Equipment for mining operations with high-precision navigation system

FIELD: mining.

SUBSTANCE: invention relates to mining, in particular, to navigation system of combined cutter-loader intended for operations in open-pit bench. This mining equipment includes a combined cutter-loader, a conveyor assembly, and a steering assembly, which joins said combined cutter-loader and conveyor assembly. In addition, this equipment includes a course sensor and a steering device, which is sensitive to signals from said course sensor. The first drive is located in combined cutter-loader, in conveyor assembly, or in steering assembly. The first drive is placed on one side of combined cutter-loader centreline. In addition, the second drive is located either in combined cutter-loader, or in conveyor assembly, or in steering assembly. The second drive is placed on another side of combined cutter-loader centreline. The first and the second drives are used to adjust angle of joint between combined cutter- loader and conveyor assembly on either side of parallel line in order to keep pre-defined direction of combined cutter-loader advancing.

EFFECT: precise driving of combined cutter-loader in order to increase coal cutting from mining zone.

22 cl, 13 dwg

 

The technical FIELD

The present invention relates in General to mining, and more particularly to a navigation system mountain harvester designed for operation in the ledge career, and to the specified processor, containing such a system.

BACKGROUND of the INVENTION

Coal, formed from decomposed and compressed vegetable matter, usually lies essentially in horizontal layers, passing between layers of sedimentary rocks, such as limestone, Sandstone or slate. The main methods used for the extraction of coal, are open and underground mining.

In order to expose the coal, intended for production, ground, or open development involves the removal of material, known as vskryshnyj layer of soil that covers the coal seam. In recent years in the U.S. open field development is first compared with the development of underground mining. This happens due to many reasons, including:

a) increased throughput of mining equipment, which is used to ground or an open field development

b) lower costs of land development fields compared to the costs associated with the development of the underground way,

c) the best performance of potajnica security at ground field development compared to the development of the underground way,

d) a higher percentage of coal mining in the extraction of coal reserves by land development.

In reality, however, despite these advantages terrestrial mining has its limitations. The main limiting factor is related to the thickness of the overburden soil layer. When coal seam reaches a certain depth below the surface, the volume of overburden soil layer that must be removed to get to the coal, makes an open development simply unprofitable.

In the soil layer can still large reserves of coal. In order to achieve cost-effective production of coal, it is necessary to use other methods of field development. Usually in this case, the use of underground fashion field development is very limited. This may be due to a number of reasons, including weak supporting the roof, the small thickness of the reservoir and/or insufficient supply of coal, which could not justify large investments, which is a distinctive feature of the development of deposits by underground method.

Due to these observations, after conducting field development open method was frequently used method snegoborbe mining, in which the process of removing overburden soil layer becomes if the com costly. To penetrate into the surface of the reservoir and coal mining under overburden layer of soil, use a large sakabatou machine. Mining nicobaricum way mostly very effective, providing a greater number of tons of production per person per day compared to any other method of extraction. In addition, mining nicobaricum method can be quickly put into operation and requires relatively low capital investment compared to the development of open and underground mining methods. Moreover, until now it was thought that the best way to work in relatively thin layers is mining nicobaricum method. In addition, mining nicobaricum method is more secure than the development of open-pit and underground methods. Thus, mining nicobaricum method can be used to effectively complement the development process in an open way and for the development of small deposits of coal, which, otherwise, would have to throw.

However, mining nicobaricum method also has disadvantages. Mining nicobaricum method provides a relatively low total coal production. The useful output is th coal component for zone minerals, designed nicobaricum method, typically less than 35%. Part of the yield loss of useful component caused by the pillars of coal are left standing to support the overburden soil layer between adjacent drill holes. However, a large part of the deficit in power production due to the limited depth of drilling, which can be achieved even with modern equipment for cnacoboboboo drilling.

More specifically, with increasing depth of drilling requires a greater number of sections of a screw auger to transport the coal from the cutting head to the surface of the mined seam. Each section adds friction resistance when turning the auger drill a result of contact with the wall of the drilling hole. In addition, the longer the column Nicobarese sections, the greater the mass of coal transported by sections at any time. In the result, it should be noted that the depth of penetration of the auger drill dramatically increase electricity demand for snegoborbe machine.

Because of the above observations wells drilled conventional nicobaricum equipment typically have a depth of only about 46 m (150 ft); the depth of 61 m (200 ft) is rare. Of course, it is desirable in any way to increase this value, because it is vital which would improve the intensity of coal extraction from the zone of production.

To accomplish this goal have been proposed system and method of mining. In particular, the system and method of extraction of minerals in the ledge career is described in several U.S. patents, which are owned by the owner of rights to the present invention. Such patents are patents No. 5522647, 5364171, 5261729 and 5232269. A full description of these patents is incorporated into the present application by reference.

As better shown in figure 1, the system of mining includes mining harvester, designed for continuous cutting coal from the coal seam. Cut the coal is fed through the machine in the conveyor chain containing a number of modular conveyor units, connected in series with each other. This system enables the development of deposits at depths exceeding 46-61 m (150-200 ft)common to cnacoboboboo mining equipment. In fact, you can reach depths of approximately 610 m (2000 feet).

