United States Patent [19]
`Grath off
`
`[76]
`
`[54] CONTINUOUS TRACK-MOUNTED,
`SELF-PROPELLED OPEN-CAST MINING
`MACHINE
`Inventor: Hartmut Grathoff, Am Wiesengrund
`14, 8508 Wendelstein, Fed. Rep. of
`Germany
`[21] Appl. No.: 540,645
`[22] Filed:
`Jun. 19, 1990
`[30)
`Foreign Application Priority Data
`Jun. 20, 1989 [DE] Fed. Rep. of Germany ....... 3920011
`Jul. 25, 1989 [DE] Fed. Rep. of Germany ....... 3924675
`[51)
`Int. Cl.s ......................... E02F 3/24; E21C 47/04
`[52) u.s. Cl ........................................... 299!39; 37/97;
`37/190; 299/85
`[58) Field of Search ....................... 37/94, 95, 97, 189,
`37/190, DIG. 1, DIG. 20; 299/67, 85, 88, 89,
`18, 39
`
`[56]
`
`References Cited
`U.S. PATENT DOCUMENTS
`3,612,246 10/1971 Elze eta!. ......................... 37!190 X
`4,009,531 3/1977 Metrier ............................. 37/190 X
`4,120,106 10/1978 Smith ·eta!. ........................... 37/190
`
`FOREIGN PATENT DOCUMENTS
`1749015 11/1956 Fed. Rep. of Germany .
`3134975 3/1983 Fed. Rep. of Germany ........ 299/39
`1204727 1/1986 U.S.S.R ................................. 299/85
`1116428 6/1968 United Kingdom .................. 37/190
`2081345 2/1982 United Kingdom .................. 37/190
`
`OTHER PUBLICATIONS
`Gunther Linder, "Das Schaufelrad und seine vielsetige
`Anwendumg", Deutsche Hebe-und Fordertechnick pp.
`3-16, 7-1957.
`Goergen et at., "Das Frasmacl:iine 3000 SM/3800 SM
`
`111111111111111111111111111111111111111111111111111111111111111111111111111
`US005092659A
`5,092,659
`[II] Patent Number:
`[45] Date of Patent: Mar. 3, 1992
`
`als neues tragebaugeriit", Braunkohle 36, pp. 92-95,
`4-1984.
`BTU Magazine "The Satterwhite Wheel" pp. 14, 19-21,
`10-1986.
`
`Primary Examiner-David J. Bagnell
`Attorney, Agent, or Firm-McGlew & Tuttle
`
`ABSTRACT
`[57]
`A continuous track-mounted, self-propelled continu(cid:173)
`ously operating open-cast mining machine having a
`drum-shaped mining device with cutting tools arranged
`around the circumference of the drum. The cutting .
`drum is equipped with cutting teeth which can cut in
`both directions and the mined material is guided into the
`interior of the cutting drum, with the cutter bars being
`arranged in a substantially axial pattern on the circum(cid:173)
`ference of the drum. The teeth holders are arranged on
`the cutter bars and carry teeth and the teeth holders
`with the teeth are pivotable about an axis in such a way
`that the teeth pointing in the directin of rotation of the
`drum pivot automatically into the cutting position as
`they engage in the material to be extracted, while the
`teeth pointing in the opposite direction are simulta(cid:173)
`neously pivoted out of the clearance angle zone of the
`teeth doing the actual cutting. The mined material is
`transported by the cutter bars and by flights via a
`curved liner and a feed chute onto a discharge belt
`arranged axially inside the cutting drum. The cutter
`bars are joined together with the rotating ring members
`by conical rings bearing radially arranged ribs; and the
`discharge belt carries the mined material to the end of
`the drum where the material is transferred to further
`conveyor belts located outside the cutting drum.
