MXPA97008103A - Equipment and method for mining conti - Google Patents

Abstract

Apparatus for controlling the operation of a mining system that includes a continuous miner, a conveyor belt and an outboard vehicle connected operatively to the conveyor belt. The apparatus includes a master computer processor in the continuous miner and at least one slave computer processor under the direction of the master computer processor to control the elements of the mining system other than the continuous miner. A pair of parallel data communication roads connect the master computer processor and the slave computer processor and the functional status of the monitoring data communication roads. A radio communication path is provided between the master computer processor and the mining system. The master computer processor operates the mining system in an automatic mining mode when both data communication roads are functional and operates the mining system in an inverse mode of operation if any of the data communication roads fail in their operation . In the reverse mode, all mining operations are stopped and the mining system can be reversed out of a mine shot. The master computer processor operates the mining system in a manual operation controlled by radio if both data communication roads cease in their function

Description

APPARATUS AND METHOD FOR CONTINUING MINING BACKGROUND OF THE INVENTION 1. Field of the Invention The invention relates generally to a system for the continuous mining of coal in a high wall and more particularly to a system such that it has a substantially automatic sequential control for a continuous coal mining machine and a combination of an articulated conveyor belt for transport / towing and a vehicle to take off the load and control for use with the coal mining machine and the conveyor belt. 2. Description of the Prior Art Coal is typically found in substantially horizontal cracks that extend through the stratum of rocks such as limestone, sandstone or shale. Surface mining and underground mining are the primary methods used for coal mining. Surface mining can be strip mining that involves removing the overburden by a drag line or other equipment to move the earth to fully expose the carbon beta for recovery. However, strip mining is limited by the depth of the overload, which eventually makes strip mining impractical. When the depth of the overburden does strip mining does not practice, a large amount of coal may remain in the beta. The recovery of this coal is achieved through mining in high wall where an entrance or a hole starts in the exposed face of the beta in the high wall and the mining follows the beta inwards from the high wall. A method and apparatus for highwall mining is presented in U.S. Patent Nos. 5,364,171; 5,232,269; 5,261,729 and 5,112,111, respectively titled "Apparatus and Method for Continuous Mining"; "Attack Vehicle For Apparatus Continuous Mining ";" Apparatus for Continuous Mining "and" Apparatus and Method for Continuous Mining ", which are owned by Mining Technologies, Inc. The initial technology of high wall mining includes mobile conveyor belts such as those presented in U.S. Patent No. 4,957,405, entitled" Mining Apparatus. "A control for a machine continuous coal mining machine and a tracking conveyor belt that can be used in highwall mining is presented in U.S. Patent No. 5,185,935, entitled "Method and Apparatus for Separation Measurement and Alignment System". conveying and towing conveyor belt is presented in U.S. Patent No. 1,373,170, entitled "Conveyor Belt with Platform".

SUMMARY OF THE INVENTION The present invention provides a substantially fully automated system for high wall mining. The operation of the equipment in the system is controlled by computer and the system is capable of automatically mining in excess of 1,000 feet within the high wall and approximately 500 feet underground.

The high wall system includes a continuous coal mining machine followed by a combination of articulated conveying and hauling conveyor belt (hereinafter referred to as "dragging conveyor belt") and a vehicle for outward loading and control "hereafter" "cargo vehicle") to transfer the undercut coal from the conveyor belt to trucks or another conveyor belt, to create the system to control and monitor the operation of the system and the electric power equipment.

The rear end of the coal mining machine is operatively connected to the infeed entrance or end of the conveyor belt by an arrangement that consistently measures (1) the distance between the rear end of the continuous mining machine and the feeding end. of the conveyor belt of drag and (2) the angle between the exit of the conveyor belt of discharge of the mining machine of continuous carbon and the conveyor belt. The upper portion of the conveyor belt has a substantially U-shaped cross section with a lower tray and separate side walls. A chain of the continuous conveyor belt having separate floors for transporting the undercut carbon from the feed end to the ejection end extends along the upper surface of the lower tray on the conveyor belt. The conveyor belt includes separate hydraulic jacks along each edge to raise and lower the conveyor belt relative to the floor. The edges of the conveyor belt can be lifted simultaneously or independently depending on the conditions in the mine, such as the slope of the beta. When the conveyor belt is in the elevated position, is in transport mode to transport the undercut coal back to the unloading vehicle. When the conveyor belt is down by retracting the hydraulic jacks until the chain on the return side comes in contact with the floor or floor of the mine, the conveyor belt is in the drive mode for movement as long of the floor of the mine. In this respect, the outer edge of each floor of the chain is provided with spikes or posts that extend to facilitate the dragging of the conveyor belt. Typically, the conveyor belt will drag approximately 55 feet per minute and will transport approximately 175 feet per minute.

The system provides substantially complete automation. An operating technician is placed in the cockpit in the unloading vehicle that functions as the control center for the whole system since it accommodates the computer controls, the electric power equipment, the total energy control, the pumping station Hydraulics, the power cable roll and the technician work station with the computer information screens. The special electrical controls made by Allen-Bradley are used to sequence the operation of the continuous mining machine, the conveyor belt and the unloading vehicle as the mining progresses continuously in the hollow. As mining progresses, information is provided to the screens on the unloading vehicle from a gyroscope of laser rings, inclinometers and gamma detectors that monitor the operation of the continuous mining machine. In addition to the operator technician, a worker is available to supervise the loading of undercut coal in trucks or on a conveyor belt.

Workers are not required at the entrance end of the hole being mined, which is an important safety feature in the case of a methane or dust explosion within the hole. The only time a worker is required at the entrance end of the hole is when the continuous mining machine is initially started to enter the face of the high wall.

Advantageous features of the system include a continuous vent hose extending from the unloading vehicle over the entire length of the tow conveyor and the continuous skiving machine to provide either fresh air or an inert gas to the face being removed. mining A fan is placed in the unloading vehicle to supply the air or inert gas through 1 vent hose to the face. The system is not subject to methane or dust explosions because the accumulation of methane and dust will be controlled by providing inert gas through the ventilation hose.

A safety feature included in the control system provides that, if the continuous mining machine shuts off for any reason, the movement of the conveyor belt chain stops immediately so that the direction of chain travel can be to invest. Hydraulic jacks retract until the chain rests on the floor of the mine and the movement of the chain is adjusted to pull the conveyor belt and the mining machine continues backwards out of the hollow.