Each pipeline node based on the wheel in contact with the ground, enabling him to follow the harvester as he moved forward into the coal seam. The specified new system also includes an exhaust vehicle, which includes a conveyor mechanism for receiving and transporting coal m the piss, released from the conveyor chain. In addition, the discharge transport means includes a guiding device for fastening the last node conveyor chain and conveyor node that should be added to the circuit. Moreover, there are sets of individual drive units, intended, first, for the nomination forward/aft movement of the conveyor chain along with the harvester and, secondly, to hitch the new conveyor node from the conveyor chain. The system allows mainly to cut down and transport the coal mass without delay, even while adding to the chain conveyor node. Therefore, the system not only provides a significant increase in the yield of useful component from the zone of production, but also works more effectively than Nicobarese equipment, and provides improved performance.

This invention relates to a navigation system designed for mountain harvester, which provides accurate driving of the harvester in order to keep in good condition pillar located between the mine workings, and that the equipment has not failed in previously developed a hole, even if the development of the field is performed on the most remote from the coal surface depths. Moreover, the navigation system does not allow the harvester on clonetest from a coal seam, and, therefore, the development of the field occurs with greater efficiency.

The INVENTION

In accordance with the purposes of the present invention described in this document, the proposed improved device for the extraction of minerals. The proposed device comprises a harvester, conveyor node and tail node, connecting the harvester from the conveyor hub. In addition, the proposed device comprises a position sensor, a control device responsive to the position sensor and the first and second actuators.

The first and second actuators are located either on the processor or on a conveyor node, or on the steering node. The first actuator is located on one side of the middle line of the harvester. The second actuator is located on the other opposite side of the middle line of the harvester. The first and second actuators adjust the angle of connection between the harvester and conveyor node in any direction parallel to establish the direction of penetration for the harvester.

If we talk about the invention in more detail, the first actuator includes first made with the possibility of displacement of the guide element. Similarly, the second actuator includes a second made with the possibility of displacement of the guide element. First made with the possibility of displacement of the guide element has a first end which is to be the first convex head, while the second made with the possibility of displacement of the guide element has a second end that has a second convex head. The radius of curvature of both the first and second convex heads is about 406 mm (sixteen inches).

In one possible embodiment, the first actuator is a first hydraulic cylinder, and the second actuator is a second hydraulic cylinder. Each cylinder may have an internal bore of about 254 mm (10 inches), the course of about 38.1 mm (1.5 inches) and the load to 24.6 kg/cm2(3500 pounds per square inch) for creating the effort to 1218813 H (137 tons).

In one embodiment, the first and second actuators are located on the steering node. In this embodiment, the first and second heads/ends are in contact respectively with the first and second respective support surfaces of the harvester. By forward displacement of one drive and aft movement of the second actuator adjusts the angle of connection between the harvester and conveyor node for holding the machine in the desired direction of drilling.

In the second embodiment, the first and second actuators are also located on the steering node. However, the first and second heads/ends are in engagement respectively with the first and second cooperating reference surfaces the authorities conveyor node. Driving the harvester in a given direction of penetration is also achieved by the nomination forward and reverse drives to the extent necessary.

In yet another embodiment, the first and second actuators mounted on the harvester. The first and second ends of the actuators interact with the first and second cooperating bearing surfaces of the steering hub. And in this case, the driving harvester provides a consistent extension forward and backward drives.

The following alternative embodiment, the first and second actuators mounted on the conveyor node. In the specified embodiment, the first and second ends, respectively, interact with the first and second cooperating bearing surfaces of the steering hub. And again mutual nomination forward and backward actuator adjusts the angle of connection between the harvester and conveyor node, thus leading harvester in accordance with the specified direction of penetration.

In describing the invention further, it is possible to say that the steering node attached to the harvester by means of the first rotary axis, and to the conveyor node using the second rotary axis. The first pivot axis is in a first plane, while the second swivel axis runs in the second plane. Essentially e and two plane can be perpendicular to each other.

In one design, the first plane is horizontal, while the second plane is vertical. In another design, the first plane is vertical, while the second plane is horizontal. Horizontal/vertical and vertical/horizontal axis position primarily provides sufficient degrees of freedom or the clearance needed to allow the harvester and conveyor node not to deviate from the reservoir as it moves the layer up or down, taking into account any possible surface irregularities that may occur on the way. Moreover, the gap on the sides allows the adjustment of the course, so between excavations or holes, including those that are deep behind the open surface of the reservoir, the rear sight can be saved in good condition.

In accordance with another aspect of the present invention, the device may include a sensor mineral formation. This sensor mineral formation, as the gamma sensor, provides the definition of the upper and lower bounds developed mineral formation. You can then manage the work samonaduvashchegosja drum to provide the recess of the extracted stone not cutting away through the layer in the layer above or below it. Moreover, it allows the operator to save the th desired configuration of the roof.

In accordance with another aspect of the present invention, the guiding device is intended for a device for the extraction of minerals, which includes the harvester and conveyor unit. The guiding device can be described as a device that contains a position sensor, a control device responsive to the position sensor, and at least one actuator responsive to the control unit and used for adjusting the direction of drilling to combine.