`
`19 Claims, 11 Drawing Sheets
`
`23
`
`19
`
`=JI
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`Page 1 of 18
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`CATERPILLAR EXHIBIT 1109
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`U.S. Patent
`US. Patent
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`Mar. 3, 1992
`Mar. 3, 1992
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`Sheét 1_ of 11
`Sheet 1 of 11
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`5,092,659
`5,092,659
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`U.S. Patent
`US. Patent
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`Mar. 3, 1992
`Mar. 3, 1992
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`Sheet 2 of 11
`Sheet 2 of 11
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`U.S. Patent
`US. Patent
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`Mar. 3, 1992
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`Mar. 3, 1992
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`Sheet 3 of 11
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`Sheet 3 of 11
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`Page 4 of 18
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`U.S. Patent
`US. Patent
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`Mar. 3, 1992
`Mar. 3, 1992
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`U.S. Patent
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`Mar. 3, 1992
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`U.S. Patent
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`Mar. 3, 1992
`Mar. 3, 1992
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`Mar. 3, 1992
`Mar. 3, 1992
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`US. Patent
`
`Mar. 3, 1992
`Mar. 3, 1992
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`US. Patent
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`Mar. 3, 1992
`Mar. 3, 1992
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`Sheet 9 of 11
`Sheet 9 of 11
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`U.S. Patent
`US. Patent
`
`Mar. 3, 1992
`Mar. 3, 1992
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`Sheet 10 of 11
`Sheet 10 of 11
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`5,092,659
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`U.S. Patent
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`Mar. 3, 1992
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`Sheet 11 of 11
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`5,092,659
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`

`

`1
`
`5,092,659
`
`CONTINUOUS TRACK-MOUNTED,
`SELF-PROPELLED OPEl'O-CAST MINING
`MACHINE
`
`FIELD OF THE INVENTION
`This invention relates to a continuous track-mounted,
`self-propelled, continuously operating open-cast mining
`machine, having a drum-shaped breaking device with
`cutting tools arranged around the periphery of the
`drum.
`
`BACKGROUND OF THE INVENTION
`Surface-cutting machines are used for cutting road- 15
`ways or for stripping away old road surfaces. Such
`machines are fitted with cutting drum of small diameter
`and travel on continuous tracks. The material such
`machines remove is thrown onto an intermediate con(cid:173)
`veyor belt fitted with a receiving hopper, which is ar- 20
`ranged between the rear continuous track units, seen
`relative to the direction of travel of the machine. This
`intermediate conveyor belt then discharges the material
`onto a discharge belt which is pivotable to permit the
`loading of trucks. The machine possesses a relatively 25
`low cutting height. One disadvantage of this machine is
`that it can cut in only one direction, i.e. if cutting is to
`be carried out in the opposite direction, the machine has
`to be turned around 180'.
`In addition, there is a known type of open-cast mining 30
`machine which operates according to the "Satterwhite"
`principle. In this machine four overhead-type bucket
`wheels arranged side by side at the front of the device
`dump the extracted material onto two transverse belts
`arranged behind the bucket wheel, and these belts in 35
`turn discharge onto an intermediate belt running oppo(cid:173)
`site to the direction of travel of the machine. This belt
`connects with a pivotable discharge belt used for load(cid:173)
`ing trucks. This machine can achieve a higher digging
`force only with the aid of a skid on which the machine 40
`rests. The tractive effort of the machine is relatively low
`and the machine can operate only at a relatively small
`angle of inclination. There is only limited space to in(cid:173)
`stall a powerful drive unit in the cutting device. One
`major disadvantaqe of the machine is that it can travel 45
`in one cutting direction only and therefore must be
`completely turned around in order to cut in the other
`direction.
`
`2
`According to the invention, a cutting drum fitted
`with cutting teeth can carry out cutting in both direc(cid:173)
`tions. The mined material is directed into the interior of
`the cutting drum. Cutter bars are arranged in a substan-
`5 tially axial configuration around the circumference of
`the drum and teeth holders mounted on the cutter bars
`carry teeth. The teeth holders with the teeth are tiltable
`about an axis in such a manner that the teeth, angled
`upwards in the direction of rotation, automatically
`10 pivot into the cutting position as they engage in the
`material to be extracted, and the teething point in the
`opposite direction are simultaneously swung out of the
`clearance angle zone of the teeth doing the cutting. The
`material mined is transported by the cutter bars and the
`flights over a curved liner and a feed chute onto a dis(cid:173)
`charge belt axially arranged within the cutting drum.
`This belt transports the mined material to the end of the
`cutting drum and discharges it onto further conveyors
`located outside the cutting drum.
`·
`The mining machine is equipped with two sets of
`continuous track units which can be raised and lowered
`independently of each other by means of lift cylinders
`and parallelogram links. Sensors are provided to divide
`u the loads via a programmable controller between the
`individuals continuous track units and to ensure that the
`attitude of the equipment chassis is maintained during
`the various operating phases of the mining machine.