The high wall mining system can be operated with approximately 1,000 feet of conveyor belt working in conjunction with a modified J 14 CM mining machine manufactured by Joy Manufacturing Company located in Franklin Pennsylvania, which has an extension with a conveyor belt unloading to the rear end of the continuous mining machine. The extension for the discharge conveyor belt extends rearwardly beyond the rear end of the continuous mining machine and terminates above the receiving end of the conveyor belt.

In operation, the system provides a substantially continuous mining method instead of a remotely controlled cyclical mining method. Continuous mining according to the method of the invention is achieved by the computer operated controls operating the system in response to instructions programmed according to the conditions determined by continuous monitoring information provided by the sensors in the continuous mining machine. The computers are programmed to operate sequentially the continuous mining machine to cut, load and transport the undercut coal. Thus, the rotary cutting head, which is rotatably mounted on the front end of the cutting head extensions rotatably mounted, plunges into the top of the carbon beta, digs down through the beta, gets into the bottom of the beta and digs up through the beta in a sequential continuous multi-step operation. This method of operation of the continuous cutting head continues until the continuous mining machine has advanced within the beta a pre-set distance from the feed end of the conveyor belt. The preset distance of advancement by the continuous mining machine is determined according to the length of the extension for the unloading conveyor belt in the continuous mining machine to maintain the overlap of the exit end of the unloading conveyor belt in the machine Mining machine continues with the feeding end of the conveyor belt.

When the preset distance is reached, the outlet end of the discharge conveyor belt in the continuous mining machine will be substantially positioned at the feed end of the conveyor belt. At this point, the chain of the conveyor belt should reverse its direction and drag forward to close the opening with the rear end of the continuous mining machine. This sequence of operation is repeated throughout the length of the hole. When the computer signals the conveyor belt to be pulled forward toward the back of the continuous mining machine, the conveyor belt unloading into the continuous mining machine automatically stops and the conveyor belt continues to work in the haul mode during a period sufficient to empty the inlet end of the upper chain positioned in the hopper section to minimize falls behind the continuous mining machine when the conveyor belt is inverted to draw toward the rear end of the continuous mining machine. The computer then signals the conveyor belt to retract the jacks and lower to ground and drag until the feed end reaches the desired position near the rear end of the continuous mining machine. The hydraulic jacks are then extended to lift the conveyor belt into the transport mode where the undercut coal is transported back to the unloading vehicle. As soon as the entire length of the conveyor belt is lifted from the ground by the hydraulic jacks, the continuous mining machine is started and the mining continues.

A full understanding of the invention will be obtained from the following description when taken in connection with the accompanying drawings in which similar reference characters identify similar parts therein.

BRIEF DESCRIPTION OF THE DUCTS Figure 1 is a perspective section of a high wall mining system; Figure 2 is a schematic elevation of a portion of a highwall mining system; Figure 3 is a perspective of the unloading vehicle; Figure 4 is a schematic side elevation of a portion of the conveyor belt; Figure 5 is a schematic of a section of the tray eight of the conveyor belt; Figure 6 is a vertical section through the conveyor belt in transport mode; Figure 7 is a vertical section through the conveyor belt in drag mode; Figure 8 is a sectional perspective of a rear corner of the continuous mining machine; Figure 9 is a schematic plane of the continuous mining machine; Figure 10 is a schematic elevation of one side of the front end of the continuous mining machine showing the gamma ray sensors; Figure 11 is a schematic plan of the connections between the rear end of the continuous mining machine and the feed end of the conveyor belt; Figure 12 is a schematic diagram of the energy distribution system for the drive motors of the conveyor belt; Figure 13 is a schematic plan of the data communication highways in the mining system; Figure 14 is a schematic diagram of the compound control portion of the mining system; Figures 15A and 15B are block diagrams showing the details of the processors in the computer control system illustrated in Figure 14; Figure 16 is a schematic diagram of the separation controls of the mining machine / conveyor belt; Figure 17 is a flow chart for the complete operation of the processor of the complete mining machine; Y Figure 18 is a flow chart for the complete operation of the conveyor belt processor.

DESCRIPTION OF PREDILLE EXAMPLES Figures 1 and 2 of the drawings show a high wall mining system H which includes a continuous grinding machine 1 mounted on tracks 2 and having a rotating cutting head 3 with cutting tips 4 on the circumference and the ends of it. The rotary cutting head is mounted on the distal ends of the cutting head extensions 5 which are mounted rotatably to the frame of the continuous mining machine so that they can be raised and lowered to dig out the full vertical face of a beta of carbon at the inner end of a hole. The continuous grinding machine is a J 14 CM manufactured by Joy Manufacturing Company located in Franklin, Pennsylvania with substantial modifications and additions according to the invention. However, other continuous deburring machines can be used with the appropriate modifications. A central discharge conveyor belt 9 extends rearwardly from a loading tray at the front end 10 to the rear end of an extension 11 extending beyond the rear end of the continuous mining machine. The rear end of the central discharge conveyor belt 9 is located over the hopper section 24 at the feed end of the conveyor belt 20. The undercut coal in the loading tray 10 of the continuous mining machine 1 moves on the central discharge conveyor belt 9 by a plurality of rotary sweeping arms which are well known to those skilled in the art. The central discharge conveyor belt transports the coal to the hopper section of the conveyor belt 20 which transports the coal back out of the gap.

The conveyor belt 20 has a continuous chain 21 with separate floors 22. The chain moves along the conveyor tray by teeth driven by electric motor 23 to transport the undercut coal back out of the gap when the conveyor belt it is in its raised position ("mode of transport") illustrated in Figure 6 of the drawings. When the conveyor belt 20 is in its lower position ("drive mode") illustrated in Figure 7 of the drawings, it is dragged along the floor of the mine as determined by the travel direction of the chain 21. The length of the conveyor belt is determined by the distance between the face of the carbon beta and the location of the unloading vehicle 30. The conveyor belt has a plurality of transmission sections of eight trays 25 as illustrated in FIG. Figures 4 and 5 of the drawings. A single transmission section is described in detail later. As illustrated in Figure 1 of the drawings, the tow conveyor has a hopper section 24 at the feed end having high and inclined side walls to contain the undercut carbon which is deposited on the chain 21 by means of the central discharge conveyor belt 9 in the continuous mining machine 1. This hopper section supplies the undercut coal to the sections placed rearwardly of the conveyor belt for continuous transport from the continuous mining machine to the unloading vehicle 30. As Those skilled in the art will understand, the hopper section and the other sections of the conveyor belt 20 accept the continuous chain 21 which moves along the conveyor tray by separate teeth 23 which are driven by electric motors 26 of according to the arrangement illustrated in Figure 4 of the drawings.