On the other hand, the guiding device can be described as device which includes a position sensor, a control device responsive to the position sensor, and the steering node connected with the harvester and conveyor unit. The device further comprises a first actuator located either on the processor or on a conveyor node, or on the steering node. First, the drive reacts to a control device for adjusting the angle of connection between the harvester and conveyor unit for adjusting the direction of drilling to combine.

In accordance with another aspect of the present invention, a method for conducting through the mineral layer of the device for the extraction of minerals containing processor and at least one conveyor unit. The method includes the steps of placing the guide mechanism between the at harvester and the specified at least one conveyor node, the application of force between the harvester and the specified at least one conveyor node, whereby a change of the angle of connection between the harvester and conveyor node, and the promotion of the specified device for mining forward after adjusting the angle of the connection.

In another embodiment, a method can be defined as the method including the steps of determining the actual location of the processor, comparing the actual location of the harvester with the specified location and direction of penetration of the harvester, the configuration of the steering mechanism located between the harvester and conveyor hub, providing a translation of the combine to set the direction of penetration, and the promotion of the harvester forward in the indicated direction.

With the help of another alternative determination method can be described as a process comprising the step of adjusting the direction of movement of the harvester by adjusting the angle of connection between the harvester and conveyor node.

In the description below, are presented and described several embodiments of the present invention by a simple illustration of some of the models that are best suited for carrying out the invention. It is obvious that different embodiments of the invention and its several details allow modifications in various obvious aspects, all in Odesa in the scope of the invention. Therefore, the drawings and description are to be regarded essentially as illustrative and not restrictive.

BRIEF DESCRIPTION of DRAWINGS

The accompanying drawings are included in the description and forming a part thereof, illustrate some aspects of the present invention, and together with the description serve to explain certain principles of the invention. In the drawings:

Figure 1 is a schematic view of the proposed device for the extraction of minerals, which includes the discharge conveyor, mining combine, composite modular conveyor units, which form a conveyor chain, located behind the harvester, and the guide mechanism designed to adjust the rate of the harvester as it advances forward in the mineral layer,

Figure 2 is a partial section view schematically depicting a modular conveyor node, based on the frame of the discharge conveyor

Figa and 3b are schematic side views illustrating the forward movement of the conveyor chain by moving forward and backward pairs of interacting sets of actuating cylinders of the dual type, as well as adding to the chain and modular conveyor node

Figure 4 is a view in the perspective view of the steering node

Figa - 5d are schematic views from above the four different embodiments of this invention, illustrating the location of the steering hub between the mining machine and conveyor hub and the location of the actuators on the steering node on the processor or on a conveyor node

6 is a schematic top view illustrating how it may be changed relative to the parallel connection angle between the harvester and conveyor in order to provide for changing the course of the harvester,

Figa is a schematic representation of one of the actuators of the present invention,

Fig.7b is a front view of the actuator shown in figa,

Fig is a schematic block diagram of the guidance system used in this invention.

The below described embodiments of the present invention represented in the drawings.

DETAILED description of the INVENTION

Now refer to figure 1, 2, 3A and 3b schematically depicting the proposed device 10 for mining. The device 10 includes a prom vehicle L designed for use with a system for mining by the production method containing mountain harvester M for blasting method known in this technical field type. Mountain harvester M contains a rotating head camosorebis drum D that serves as a support for cutting crowns, set the address of the spiral sections (not shown). The drum D is mounted for rotation on a vertically moving the boom, which is mounted to rotate on the main part of the frame of the harvester M. in Addition, it is shown that mountain harvester relies on a pair of crawler nodes N that are designed to move on the shaft base.

In operation, the harvester M pushed into the surface S of the reservoir preferably with a raised boom and rotating drum D. When the process starts cutting at the top level or at the level of the roof arch formation, mountain harvester M advance forward, and the boom is gradually lowered. As mountain harvester M is moving forward, and the boom is raised and lowered from the surface of the reservoir's cut coal Statem coal mass collected using conventional racking up bucket, which is used to supply coal supply in mobile conveyor F.

As shown in figure 1, the conveyor F takes all the coal to the front conveyor node U of the conveyor chain, which is generally designated by the letter T. in Addition, conveyor chain T contains a number of identical modular conveyor nodes U, which are connected together successively behind the front conveyor host with the option to detach.

In published U.S. patent No. 5112111, entitled "apparatus AND METHOD of field DEVELOPMENT FLOW IS the MANUAL" and assigned to the owner of the rights in the present invention, best described, each of the conveyor node U contains the main carrier frame supported on wheels W, designed to move on the ground. In addition, in the center of each conveyor node U is held in the longitudinal direction of the inclined conveyor. The specified conveyor is a conveyor, preferably a belt type and is used to transfer the coal mass received in the lower part, the top, where it is subsequently ejected from one conveyor node U in the next conveyor unit. Each pipeline node U also contains its own engine, intended for the propulsion of a built-in conveyor belt. In addition, nodes U conveyor chain T are interconnected through control lines, which at first going from a power source like a generator (not shown)mounted on the ledge quarry, mining Shearer M, and then back through a separate pipeline nodes U. Therefore, the conveyor motors nodes in U are connected in series for simultaneous operation, essentially, at the agreed rate.

