MACHINE HAVING POSITIONING SYSTEM FOR PREVENTING MISCOORDINATION OF GATHERING HEAD AND CUTTING IMPLEMENT
A machine includes a gathering head and a cutting implement, with the gathering head and cutting implement having overlapping ranges of motion such that adjusting of the gathering head and cutting implement is coordinated to avoid collision. A positioning system of the machine includes a control device configured to prevent miscoordination of the gathering head and cutting implement by controlling a position of the gathering head based upon a state of progress of the cutting implement in a cutting cycle.
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The present disclosure relates generally to positioning a gathering head in a machine, and more particularly to preventing miscoordination between the gathering head and a cutting implement based on a state of progress of the cutting implement in a cutting cycle.
BACKGROUNDA great many different machines are used for digging, dozing, transporting, crushing, grinding or otherwise manipulating all manner of materials. Machine and implement technologies specialized for different material types such as various types of soil, gravel, relatively softer rock such as chalk, coal and others, as well as hard rock substrates will be familiar to those skilled in the art. Purpose-built machinery is used for various tasks and various types of materials encountered in construction, forestry, and other industries such as mining. Engineers have experimented with machinery and techniques for manipulating different types of materials for literally centuries. In certain applications, and notably with respect to hard rock environments, there remains room for improvement.
In hard rock environments, such as for mining or tunnel boring through solid rock for road building or other civil or industrial practices, the state of the art has long been the so-called “drill-and-blast” technique. In drill-and-blast, holes bored in a solid rock substrate are typically packed with explosives which are detonated to break apart the solid material into more manageable pieces. Drill-and-blast has a number of disadvantages, including labor intensiveness and challenges relating to handling and using explosives. More recently, technology has been developed for cutting through solid rock of types previously resistant to cutting with conventional techniques and equipment. It is no surprise that such equipment must be designed to operate in extremely harsh conditions. Moreover, materials, technology, and more generally equipment designed for above-ground or softer rock environments has limited applicability where hard rock tunneling, mining, or other activities is concerned.
United States Patent Application Publication No. US2003/111892 A1 is entitled, “Method of Mining and an Improved Mining Machine with a Shovel Movable Relative to a Vehicle Chassis,” and discloses a continuous miner having a cutting head and a conveyor, with a shovel translatable relative to the miner. It appears that a cutting head is driven on a pivoting arm, and the shovel is positioned underneath the cutting head with coal loading arms to assist with loading coal in the shovel and onto a central conveyor. While the design disclosed in the '892 application may have certain applications, the strategy also has certain shortcomings including limitations as to how the shovel and cutting head are positioned in relation to one another.
SUMMARY OF THE INVENTIONIn one aspect, a machine includes a frame, and a gathering head movable in a range of motion relative to the frame between a retracted position, and an advanced position defining an endpoint of the range of motion. The machine further includes a cutting implement movable relative to the frame to execute a cutting cycle defining a first cutting path segment that intersects the endpoint of a range of motion, and a second cutting path segment that does not intersect the endpoint of the range of motion. The machine further includes a positioning system having an actuating mechanism for the gathering head, and a control device coupled with the actuating mechanism. The control device is configured to produce control commands for the actuating mechanism to move the gathering head from the retracted position to the advanced position, and control commands for the actuating mechanism to move the gathering head from the advanced position to the retracted position. The control device is further configured to receive data indicative of a state of progress of the cutting implement in the cutting cycle, and to prevent miscoordination between the gathering head and the cutting implement at least in part by producing the control commands to move the gathering head from the retracted position to the advanced position, during execution of the cutting cycle, based on the data indicative of a state of progress of the cutting implement.
In another aspect, a method of operating a machine includes executing a cutting cycle with a cutting implement of the machine such that the cutting implement traverses a cutting path. The method further includes receiving data indicative of a state of progress of the cutting implement in the cutting cycle, and outputting a control command to an actuating mechanism of a gathering head in the machine during the execution of the cutting cycle. The method further includes adjusting the gathering head from a retracted position, to an advanced position at which the gathering head is positioned within the cutting path, responsive to the control command. The method still further includes producing the control command based on the data indicative of the state of progress of the cutting implement, to prevent miscoordination between the gathering head and the cutting implement during the execution of the cutting cycle.
