EP0943051B1 - Device for damping vibrations in a part-face cutting machines - Google Patents
Device for damping vibrations in a part-face cutting machines Download PDFInfo
- Publication number
- EP0943051B1 EP0943051B1 EP97945654A EP97945654A EP0943051B1 EP 0943051 B1 EP0943051 B1 EP 0943051B1 EP 97945654 A EP97945654 A EP 97945654A EP 97945654 A EP97945654 A EP 97945654A EP 0943051 B1 EP0943051 B1 EP 0943051B1
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- EP
- European Patent Office
- Prior art keywords
- arm
- hydraulic
- cantilever arm
- pivot actuator
- vibrations
- 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
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- 238000013016 damping Methods 0.000 title claims abstract description 5
- 239000012530 fluid Substances 0.000 claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims abstract description 4
- 230000001105 regulatory effect Effects 0.000 abstract 2
- 230000001447 compensatory effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000007790 scraping Methods 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
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/12—Component parts
-
- 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
Definitions
- the invention relates to a device for damping Vibrations from part-cutting machines with one by two Axles swiveling cantilever arm, on which cutting tools are rotatably mounted, the cantilever arm with one Pivot drive for each pivot axis is connected, at least a hydraulic swivel drive via a valve arrangement can be acted upon with fluid, fluid depending on Measured values from sensors are supplied to the drive and at least a sensor is connected to the extension arm.
- the cutting tools are each according to the speed of advance and the speed of rotation of the Cutter heads are exposed to high, shock loads, and it AT-PS 377 056 can already be seen, for example, vibration sensors to be arranged as a measurement for the tool load, over which subsequently the swivel speed and / or the speed of rotation of the tools for the purpose the reduction in the tool load can be influenced.
- a vibration sensor was used in this known design provided whose signals via control electronics with the swivel drive of the cutter arm, and in particular the controllable valves of a hydraulic swivel drive, are connected. With excessive vibrations, the Cutting performance of the cutting machine reduced.
- a device has already become known from DE-PS 34 27 962 with which the cantilever arm device for extraction and jacking machines could be braced hydraulically.
- This training is also based on the consideration that Partial cutting machines, especially roller cutting machines, strong vibrations when moving into hard mineral layers are subject.
- the shocks and vibrations are about the scraping tools that intervene in the material transferred to the cantilever arm, such vibrations due to the elasticity of the actuator's pressure cylinder for the cantilever arm to significant vibrations of the Can give a scanty occasion. If to make matters worse here resonance occurs in the system, such vibrations can be destructive Have an effect.
- the DE-PS 34 27 962 to be removed Measures the pressure in the actuating cylinders is now increased, but thereby the underlying problem of the elasticity of the Printing cylinder is insufficiently solved.
- the invention now aims to be simple and possibly also to propose a retrofit facility with which an effective damping of vibrations from cutting machines succeed.
- the device according to the invention should get by with a minimum of additional parts and can be compact, and also efficiency and the performance of the swivel drive for the cantilever arm so little influence as possible.
- the device essentially consists in that with the extension arm or the hydraulic swivel drive at least one sensor for detecting vibrations, Acceleration, load and / or position of the arm connected is whose signal lines are connected to a control device are what control device with a hydraulic Circuit for one-sided loading of the part-turn actuator to compensate for the registered evasive movement of the Cantilever arm is connected, its position during the feed of the cutting tools kept essentially constant is.
- cutting with a partial cutting machine is usually after the burglary has been cut in a way that one of the two rotary actuators locked in its position is, whereas the feed movement via the second drive is effected.
- the compensatory control pulses thus cause one cyclical readjustment movement to counteract evasive movements, so that the cutting arm is kept quieter overall and vibrations can be dampened.
- a short time high pressure level must be made available the training is particularly advantageous in this regard further developed that in addition to the hydraulic pump for the hydraulic swivel drive arranged a fluid pressure accumulator which is for the compensation of the evasive movement of the arm each with a work area of the rotary actuator in connection is settable. This can be done in the short term from a fluid pressure accumulator required pressure level available for the compensation be put without additional overlays and Effects on the pump of the hydraulic drive comes. Out the pressure accumulator can make pressure corrections at very short notice be provided so that the hydraulic pump which is required for the swivel drive from such load peaks is decoupled.