In addition, each pipeline node U contains automatic coupling G, which is specifically designed for rigid connection nodes together so that the nodes of the chain T were located behind the mountain harvester M exclusively on direct the second line. This automatic coupling may, for example, contain on each node of the conveyor wheel clamps, which are connected to the interdigital manner by means of a bolt.

From the images presented in figure 1, it is clear that the conveyor chain T contains as many conveyor nodes U, as necessary, so that the chain reaches from the reservoir to the exhaust of the vehicle L mounted on the ledge Century can be Seen that the ledge is preferably cut down below the bottom of the reservoir in order to put the final vehicle or platform L.

As best seen from figure 2, 3A and 3b, the exhaust vehicle L contains the main supporting frame 12, which supports the conveyor 14 to the mass of material, preferably of the belt type. The specified conveyor 14 receives coal mass from the last conveyor node U chain So Then the coal is delivered by conveyor 14 up on the inclined surface 16 located under the cab 18 operator's control station, to the exhaust pipe 20. The discharge conveyor 20 is also inclined and may, for example, be used for transportation of coal mass to the place of acceptance, such as a truck, which is used to send coal to storage or for further processing.

In addition, as can be seen from figure 2, 3A and 3b, the exhaust vehicle L contains protective trump is 22, connected to the main supporting frame 12 with spaced at intervals of supporting struts 24 and spacers 26. Along the length of the exhaust means L at a certain distance from each other are two groups of jacks 28, which is supported on the rails 30 and can be actuated for lifting the main supporting frame 12 exhaust means L the ledge In to using heavy equipment or guideways snegoborbe machine to move the exhaust vehicle to the place of development of the field.

In addition, as can be seen from figure 2, the discharge transport means L comprises a pair of guides 31 in the form located at some distance slatted floor sections, which are based on contact with the ground wheels W modular nodes U. in Addition, next to the outer sides of the conveyor 14 has a pair of guide rails 32. These guide rails 32 are held up above the slatted floor sections 31 in the outer direction from the conveyor 14 toward the inner surfaces of the wheels W of a node u if node U is on the exhaust vehicle L with a small deviation from the single line conveyor 14, the inner surface of the wheel will engage the rails 32, reorient, thus, the modular node U from the conveyor chain T to the extent necessary to ensure the appropriate location on the same line. Primarily, by maintaining the appropriate location of the last node conveyor chain T so that he was lying above the conveyor 14, all raw materials from the conveyor chain is collected and moved by the conveyor exhaust of the vehicle throughout the entire process.

On figa and 3b are best seen that the tool L also contains the drive unit, generally designated by the number 34 positions. The drive unit 34 is specifically designed to selectively facilitate the forward or return stroke of the conveyor chain So More specifically, the drive unit 34 comprises a pair of coordinated dual sets 36, 38 of the actuating cylinder. From each set 36, 38 only one drive cylinder shown in figa and 3b, since the cylinders tandem type mounted on the main support frame 12 on each side of the conveyor 14 (see also figure 2). It is seen that the front set of 36 cylinder mounted longitudinally at a certain distance from the rear set of cylinders 38 and on the same line with it. Moreover, from the images presented in figure 2, it is clear that each set 36, 38 of the cylinder has a left-hand and right-hand cylinder. Both cylinder tandem type front kit 36 simultaneously. In this way both cylinder tandem type rear kit 38 simultaneously.

Each PR is water cylinder sets 36, 38 contains a retractable rod 40. In the middle to place the fastening end of each rod 40 of cylinder installed node pushing the lever. Each node of the push lever contains essentially V-shaped pushing the lever 44, pivotally attached to the base with articulated fingers. As described in published U.S. patent No. 5232269, entitled "Exhaust vehicle for development of coal deposits by the production method of"pushing the lever 44 may be selectively located in the first position for engagement with the corresponding pin p on the conveyor node U and promotion conveyor chain T forward in coal seam S. on the other hand, pushing the lever 44 may be selectively located in a second, opposite position for engagement with the corresponding pin P and reverse conveyor chain T from a coal seam, S.

Mainly, the drive unit 34 is powerful enough to advance (go back) conveyor chain T and mountain harvester M in the surface layer S (from the surface of the reservoir S). This is a particularly important advantage, because in many areas of the field development base layer, such as fire clay, is in a weak condition. Caterpillars N the usual mountain harvester M tend to knock gauge weak on the under as long while the "highest point" of the main frame of the mining combine not zavazna in the non-milled base material, located inside the track. Therefore, mining Shearer M, intended for blasting method has a tendency to get stuck where the base is in a weak condition. Essentially, in the past often been shunned to develop layers of the specified types. And now with the creation of this system made possible the development of such layers. Thus, this device effectively opens the way for the development of new areas of deposits, thus increasing recoverable reserves of coal.