With reference to Figure 4, each electric transmission motor 26 is connected to one end of the transmission shaft 27 by a universal joint 28. The opposite end of each transmission shaft is connected to a tooth 23 by a second universal joint 28 to spin the tooth. The chain is provided with separate floors 23 and posts or extensions 29 that extend outwardly from the outer end of each floor to provide traction during entrainment.

As illustrated in Figure 5 of the drawings, each transmission section of eight trays includes a transmission tray at one end containing a tooth 23. A transmission tray having hydraulic jacks is positioned adjacent to the transmission tray and a Engine tray is placed adjacent to another side of the cat tray. The transmission shaft 27 extending from the motor 26 in the motor tray to the tooth 23 in the transmission tray passes over the cat tray. A second cat tray is placed on the opposite side of the engine tray and an intermediate tray is placed adjacent to the cat tray. A second combination of the cat tray and an intermediate tray is placed downwards of the intermediate tray. As it is apparent, each alternative tray in the section is a cat tray that has hydraulic jacks to raise and lower the conveyor belt 20.

The unloading vehicle 30 is positioned at the exit end 20 and includes an operator's cab 31 mounted on track rails 32. The controls and computer screens are all located in the operator station in the cabin 31 so as to be can constantly monitor by the operator. The unloading vehicle 30 includes an exit conveyor belt C on one side to transmit the undercut carbon from the outlet end of the conveyor belt 20 on a transverse conveyor belt 33 placed perpendicular to the conveyor belt and the conveyor belt. outlet to transport the coal laterally inside trucks or other stationary conveyor belt (not shown). The unloading vehicle also supports electric power transformers, a cable roll 34 carrying power cable reels 50 and keeps the cable relatively tight while the conveyor belt and the continuous mining machine move in relation to the unloading vehicle. . As explained below, the end of the power cable in the continuous mining machine is kept under tension to minimize hanging between the continuous mining machine 1 and the subsequent transporting conveyor 20.

The unloading vehicle includes a blower (not shown) placed in a frame 35 in the ceiling that blows cooling air down through the duct 36 to a main transformer frame 37 placed in the lower portion of the vehicle. It has been determined that this cooling air is essential to maintain the main electrical power transformers at a temperature low enough to allow substantially continuous operation of the transformers.

The power cable 50, the data communication cable 36 and the cooling fluid conduits 64 are illustrated in Figures 6 and 7 of the drawings by passing, respectively, through the support and fastening clamps 38 and 39 placed within the racks 37 on the conveyor belt 20 to protect cables and conduits from accidentally being cut as mining progresses.

The end of the power cable 50 opposite the cable roll 34 extends inside a protective lead box 51 positioned in the left rear corner of the continuous mining machine 1 above a frame of the water-cooled electric control 55 as illustrated in FIG. Figure 8 of the drawings. The power cable follows a U-shaped path in the protective lead box that returns to the rear end of the continuous mining machine where it is directed down through the chimney 56 into the control frame 55 for connection in the controls for the continuous mining machine. The chimney has removable side panels to provide access to the power cable terminals placed therein. The portion of the power cable 50 placed inside of the lead protective box 51 is attached to one end of a non-elastic tension wire 52 by a retaining collar 53. The outer end of the non-elastic tension wire 52 is connected to a clamping roll 57 mounted on an arrow of transmission 58. The tension on the cable 52 is transmitted to the end portion of the power cable 50 to prevent the power cord from resting on the floor between the continuous mining machine 1 and the conveyor belt 20 where it could be cut during the movement of the drag conveyor belt. The entry opening within the lead shield housing 51 is provided with an elastic seal 59 to prevent dust and grime from entering the protective lead box.

Figure 11 of the drawings shows an arrangement of distance measurements extending between the rear end of the continuous mining machine 1 and the feeding end of the conveyor belt 20. In addition, the conveyor belt 20 is guided from the mining machine continues to maintain the desired angle between the extension of the discharge conveyor belt on the continuous mining machine and the conveyor belt. The continuous mining machine carries a rotating barrel 70 which is connected to a speed reducer 71 by means of a rotating arrow 72 which is driven by a hydraulic motor 73. A distance measuring motor or rotary encoder 74 is also supported by the rotary shaft 72. A steel cable 75 extends from the barrel 70 through the hydraulic damper indicator 76 which is in alignment with the pivot for the extension of the conveyor belt 11 to determine the angle of the extension 11 of the conveyor belt relative to the conveyor belt. The steel cable also extends through the vertical and horizontal steel cable guides 76 and the horizontal pivot guides 77 which are mounted on an arm extending from the hydraulic shock absorber. The signals from the hydraulic shock absorber are transmitted to the controls in the cockpit of the unloading vehicle.

The opposite end of the steel cable 75 is connected to a micro switch 79 on the conveyor belt 20 by a lever lock 78 to control the direction of the hydraulic cylinders (not shown) for the conveyor belt. Thus, the length of steel cable 75 controls the distance between the rear end of the continuous mining machine 1 and the feeding end of the conveyor belt 20. A pair of safety chains 80 are connected between the rear end of the continuous mining machine 1 and the feeding end of the conveyor belt 20 to ensure that the opening between the rear of the mining machine continues and the conveyor belt does not exceed a pre-established distance which would result in broken cables and conduits.

Figure 9 of the drawings shows the continuous mining machine with an on-board exhaust fan 85 for expelling dust and methane from the area adjacent to the coal face.

The ventilation air passes to the continuous mining machine 1 through the ventilation hose 19 and the control box 55 as illustrated in the left rear corner of the continuous mining machine. A radio receiver 86 is illustrated on the back of the continuous mining machine and the heaters 87 and 88 for the complete hydraulic system of the continuous mining machine are positioned forward of the control frame. The control box includes an apparatus for measuring temperatures 89 to ensure that the temperature does not exceed a pre-set maximum.