- valve arrangement which is used for the swivel drive of the cantilever arm is used directly as a valve arrangement be used for the desired compensation, whereby results in a particularly simple construction.
- FIG. 1 shows a schematic side view of a part cutting machine
- Fig.2 is a circuit diagram for the hydraulic Circuit.
- Fig. 1, 1 is a partial cutting machine, which is movable on a crawler track 2.
- a cantilever arm 3 is essentially on a swivel mechanism 4 horizontal axis 5 pivotally mounted in the height direction.
- the swivel drive 6 for this shift around Swivel axis 5 of at least one hydraulic cylinder piston unit formed, which hinged on the cutter arm 3 is.
- the cutter arm 3 carries rotary cutter heads 7, which in the sense of the double arrow 8 in the vertical direction are pivotable.
- the swivel mechanism is used for the feed movement 4 pivoted about the substantially vertical pivot axis 9.
- a loading device 11 is also articulated on the machine frame 10.
- a discharge conveyor 12 is schematic shown.
- a sensor 13 is provided on the cutting arm.
- the Signals from sensor 13 or sensor 14 are transmitted via a Signal line 15 fed to a control device 16.
- the Control device is with a valve arrangement for the hydraulic Swivel drive 6 connected, as shown in Figure 2 in more detail is illustrated.
- Fig. 2 is a valve assembly for actuating the actuator 6 is shown schematically.
- the hydraulic slide 17 For swiveling the cutting arm 3 in the height direction in the direction of the double arrow 8 can the hydraulic slide 17 are brought into the respective position, which enables an upward or downward swiveling becomes.
- Fluid is hereby removed from a tank 18 via a pump 19 the valve arrangement and thus depending on the position of the slide valve one work area each of the hydraulic cylinder piston units the swivel drive 6 provided.
- the Line to these vertical swivel cylinders are corresponding Check valves or control valves turned on, which is schematic are designated by 20.
- the Cylinder spaces 21 or 22 acted upon for pivoting.
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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)
- Vibration Prevention Devices (AREA)
- Auxiliary Devices For Machine Tools (AREA)
- Machine Tool Units (AREA)
- Turning (AREA)
- Manipulator (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
Die Erfindung bezieht sich auf eine Einrichtung zum Dämpfen von Schwingungen von Teilschnittschrämmaschinen mit einem um zwei Achsen schwenkbaren Auslegerarm, an welchem Schrämwerkzeuge rotierbar gelagert sind, wobei der Auslegerarm mit je einem Schwenkantrieb für jede Schwenkachse verbunden ist, wobei wenigstens ein hydraulischer Schwenkantrieb über eine Ventilanordnung mit Fluid beaufschlagbar ist, wobei Fluid in Abhängigkeit von Meßwerten von Sensoren dem Antrieb zugeführt wird und wenigstens ein Sensor mit dem Auslegerarm verbunden ist.The invention relates to a device for damping Vibrations from part-cutting machines with one by two Axles swiveling cantilever arm, on which cutting tools are rotatably mounted, the cantilever arm with one Pivot drive for each pivot axis is connected, at least a hydraulic swivel drive via a valve arrangement can be acted upon with fluid, fluid depending on Measured values from sensors are supplied to the drive and at least a sensor is connected to the extension arm.