In addition, the exhaust means L, presented in this invention, provides a mechanism for attaching a separate modular conveyor node U to the conveyor chain T as it moves forward into the coal seam. A mechanism designed to attach modular conveyor hub, generally indicated by the number 52 positions and are best represented at figa and 3b. A mechanism 52 for attaching modular conveyor node contains the power supply or the drive motor 54, which is connected through an output transmission (not shown) with a pair of receiving reels 56. Each receiving drum 56 is mounted for rotation on the shaft 58, hosted vapore 59, attached to the protective visor 22. One of the receiving drum 56 mounted near the operator cabin 18. Another receiving drum 56 forward relative to the first drum is approximately the length of one conveyor node (i.e. 13.5 m (45 ft)).

To each of the receiving drum 56 is attached a rope or sturdy rope 60. More specifically, located closer to the attachment point of the end of each rope 60 is attached to the corresponding receiving drum 56 so that rotation of the drum is released or tightened the rope. Far from the attachment end of each rope 60 is attached with the help of the bar 62 to the line 64, which keeps the cross member 66. At each end of the cross member 66 is attached a pair of hanging hooks 68. The hooks 68 are designed to capture the pins P, located on the edges of the conveyor node U, which must be mounted with the rope 60 winch. Of course, there may be used any other suitable design, designed to connect the rope 60 winch with conveyor node U.

The ability to add an unlimited number of modular conveyor node U to the conveyor chain T mostly agreed with the tracked nodes N mountain combine M and sets 36, 38 of the actuating cylinder on the exhaust vehicle L to provide the necessary requirements for razrabatyvaet the haunted depths, below the exposed surface of the layer. In fact, you can reach values of depths from 488 m to 540 m (from 1600 to 1800 feet) or more. However, to ensure the most rational and efficient development of the field, mountain harvester must be strictly controlled as it goes forward into the reservoir. It is necessary that between each mountain development to maintain the support wall or coal pillar to support the overburden soil layer and prevent subsidence after the mine development process. Moreover, in the case of the sinking of the mountain harvester M through the pillar in the neighbouring mountain development can happen collapse of the roof. This can cause mountain harvester M and possibly multiple conveyor nodes U will fall deep into the coal seam. Mountain harvester M represents a significant investment, and its loss should be prevented by any means possible. In addition, even if it is possible to successfully perform a complete restoration of the harvester, it is necessary to take into account the fact that at the time of restoration work coal production must be closed under this operator fined a substantial amount. Thus, it is necessary to take into account the fact that rational and effective deep field development in the ledge of the pit will depend on the capability, the STI accurate positioning of the harvester M and accurate maintenance of the combine at the specified rate, to ensure proper sizing of the rear sight and prevent failure of the harvester in adjacent boreholes.

The following describes the device 100 guidance designed to ensure the necessary precision driving mountain harvester M in order to preserve proper sight between the mine workings during deep field development. More specifically, figure 4 schematically shows a steering hub, generally indicated by the number 101 positions. It is seen that the steering node is attached between the mining machine M and the first conveyor node U behind the harvester. As best seen from tiga - fig.5d and 6, the steering node 101 includes a frame 102. To the first lateral end of the frame 102 adjacent the first clamp 104. Similarly, the second clamp 106 is adjacent to the second opposing side face of the frame 102. The third clamp 108 is located along the intermediate portion of the frame 102 between the first and second clamps 104 and 106. Moreover, you need to take into account the fact that two of the outer yoke 104, 106 is performed on the first surface of the frame 102 and is rotated in one direction, while the third clamp 108 is performed on the surface of the frame, on the other hand, and rotated in the other direction, different from the first. Additionally you need to take into account the fact that the first and second clamps 104 and 106, located on t is rcah frame 102, have a pair of interconnected plates, passing in the vertical direction. The third clamp 108, is performed on the intermediate section of the frame comprises a pair of interconnected plates, passing essentially in the horizontal direction.

Each clamp 104, 106, 108 limits the groove for insertion of the fixing lugs or bracket 110, 112, 114, respectively. As will be described in more detail below, each mounting lug or bracket 110, 112, 114 are made either on a mountain harvester M, or on a conveyor node In U. located on the same line of paired holes of the first yoke 104 and the mounting bracket 110 is fixed to the first rotary axis for the bracket 110 in the clip. Another first pivot axis 116 secured in spaced one line of paired holes of the second yoke 106 and the mounting bracket 112 for fastening specified bracket clamp. The second swivel axis 118 secured in spaced one line of paired holes of the third yoke 108 and the mounting bracket 114 for fastening specified bracket in the third clip.

As additionally shown with reference to Fig, the device 100 also includes a first actuator 116 and the second actuator 118. As shown in figa and fig.7b, the first actuator 116 may include a hydraulic cylinder 120 and the corresponding piston/guide element 122, the implementation of the military with the possibility of bias. On the front end of the guide element 122 has a first convex head 124. In the present embodiment, the radius of curvature of the convex head 124 is 406 mm (sixteen inches). Although not shown, the second actuator 118 may include a second hydraulic cylinder, a second piston/guide element is arranged to bias, and the second head, which is similar to that described above with reference to the first actuator 116 and presented on figa and fig.7b.

The device 100 also includes a position sensor 125, the device 126 control and sensor 134 mineral formation. The device 126 is attached to the position sensor 125 via line 128 management, and to the first actuator 116 and the second actuator 118 - using the respective lines 130, 132 management. In addition, the device 126 is attached to the sensor 134 via line 136 control.

