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US 2014/0110168 A1Published application
Mining vehicle and method of moving boom
AssigneeSandvik Mining and Construction Oy
InventorsJuha PURSIMO, Sami HANSKI, Juha LASSILA, Tuomo PIRINEN
Life of this patent
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Abstract
The disclosure relates to a mining vehicle and a method of moving a boom of a mining vehicle. The boom is provided with several boom joints and there is a mining work device at a distal end of the boom. One or more boom joint positions are determined and stored in a memory medium. A control unit of the mining vehicle may automatically move the boom to a predetermined transport position.
Claims18
A mining vehicle comprising:
- a movable carrier;
- at least one boom having a plurality of boom joints;
- a plurality of boom actuators for moving the at least one boom in different positions;
- at least one mining work device arranged at a distal portion of the boom;
- measuring means for determining an actual position of the boom;
- and
- at least one control unit for controlling the position of the boom according to measurement data received from the measuring means and input control data, wherein at least one position of the boom is predetermined and the at least one control unit is configured to move the at least one boom to the predetermined position in response to a received control command, and wherein a transport position relative to the mining vehicle is pre-defined for the boom, the control unit being arranged to employ stored data on the transport position of the boom and automatically move the boom from any current position to the defined transport position.
4 more elements
A method for moving a boom of a mining vehicle, the method comprising the steps of:
- controlling movement of the boom by at least one control unit, the control unit having a processor;
- measuring an actual position of the boom by a measuring means;
- determining actual position data of the boom in the processor of the control unit on the basis of measuring data;
- controlling, by the control unit, boom actuators of the boom for moving joints of the boom to new positions according to the actual position data and the input control data;
- and
- moving the boom to a predetermined position under automatic control of the control unit, wherein a transport position relative to the mining vehicle is pre-defined for the boom, and stored data on the transport position of the boom is employed and the boom is automatically moved from any current position to the defined transport position.
3 more elements
A computer program, the computer program comprising:
- program code means configured to cause a mining vehicle to execute the method steps of:
- controlling movement of the boom by at least one control unit, the control unit having a processor;
- measuring an actual position of the boom by a measuring means;
- determining actual position data of the boom in the processor of the control unit on the basis of measuring data;
- controlling, by the control unit, boom actuators of the boom for moving joints of the boom to new positions according to the actual position data and the input control data;
- and
- moving the boom to a predetermined position under automatic control of the control unit, wherein a transport position relative to the mining vehicle is pre-defined for the boom, and stored data on the transport position of the boom is employed and the boom is automatically moved from any current position to the defined transport position, when run on a computer.
4 more elements
Dependencies are inferred from the claim text.