Beim Abbau von hartem Material werden die Schrämwerkzeuge je nach Vortriebsgeschwindigkeit und Rotationsgeschwindigkeit der Schrämköpfe hohen, stoßartigen Belastungen ausgesetzt, und es ist beispielsweise der AT-PS 377 056 bereits zu entnehmen, Erschütterungssensoren als Meßgröße für die Werkzeugbelastung anzuordnen, über welche in der Folge die Schwenkgeschwindigkeit und/oder die Rotationsgeschwindigkeit der Werkzeuge zum Zwecke der Verringerung der Werkzeugbelastung beeinflußt werden kann. Zu diesem Zweck war bei dieser bekannten Ausbildung ein Erschütterungssensor vorgesehen, dessen Signale über eine Steuerelektronik mit dem Schwenkantrieb des Schrämarmes, und insbesondere den steuerbaren Ventilen eines hydraulischen Schwenkantriebes, verbunden sind. Bei übermäßigen Erschütterungen wurde somit die Abbauleistung der Schrämmaschine reduziert.When cutting hard material, the cutting tools are each according to the speed of advance and the speed of rotation of the Cutter heads are exposed to high, shock loads, and it AT-PS 377 056 can already be seen, for example, vibration sensors to be arranged as a measurement for the tool load, over which subsequently the swivel speed and / or the speed of rotation of the tools for the purpose the reduction in the tool load can be influenced. For this purpose, a vibration sensor was used in this known design provided whose signals via control electronics with the swivel drive of the cutter arm, and in particular the controllable valves of a hydraulic swivel drive, are connected. With excessive vibrations, the Cutting performance of the cutting machine reduced.
Aus der DE-PS 34 27 962 ist bereits eine Einrichtung bekannt geworden, mit welcher die Auslegerarmstellvorrichtung für Gewinnungs- und Vortriebsmaschinen hydraulisch verspannt werden konnte. Auch dieser Ausbildung liegt die Überlegung zugrunde, daß Teilschnittschrämmaschinen, insbesondere Walzenschrämmaschinen, beim Anfahren in harte Mineralschichten besonders starken Erschütterungen unterworfen sind. Die Erschütterungen und Vibrationen werden über die in das Material eingreifenden Schramwerkzeuge auf den Auslegerarm übertragen, wobei derartige Erschütterungen aufgrund der Elastizität des Druckzylinders des Stellantriebes für den auslegerarm zu deutlichen Schwingungen des Schrämarmes Anlaß geben können. Wenn zu allem Überfluß hier Resonanz im System auftritt, können derartige Vibrationen zerstörende Wirkung haben. Durch die der DE-PS 34 27 962 zu entnehmenden Maßnahmen wird nun der Druck in den Stellzylindern erhöht, wodurch aber das zugrunde liegende Problem der Elastizität der Druckzylinder in nicht ausreichender Weise gelöst wird.A device has already become known from DE-PS 34 27 962 with which the cantilever arm device for extraction and jacking machines could be braced hydraulically. This training is also based on the consideration that Partial cutting machines, especially roller cutting machines, strong vibrations when moving into hard mineral layers are subject. The shocks and vibrations are about the scraping tools that intervene in the material transferred to the cantilever arm, such vibrations due to the elasticity of the actuator's pressure cylinder for the cantilever arm to significant vibrations of the Can give a scanty occasion. If to make matters worse here resonance occurs in the system, such vibrations can be destructive Have an effect. By the DE-PS 34 27 962 to be removed Measures, the pressure in the actuating cylinders is now increased, but thereby the underlying problem of the elasticity of the Printing cylinder is insufficiently solved.
Die Erfindung zielt nun darauf ab, eine einfache und ggf. auch nachträglich nachzurüstende Einrichtung vorzuschlagen, mit welcher ein wirkungsvolles Dämpfen von Schwingungen von Teilschnittschrämmaschinen gelingt. Die erfindungsgemäße Einrichtung soll hierbei mit einem Minimum an zusätzlichen Teilen auskommen und kompakt ausgebildet sein können, und weiters die Effizienz und die Leistung des Schwenkantriebes für den Auslegerarm so wenig wie nur möglich beeinflussen. Zur Lösung dieser Aufgabe besteht die erfindungsgemäße Einrichtung im wesentlichen darin, daß mit dem Auslegerarm oder dem hydraulischen Schwenkantrieb wenigstens ein Sensor zur Erfassung von Erschütterungen, Beschleunigung, Belastung und/oder Position des Armes verbunden ist, dessen Signalleitungen mit einer Steuereinrichtung verbunden sind, welche Steuereinrichtung mit einer hydraulischen Schaltung zum einseitigen Beaufschlagen desjenigen Schwenkantriebes zur Kompensation der registrierten Ausweichbewegung des Auslegerarmes verbunden ist, dessen Stellung während des Vorschubes der Schrämwerkzeuge im wesentlichen konstant gehalten ist. Beim Schrämen mit einer Teilschnittschrämmaschine wird üblicherweise nach erfolgtem Einbruch in einer Weise geschrämt, daß einer der beiden Schwenkantriebe in seiner Position verriegelt wird, wohingegen über den zweiten Antrieb die Vorschubbewegung bewirkt wird. Bei einem Schrämen in horizontaler Richtung wird somit der