The position sensor 125 is an inertial system high precision, specify the location and direction that is specifically designed for use in mining equipment. Specified position sensor 125 produce and sell at Honeywell Inc. under the trademark Horta® (Honeywell Ore Recovery/ Tunneling Aid). The device with the trademark Horta® is a fully Autonomous functional modular reference node, mechanized in realnoe navigation system using strapdown inertial algorithms, trehalase laser gyroscopes designed for detection of angular displacement, three-Q-Flex accelerometers, designed for measurement conversion, and special software, designed for use in the mining industry.

The sensor 134 is designed, in particular, to define upper and lower limits of the mineral seam. The sensor 134 is used, in particular, for this purpose, is a gamma sensor, such as the AMA Model 1008 Coal Thickness Sensor, manufactured and sold by a Corporation American Mining Electronics, Inc.

On figa - fig.5d presents four different options for performing the present invention. In all these versions of the steering node 101 is attached between the mining machine M and the nearby conveyor node u In an embodiment, presented at Figo, in the first and second clamps 104, 106 inserted mounting brackets 110, 112 connected to the frame or bumper 150 mountain harvester M. Each of these compounds is carried out using the first two rotary axes 113. You should take into account that each axis 113 passes essentially in the horizontal plane.

In the third clip 108 is inserted third mounting bracket 114 attached to the frame or bumper 152 conveyor node U. the Second rotary shaft 115 soy is ineet third clamp 108 and the third mounting bracket 114. It should be noted that the second axis 115 is held in a plane essentially perpendicular to the plane in which are held the first axis 113. Thus, in this embodiment, the first axis 113 are essentially in a horizontal plane, while the second axis 115 passes essentially in the vertical plane.

The first actuator 116 and the second actuator 118 is attached to the frame 102 of the steering node 101. More specifically, it is seen that the first actuator 116 is attached to the frame 102 between the first yoke 104 and the third clamp 108.

Similarly, the second actuator 118 is attached to the frame 102 between the second yoke 106 and the third clamp 108. Thus, it should be noted that two of the actuator 116, 118 are attached to the frame 102 of the steering node 101 in such a way that they are spaced apart in the transverse direction and are located on either side of the line running from the middle line 154 mountain harvester M

In operation, the device 100 adjusts the angle of connection between the mining machine M and a conveyor node U to define and configure the specified course mountain harvester M as he moved forward through the mineral layer. More specifically, made with the possibility of displacement of the guide members 122 each actuator 116, 118 are pulled together with a head 124 of each guide element, which interacts with a corresponding abutment surface is hnestly 156 on the bumper 152 conveyor node U. If the guide elements 122 extended half the length of their course (i.e. by 19 mm (three quarter inch) cylinder full stroke which is 38.1 mm (1.5 inches)), mountain harvester M is held directly by the actuators 116, 118 so that it is parallel to the conveyor node U.

The angle of connection between the mining machine M and a conveyor node U can change due to forward displacement of the guide element 122 of one of the actuators 116 or 118 and move backward configured to bias the guide member of another drive on the same value. Thus, for example, to turn right or to the top of the image presented on figa, the guide element 122 of the second actuator 118 push forward on the 19 mm (three quarter inch) (i.e. three quarters of the full stroke of the cylinder), while the guide element 122 of the actuator 116 to move back to 19 mm (three quarter inch). Each actuator 116, 118 includes a hydraulic cylinder with stroke in 38.1 mm (1.5 inch stroke) and a hole diameter of 254 mm (10 inch hole), working under load to 246 kg/cm2(3500 pounds per square inch). Thus, each actuator 116, 118 creates a force to 1218813 H (137 tons). The actuator 116 or 118 can smoothly and easily change the angle of connection between the mining machine M and a conveyor node U.

Changed the e corner of the joint is possible with slight clearance, performed between the first yoke 104 and the first mounting bracket 110, the second clamp 106 and the second mounting bracket 112 and the third clamp 108 and the third mounting bracket 114. In the present embodiment, the first and second actuators 116, 118 allow you to change the angle of connection between the mining machine M and a conveyor node U to 2.5 degrees in any direction from parallel P (see Fig.6). This allows the operator as we go forward through the reservoir device 10 to hold it with a given spatial orientation while maintaining the appropriate size of the pillar between the mine workings and to prevent any failure in the neighboring production, preventing the consequent possible collapse of the roof. This is a significant operational advantage may prevent the repair of the harvester, such as a roof collapse could lead to subsidence of the harvester under the ground, except for a slight break in coal mining during the recovery process.

Turn to the left or to the bottom of the image presented on figa, you can perform the opposite action. Thus, the guide element 122 of the actuator 116 can slide forward, while the guide element 122 of the actuator 118 can be moved back by the same amount to make mountain Combi the M to deviate at 2.5 degrees to the left from parallel.

Amendments that must be done to store the corresponding specified course of mining Shearer M, carry out with the help of the device 126 management. More specifically, the device 126 receives from the sensor 125, located on processor M, information about the real location, and course. Then the unit 126 compares this actual location and rate information with a pre-selected location and the course that you want to adhere to preserve proper sight between the mine workings. After comparing device 126 sends the control signals on lines 130, 132 to control two actuators 116, 118 to perform any necessary adjustment of the course. The process is continuous and allows the device 10 efficiently and effectively to produce the deep development of the field over the surface F on a set route.

