GB743565A - Improvements in remotely controlled bore mining machine-automatic course controller - Google Patents

Abstract

743,565. Automatic steering control systems- UNION CARBIDE & CARBON CORPORATION. Aug. 27, 1953 [Aug. 30, 1952], No. 23660/53. Class 38 (4). As shown in Fig. 3 an automatically guided bore mining machine comprises a power-driven tractor 13 carrying power-driven cutter heads 35 on a front section 12 which may be pivoted about a transverse horizontal axis and/or a longitudinal axis to control the course of the machine through the earth. The angle of elevation of the front portion 12 is detected by a liquid-damped pendulum 42, Fig. 4, which is actually mounted in a casing 37 on the front portion 12 so as to swing about a transverse axis 14. Pendulum 42 operates a potentiometer 46 which is arranged with a potentiometer 53 in an A.C. bridge circuit so that deviation in the angle of elevation from a value determined by the setting of potentiometer 53 results in a bridge output between leads 51, 91 being applied to an electronic relay unit 54. Within unit 54 the appropriate one of two thyratron valves is energized to operate a corresponding relay so that a lead 57 or 58 is energized and solenoidoperated valves 22 operate a hydraulic servomotor 15 in the direction necessary to correct the attitude of the front portion 12 by moving it about axis 14. Similarly tilt of the front portion about a longitudinal axis 23 is detected by a second damped pendulum 41 which is also actually mounted in the appropriate position within casing 37. Pendulum 41 operates a potentiometer 45 which is combined with a potentiometer 56 in an A.C. bridge circuit the output of which, between leads 112, 127 is also applied to unit 54 within which a further pair of thyratron operated relays control, through leads 59, 60 and controller 32, an electric servomotor 28 operating to maintain the front portion 12 at a desired angle (usually horizontal) about longitudinal axis 23. Other Figures (not shown) feature switches for disengaging automatic control, push buttons for manual operation of the servomotors, and meters and lamps to indicate various conditions of the control.