`With the open-cast mining machine according to the
`invention, it is possible to achieve high rates of extrac(cid:173)
`tion at large cutting depths in both travel directions and
`without turning the machine around, i.e. without loss of
`time. Thanks to the high digging forces which it exerts,
`the machine is suitable for extracting very hard mate(cid:173)
`rial. The type of cutting tools used permits a relatively
`high degree of comminution of the mined material,
`therefore it is usually not necessary to operate the rna-
`chine in conjunction with a crusher.
`The installation of high-power drive machinery in the
`mining machine is extremely straightforward according
`to the invention. The digging force of the cutting drum
`provides additional tractive force, thereby permitting
`the machine to operate at a large angle of inclination.
`Thanks to the design of the continuous track system, the
`machine is able to follow the path of dipping seams
`better than a bucket-wheel excavator.
`Compared with a bucket-wheel excavator, the open(cid:173)
`cast mining machine according to the invention is of
`small and lightweight construction. Naturally, this also
`favorably affects the procurement cost of the machine.
`The cutting drum, which can rotate in both direc(cid:173)
`tions, is designed to permit the mined material to pass
`from the outside to the inside, like a cell-less bucket
`wheel. The cutting drum is made up of cutter bars ar(cid:173)
`ranged axially around the periphery and connected
`together by several rings. The cutter bars may also, if
`appropriate, be arranged in a helical pattern running
`approximately 10' to 20' to the axial direction in order
`to achieve shock-free cutting by the cutting drum. The
`cutter bars carry teeth holders which tilt' about a rota(cid:173)
`tional axis and which stand at an angle of about 45' to
`the direction of peripheral rotation during the cutting
`process. The cutting teeth preferably resemble the cut(cid:173)
`ting tools known from underground mining machinery.
`If, however, easily minable material (such as sand, loam
`or similar) is to be extracted, then spade teeth, of the
`kind known from shovel buckets, may also be used.
`The digging teeth of the cutting drum are in contact
`with the material to be mined while the teeth required
`
`50
`
`SUMMARY AND OBJECTS OF THE
`INVENTION
`It is an object of the invention to improve a state-of(cid:173)
`the art continuous track-mounted self-propelled open(cid:173)
`cast mining machine in such a way that mining can be
`carried out in both directions without having to turn the 55
`machine around. At the same time, by cutting a thick
`slice, the machine should be able to achieve a high rate
`of performance. Furthermore, the machine should be
`able to follow inclined seams better than can be done by
`mining machines of the known design.
`It is a further object of the invention to construct the
`open cast mining machine in such a way that it retains a
`given load distribution on the tracks of the continuous
`track system. Also that the spatial attitude of the chassis,
`once set, is maintained so that the conveying devices on 65
`the machine and the connecting bridge attached to it do
`not tilt, and finally to ease the work of the machine
`operator.
`
`60
`
`Page 13 of 18
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`

`

`4
`For this reason, the invention provides each of the
`four continuous track units in a continuous track system
`with a force sensor which measures the vertical support
`force relative to the machine chassis. Vertical travel
`sensors measure the vertical position of the respective
`continuous track unit.
`In addition, in the machine according to the inven-
`tion, an attitude sensor is attached to the chassis to
`measure the angular inclination of the chassis relative to
`the geocenter, both in the direction of travel of the
`mining machine and also transverse thereto.
`The measurements from all the aforementioned sen-
`sors are fed constantly to a programmable controller
`located in the operator's cab on the mining machine.
`The programmable controller is also fed with the set
`values for the angular positions of the machine chassis
`and also with the desired amount by which, for exam(cid:173)
`ple, the front continuous tracks of the track system
`should be set higher than the rear continuous tracks, i.e.
`this dimension is also the same as the thickness of the
`mined slice (h).
`In addition, the programmable controller is fed with
`the intended ratio according to which the load is to be
`split between the respective adjacent continuous track
`units in the track system.
`Depending on the data received from the four force
`sensors, the torque exerted by the continuous track
`drives is split up by the programmable controller.
