Classifications

• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21C—MINING OR QUARRYING
  • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
  • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
  • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
  • E21D9/10—Making by using boring or cutting machines
  • E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
  • E21D9/1013—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
  • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
  • E21D9/10—Making by using boring or cutting machines
  • E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries

Definitions

• the invention relates to a method for controlling the drive of a shearing or heading machine for cutting a round, as a function of manipulated variables such as the movement speed of the cantilever arm, the position of the cutting tools and/or the power consumption of the drive motors and the pressure in hydraulic actuating cylinders.
• EP 0 807 203 B1 finally shows and describes a system for the continuous control of a mining or advance working machine, which includes a number of measuring sensors and, in particular, angle encoders and linear encoders in order to capture the position of the cutter head of a cantilever arm.
• adjustment values are generated for the proportional control valves of the drive units such as, for instance, the pivoting cylinders of the cutter bar or the linear drive of the cutter head to thereby ensure the compliance with a preselected profile.
• the invention aims to provide a method of the initially defined kind, which will do with a minimum of parameters to be each defined in a machine-specific manner, and which can be universally used for different constructions of mining or advance working machines.
• Essential to the control algorithm proposed by the invention is to be the fact that the parameters are merely dependent on the drive itself and on the machine geometry, but independent of the actual conditions at the mine face, so that the adjustment values respectively required for different machines can be input individually and without complex programming knowledge.
• the method according to the invention of the initially defined kind essentially consists in that a minimum and a maximum target value are determined for the movement speed of the cantilever arm, that at least two factors each having values of between 0 and 1 are calculated for the manipulated variables as a function of measurement values, said measurement values at least comprising cutting tool position data compared to set data corresponding with a set profile, motor load measurement data and cantilever arm movement speed measurement data, and that the movement speed of the cantilever arm is controlled as a function of the product of the set speed and the respectively calculated factors.
• the minimum target value for the pivot speed in this case corresponds to that control current for the proportional control valves, which causes a movement at all.
• the respective maximum target value for the movement of the cutting unit in general, amounts to 100% of the machine-specific maximum pivot speed, yet may also be adjusted to a defined speed on the basis of cutting technical criteria.
• the calculation of the individual factors is performed in a manner that the individual factors each take into account a separate measurement value for the manipulated variables such as, e.g., the motor load, the distance of the position coordinates from target coordinates for the profile to be mined, the pivot speed of the cantilever arm and/or the rotational speed of the mining tools.
• a factor k assuming a value of between 0 and 1 and cancelling the movement as soon as more than the nominal load is taken up.
• Another multiplicatively linked factor k which may likewise assume values of between 0 and 1, may cancel the movement as soon as the cutting unit approaches a target point, in order to stop said movement in time and/or enable a reversal of the direction of movement.
• a further k-value can be determined as a function of time measurement values, which becomes effective after an imminent blockage or at the occurrence of a blockage and, in the following, will trigger a complex blockage algorithm for a starting control.
• the method is performed such that measurement values for changes in the motor load, pivot speed and/or rotational speed are determined over time and fed to a freely programmable switch mechanism and to the drive control as separate manipulated variables so as to enable not only the safe detection of the actual load on the drive, such as, e.g., the current of the cutting motor, but also time-dependent changes of this load.
• That load on the drive which is to cause the control to start the blockage protection algorithm may likewise be defined individually and trigger the respective protection mechanisms, as this limit load continues over a defined time.
• the configuration is preferably devised such that at least one delay time is feedable to the freely programmable switch mechanism as a manipulated variable via which the starting speed is kept at or near the minimum set movement speed upon detection of a blockage.
• the linkage of the target values for the movement speed which may basically be target values of the control current for the proportional control valves of the hydraulic drive, with individually defined factors can be accordingly supplemented by adding further factors in order to achieve an enhanced accuracy of the control.
• the invention basically aims to control the movement speed of the cutting unit always in a manner that the cutting drives will possibly always be operated within the nominal load range, i.e. at the optimum power consumption and the correct operating pressure, whereby cutting technically relevant maximum speeds are not to be exceeded.
• the control as a function of the nominal load as effected according to the invention serves to adapt the movement speed of the cutting unit such that the cutting motor itself will possibly be operated within the nominal load range.
• the coordinate control and the respective factor likewise are to safeguard that the target points on the cutting path be reached with a defined geometric accuracy.
• the target or inversion points in this case are not to be overtravelled and the movement speed is to be taken back accordingly closely downstream of the target point.
• the separate blockage control provided by the invention is, however, of essential importance. In the event of an instantaneous overload or blockage of the cutting motor, it will, as a rule, do to briefly place the cutting unit out of engagement by stopping the advance heading speed. The cutting unit is thus relieved, whereupon the round may be continued again. If, however, a particular load value, i.e. the load value critical for a blockage, is exceeded over a defined time, a blockage protection algorithm can be activated to recognize an actual blockage well before its occurrence. In this case, the cutting unit can be placed out of engagement as rapidly as possible in order to prevent an imminent blockage of the cutting motor.
• a particular load value i.e. the load value critical for a blockage
• the advance heading movement must merely be stopped, whereupon slow starting can be effected as a function of the given time adjustment values to cause the cutting unit to reenter into full engagement only upon expiration of a delay time.
• the k-factor may define a real speed portion to which the cutting unit is to be delayed when reentering into engagement after a blockage at the blockage point.
• the cutting speed can, thus, be initially reduced after the delay time to be only increased to full speed after a further time interval, the delay time usually being the time that is still run at minimum speed by the cutting unit after having passed the blockage point, before its movement can again be accelerated to maximum speed.
• the relevant time that is to trigger such a blockage protection algorithm can be individually set and signifies the time over which the load on the drive must be exceeded in order to trigger the blockage algorithm for subsequent control.
• the respective position coordinates of the blockage point can be determined, and a separate time interval can be adjusted, within which the time unit accelerates the movement to maximum speed after a new passage of the blockage point, and hence again releases the generally applied control.
• the control algorithm will respond to changing rock or engagement conditions in a largely insensitive manner during a round, the described algorithm enables the standardization of the control concept for different machine types, thus substantially enhancing the maintainability of the systems.
• an extremely safe and sensitive detection of critical limit values is enabled by the multiplicative linkage of the individual parameters so as to safely avoid damage and long downtimes.

Landscapes

• Engineering & Computer Science (AREA)
• Mining & Mineral Resources (AREA)
• Life Sciences & Earth Sciences (AREA)
• General Life Sciences & Earth Sciences (AREA)
• Geochemistry & Mineralogy (AREA)
• Geology (AREA)
• Environmental & Geological Engineering (AREA)
• Mechanical Engineering (AREA)
• Operation Control Of Excavators (AREA)
• Fluid-Pressure Circuits (AREA)
• Excavating Of Shafts Or Tunnels (AREA)

Applications Claiming Priority (3)

Publications (1)

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Cited By (1)

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Citations (8)

Family Cites Families (10)

• 2006
  • 2006-01-19 AT AT0009006A patent/AT503378B1/de not_active IP Right Cessation
• 2007
  • 2007-01-18 US US12/087,844 patent/US20090008984A1/en not_active Abandoned
  • 2007-01-18 CN CN2007800032833A patent/CN101375017B/zh not_active Expired - Fee Related
  • 2007-01-18 DE DE112007000152.6T patent/DE112007000152B4/de not_active Expired - Fee Related
  • 2007-01-18 WO PCT/AT2007/000021 patent/WO2007082328A1/de active Application Filing

Patent Citations (8)

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