The automatic operation of the high wall mining system, including the continuous mining machine, the conveyor belt and the unloading vehicle, are controlled by a system based on a computer processor distributed throughout the mining machine, the conveyor belt of drag and the unloading vehicle. Additional arrangements are provided to improve the operation, safety and dependability of the mining system. The control scheme and other elements in the mining system are based on the main goal of recovering the system if something goes wrong while the mining machine continues and the conveyor belt is in the hole. Also, the normal continuous operation of the mining system requires only one operator in the unloading vehicle 30, which is placed on the bench outside the shaft in a highwall mining operation. The controls for the highwall mining system are illustrated in Figures 12 through 18, with continuous references to Figures 1 through 11 presented above.

As presented above in relation to Figures 4 and 5, the articulated carry conveyor 20 has a plurality of pivotally connected transmission sections. Each transmission section has eight connected trays that include an electric motor, placed on the motor tray, that drives a conveyor tooth for conveyor belt placed on a transmission tray. Electric power is supplied to the electric motor in each transmission section and instead of relying on a single power line to supply the electric power for all the transmission motors and losing the ability to move the conveyor belt if the only source of energy is lost, the invention includes a distributed energy source having a plurality of separate power lines that supply separate transmission engines in the different transmission sections. It is preferred that said electric power line provides power to electric motors in non-sequential transmission sections spaced apart and apart along the length of the conveyor belt, preferably evenly spaced along the length of the conveyor belt. drag. In this way, if one or more power lines are lost, with a concomitant loss of power in some of the electric transmission motors, the conveyor belt will still have enough separate operant motors along its length. Even with only a fraction of the transmission motors receiving electrical power, the conveyor belt 20 can be pulled out of the gap for inspection and repair.

Although any number of power lines greater than a single power line can be provided, the exemplary illustrated in Figure 12 of the drawings includes four separate and independent power lines such as power link A, power link B, link C of energy and link D of energy. Each of the four power lines provides operational power to a quarter of the transmission engines. As illustrated, each power line is connected to the transmission motor in each quarter of the transmission section along the length of the conveyor belt. Figure 12 shows only a small length of the conveyor belt including twelve transmission sections identified with the reference numbers 101 to 112. As illustrated, the power link A is connected and supplies power to the transmission engine in the first, fifth and ninth sections 101, 105 and 109 respectively. Similarly, the power link B is connected to and supplies electrical power to the second, sixth and tenth sections 102, 106 and 110, respectively; the power link c is connected to and supplies electrical power to the third, seventh and eleventh sections 103, 107 and 111, respectively; and the power link D is connected and supplies electrical power to the fourth, eighth and twelfth sections 104, 108 and 112, respectively. This distribution of the power lines and connections to the transmission motors in each fourth transmission section is repeated over the entire length of the conveyor belt 20.

The characteristics of the automatic operation and the computer control of the present invention are illustrated in relation to Figures 13 to 18 of the drawings. Figure 13 illustrates a highwall mining operation. From the initial formation of the gap 114 to the wall 115 in the carbon beta or other mineral 116, the continuous mining machine is placed underground and becomes progressively more difficult to reach if problems arise. As the continuous mining machine progresses within the carbon beta 116, more and more of the conveyor belt extends along and is enclosed within the recess 114. The unloading vehicle is always placed outside the well 114, beyond the high wall 115, in an easily accessible position. The main focus of the control system of the present invention is to include redundancy where appropriate, to provide security backups and to physically locate computers and control programs in appropriate areas. While the continuous mining machine has, as discussed below in greater detail, its own computer physically placed there for control of the mining machine and other aspects of the system, other computers are placed in the cabin 3 in the unloading vehicle. and on the rear part of the conveyor belt 20 in normally accessible positions. The data communication between the computer in the continuous mining machine and the other computers is provided by a pair of parallel data highways with cables, named primary or first data highway 118 and a supporting secondary data highway 120. In addition, a coaxial cable 122 extends from the unloading vehicle along the conveyor belt, to a video camera (not shown) placed on the front portion of the continuous mining machine 1. This coaxial cable 122 is normally used to provide the operator in the unloading vehicle with a means to visually inspect the mining operation. As discussed below in greater detail, if either of the first or second data highways 118 or 120 will fail, the radio control signals would be sent into the gap 114 and propagated along the coaxial cable 122, which provides a transmission path to a radio receiver 86 in the continuous mining machine. The physical position of the radio receiver 86 in 11 is illustrated in Figure 9. This backup data communication system allows the use of a manual radio control to provide manual control signals to the mining system.

The arrangement of the computers and the data flow paths of the complete system is illustrated in Figure 14 of the drawings. The continuous mining machine has a mining machine computer 126 together with a stored operating program 128 for the mining machine computer 126 placed therein. The mining machine computer 126 is used to control a number of inputs and responses 130 associated with the continuous mining machine. The conveyor belt also includes a conveyor belt computer 132 together with a related operating program 134. Similar to the harvesting computer 126, the conveyor belt computer 132 controls a number of inputs and responses 136 throughout the length of the conveyor belt 20. A manual feed controller 138 can provide direct and manual control of the inputs and responses 136 on the conveyor belt and a manual output controller 140 can communicate with the conveyor belt computer 132 and provide manual control of inputs and responses 136 on the conveyor belt. The first or primary data highway 118 extends between the computer of the mining machine 126 and the computer of the conveyor belt 132. Similarly, the second or data backup highway 120 extends between the computer of the mining machine 126. and the conveyor belt computer 132. The unloading vehicle 30 includes its own computer 142 together with a related operating program 144.

The unloading vehicle also includes operating panels 146, a programming computer 148 and an interface computer with graphics 150, each receiving data from and / or providing data to the computer of the unloading vehicle 142. The operating panels 146, the computer Programming 148 and the interface computer with graphics 150 are controlled by the download vehicle operator or a computer technician named "human interface" 152 in Figure 14. Programming Computer 148 is used only for the initial programming of the computers. operative programs (128, 134 and 144) and the computers (126, 132 and 142) in the continuous mining machine 1, the conveyor belt 20 and the unloading vehicle 30 and is not used later in the control of the operation normal mining system in high wall. The bilateral data flow path 154 is provided between the computer of the conveyor belt 132 and the computer of the unloading vehicle 142. Since the unloading vehicle is under the control of a human operator, through the operating panels 146, a Manual driver is not needed to control the vehicle's discharge. However, the manual controller 156, which includes an extended antenna 158 and a radio transmitter 160, provides optional control communication along with the coaxial cable 122 to the radio receiver 86 placed in the continuous mining machine as said above. The radio receiver 86 provides control signals directly to the computer of the mining machine 126.