`At the beginning and end of each mining run the
`cutting device of the machine must cut a ramp. For this
`purpose, the given ramp length (I) and the slice (h), or
`the angle oframp inclination (a) are fed to the program(cid:173)
`mable controller. After these data have been evaluated,
`the position of the continuous track units is adjusted by
`35 the lifting cylinders of the parallelogram links so that
`the desired ramp geometry is attained and the machine
`chassis retains the desired transverse and longitudinal
`inclination.
`While the mining machine is being transported, all
`four continuous track units are positioned at their low(cid:173)
`est setting.
`The various features of novelty which characterize
`the invention are pointed out with particularity in the
`claims annexed to and forming a part of this disclosure.
`For a better understanding of the invention, its operat(cid:173)
`ing advantages and specific objects attained by its uses,
`reference is made to the accompanying drawings and
`descriptive matter in which a preferred embodiment of
`the invention is illustrated.
`
`3
`for the opposite direction of cutting are pivoted out of
`the area of the clearance angle. Because of its construc(cid:173)
`tion, consisting of cutter bars joined together by rings,
`the cutting drum possesses in its peripheral direction the
`form of a reticulate drum with compartments to receive
`the mined material. As the drum rotates, the cutter bars
`and the flights, in conjunction with the two halves of
`the curved liner, transport the mined material to the
`fixed receiving chute which discharges the material into
`the interior of the drum onto an axially oriented dis- 10
`charge conveyor belt. The discharge conveyor belt
`transports the material out of the end of the drum onto
`a bridging conveyor belt and then via a hopper car onto
`the bench conveyor belt.
`The cutting drum is suspended at both ends in large 15
`anti-friction bearings. Drive pinions engage in gear
`teeth on the anti-friction bearings and cause the cutting
`drum to rotate. As already m.entioned above, the cut(cid:173)
`ting drum can be rotated in either direction.
`The cutting drum requires at least one drive unit. 20
`However, advantageously two drives with two drive
`pinions per drive are provided on each side of the cut(cid:173)
`ting drum. Planetary multiple transmission path gearing
`may be used for this purpose.
`The mining machine is moved in a known manner by
`means of continuous track system consisting of four
`powered continuous track units. These continuous track
`units are arranged in pairs of front of and behind the
`cutting drum and can be raised and lowered indepen- 30
`dently of each other by means by means of hydrauli(cid:173)
`cally operated parallelogram links. The continuous
`track units can in addition be steered in pairs, i.e. the
`front and rear pairs of continuous tracks can be steered
`independently of each other.
`By appropriately adjusting the vertical setting of the
`continuous tracks, the mining machine can be matched
`to the respective cut height selected for mining pur(cid:173)
`poses. Depending on the travel direction the front con(cid:173)
`tinuous tracks can be set high and the rear continuous 4D
`track low, with the front height adjustment determining
`the cut height.
`Fundamentally, it is also conceivable to fit the mining
`machine with wheeled undercarriage instead of contin-
`uous track units.
`The sensors and control system for the open-cast
`mining machine automatically provide uniform adjust(cid:173)
`ment of the continuous track system and thus achieve
`optimal distribution of the load over all the continuous
`track units. The chassis of the mining machine always 50
`retains its pre-set attitude.
`For reasons of stability and in order to have continu(cid:173)
`ous tracks of identical design at the front and rear of the
`mining machine, it is advantageous to fit two continu(cid:173)
`ous track units at the front and another two at the rear. 55
`However, because of the low travel speeds in the min(cid:173)
`ing machine according to the invention, it is not neces(cid:173)
`sary to spring mount the continuous track units on the
`machine chassis. Furthermore, this would not be condu(cid:173)
`cive to promoting problem-free operation of the rna- 60
`chine.
`When the continuous track units are rigidly attached
`to the machine chassis the support is correspondingly
`statically indeterminate, so that, for example, when one
`of the two adjacent continuous track units in a track 65
`system lifts off, the load on the raised continuous track
`is reduced and the load on the adjacent continuous track
`is increased by the same amount.