vertikale Schwenkantrieb in der gewünschten Position festgelegt, wobei der Vortrieb durch horizontales Verschwenken des Armes erfolgt. Dadurch, daß nun die Meßsignale des Sensors einer Steuereinrichtung zur Verfügung gestellt werden, welche denjenigen Antrieb beaufschlagen soll, welcher in seiner jeweils gewählten Position gehalten werden soll, können unzulässige Belastungsspitzen eliminiert werden. Es wird somit erfindungsgemäß jeweils nur ein Arbeitsraum des in konstanter Stellung zu haltenden Schwenkantriebes, beispielsweise des Vertikalschwenkantriebes, dann beaufschlagt, wenn eine Ausweichbewegung registriert wird, sodaß auch Erschütterungen kompensatorisch entgegengewirkt werden kann, ohne daß dies die Schrämleistung beeinflußt. Die Steuerung kann hierbei feinfühlig an die jeweils registrierte Richtung der höheren Belastung angepaßt werden. Die kompensatorischen Steuerimpulse bewirken somit eine zyklische Nachstellbewegung, um Ausweichbewegungen entgegenzuwirken, sodaß insgesamt der Schrämarm ruhiger gehalten werden kann und Erschütterungen gedämpft werden. Da für eine derartige kompensatorische Beaufschlagung eines Arbeitsraumes eines Zylinderkolbenaggregates eines Schwenkantriebes kurzfristig ein bestimmtes hohes Druckniveau zur Verfügung gestellt werden muß, ist die Ausbildung in besonders vorteilhafter Weise dahingehend weitergebildet, daß zusätzlich zur Hydraulikpumpe für den hydraulischen Schwenkantrieb ein Fluiddruckspeicher angeordnet ist, welcher für die Kompensation der Ausweichbewegung des Armes mit jeweils einem Arbeitsraum des Schwenkantriebes in Verbindung setzbar ist. Aus einem Fluiddruckspeicher kann kurzfristig das für die Kompensation erforderliche Druckniveau zur Verfügung gestellt werden, ohne daß es zu zusätzlichen Überlagerungen und Rückwirkungen auf die Pumpe des Hydraulikantriebes kommt. Aus dem Druckspeicher können überaus kurzfristig Druckkorrekturen zur Verfügung gestellt werden, sodaß die Hydraulikpumpe, welche für den Schwenkantrieb benötigt wird, von derartigen Belastungsspitzen entkoppelt wird.The invention now aims to be simple and possibly also to propose a retrofit facility with which an effective damping of vibrations from cutting machines succeed. The device according to the invention should get by with a minimum of additional parts and can be compact, and also efficiency and the performance of the swivel drive for the cantilever arm so little influence as possible. To solve this task the device according to the invention essentially consists in that with the extension arm or the hydraulic swivel drive at least one sensor for detecting vibrations, Acceleration, load and / or position of the arm connected is whose signal lines are connected to a control device are what control device with a hydraulic Circuit for one-sided loading of the part-turn actuator to compensate for the registered evasive movement of the Cantilever arm is connected, its position during the feed of the cutting tools kept essentially constant is. When cutting with a partial cutting machine, is usually after the burglary has been cut in a way that one of the two rotary actuators locked in its position is, whereas the feed movement via the second drive is effected. When cutting in a horizontal direction the vertical swivel drive is thus in the desired position fixed, the propulsion by horizontal pivoting of the arm. Because now the measurement signals of Sensors are made available to a control device, which should act on the drive which is in its selected position should be held may be prohibited Load peaks are eliminated. So it will According to the invention, only one workspace in constant Positioning swivel drive, for example the vertical swivel drive, then acted upon when an evasive movement is registered, so that vibrations are compensatory can be counteracted without this the cutting performance influenced. The control can be sensitive to the each registered direction adapted to the higher load become. The compensatory control pulses thus cause one cyclical readjustment movement to counteract evasive movements, so that the cutting arm is kept quieter overall and vibrations can be dampened. As for such compensatory loading of a work area of a cylinder-piston unit of a part-turn actuator a short time high pressure level must be made available the training is particularly advantageous in this regard further developed that in addition to the hydraulic pump for the hydraulic swivel drive arranged a fluid pressure accumulator which is for the compensation of the evasive movement of the arm each with a work area of the rotary actuator in connection is settable. This can be done in the short term from a fluid pressure accumulator required pressure level available for the compensation be put without additional overlays and Effects on the pump of the hydraulic drive comes. Out the pressure accumulator can make pressure corrections at very short notice be provided so that the hydraulic pump which is required for the swivel drive from such load peaks is decoupled.