Details on the inputs provided to and the computer-controlled responses of the mining machine 126, the conveyor belt computer 132 and the unloading vehicle computer 142 are illustrated in Figures 15A and 15B of the drawings. For convenience, the computer of the mining machine 126 and its related operating programs 128 illustrated in Figure 14 are co-named as a mining machine processor 162 in Figure 15 A. Similarly, the computer of the conveyor belt 132 and its Related operating programs 134 in Figure 14 are co-named as a conveyor belt processor 164 in Figure 15B and the computer of the unloading vehicle 142 and its related operating programs 144 are jointly named discharge vehicle processor 166 in Figure 15B. The processors 162, 164 and 166 may be programmable logic controllers of Alien Bradley or other commercially available processors.

With reference to Figure 15A, the inclinometers 163 provide signals on the relative position of the machine to the processor of the mining machine 162. These inclinometers 163 provide readings on body tilt, body turn, cutting head, head position Cut and positions of the accumulations of trays. The laser ring gyroscopes 165 mounted on the continuous mining machine provide azimuth and position signals to the processor of the mining machine 162. Several overloaded sensors and current transducers 168 on the continuous mining machine provide information on the status of the engine to the processor of the 162 sharpening machine, including information about cutter motors, head link motors, traction motors, hydraulic motor and fan motor of ventilation. A rotary encoder or motor for measuring distances 74 in the continuous mining machine provides a signal to the processor of the mining machine 162 about the distance between the rear end of the continuous mining machine and the feeding end of the transporting conveyor belt. The position of the rotary encoder 74 in the continuous mining machine is illustrated in Figure 11 of the drawings. A ceiling gamma-ray sensor 91 and a 90-degree gamma-ray sensor illustrated in Figure 10 of the drawings provide signals to a passive gamma-ray processor 170 which, in turn, provides signals on the position of the ceiling and the position of the floor to the processor of the mining machine 162. These signals are used to keep the continuous mining machine properly positioned within the carbon beta during normal operation. A radio receiver 86 in the continuous mining machine receives the radio wave signals from the transmitter 160 connected to the manual controller 156 as described above. The radio wave signals received by the radio receiver are processed in a demultiplexer 172 that provides control signals to the processor of the mining machine 162. Various power signals of 120 volts AC 174, also referred to as house signs from the continuous mining machine, are supplied to the mining machine processor 162 to give information on emergency stops, machine condition and the like. The continuous mining machine also receives information from the conveyor of the conveyor belt 164, the operation panels 164 and the computer with graphical interface 150.

As a result of all the information provided to the processor of the mining machine 612 and in accordance with the programs stored there, the response signals are supplied to various motor contacts 176 and hydraulic solenoids 178 in the continuous mining machine. The motor contacts 176 supply electrical power to and control the cutting motors, the motors of the conveyor belt of the mining machine, traction motors by way of the mining machine, a hydraulic motor and the fans motors for ventilation together with the hose 19. The hydraulic selenoids 178 provide hydraulic fluid to and control the cutting head, the linking head, the extension of the conveyor belt and the stabilizing shoe. In addition, the processor of the mining machine 162 provides data to the processor of the conveyor belt 164 as well as to the control panels 146 and the computer with graphical interface 150.

Referring now to Figure 15B of the drawings, the conveyor of the conveyor belt 164 receives signals from the overload sensors and from the current transducers 180 which reflect the state of the transmission motors and fan motors for ventilation to along the length of the conveyor belt 20. In addition, when operated in manual mode, the conveyor of the conveyor belt 164 receives and responds to control signals from the manual feed controller 138 or the manual output controller 140. Several 120 volt AC 182 supplies, referred to as conveyor house signals, provide information about emergency stops, machine status and the like to the conveyor belt processor. The processor of the conveyor belt 164 also receives information from the processor of the mining machine 162, control panels 146 and the processor of the unloading vehicle 166.

As a result of all the information provided to the processor of the conveyor belt 164 and in accordance with the program stored there, the output signals are provided to various motor contacts 184, which provide electrical power to and control the transmission motors and motors. of the fans for ventilation along the length of the conveyor belt. In addition, the conveyor belt processor 164 provides hydraulic fluid to control the directional pistons, a transmission lever and hydraulic jacks 16 positioned along the length of the conveyor belt 20. Also, the conveyor of the conveyor belt 164 provides control signals to the processor of the mining machine 162, computer with graphics interface 150, processor of the unloading vehicle 166 and operation panels 146.

With continued reference to Figure 15B of the drawings, the discharge vehicle processor 166 receives signals from the overload sensors and the current transducers 188 which reflect the state of its conveyor belt motors, hydraulic motor and the center motor. Energy. In addition, a joystick 190 in the discharge vehicle processor 30 provides a drag control signal to the discharge vehicle processor 30. Several 120 volt AC 192 power signals, also referred to as home signals from the unloading vehicle , they are provided to the processor of the unloading vehicle 166 to give information on emergency stops, condition of the machine and the like. The processor of the unloading vehicle 166 also receives signals from the processor of the conveyor belt 164 through the operation panels 146, from the processor of the mining machine 162.

As a result of these signals and the programs stored there, the processor of the unloading vehicle 166 generates response signals that are provided to the contacts of motors 194 that generate electrical power to and operate the motors of the conveyor belt, hydraulic motor and fan of the motor. power distribution center in the unloading vehicle 30. In addition, the unloading vehicle processor 166 provides output signals to the hydraulic selenoids 196, which provide hydraulic fluid to and control the track, divergent door, cabin level, and power mechanisms. lifting and lowering of the conveyor belt in the unloading vehicle. The processor of the unloading vehicle 166 also provides control signals to the operation panels 146 and the computer with graphics interface 150.

