgt ist.1 is on a charging device 9th
a
Wie sich insbesondere aus der Draufsicht nach Fig. 2 ergibt,
wird von den Sensoren 7 bzw. 8 jeweils der Bereich vor und
hinter der Schneidspur der Meißel der Schrämköpfe 6 gemessen.
Der Auslegerarm 4 wird beim Schrämen in Richtung des Pfeiles 11
verschwenkt, wobei in den bereits geschrämten Teilbereich in der
Spur der Schrämköpfe die jeweils größere Distanz vermehrt um die
Einbruchtiefe gemessen wird. Ein in diese Spur gerichteter
Sensor 8 mißt somit einen höheren Wert für den Abstand als der
Sensor 7, sodaß aus der Differenz dieser Signale unmittelbar die
Einbruchstiefe te ermittelt werden kann. Am Ende des Schwenkweges
in Richtung des Pfeiles 11 erfolgt üblicherweise eine
Verschwenkung des Auslegerarmes 4 in vertikaler Richtung, wobei
unter Bewegungsumkehr entgegen der Richtung des Pfeiles 11 ein
neuer Schlag geschrämt wird. In diesen Fällen werden die Meßwerte
des Abstandssensors 7 größer sein als die Meßwerte des
Abstandssensors 8.As can be seen in particular from the top view according to FIG. 2,
is the area in front of and from the
Das auf die Ladeeinrichtung auftreffende Material wird über
einen kontinuierlichen Förderer 12 zum Abwurf bzw. Übergabeende
13 dieses Förderers transportiert und kann in der Folge in konventioneller
Weise weiter abtransportiert werden.The material hitting the loading device is over
a
Claims (5)
- A device for detecting the excavation depth of cutting tools (6) of advance working machines (2) in the mine face, characterized in that at least two distance sensors (7, 8) facing the mine face are arranged in the region of the pivoting mechanism (3) of the advance working machine (2), which distance sensors respectively measure the regions in front of and behind the cutting traces of the bits of the cutting heads (6), and that the distance sensors (7, 8) are connected to an evaluation means, said sensor signals being fed to a comparator circuit to evaluate the difference of said signals.
- A device according to claim 1, characterized in that the distance sensors (7, 8) are arranged to be pivotal.
- A device according to claim 1 or 2, characterized in that the distance sensors (7, 8) are arranged on the same level of the advance working machine(2).
- A device according to any one of claims 1, 2 or 3, characterized in that the sensor signals are processed in the evaluation means together with sensor signals detected by lateral distance sensors known per se.
- A device according to any one of claims 1 to 4, characterized in that the sensors (7, 8) and/or a further sensor are orientable towards the lower region of the mine face and that the signals of said sensors are connected with the excavation drive via an evaluation circuit.
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT0129696A AT406892B (en) | 1996-07-18 | 1996-07-18 | METHOD FOR CONTROLLING THE CUTTING PROCESS AND DEVICE FOR DETECTING THE DROP-IN DEPTH OF CUTTING TOOLS |
AT1296 | 1996-07-18 | ||
AT12/96 | 1996-07-18 | ||
PCT/AT1997/000159 WO1998003770A1 (en) | 1996-07-18 | 1997-07-09 | Cutting control process and device for detecting the depth of cut of kirving tools |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0912816A1 EP0912816A1 (en) | 1999-05-06 |
EP0912816B1 true EP0912816B1 (en) | 2001-12-12 |
Family
ID=3510817
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP97929020A Expired - Lifetime EP0912816B1 (en) | 1996-07-18 | 1997-07-09 | Cutting control process and device for detecting the depth of cut of kirving tools |
Country Status (6)
Country | Link |
---|---|
EP (1) | EP0912816B1 (en) |
AT (2) | AT406892B (en) |
AU (1) | AU722290B2 (en) |
DE (1) | DE59705784D1 (en) |
ES (1) | ES2134181T1 (en) |
WO (1) | WO1998003770A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110094210A (en) * | 2019-03-16 | 2019-08-06 | 陈武琼 | A kind of unmanned mole of full-automatic coal road self-induction and application method |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2821590A1 (en) | 2013-07-04 | 2015-01-07 | Sandvik Intellectual Property AB | Mining machine gathering head |
CN114086954B (en) * | 2021-10-29 | 2024-07-12 | 中国煤炭科工集团太原研究院有限公司 | Automatic control method and device of tunneling and anchoring integrated machine, electronic equipment and storage medium |
CN114194719B (en) * | 2021-11-25 | 2023-08-25 | 中国煤炭科工集团太原研究院有限公司 | Self-adaptive control method and system for tail scraper and reversed loader of heading machine |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4072349A (en) * | 1973-12-07 | 1978-02-07 | Coal Industry (Patents) Limited | Steering of mining machines |
US3922015A (en) * | 1973-12-17 | 1975-11-25 | Consolidation Coal Co | Method of mining with a programmed profile guide for a mining machine |
US4200335A (en) * | 1978-08-18 | 1980-04-29 | Peabody Coal Company | Gauging apparatus and method, particularly for controlling mining by a mining machine |
DE2901598C2 (en) * | 1979-01-17 | 1986-03-20 | Gebr. Eickhoff Maschinenfabrik U. Eisengiesserei Mbh, 4630 Bochum | Device for checking the position of a partial cutting machine |
AT383867B (en) * | 1985-11-04 | 1987-09-10 | Voest Alpine Ag | METHOD FOR CONTROLLING THE MOVEMENT OF A REVERSIBLE SWIVELING ARM OF A PARTIAL CUTTING MACHINE, AND DEVICE FOR CARRYING OUT THIS METHOD |
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 |
DE4333032C2 (en) * | 1993-09-29 | 1996-11-28 | Honeywell Ag | Device for determining the position, location and orientation of a tunnel boring machine |
DE4439601C2 (en) * | 1994-11-05 | 1999-02-18 | Voest Alpine Bergtechnik | Method for controlling the direction of a machine used in underground operations and machine suitable for performing the method |
CA2141984C (en) * | 1995-02-07 | 2002-11-26 | Herbert A. Smith | Continuous control system for a mining or tunnelling machine |
-
1996
- 1996-07-18 AT AT0129696A patent/AT406892B/en not_active IP Right Cessation
-
1997
- 1997-07-09 EP EP97929020A patent/EP0912816B1/en not_active Expired - Lifetime
- 1997-07-09 AU AU33286/97A patent/AU722290B2/en not_active Ceased
- 1997-07-09 ES ES97929020T patent/ES2134181T1/en active Pending
- 1997-07-09 AT AT97929020T patent/ATE210782T1/en not_active IP Right Cessation
- 1997-07-09 DE DE59705784T patent/DE59705784D1/en not_active Expired - Lifetime
- 1997-07-09 WO PCT/AT1997/000159 patent/WO1998003770A1/en active IP Right Grant
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110094210A (en) * | 2019-03-16 | 2019-08-06 | 陈武琼 | A kind of unmanned mole of full-automatic coal road self-induction and application method |
Also Published As
Publication number | Publication date |
---|---|
WO1998003770A1 (en) | 1998-01-29 |
ES2134181T1 (en) | 1999-10-01 |
ATA129696A (en) | 2000-02-15 |
DE59705784D1 (en) | 2002-01-24 |
ATE210782T1 (en) | 2001-12-15 |
EP0912816A1 (en) | 1999-05-06 |
AU3328697A (en) | 1998-02-10 |
AT406892B (en) | 2000-10-25 |
AU722290B2 (en) | 2000-07-27 |
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