Prinzipiell ist es möglich, einen derartigen Druckspeicher gemeinsam mit einer gesonderten Ventilanordnung für die jeweilige Kompensation zu schalten. In besonders einfacher Weise kann aber auch die Ventilanordnung, welche für den Schwenkantrieb des Auslegerarmes herangezogen wird, unmittelbar als Ventilanordnung für die gewünschte Kompensation eingesetzt werden, wodurch sich eine besonders einfache Bauweise ergibt. In principle, it is possible to share such a pressure accumulator with a separate valve arrangement for each To switch compensation. But in a particularly simple manner also the valve arrangement, which is used for the swivel drive of the cantilever arm is used directly as a valve arrangement be used for the desired compensation, whereby results in a particularly simple construction.
Die Erfindung wird nachfolgend anhand eines in der Zeichnung dargestellten Ausführungsbeispieles näher erläutert. In dieser zeigen Fig.1 eine schematische Seitenansicht einer Teilschnittschrämmaschine und Fig.2 ein Schaltbild für die hydraulische Schaltung.The invention is described below with reference to a drawing illustrated embodiment explained in more detail. In this 1 shows a schematic side view of a part cutting machine and Fig.2 is a circuit diagram for the hydraulic Circuit.
In Fig.1 ist mit 1 eine Teilschnittschrämmaschine bezeichnet,
welche auf einem Raupenfahrwerk 2 verfahrbar ist.In Fig. 1, 1 is a partial cutting machine,
which is movable on a
Ein Auslegerarm 3 ist an einem Schwenkwerk 4 um eine im wesentlichen
horizontale Achse 5 in Höhenrichtung verschwenkbar gelagert.
Der Schwenkantrieb 6 für diese Verlagerung um die
Schwenkachse 5 von wenigstens einem hydraulischen Zylinderkolbenaggregat
gebildet, welches gelenkig am Schrämarm 3 angeschlagen
ist. Der Schrämarm 3 trägt rotierbar gelagerte Schrämköpfe
7, welche im Sinne des Doppelpfeiles 8 in Höhenrichtung
verschwenkbar sind. Für die Vorschubbewegung wird das Schwenkwerk
4 um die im wesentlichen vertikale Schwenkachse 9 verschwenkt.A
Am Maschinenrahmen 10 ist weiters eine Ladeeinrichtung 11 angelenkt.