With the arrangement of the processor described above, the mining system of the invention, including the continuous mining machine, the conveyor belt and the unloading vehicle, can be used to undercut coal and move the mining equipment along a hollow or out of the hollow according to one or more modes of operation, as dictated by either the human operator or by certain automatic controls. In the automatic mining operation mode, which is the normal mode intended for the system, the continuous mining machine will move continuously along the carbon beta on a particular road and will transport the undercut coal to the band drag conveyor which, in the transport mode of operation, will move the coal along the length of the gap to the unloading vehicle. The stepper motor for measuring distance or rotary encoder 74 in the continuous grinding machine will continuously indicate the space between the rear end of the continuous mining machine and the feed end of the conveyor belt. When the separation becomes too large, the conveyor belt changes to the operation drive mode where the conveyor stops moving coal and moves the conveyor belt in the way to the rear end of the continuous mining machine, at which point the mode of transport starts.

Referring now to Figure 16 of the drawings, as certain logic of movement 198 in the processor of the mining machine 162 determines that the feed end of the conveyor belt 20 has reached the maximum preset distance from the rear end. of the continuous mining machine, the mining machine processor 162 sends a control signal to the conveyor belt processor 164 that initiates the operation drag mode of the conveyor belt. The dog watchdog logic 200 in the conveyor belt processor 164 will double check the position information provided by the mining machine processor 162 to ensure that the conveyor belt 20 does not collide with the rear end of the continuous mining machine 1.

The various modes of operation of the processor of the mining machine 162 and the processor of the conveyor belt 164 are illustrated in the flow diagrams of Figures 17 and 18, respectively. In the automatic mining mode or "auto" operation, the control signals provided by the inclinometers 163 and the laser ring gyroscopes 165, as well as the control parameters previously supplied by the operator in the unloading vehicle, will allow the Milling machine 162 processor properly and automatically removes a beta of carbon and stay within the beta. Although ceiling and floor gamma-ray sensors 91 and 90 could be used to undercut carbon and ensure that the continuous mining machine remains within the beta automatically, it is preferred here to use the lightning sensors 91 and 90 floor and floor range only to provide information to the operator to make appropriate initial adjustments and temporary modifications for full operation. In this form, the continuous mining machine cuts a smooth floor that is advantageous for the subsequent operation of the conveyor belt, instead of allowing the continuous mining machine to follow irregularities occurring in the boundaries between the coal beta and the stratum. on the roof and the floor. As illustrated in Figure 17 of the drawings, in the operation automotive mode, the continuous mining machine is introduced into the upper part of the beta, scrabbled down, inserted into the lower part of the beta, verifies the distance from the feed end of the conveyor belt, and then either dig upwards, before returning to the initial step of digging at the top of the beta. However, it should be understood that the mining machine can be operated according to other sequences if desired.

With reference to Figure 18 of the drawings in the "auto transport" mode of operation for the conveyor belt processor 164, which is used when the continuous mining machine is in the "automotive" mode of operation, the band processor Conveyor 164, as controlled primarily by the mining machine processor 162, will send signals to extend the hydraulic cylinders on the jacks 16 to elevate the conveyor belt above the mine floor to transport undercut coal to the unloading vehicle. When the processor of the conveyor belt 164 receives a particular command from the processor of the mining machine 162, as dictated by the separation between the rear end of the continuous mining machine 1 and the feeding end of the conveyor belt 20, which is detected by the rotary encoder 74 in the continuous mining machine, the conveyor belt in the continuous mining machine will stop in its transport of coal to the conveyor belt for a defined period of time. The conveyor belt will continue to transport coal back to the unloading vehicle 30 during a predetermined period of time sufficient to provide a free area at the top of the chain on the conveyor belt in the hopper section and the hydraulic jacks 16 will be retracted to lower the conveyor belt to the floor of the mine. The conveyor belt processor will provide a movement command that reverses the direction of chain operation on the conveyor belt to move the entire conveyor belt forward to the rear end of the continuous mining machine to a minimum clearance Preset is achieved. The steps of continuous mining, move the coal forward continuously, transport the undercut coal to the unloading vehicle, stop the transport of coal from the continuous mining machine to the conveyor belt, drag the conveyor belt forward towards the rear end of the mining machine continue and thereafter complete the transport of the undercut ore from the continuous mining machine to the unloading vehicle are serially repeated as the entire mining system progresses into the hollow.

The conveyor belt processor 164 may also operate the conveyor belt 20 in a "self advance" operation mode as illustrated in Figure 18 of the drawings. This mode of operation is used when the continuous mining machine is advancing along the bank or under an order under manual control. In this mode of operation, the conveyor belt simply follows along behind the continuous mining machine at a preselected distance from it. The processor of the mining machine is operated in a manual control mode of operation (see Figure 17) by control power signals of the unloading vehicle 30. In addition, the conveyor belt can be controlled in a manual control mode of operation, in a self-sufficient mode or with manual control inputs of the unloading vehicle. In the self-sufficient mode of operation, the conveyor belt is controlled by the manual output controller 140 which provides control signals to the conveyor 132 computer, or by the manual feed controller 138 which directly controls the inputs and responses 136 on the conveyor belt.

Two additional and important modes of operation are provided for the continuous mining machine and the conveyor belt according to the invention. As described above, the parallel data highways 118 and 120 are provided between the computer of the mining machine 126 and the computer of the conveyor belt 132. Normal data communications are provided on the primary data highway 118, despite that the system constantly monitors to determine that both data highways 118 and 120 are operating properly. If one of the data highways 118 or 120 is lost, for whatever reason, the processor of the mining machine 162 and the processor of the conveyor belt 164 are automatically switched to an automatic reverse operation mode. In this mode of operation, all mining and transportation are stopped, and all systems are operated on the remaining functional data highway to allow the mining machine to continue and the conveyor belt to be reversed out of the hollow. This reverse mode of operation, with all mining stopped, will occur if one of the data highways fails indicating a problem under which normal mining operations that rely solely on the remaining data highway is not advisable. In this way, it is possible to safely back off the entire mining system out of the low void either normal or manual computer control so that inspection and repairs can be made.