`
`45
`
`5,092,659
`
`25
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`In the drawings:
`FIG. 1 is a perspective view of a mining machine
`according to the invention;
`FIG. 2 is a top view of the mining machine shown in
`FIG. 1;
`FIG. 3. is a cross sectional view through a cutting
`drum according to the invention;
`FIG. 4 are cutter bars with cutting teeth arranged in
`tilting holders according to the invention;
`FIG. 5 is a sectional view of the mining machine
`according to the invention;
`FIG. 6 is a side view of the mining machine, seen
`from the bench side;
`FIG. 7 is a view similar to that shown in FIG. 6, but
`with the machine operating on a steep incline;
`FIG. 8 is a view of the mining machine while cutting
`a development trench;
`
`Page 14 of 18
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`

`

`10
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`45
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`5,092,659
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`5
`FIG. 9 is a sectional view of the cutting drum suspen(cid:173)
`sion system and the drum drive mechanism;
`FIG. 10 is a detail view showing the arrangement of
`a force sensor on the lifting cylinder and showing a
`longitudinal travel sensor on a continuous track unit;
`and
`FIG. 11 is a schematic view showing the suspension
`system relative to the machine chassis, in various oper(cid:173)
`ating positions.
`
`6
`ting circle 7. The tooth 4b is pivoted out of the zone of
`the clearance angle 6.
`Because of the high degree of torsional and flexural
`loading the cutter bars 2 are joined together (in accor-
`5 dance with FIG. 4) by several rings 5 running circum(cid:173)
`ferentially. In the embodiment illustrated, the cutter
`bars are designed as box sections. A spring loaded pawl
`34 is provided between each cutting bar 2 and its associ(cid:173)
`ated holder 3.
`FIG. 5 shows a general view of the arrangement of
`the drives 16,17,18 for the cutting drum 1, the chassis 19
`DETAILED DESCRIPTION OF THE
`of the mining machine with the operator's cab 20, also
`PREFERRED EMBODIMENT
`the discharge conveyor belt 11, the bridge conveyor 12,
`Referring to the drawings, in particular, FIG. 1
`(not shown as a continuous belt in the drawing), the
`shows the mining machine according to the invention
`while operating in an open-cast mine. The cutting drum 15 hopper car 13 and the bench conveyor 14.
`1 is shown in contact with the slice to be mined. The
`Cutting drum bearings 15 can be seen on both sides of
`cutting teeth 4 are engaged in the mining face. While
`the mining machine, and on each bearing is arranged a
`the cutting drum 1 and the rear continuous tracks 22 run
`gear wheel 16 in which engages the pinion 17 of the
`drum drive 18.
`along the lower bench 30, the front continuous track
`units 21 run on the upper bench. The height or depth 20
`In the embodiment illustrated in FIG. 5, the hopper
`car 13 runs on the rails of the bench conveyor 14.
`FIG. 9 is an enlarged detail view taken from FIG. 5
`adjustment of the continuous track system is achieved
`by means of parallelogram Jinks 23, which are adjusted
`and shows a cutting drum bearing 15 with the gear
`by means of lifting cylinders 24.
`wheel 16 which in this embodiment forms an integral
`The drive 18 of the cutting drum 1 can be seen on the 25 component together with the bearing. A pinion 17 in
`end face of the drum in FIG. 1.
`the cutting drum drive engages in the gear wheel 16.
`Also on the end face of the drum, the discharge con-
`The cutting drum bearing 15 is connected on the one
`veyor belt 11 emerges from the interior of the drum and
`side with the fixed ring member 36, which in tum is
`dumps the mined material onto the bridge conveyor 12.
`rigidly connected to the chassis 19 (not shown). To this
`The bridge conveyor 12 is attached to the mining rna- 30 fixed ring member 36 are also attached (again not num-
`bered) the curved liner feed 9, the feed chute 10, and the
`chine by means of a cardanic linkage (not shown in the
`figure). The other end of the bridge conveyor 12 is
`discharge belt 11. At the opposite side, the drum 16 is
`likewise cardanically attached to the hopper car 13.
`connected to the rotating ring member 35, which forms
`According to the present state of the art, bridge con-
`part of the cutting drum.
`veyors are attached at two points at one end and at one 35
`The cutter bars 2 are joined via a conical ring 37 to
`point (possibly imaginary) at the other end, so that a
`the rotating ring member 35. The extracted material
`which is cut close to the ends of the cutting drum 1,
`statically determinate three-point suspension is formed.
`In the mining machine according to the invention the
`flows over this conical ring 37 into the feed chute 10.