In still another aspect, a positioning system for a gathering head in a machine includes at least one sensing mechanism configured to monitor at least one of a position or an orientation of a cutting implement movable in a cutting cycle in contact with a material face to be cut and defining a cutting path. The positioning system further includes a control device coupled with the at least one sensing mechanism, and being configured to output control commands for an actuating mechanism coupled with the gathering head in the machine, to move the gathering head from a retracted position at which the gathering head is not within the cutting path, to an advanced position at which the gathering head is within the cutting path. The control device is further configured to output control commands for the actuating mechanism to move the gathering head from the advanced position to the retracted position, and to receive data produced by the at least one sensing mechanism that is indicative of a state of progress of the cutting implement in the cutting cycle. The control device is still further configured to prevent miscoordination between the gathering head and the cutting implement during executing of the cutting cycle at least in part by producing the control commands to move the gathering head from the retracted position to the advanced position based on the data that is indicative of the state of progress of the cutting implement in the cutting cycle.
Referring to
Cutting mechanism 22 may include a cutting implement 30 having a rotatable drum 32 with a plurality of rotatable cutters 34 mounted upon drum 32 and distributed circumferentially around an axis of rotation 33 of drum 32. Cutting implement 30 may further be supported upon a boom assembly 24 including a first boom section 26 and a second boom section 28 and a wrist 36 coupling together first boom section 26 and second boom section 28. Wrist 36 may be rotatable about a wrist axis 37, in an angular range that is at least 180 degrees, and typically freely about wrist axis 37 in an angular range that is infinite. Cutting implement 30 may be supported upon boom assembly 24 in a side mount arrangement at a location outboard of wrist 36, and rotatable as discussed above about a drum axis or implement axis 33 that is oriented perpendicular to wrist axis 37. The term “outboard” as used herein should be taken to mean, away from a geometric center of machine frame 12, whereas “inboard” means toward a geometric center of machine frame 12.
Machine 10 may further be equipped with one or more lift actuators 38, one of which is shown, and adjustable to swing boom assembly 24 vertically up and down about a swing axis 40 in a swing range 46. Boom assembly 24 may be rotatable about swing axis 40 relative to machine frame 12 in an angular range that is about 30 degrees or greater, although the present disclosure is not thereby limited and the range could be smaller. In an embodiment, swing range 46 is from about 10 degrees to about 40 degrees. Machine 10 may still further be equipped with one or more actuators 42 for rotating boom assembly 24 about a slew axis 44 in generally side-to-side horizontal directions. An angular slew range might be from about 30 degrees to about 70 degrees.
From the foregoing description, it will be appreciated that boom assembly 24 and cutting implement 30 can be adjusted according to multiple degrees of freedom in three-dimensional space. In some embodiments, cutting implement 30 may be movable in an ordered manner according to a predefined pattern of movement or adjustment of the various actuators to execute a cutting cycle, as further discussed herein. Gathering head 50 may also be movable in a range of motion relative to frame 12 between a retracted position, approximately as depicted in
While it will be appreciated that production rates and volumes of cut material produced by operating machine 10 can vary on the basis of a number of factors, in a typical implementation cutting implement 30 may be moved through a cutting cycle that cuts at least several inches of rock or the like into a material face and in a cross-sectional area in each cutting cycle so as to produce at least several cubic meters of cut material. It is generally desirable to operate conveyor 58 at a relatively uniform speed, and with a relatively modest surge capacity. In other words, with a relatively steady and predictable production rate of cut material it will generally be desirable to operate conveyor 58 at a relatively steady and predictable rate. The present disclosure contemplates adjusting gathering head 50 from its retracted position to its advanced position in a manner that avoids miscoordination (e.g. collision or expected collision) between cutting implement 30 and gathering head 50, but without unduly limiting the capacity for gathering head 50 and conveyor 58 to move cut material through machine 10. These and other factors of consistent, reliable and predictable operation are desirable in the context of a machine such as machine 10 that can operate more or less continuously and with no supervision or minimal supervision for long periods of time. As will be further discussed below, machine 10 may tram (translate) forward at regular increments, typically a distance of about one meter or less, with gathering head 50 retracting and extending at least once, but potentially only once, for every forward tram movement of machine 10. Each forward tram movement may be associated with execution of one, two, or potentially three or more complete cutting cycles of cutting implement 30. In general, the presently disclosed strategies will enable gathering head 50 to be positioned adjacent to a material face being cut as much of the time as practicable during execution of a cutting cycle without creating undue risks of miscoordination, and thus potentially collision, of gathering head 50 and cutting implement 30.