Am Hinterende der Maschine ist ein Abförderer 12 schematisch
dargestellt.A
Am Schrämarm ist ein Sensor 13 vorgesehen. Alternativ oder zusätzlich
kann ein weiterer Sensor 14 am hydraulischen Schwenkantrieb
6 oder in der Schwenkachse 5 angeordnet werden, mit welchem
Erschütterungen Beschleunigungen, Belastungen und/oder die
Position des Schrämarmes bzw. Auslegerarmes 3 erfaßt werden. Die
Signale des Sensors 13 oder des Sensors 14 werden über eine
Signalleitung 15 einer Steuereinrichtung 16 zugeführt. Die
Steuereinrichtung ist mit einer Ventilanordnung für den hydraulischen
Schwenkantrieb 6 verbunden, wie dies in Fig.2 näher
veranschaulicht wird. A
In Fig. 2 ist eine Ventilanordnung zum Betätigen des Stellantriebes
6 schematisch ersichtlich. Zum Verschwenken des Schrämarmes
3 in Höhenrichtung in Richtung des Doppelpfeiles 8 kann
der Hydraulikschieber 17 in die jeweilige Position gebracht werden,
wodurch eine Aufwärts- oder Abwärtsverschwenkung ermöglicht
wird. Fluid wird hierbei aus einem Tank 18 über eine Pumpe 19
der Ventilanordnung und damit je nach Stellung des Schieberventils
jeweils einem Arbeitsraum der Hydraulikzylinderkolbenaggregate
des Schwenkantriebes 6 zur Verfügung gestellt. In die
Leitung zu diesen Vertikalschwenkzylindern sind entsprechende
Rückschlagventile bzw. Steuerventile eingeschaltet, welche schematisch
mit 20 bezeichnet sind. Wahlweise werden hierbei die
Zylinderräume 21 oder 22 zum Verschwenken beaufschlagt. In der
in Fig.2 dargestellten Position des Hydraulikschieberventiles 17
sind die Leitungen zwischen der Pumpe 19 und den Zylinderräumen
21 bzw. 22 getrennt und gesperrt, sodaß für ein Verschwenken des
Schrämarmes 3 in im wesentlichen horizontaler Richtung die
gewählte Vertikalstellung des Auslegerarmes 3 fixiert ist. In
dieser Position kann nun je nach Gesteinsbeschaffenheit oder
Betriebsbedingungen mehr oder minder große Kraft auf die jeweils
gesperrten Arbeitsräume 21 bzw. 22 der Hydraulikzylinderkolbenaggregate
wirksam werden, wodurch aufgrund der Kompressibilität
des Fluids Schwingungszustände nicht ausgeschlossen werden. Wenn
nun derartige unerwünschte Betriebszustände von den Sensoren 13
bzw. 14 der Steuereinrichtung 16 rückgemeldet werden, wird die
zusätzliche Schaltereinheit 23 angesteuert, wobei aus einem
Druckspeicher 24 Fluid in jeweils einen der beiden Zylinderräume
21 bzw. 22 gepreßt wird, um diesen Reaktionskräften entgegenzuwirken.
Je nach registrierter Ausweichbewegung des Auslegerarmes
3 in Richtung des Doppelpfeiles 8 wird somit jeweils der gegenüberliegende
Arbeitsraum 21 bzw. 22 mit dem Druckspeicher 24 in
Verbindung gesetzt, um Schwingungen entgegenzuwirken und den
Schrämarm 3 sicher in seiner gewählten vertikalen Position zu
halten.In Fig. 2 is a valve assembly for actuating the
Claims (3)
- A device for damping the vibrations of partial cut heading machines (1) comprising a cantilever arm (3) which is pivotable about two axes (5, 9) and on which cutting tools (7) are rotatably mounted, wherein the cantilever arm (3) is respectively connected with one pivot actuator for each pivot axis, wherein fluid is feedable to at least one hydraulic pivot actuator (6) via a valve assembly with fluid being supplied to said actuator (6) as a function of measuring values detected by sensors (13, 14), and at least one sensor is connected with the cantilever arm (3), characterized in that to the cantilever arm (3) or the hydraulic pivot actuator (6) is connected at least one sensor (13, 14) for detecting vibrations, accelerations, stress and/or the position of said arm (3), the signal lines (15) of which sensor are connected to a control unit (16), which control unit (16) is connected to a hydraulic circuit for unilaterally powering, with a view to compensating for the registered evasion movement of the cantilever arm (3), that pivot actuator (6) whose position during the advance stroke of the cutting tools (7) is kept substantially constant.
- A device according to claim 1, characterized in that a fluid pressure reservoir (24) is provided for the hydraulic pivot actuator (6) in addition to the hydraulic pump (19), which fluid pressure reservoir is connectable with one working volume (21, 22) each of the pivot actuator (6) with a view to compensating for the evasion movement of said arm (3).