`end of the bridge conveyor 12 beneath the drum dis-
`(For design reasons, the curved liner 9 is shorter in the
`charge belt 11 is advantageously attached at two points 40 axial direction than the cutting drum 1). In order to
`and the opposite end is attached at a single point.
`ensure that this material is carried up to the necessary
`The mined material is delivered by the bridge con-
`height as the cutting drum 1 rotates, radially arranged
`veyor 12 to the hopper 13, and from there it is taken
`ribs 38 are attached to the conical ring 37, preferably
`one per cutter bar 2.
`away by the bench belt conveyor 14 running beneath
`the hopper car.
`The arrangement illustrated in FIG. 9 is advanta-
`The hopper car 13 usually runs on the rails of the
`geously repeated, in symmetrically identical form, at
`bench belt conveyor 14. Alternatively, the hopper car
`the bend-side end of the cutting drum, with the excep-
`can also run on its one running gear close to the face
`tion that the inside of the fixed ring member 35 is left
`open, because it is at this point that the discharge con-
`belt conveyor.
`FIG. 3 shows the construction of the cutting drum 1. 50 veyor belt 11 leads to the outside of the drum.
`The cutting drum is made up of cutter bars 2 on which
`FIG. 6 shows a side view of the mining machine
`are tiltably mounted the cutting teeth holders 3 with the
`similar to the perspective drawing at FIG. 1. The min-
`cutting teeth 4. The drum rotates in the direction indi-
`ing machine is shown here in an operating position.
`cated by the arrow and moves past the two fixed curved
`As shown in FIG. 7, the mining machine can follow
`liners 9. The material removed by the teeth 4 is directed 55 dipping seams much more easily than, for example, a
`bucket-wheel excavator.
`into the interior of the cutting drum by means of cutter
`bars 2 and the flights 33 as they rotate over the fixed
`By appropriately setting the front and rear lift cylin-
`feed chute 10 and it is dumped onto the discharge belt
`ders 24 the machine can also operate and travel on
`11.
`extremely inclined surfaces. In this case, the discharge
`The flights 33 may either be attached to the teeth 60 conveyor belt 11 and the cardanically attached bridge
`holders 3, as is the case in FIGS. 2 and 3, or they may
`conveyor 12 are able to operate without tilting, i.e.
`also be attached to the cutter bars 2. In the radial direc-
`without any risk of the belt running skew and allowing
`tion they must end before they reach the zone of the
`the mined material to slip ofT at the sides.
`clearance angle 6.
`The center of gravity of the mining machine is lo-
`FIG. 4 in particular illustrates how the teeth 4 with 65 cated just above the support pattern formed by the
`teeth holders 3 tiltable about a geometrical axis of rota-
`joints 26 on the four continuous tracks 21, 22. There-
`tion 8 are arranged on the cutter bar 2. The tooth 4a is
`fore, the machine is extremely stable even on very steep
`in engagement within the clearance angle 6 of the cut-
`inclines.
`
`Page 15 of 18
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`

`

`5,092,659
`
`8
`7
`The vertical component of the digging force is ab(cid:173)
`strain gauges and is fed as a signal to the programmable
`sorbed by the four continuous track units 21. 22. In so
`controller 43 located in the operator's cab on the ma(cid:173)
`chine chassis 19. Depending on the measurements re(cid:173)
`doing, the load exerted on the continuous track units is
`increased and thus the tractive effort is improved. With
`ported by the four force sensors 39, the torque force
`exerted by the drive motors of the continuous track
`the aid of the continuous track drive units (not shown),
`the mining machine can therefore also negotiate steep
`units 22 are split up by the programmable controller 43.
`inclines e.g. 1:6 to 1:4, instead of approximately 1:15 to
`Vertical travel sensors 40 may be installed, for exam(cid:173)
`ple in the lift cylinders 24, as illustrated in FIG. 10. On
`1:10 as is the case with the known types of bucket-wheel
`the other hand, these sensors may also be arranged
`excavators.
`FIG. 8 illustrates how a development trench 32 is cut 10 parallel alongside the lift cylinders.
`The signals from the vertical travel sensors 40 are
`with the aid of the mining machine. The trench is as
`long as the open-cast mine and as deep as the layer to be
`converted by the automation device 43 into the dimen-
`extracted, e.g. 2 km long and 20 m deep.
