Continuous control system for a mining or tunnelling machine

A continuous control system for a mining or tunnelling machine having a boom with an electric motor driven cutting head at one of its ends, said head projecting toward the face to be cut and said boom, at its other end, being tiltably connected to a rotatable turret which is adapted to be rotated by means of hydraulic drives, thereby also rotating the boom as the turret is rotated, said boom being tiltable by means of at least one hydraulic cylinder with a piston slidable therein, said at least one hydraulic cylinder being connected at one end to the turret and at the other end to the boom so as to tilt the same when said piston is projected out of or retracted into the hydraulic cylinder, said control system comprising:

• a first angular encoder for continuously measuring the tilt angle of the boom;
• a second angular encoder for continuously measuring the angle of rotation of the turret;
• a linear encoder for continuously measuring linear position of the cutting head;
• means for measuring pressure of the hydraulic drives rotating the turret;
• means for measuring pressure at each end of said at least one hydraulic cylinder used for tilting the boom;
• and
• means for selecting RPM of the electric motor driven cutting head;
• a computer responsive to output signals from said encoders and said pressure measuring means, configured to continuously process said signals according to a predetermined computer program;
• and
• a controller responsive to said computer, which controls proportional valve means which, in turn, control flow of hydraulic fluid into said at least one hydraulic cylinder and into the turret hydraulic drives, and further controls linear advance of the cutting head, thereby continuously controlling the boom angular position, the angular position of the turret and the linear position of the cutting head, so as to cut a preselected profile at a predetermined depth of cut and rate of advance.

A mining or tunnelling machine having a boom with a cutting head which projects toward the face to be cut mounted at one end of the boom, and having means for rotating said cutting head at one or more RPM values, said boom, at its other end, being tiltably connected to a rotatable turret for rotation therewith and means being provided for rotating said turret, the boom being tilted by means of at least one hydraulic cylinder with a piston slidable therein, said at least one hydraulic cylinder being connected at one end to the turret and at the other end to the boom so as to tilt the same when said piston is advanced out of or retracted into the hydraulic cylinder, said machine having a continuous control system comprising:

• a first angular encoder for continuously measuring the tilt angle of the boom;
• a second angular encoder for continuously measuring the angle of rotation of the turret;
• a linear encoder for continuously measuring linear position of the cutting head;
• a computer responsive to output signals from said encoders configured to continuously process said signals according to a predetermined computer program;
• and
• a controller responsive to said computer, which controls proportional valve means which, in turn, control flow of hydraulic fluid into said at least one hydraulic cylinder, and further controls the speed of rotation of the turret as well as the linear advance of the cutting head, thereby continuously controlling the boom angular position, the angular position of the turret and the linear position of the cutting head, so as to cut a preselected profile at a predetermined depth of cut and rate of advance.

A mining or tunnelling machine having a boom with an electric motor driven cutting head at one of its ends, said head projecting toward the face to be cut and said boom, at its other end, being tiltably connected to a rotatable turret which is adapted to be rotated by means of hydraulic drives, thereby also rotating the boom as the turret is rotated, said boom being tiltable by means of at least one hydraulic cylinder with a piston slidable therein, said at least one hydraulic cylinder being connected at one end to the turret and at the other end to the boom so as to tilt the same when said piston is projected out of or retracted into the hydraulic cylinder, said machine having a continuous control system comprising:

• a first angular encoder for continuously measuring the tilt angle of the boom;
• a second angular encoder for continuously measuring the angle of rotation of the turret;
• a linear encoder for continuously measuring linear position of the cutting head;
• means for measuring pressure of the hydraulic drives rotating the turret;
• means for measuring pressure at each end of said at least one hydraulic cylinder used for tilting the boom;
• and
• means for selecting RPM of the electric motor driven cutting head;
• a computer responsive to output signals from said encoders and said pressure measuring means, configured to continuously process said signals according to a predetermined computer program;
• and
• a controller responsive to said computer, which controls proportional valve means which, in turn, control flow of hydraulic fluid into said at least one hydraulic cylinder and into the turret hydraulic drives, and further controls linear advance of the cutting head, thereby continuously controlling the boom angular position, the angular position of the turret and the linear position of the cutting head, so as to cut a preselected profile at a predetermined depth of cut and rate of advance.