Referring in addition to
As shown in
It will be recalled that cutting implement 30 may be movable according to a predefined path in a cutting cycle, such that a determination of at least one of a position or an orientation of cutting implement 30 can be indicative of the state of progress of cutting implement 30 in the cutting cycle. The state of progress might be a current location of cutting implement 30 in a cutting cycle, such as within one of a plurality of cutting path segments. It is further contemplated that control device 64 may track at least one of position or orientation of cutting implement 30 over time to determine the state of progress of cutting implement 30 in the cutting cycle. For example, control device 64 may track orientation of cutting implement 30 such as by monitoring sensor 78, and determine a state of progress based on a number of left turns and/or right turns about wrist axis 33. Additionally or alternatively, control device 64 might monitor sensor 74 and/or sensor 76 and calculate and/or look up a position of boom assembly 24 or patterns of change of boom assembly 24 that are determined by positions of one or both of actuators 38 and 42. In still other instances, optical sensors, cameras, or some other strategy could be employed to provide control device 64 with data indicative of a state of progress of cutting implement 30 in a cutting cycle.
It will be recalled that gathering head 50 and cutting implement 30 need to be moved in a coordinated manner to avoid risking collision. Control device 64 may be further configured to prevent miscoordination between gathering head 50 and cutting implement 30 at least in part by producing the control commands to move gathering head 50 from the retracted position to the advanced position, during execution of a cutting cycle, based on the data indicative of a state of progress of cutting implement 30. Referring also now to
In
It will be understood from the illustration of
As will be apparent from the foregoing description and
Referring now to
If, at block 220, cutting implement 30 is executing or expected to execute a second pass of the middle segment of the
The present description is for illustrative purposes only, and should not be construed to narrow the breadth of the present disclosure in any way. Thus, those skilled in the art will appreciate that various modifications might be made to the presently disclosed embodiments without departing from the full and fair scope and spirit of the present disclosure. Other aspects, features and advantages will be apparent upon an examination of the attached drawings and appended claims. As used herein, the articles “a” and “an” are intended to include one or more items, and may be used interchangeably with “one or more.” Where only one item is intended, the term “one” or similar language is used. Also, as used herein, the terms “has,” “have,” “having,” or the like are intended to be open-ended terms. Further, the phrase “based on” is intended to mean “based, at least in part, on” unless explicitly stated otherwise.
Claims
1. A machine comprising:
- a frame;
- a gathering head movable in a range of motion relative to the frame between a retracted position, and an advanced position defining an endpoint of the range of motion;
- a cutting implement movable relative to the frame to execute a cutting cycle defining a first cutting path segment that intersects the endpoint of the range of motion, and a second cutting path segment that does not intersect the endpoint of the range of motion;
- a positioning system including an actuating mechanism for the gathering head, and a control device coupled with the actuating mechanism, the control device being configured to: produce control commands for the actuating mechanism to move the gathering head from the retracted position to the advanced position, and control commands for the actuating mechanism to move the gathering head from the advanced position to the retracted position; receive data indicative of a state of progress of the cutting implement in the cutting cycle; and prevent miscoordination between the gathering head and the cutting implement at least in part by producing the control commands to move the gathering head from the retracted position to the advanced position, during execution of the cutting cycle, based on the data indicative of a state of progress of the cutting implement.
2. The machine of claim 1 wherein the first cutting path segment includes a first horizontal segment and the second cutting path segment includes a second horizontal segment.
3. The machine of claim 2 wherein the data is indicative of at least one of a position or an orientation of the cutting implement that is associated with expected initiation or expected completion of the second horizontal segment.
4. The machine of claim 3 wherein the first horizontal segment includes a floor cut segment, and the control device is further configured by way of producing the control commands to move the gathering head from the retracted position to the advanced positon to place the gathering head within the floor cut segment and vertically below the second horizontal segment.
5. The machine of claim 3 wherein the first horizontal segment and the second horizontal segment include, respectively, a lower horizontal segment and a middle horizontal segment connected by a plurality of vertical segments in a compound cutting path forming a FIG. 8 pattern.
6. The machine of claim 3 wherein the data is indicative of at least one of a position or an orientation of the cutting implement that is associated with expected initiation or expected completion of the second horizontal segment a second time in the cutting cycle.
7. The machine of claim 1 further comprising a boom assembly including a wrist rotatable in an angular range of about 180 degrees or greater, and wherein the cutting implement is supported upon the boom assembly in a side mount arrangement at a location outboard of the wrist and rotatable about an implement axis that is oriented perpendicular to the wrist axis.