`sion "vertical travel of the respective continuous track
`relative to the machine chassis" taking account of the
`Because the four con\inuous track units 21,22 on the
`mining machine can be independently adjusted for 15 geometry of the continuous track suspension systems.
`height by means of individual lift cylinders 24 the rna-
`The longitudinal distance travelled by the continuous
`chine can also operate with an intentional lateral lilt.
`track units is scanned by the travel sensors 42 with
`Use is made of this ability when preparing the develop-
`which all four continuous track units 22 of the continu-
`ment trench. The supporting bearings on the continuous
`ous track system are advantageously equipped. These
`tracks 21, 22 are formed in such a manner that the con- 20 travel sensors 42 are located for example in each case in
`tinuous track units can swivel freely to the desired ex-
`the drive sprocket of a continuous track unit 22. With
`tent (e.g. 15•) not only, as is usual, about an axis running
`the data from these sensors a mean travel distance is
`transverse to the direction of travel but also about an
`calculated by the programmable controller 43. How-
`axis in the direction of travel. For this purpose, the
`ever, it is also possible to determine the smallest individ-
`continuous track units are fitted with joints 26. In this 25 ual value if occasional slipping of a continuous track
`connection, reference is also made to FIG. 7 in which
`unit is feared, which would otherwise falsify the speed
`the continuous track units 21, 22 with the parallelogram
`and distance measurements.
`links 23, the lift cylinders 24, the support column 25, the
`Finally, an attitude sensor 41 is fitted on the machine
`continuous track unit joints 26 and the bottom brackets
`chassis 19 to measure the angular position of the ma-
`29 of the support columns can be seen. The steering 30 chine chassis 19 relative to the geocenter, both in the
`cylinders 27 and the lever arms 28 can be seen in FIG.
`direction of travel and transverse to the direction of
`2.
`travel of the mining machine.
`The measurements from all the aforementioned sen-
`The steering force must be exerted around the verti-
`sors are transmitted to the programmable controller 43,
`cal central axis of the support column 25. For this pur-
`pose, the support column 25 may either be located in 35 which is a data evaluation and control unit of a known
`two rings which are held, in each case, by two upper
`type.
`and lower parallelogram links 23, and the steering cylin-
`The set values for the angular positions of the ma-
`der 27 acts on lever arm 28 extending laterally from the
`chine chassis, also the amount by which the front con-
`support column 25; or the support column is not rotat-
`tinuous track units of the continuous track system
`able about its vertical axis. In this latter case, the contin- 40 should be set higher than the rear continuous track
`uous track unit is mounted by means of a joint 26 per-
`units, i.e. the cut height ·h, are all fed into this program-
`mitting rotation around all three axes, and the steering
`mabie computer.
`cylinder 27 acts on a lever arm 28 extending laterally
`The programmable controller is also fed with the
`from the continuous track chassis. In the first mentioned
`ratio by which the adjacent continuous track units
`case the joints 26 must be prevented from rotating about 45 should be loaded. While the mining machine is simply
`the vertical axis, e.g. by using slide blocks on the contin-
`being transported, this ratio may be, for example 50% in
`uous track chassis.
`each case. During normal mining operation, when the
`The amount of lateral inclination of the cutting drum
`outer front continuous track unit 21 runs near the edge
`1 is limited by the angle of inclination of the axial dis-
`of the bank (upper level 31) it is advantageous to take
`charge conveyor belt 11 and also by the contours of the 50· most of the load off this unit, i.e. to divide up the total
`chassis 19 of the mining machine and of the cutting
`loading of the front continuous tracks in the ratio of, for
`drum drive 18, and it may be in the order of 15·.
`example, 20% to 80%, and to divide the loading on the
`By mining several strips with the machine tilted in the
`rear continuous tracks accordingly in the inverse ratio.
`aforementioned manner, it is possible to cut a develop-
`The risk of the bank edge (upper level 31) collapsing
`ment trench of the desired depth.
`55 under the load of the continuous track unit running
`It is advantageous if, as shown in FIG. 8, the opera-
`close to it could also, in principle, be prevented by
`tor's cab 20 on the mining machine can pivot laterally as
`pivoting both front continuous track units away from
`the machine tilts, so that the operator is always seated in
`the bank edge, and at the same time pivoting the two
`a horizontal plane.
`rear continuous track u