In the event that both data highways 118 and 120 fail, the conveyor belt computer 132 is changed to an operation mode completely controlled by the mining machine 126 computer and the mining machine computer is changed to a mode of operation controlled by radio control. Under this control mode, both the continuous mining machine and the conveyor belt stop all their normal operations and wait to receive the control signals provided by the radio receiver 124 to the computer of the mining machine 126. As described above, a manual controller 156 transmits radio control signals in coaxial cable 122 and these signals propagate in the air along the gap, particularly in the continuous mining machine, and are received by the radio receiver 86 in the continuous mining machine 1. The machine of the mining machine 126 will then control the operation of the continuous mining machine 1 and the conveyor belt 20 as dictated by the control signals transmitted by the manual controller 156 operated manually near the unloading vehicle.

The vehicle processor Discharge 166 operates only in a manual mode of operation with the inputs of the panel and control cabinet. Discharge vehicle processor 166 monitors all essential on-board functions and reports status data to the other processors and to the computer with graphics interface 150. The computer with graphics interface 150 provides a man / computer graphics interface for control of machines. Displays status and operation screens and allows the operator to ignore programmed and calculated parameters to cover unusual situations. The operation panels 146 provide a means for the operator to provide desired mining parameters to the processor of the mining machine 162 and display the state of various operation functions. The processor of the mining machine 162 also monitors all essential functions on board and reports the status and position of the data to the other processors and to the computer with graphics interface 150. It also calculates all the mining parameters and acts as the "master" controller when communicating with the other processors during the automatic mining operation mode. The conveyor belt processor 164 also monitors all essential on-board functions and reports status data to the other processors and the computer with 150 graphics interface. The conveyor 164 processor functions as a "slave" controller of the processor of the mining machine 162 except when operating in manual or self-sufficient operation modes.

The mining process is initiated by a mechanic / electrician locating the continuous mining machine on the bench at the desired entrance into the hole in the high wall. The remote control by the radio receiver 86 is used to place the continuous mining machine in the correct direction and with the appropriate lateral separation from the hollow of the front or adjacent high wall. After the continuous mining machine is in position, the operating technician in the unloading vehicle is warned by radio or similar that the system is ready to be controlled by the operation of the computer. The technical operator starts the computer controls to fully automate the mining cycle. The computers are programmed to cut, load and transport the undercut carbon automatically. The continuous mining machine automatically enters the top of the beta, digs down, enters the bottom of the beta and digs up in a continuous cycle. The mining machine is programmed to continue that cycle until it advances a predetermined distance from the input end of the conveyor belt. When that preset distance is reached, the discharge end of the extension for the discharge conveyor belt 9 in the continuous grinding machine 1 is placed at the feed end of the conveyor belt 20 over the hopper section 24. The web Trailed conveyor moves automatically near the rear end of the continuous mining machine. The mining cycle is then repeated until it is time to move the conveyor belt forward. The position of the extension in the continuous mining machine in relation to the feed end of the conveyor belt is monitored by the computer system so that the undercut coal is transferred with a minimum of spillage. During the advance sequence of the conveyor belt, the continuous mining machine is programmed to cut into the cycle of digging that allows the area under the rotating barrel in front of the tray to function as a container or storage space for the undercut coal. . The above allows the cutting head in the mining machine to continue to cut coal while the conveyor belt 20 advances towards the rear end of the continuous mining machine and does not transport the coal back out of the hollow. When the computers point to the advancing conveyor belt, the conveyor belt of the mining machine 9 automatically stops while the conveyor belt 20 continues to run just enough to pass the upper part of the belt chain. conveyor at the feed end in the hopper section 24 to prevent spills behind the continuous mining machine. The computers then point to the conveyor belt to retract the hydraulic jacks 16 and lower the belt so that the chain 21 comes into contact with the floor in the transport mode, advances to the continuous mining machine and extends the hydraulic jacks 16 to elevate the conveyor belt to allow the undercut carbon to be transported to the unloading vehicle 30. As soon as the entire return side of the conveyor belt 21 is off the ground, the conveyor belt 20 and the belt The conveyor for the discharge of the mining machine 9 is started and the mining cycle is repeated.

Mining navigation and coal quality are constantly monitored by the 90 and 91 range detectors, the inclinometers 163 and the gyroscope 165 in the continuous mining machine 1. The data of these instruments are provided to the machine's processor Milling machine 162, as presented before, where the data is analyzed. The processor of the mining machine 162 automatically signals the continuous mining machine 1 if any adjustment is needed to keep the continuous mining machine in the beta and azimuth.

The self-diagnoses are incorporated into the controls for the protection of the system and to improve the speed of the solution of the problems. The refrigerator temperatures of the system in the continuous mining machine are monitored at the entrance and at 1 exit. The electrical control boxes in the continuous mining machine and the conveyor belt are also monitored to ensure safety and early detection of potential problems. Motor currents are monitored for all conveyor belt drive motors and warning lights signal the operator of impending overload conditions. Similarly, the motors of the continuous mining machine are monitored, including the motor of the mining machine pump, the link head motors, the cutting head motors and the track motors, to alert the operator about problems potential The electric system current is monitored in the energy center of the unloading vehicle and the cooling fans start automatically when required. The critical mining sequence functions such as the direction and inclination of the mining machine are deployed for the constant review of the operator technician. The state of the equipment within the mining cycle are continually displayed as the system cycles during the upper introducing steps of the continuous mining machine, the digging down, the lower introduction and digging upwards.

A data acquisition system is provided in the processor of the unloading vehicle 166. The data acquisition system provides a history of the key operating parameters for the entire mining system. Since each step taken by the mining system is controlled by a computer, each step can be timed and recorded. This system of data acquisition is essentially in real time, the study of time automatically generated for the entire system. Record the number of digs down and excavations up, for example, and the average time and maximum time taken for these cycles. These times, in addition to the recording of excavation distances for both up and down introductions, can provide an instant review of the performance of the machine and a comparison when setting cutting records.

While a copy of the invention is described herein in detail, it will be appreciated by those skilled in the art that various modifications and alternatives to the exemplar can be developed in the light of the general teachings of the discovery.

According to the foregoing, the particular arrangements are illustrative only and are not limiting as to the scope of the invention that will be given fully in the appended claims and any and all equivalents thereof.