At the same time to detect the upper and lower boundaries of the mined seam is constantly working sensor 134 mineral formation. The specified data stream is transmitted to the device 126 on line 136 management. The device 126 responds to the data management process of the drum D, which is at the end of the boom mountain harvester M. Thus, the drum D, as necessary, up and down, cutting through the roof and on the basis set is Rovnag order to obtain pure mineral without unnecessary amounts of waste rock and preserving the proper condition of the roof.

Therefore, mountain harvester M may not deviate from the reservoir regardless of whether the base layer horizontal or tilted up or down. The necessary clearance or freedom of movement, which allows the harvester and conveyor nodes to follow the profile irregularities of the base and/or gradients, mainly provide connection of the clamp and swivel axis located between the mountain harvester M and different conveyor nodes U. in Addition, the head 124, located at the ends of the guide elements 122 have sufficient curvature radius, which allows the harvester to follow gradients, does not affect the operation of the harvester M and sends it along a given course.

Embodiments of the presented on fig.5b, 5C and 5d, operate in a similar way, but there are subtle differences in the Assembly of component parts. In an embodiment, presented at fig.5b, the steering node 101 is rotated relative to the mining combine M and conveyor node u. Thus, the first and second clamps 104, 106 are in engagement with the mounting brackets 110, 112 attached to the frame or bumper 152 conveyor node U. the Third clamp 108 is attached to the third mounting bracket 114 attached to the frame or bumper 150 mountain harvester M

Another difference is that the head 124 of the actuator 116, 11 are in engagement with the support surfaces 156 on the bumper 150 mountain harvester M However, the device 100 and the actuators 116, 118 operate in a similar way, by adjusting this course will combine M as it advances in mineral reservoir in order to maintain the proper size of the pillar between the mine workings.

On figs presents the following variant of execution. In this embodiment, the first and second clamps 104, 106 of the steering node 101 is attached to the mounting brackets 110, 112 fixed to the frame or bumper 152 conveyor node U. the Third clamp 108 of the steering node 101 is attached to the mounting bracket 114 fixed to the frame or bumper 150 mountain harvester M Additional difference is that the first and second actuators 116, 118 are mounted on the frame or bumper 150 mountain harvester M Head 124 of each actuator is in engagement with the abutment surface 156 that is located adjacent to opposite lateral edges of the frame 102 of the steering node 101.

Although the design of this variant implementation differs from the previous two embodiments, the principles remain the same. More specifically, the device 126 responds to data received from the position sensor 125, and puts forward and moves back guide members 122 actuators 116, 118 to the extent necessary to control the rate of the harvester M and provide a given amount of goals the ICA between the mine workings. Similarly, the device 126 responds to data received from the sensor 134 mineral formation by controlling the drum D so as not to deviate from the reservoir and to obtain pure mineral while maintaining the proper state of the roof. As in all variants of execution of the connection of the clamp and swivel axes allow the clearance needed to adjust the course and giving the opportunity to observe changes in the slope of the base of the reservoir. Rounded radius of the head 124 of the actuators 116, 118 mainly ensure the implementation of appropriate and constant guidance during the whole time regardless of the inclination of the base (i.e. does mountain harvester, while in a horizontal position or tilted up or down).

Another embodiment of presents on fig.5b. In this embodiment, the first and second clamps 104, 106 of the steering node 101 is attached to the mounting brackets 110, 112 attached to the bumper 150 mountain harvester M Third clamp 108 is attached to the mounting bracket 114 attached to the bumper or frame 152 conveyor node U. the First and second actuators 116, 118 are attached to the bumper or frame 152 conveyor node U. Head 124 on the guide member 122 actuators 116, 118 are in engagement with the support surfaces 156 located on the frame 102 adjacent to each side edge of the steering knots is 101. Moreover, despite differences in the Assembly of component parts, the system works the same way as described above, directing mining harvester M on the optimal course to ensure rational and efficient development of mineral formation.

Summarizing, we can say that the implementation of the principles of the present invention derive numerous benefits. The device 10 includes a new guiding device or system 100, which accurately directs mountain harvester M, providing safe and effective deep development of the field over the outer surface of the mineral layer. Specified deep development mainly provides a higher yield of useful component when saving between mine workings pillar needed to maintain the overburden soil layer and prevent settling. Thus, minimizing damage to the environment of mining operations.

It should be noted that the device 10 is controlled by a pair of actuators 116, 118 that affect the supporting surface 156, which is part of the device for the extraction of minerals. When the control device 10 drives 116, 118 are not included in the interaction or not in contact with the roof, Foundation or walls/pillars of excavation. Thus, the basis is not formed at stake is, and flaking material of pillars or roof. Therefore, the roof or pillars are not violated due to errors in management. Moreover, by preventing the formation of ruts in the ground and crumbling walls and roof of the excavation remains free to run the device for the extraction of minerals.