8. The machine of claim 1 wherein the gathering head is translated in a forward direction from the retracted position to the advanced position, and wherein the control device is further configured to receive data indicative of expected completion of the cutting cycle, and to produce the control commands for the actuating mechanism to move the gathering head from the advanced position to the retracted position, based on the data indicative of expected completion of the cutting cycle.
9. A method of operating a machine, the method comprising comprising:
- executing a cutting cycle with a cutting implement of the machine such that the cutting implement traverses a cutting path;
- receiving data indicative of a state of progress of the cutting implement in the cutting cycle;
- outputting a control command to an actuating mechanism of a gathering head in the machine during the execution of the cutting cycle;
- adjusting the gathering head from a retracted position, to an advanced position at which the gathering head is positioned within the cutting path, responsive to the control command; and
- producing the control command, based on the data indicative of the state of progress of the cutting implement, to prevent miscoordination between the gathering head and the cutting implement during the execution of the cutting cycle.
10. The method of claim 9 wherein the adjusting of the gathering head includes translating the gathering head in a direction of a material face that is cut by the cutting implement during the execution of the cutting cycle.
11. The method of claim 10 wherein the executing of the cutting cycle further includes executing the cutting cycle such that the cutting implement traverses a cutting path having a plurality of horizontal segments.
12. The method of claim 10 wherein the receiving of data indicative of the state of progress of the cutting implement further includes receiving data indicative of at least one of a position or an orientation of the cutting implement that is associated with expected initiation or expected completion of one of the plurality of horizontal segments.
13. The method of claim 12 wherein the receiving of data indicative of the state of progress of the cutting implement further includes receiving data indicative of at least one of a position or an orientation of the cutting implement that is associated with expected initiation or expected completion of the one of the plurality of horizontal segments a second time during execution of the cutting cycle.
14. The method of claim 12 wherein the one of the plurality of horizontal segments includes a second pass of the cutting implement through a middle horizontal segment in a compound cutting path forming a FIG. 8 pattern.
15. The method of claim 12 further comprising supporting the cutting implement in a side mount arrangement upon a boom assembly of the machine, and wherein the executing of the cutting cycle further includes rotating the cutting implement about an implement axis during the supporting of the cutting implement in the side mount arrangement upon the boom assembly of the machine.
16. The method of claim 10 further comprising feeding material cut from the material face to a conveyor in the machine at each of the retracted position and the advanced position of the gathering head.
17. A positioning system for a gathering head in a machine, the positioning system comprising:
- at least one sensing mechanism configured to monitor at least one of a position or an orientation of a cutting implement movable in a cutting cycle in contact with a material face to be cut and defining a cutting path;
- a control device coupled with the at least one sensing mechanism, the control device being configured to:
- output control commands for an actuating mechanism coupled with the gathering head in the machine, to move the gathering head from a retracted position at which the gathering head is not within the cutting path, to an advanced position at which the gathering head is within the cutting path;
- output control commands for the actuating mechanism to move the gathering head from the advanced position to the retracted position;
- receive data produced by the at least one sensing mechanism that is indicative of a state of progress of the cutting implement in the cutting cycle;
- prevent miscoordination between the gathering head and the cutting implement during execution of the cutting cycle at least in part by producing the control commands to move the gathering head from the retracted position to the advanced position based on the data that is indicative of the state of progress of the cutting implement in the cutting cycle.
18. The positioning system of claim 17 wherein the data produced by the at least one sensing mechanism that is indicative of the state of progress of the cutting implement includes data indicative of at least one of a position or an orientation of the cutting implement that is associated with expected initiation or expected completion of one of a plurality of segments of the cutting path.
19. The positioning system of claim 18 wherein the one of the plurality of segments of the cutting path includes a middle horizontal segment in a compound cutting path forming a FIG. 8 pattern.
20. The positioning system of claim 18 wherein the at least one sensing mechanism includes:
- a sensor configured to monitor a parameter indicative of an angular orientation of the cutting implement about a wrist axis extending through a boom in a boom assembly supporting the cutting implement; and
- wherein the data indicative of the state of progress includes data of the monitored parameter.
Type: Application
Filed: Mar 3, 2017
Publication Date: Sep 6, 2018
Applicants: Caterpillar Inc. (Peoria, IL), Caterpillar Global Mining Europe GmbH (Luenen)
Inventors: Carl Moberg (Dunlap, IL), Paul Kornev (Herne), Martin Teiner (Hamm), Thomas Temmann (Werne)
Application Number: 15/449,408