Claims (10)

1. CLAIMS; 1. The improvement to the apparatus for undercutting coal from a coal beta and transporting the undercut coal away from the coal beta including a continuous mining machine having a front end and a rear end, cutting means at said front end of said coal. continuous mining machine for separating the coal from a beta coal, conveyor belt means in said continuous mining machine for transporting the cut coal from said front end to said rear end of said continuous mining machine and having an exit end that ends towards behind said rear end of said continuous mining machine, a multi-sectioned articulated conveyor belt operatively connected to said continuous mining machine and having an outlet end and an entrance end aligned with said outlet end of said belt means conveyor in said continuous mining machine, said conveyor belt of The drag includes a chain for receiving cut coal from said conveyor belt means in said continuous mining machine for transporting the cut coal from said inlet end of said conveyor belt to said outlet end of said conveyor belt and a transport vehicle. discharge operatively connected to said outlet end of said conveyor belt, said unloading vehicle includes an energy distribution center that includes electric power transformers mounted on said unloading vehicle to provide electric power to said conveyor belt, said improvement comprises a blower frame and said blower to said power distribution center for continuously providing cooling air to said electric power transformers during the continuous operation of said electric power transformers.
2. 2. The improvement set forth in claim 1 wherein said drag conveyor includes clamps and fasteners for a power cable and a sensor cable and cooling ducts and a protective cover for said cables and said conduit to prevent damage thereto, by means of said continuous grinding machine is controlled from said unloading vehicle and a first means in said unloading vehicle to produce signals in response to sensed signs in said continuous mining machine and transmit them by wires in said sensor cable and said power cable transmits energy from said energy transformers in said unloading vehicle to said continuous mining machine.
3. 3. A method for controlling the operation of a continuous mining system including a continuous mining machine having a leading end with a cutting means and a trailing end, an articulated trailing conveyor having a feed end operatively connected to and following said rear end of said continuous mining machine and an outlet end separated from said feed end and a unloading vehicle in said outlet end operatively connected to and following said conveyor belt, said method comprises the steps of: a) providing a processor of master computer in said continuous mining machine; b) providing at least one slave computer processor for controlling elements of said continuous mining system other than said continuous mining machine, under the direction of said master computer processor; c) providing a pair of parallel data communication highways between said master computer processor and said slave computer processor; d) providing a radio communication path between said computer processor of the mining machine and said output end; e) monitor the final status of said data communication highways; f) operating said mining system through said master computer processor in an automatic mining mode when both data communication highways are functional; g) operating said mining system through said master computer processor in an inverse mode of operation if any of said data communication highways fails in its functions, whereby all mining operations cease and said system of Mining can be invested outside the pit of the mine; and h) operating said mining system through said master computer processor in a manual operation mode to radio control through said radio communication highway if both data communication highways cease their functions, whereby the Master computer processor stops all automatic operations and is controlled only by control signals through said radio communication path.
4. 4. The method of claim 3 wherein said slave computer processor is positioned at said output end of said conveyor belt.
5. 5. The method of Claim 4 wherein said parallel data communication highways are a pair of data cables extending from said unloading vehicle along the length of said trailing conveyor belt from said slave computer processor to said master computer processor.
6. 6. The method of claim 3 wherein said radio communication path is a radio wave transmitting cable extending from said unloading vehicle along the length of said trailing conveyor belt to said continuous mining machine and a receiver. of radio in said continuous mining machine that is operatively connected to and provides control signals to said master computer processor.
7. 7. The method of Claim 6 wherein said radio wave transmitter cable is a coaxial cable.
8. 8. The method of Claim 3 which includes: controlling the sequential cutting operation of said cutting means in said continuous mining machine in a coal beta, said method includes introducing said cutting means inward in the upper part of the coal beta , digging said cutting means down to the bottom of the carbon beta, introducing said cutting means inward and digging said cutting means upward to the upper part of the carbon beta in repetitive continuous cutting cycles until said end after said continuous mining machine a predetermined maximum distance is separated from said feeding end of said conveyor belt; j) continuously measuring said distance between said rear end of said continuous mining machine and said feeding end of said conveyor belt; k) interrupting the operation of said cutting means at said front end of said continuous mining machine; 1) lowering said dragging conveyor belt to the ground to move said dragging conveyor belt towards said rear end of said continuous mining machine when said rear end of said mining machine continues to reach said feeding end until a second pre-established minimum distance is reached; m) elevating said conveyor belt from the ground to transport the coal; and n) starting the sequential cutting operation of step i).
9. 9. Apparatus for controlling the operation of a continuous mining system having an outlet end that includes a continuous mining machine having cutting means, an articulated conveyor belt having a feed end operatively connected to and following said continuous mining machine, and a discharge vehicle operatively connected to and following said conveyor belt, said apparatus comprises: a) A master computer processor in said continuous mining machine; b) at least one slave computer processor at said output end of said mining system for controlling elements of said mining system other than the continuous mining machine under the direction of said master computer processor; c) a pair of parallel data communication highways between said master computer processor and said slave computer processor; d) a radio communication path between said master computer processor and said slave computer processor; e) means for monitoring the functional status of said data communication highways; f) means in said master computer processor for operating said mining system in an automatic mining mode when both data communication highways are functional in response to said monitoring means; g) means to operate said mining system in an inverse mode of operation if any of the data communication highways fail to function in response to said monitoring means, whereby all mining operations cease and said mining system you can invest outside the pit of a mine; and h) means in said master computer processor for operating said mining system in a manual radio controlled mode of operation using said radio communication path if both data communication highways cease their functions in response to said monitoring means, by means of which said master computer processor stops all automatic operations and is controlled solely by control signals through said radio communication path.
10. 10. Apparatus as set forth in Claim 9 wherein said slave computer processor is positioned at an output end of said conveyor belt. EXTRACT OF THE INVENTION Apparatus for controlling the operation of a mining system that includes a continuous miner, a conveyor belt and an outboard vehicle to be connected operatively to the conveyor belt. The apparatus includes a master computer processor in the continuous miner and at least one slave computer processor under the direction of the master computer processor to control the elements of the mining system other than the continuous miner. A pair of parallel data communication roads connect the master computer processor and the slave computer processor and the functional state of the data communication roads is monitored. A radio communication path is provided between the master computer processor and the mining system. The master computer processor operates the mining system in an automatic mining mode when both data communication roads are functional and operates the mining system in an inverse mode of operation if any of the data communication roads fail in their operation . In the reverse mode, all mining operations are stopped and the mining system can be reversed out of a mine shot. The master computer processor operates the mining system in a manual operation controlled by radio if both data communication roads cease their functions.