- A device according to claim 1 or 2, characterized in that the valve assembly for the pivot actuator of the cantilever arm (3) is used as said valve assembly.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT211996 | 1996-12-04 | ||
AT0211996A AT407071B (en) | 1996-12-04 | 1996-12-04 | DEVICE FOR DAMPING VIBRATIONS OF PARTIAL CUTTING MACHINES |
PCT/AT1997/000255 WO1998025007A1 (en) | 1996-12-04 | 1997-11-20 | Device for damping vibrations in a part-face cutting machines |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0943051A1 EP0943051A1 (en) | 1999-09-22 |
EP0943051B1 true EP0943051B1 (en) | 2001-01-17 |
Family
ID=3528178
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP97945654A Expired - Lifetime EP0943051B1 (en) | 1996-12-04 | 1997-11-20 | Device for damping vibrations in a part-face cutting machines |
Country Status (7)
Country | Link |
---|---|
EP (1) | EP0943051B1 (en) |
AT (2) | AT407071B (en) |
AU (1) | AU731456B2 (en) |
DE (1) | DE59702937D1 (en) |
ES (1) | ES2154475T3 (en) |
WO (1) | WO1998025007A1 (en) |
ZA (1) | ZA9710825B (en) |
Cited By (1)
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---|---|---|---|---|
CN101375017B (en) * | 2006-01-19 | 2013-03-27 | 桑德威克采矿和建筑有限责任公司 | Method for regulating the drive of a shearing or heading machine |
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Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT408018B (en) * | 1998-11-18 | 2001-08-27 | Tamrock Voest Alpine Bergtech | METHOD FOR STABILIZING CUTTING BOOMS OF PARTIAL CUTTING MILLING MACHINES |
AT408019B (en) * | 1998-11-18 | 2001-08-27 | Tamrock Voest Alpine Bergtech | DEVICE FOR DETECTING AND COMPENSATING VIBRATIONS OF PARTIAL CUTTING MILLING MACHINES |
GB0300769D0 (en) * | 2003-01-14 | 2003-02-12 | Swift Jonathan R | Remote controlled or fully automatic mining machine |
CN112050732B (en) * | 2020-08-21 | 2022-03-15 | 西安科技大学 | Method and system for automatically detecting spatial pose of cantilever type heading machine |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2053317B (en) * | 1979-06-22 | 1982-12-01 | Coal Industry Patents Ltd | Excavating machines for excavating rock or mineral |
AT377056B (en) * | 1982-12-31 | 1985-02-11 | Voest Alpine Ag | DEVICE FOR PROTECTING PARTIAL CUTTING MACHINES |
JPS60181487A (en) * | 1984-02-24 | 1985-09-17 | 財団法人石炭技術研究所 | Double ranging drum cutter having load controller |
DE3427962A1 (en) | 1984-07-28 | 1986-01-30 | Bergwerksverband Gmbh, 4300 Essen | Supporting-arm adjusting device for mining machines, in particular for shearer-loaders and selective-cut heading machines |
-
1996
- 1996-12-04 AT AT0211996A patent/AT407071B/en not_active IP Right Cessation
-
1997
- 1997-11-20 ES ES97945654T patent/ES2154475T3/en not_active Expired - Lifetime
- 1997-11-20 AT AT97945654T patent/ATE198781T1/en not_active IP Right Cessation
- 1997-11-20 WO PCT/AT1997/000255 patent/WO1998025007A1/en active IP Right Grant
- 1997-11-20 AU AU51097/98A patent/AU731456B2/en not_active Ceased
- 1997-11-20 DE DE59702937T patent/DE59702937D1/en not_active Expired - Lifetime
- 1997-11-20 EP EP97945654A patent/EP0943051B1/en not_active Expired - Lifetime
- 1997-12-02 ZA ZA9710825A patent/ZA9710825B/en unknown
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101375017B (en) * | 2006-01-19 | 2013-03-27 | 桑德威克采矿和建筑有限责任公司 | Method for regulating the drive of a shearing or heading machine |
Also Published As
Publication number | Publication date |
---|---|
AU731456B2 (en) | 2001-03-29 |
ATE198781T1 (en) | 2001-02-15 |
WO1998025007A1 (en) | 1998-06-11 |
ES2154475T3 (en) | 2001-04-01 |
ATA211996A (en) | 2000-04-15 |
EP0943051A1 (en) | 1999-09-22 |
AT407071B (en) | 2000-12-27 |
DE59702937D1 (en) | 2001-02-22 |
AU5109798A (en) | 1998-06-29 |
ZA9710825B (en) | 1998-06-12 |
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