Moreover, essentially no possibility of passage through the pillar in the neighbouring mountain development. This significantly reduces the prospects roof collapse that could cause failure under the soil of expensive mining equipment. Although in this situation it is possible to successfully carry out repairs, lost production due to downtime mining equipment, have an extremely harmful impact of mining. Therefore, problem solving is a significant effect, well known to experts.

The foregoing description of the preferred embodiments of the present invention proposed for illustrative and descriptive purposes. It may not be exhaustive and does not limit the invention to the exact form. In light of the above possible obvious modifications and changes. For example, although the steering node is shown attached between the mountain combine the adjacent conveyor node U, it could also be located between two adjacent conveyor units. Moreover, the steering node could be removed and the drives attach directly to the same node even though the head of the actuators interact with the corresponding support surfaces located on the neighboring node.

Embodiments of the were chosen and described in order to best illustrate the principles of the invention and its practical application, so that any expert could use the invention in various embodiments perform and with various modifications that match is considered a particular purpose. All such modifications and changes are within the scope of this invention defined by the attached claims, if they are stated in accordance with the scope of protection of the rights and objective, legitimate and properly titled. The drawings and the preferred embodiments of the do not limit the General meaning of the claims, and in any case are not clear and complete interpretation.

1. Device for extraction of minerals containing harvester, conveyor node, the steering node connected to the harvester and conveyor node, the position sensor, the control device, responsive to the position sensor, the first actuator is located is for the harvester, or on a conveyor node, or on the steering node and placed on one side of the middle line of the harvester, and a second actuator located either on the processor or on a conveyor node, or on the steering node and placed on the other, opposite side of the given middle line of the harvester, and the first and second actuators adjust the angle of connection between the harvester and conveyor node in any direction parallel with establishing the direction of penetration for the harvester.

2. The device according to claim 1, wherein the first actuator includes first made with the possibility of displacement of the guide element, and the second actuator includes a second made with the possibility of displacement of the guide element.

3. The device according to claim 2, in which the first made with the possibility of displacement of the guide element has a first end with a first convex head, and the second is arranged to bias the guide element has a second end with the second convex head.

4. The device according to claim 3, in which the radius of curvature of the specified first and second convex heads is approximately 406 mm (sixteen inches).

5. The device according to claim 4, in which the first actuator is a first hydraulic cylinder, and the second actuator is a second hydraulic cylinder.

6. The device according to claim 5, in which the inner diameter and Pervov is, and second cylinders is approximately 254 mm (10 inches), the speed of these cylinders is about 38.1 mm (1.5 inches), and the load is approximately 246 kg/cm2(3500 pounds per square inch).

7. The device according to claim 3, in which the first and second actuators are located on the steering node, and the above first and second ends are in engagement respectively with the first and second respective support surfaces on the specified processor.

8. The device according to claim 3, in which the first and second actuators are located on the steering node, and the above first and second ends are in engagement respectively with the first and second respective support surfaces on the conveyor node.

9. The device according to claim 3, in which the first and second actuators are located on the harvester, and the above first and second ends are in engagement respectively with the first and second respective support surfaces on the steering node.

10. The device according to claim 3, in which the first and second actuators are located on the conveyor node, and the above first and second ends are in engagement respectively with the first and second respective support surfaces on the steering node.

11. The device according to claim 1, in which the steering node attached to the harvester with the first pivot axis and to the conveyor node using the second turning on the I.

12. The device according to claim 11, in which the first swivel axis runs along the first plane and the second swivel axis runs along the second plane, and these first and second plane essentially perpendicular to each other.

13. The device according to item 12, in which the mentioned first plane is horizontal, and the said second plane is vertical.

14. The device according to item 12, in which the mentioned first plane is vertical and the second plane is horizontal.

15. The device according to claim 1, additionally containing a sensor mineral layer, designed for positioning upper and lower bounds developed mineral formation.

16. The device according to item 15, in which the sensor mineral formation is a gamma ray.

17. Device for extraction of minerals containing harvester, conveyor node attached to the harvester, and the steering mechanism, containing made with the possibility of displacement of the guide element, and the steering mechanism is located on the conveyor node, and configured to bias the guide element is in conjunction with the combine, ensuring the regulation specified angle connection between the harvester and conveyor unit for setting the direction of penetration for the displacement is of the harvester.

18. The device according to 17, further containing positional sensor located on the harvester, and a control device responsive to the position sensor.

19. The device according to p, optionally containing sensor mineral layer, designed for positioning upper and lower bounds developed mineral formation.

20. The device according to claim 19, in which the sensor mineral formation is a gamma ray.

21. Control device guidance intended for a device for the extraction of minerals containing processor and at least one conveyor node containing the position sensor, the control device, responsive to the position sensor, the steering node attached to the harvester and conveyor node, the first actuator is located or the harvester, or conveyor node, or on the steering node and responsive to the specified device control to regulate the angle of connection between the harvester and conveyor node to control the direction of penetration for the harvester.

22. Device for extraction of minerals containing the harvester adjacent conveyor unit, drive attached to the specified device and contains made with the possibility of displacement of the steering element, the end of which is in engagement with the reference surface is rnostly, located on the harvester.

Priority items:

01.04.2004 - according to claims 1-22.



 

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22 cl, 13 dwg

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