Mechanics for supporting a rock cutting device

Abstract

A machine for excavating rock includes a frame, a cutting device, and a boom. The cutting device includes a cutting disc having a cutting edge, the cutting disc being rotatable about a cutting device axis. The boom supports the cutting device and includes a first end, a second end, and a boom axis substantially parallel to the cutting device axis. The boom further includes a first portion and a second portion. The first portion is connected to the frame for rotation about a first pivot axis between a raised position and a lowered position. The second portion is connected to the cutting device, and the second portion is pivotable about a second pivot axis between a raised position and a lowered position.

Description

[0001] This application is a divisional application of Chinese invention patent application No. 202210350770.3, filed on September 22, 2017, entitled "Machinery for Supporting Rock Cutting Device", which is a divisional application of Chinese invention patent application No. 201780070961.1.

[0002] Cross-references to related applications This application claims priority to the previously filed, co-pending U.S. Provisional Applications 62 / 398,744, 62 / 398,717, and 62 / 398,834, all filed September 23, 2016. The entire contents of these documents are incorporated herein by reference. Invention Field This disclosure relates to mining and excavation machinery, and more specifically, to cutting devices used in mining or excavation machinery. Background Technology

[0003] Hard rock mining and excavation typically require applying significant energy to a portion of the rock surface to cause it to fracture. One conventional technique involves operating a cutting head with multiple cutting teeth. Due to the rock's hardness, the teeth must be replaced frequently, resulting in substantial downtime for machinery and mining operations. Another technique involves drilling multiple holes in the rock face, inserting a blasting device into the holes, and detonating the blast. The explosive force fractures the rock, the rock residue is then removed, and the rock face is ready for another drilling operation. This technique is time-consuming and exposes operators to a significant risk of injury due to the use of explosives and the weakening of the surrounding rock structure. Yet another technique utilizes a roller cutting element that rolls or rotates about an axis parallel to the rock face, thereby applying significant force to the rock to induce fracture. Summary of the Invention

[0004] On one hand, a machine for quarrying rock includes: a frame, a cutting device, and a cantilever. The cutting device includes a cutting disc with a cutting edge, the cutting disc being rotatable about an axis of the cutting device. The cantilever supports the cutting device and includes a first end, a second end, and a cantilever shaft substantially parallel to the axis of the cutting device. The cantilever also includes a first portion and a second portion. The first portion is connected to the frame for rotation about a first pivot axis between a raised position and a lowered position. The second portion is connected to the cutting device and is pivotable about a second pivot axis between the raised and lowered positions.

[0005] On the other hand, a machine for mining rock includes: a chassis, a cantilever supported by the chassis, a cutting device supported by the cantilever, and a stabilizer. The chassis includes at least one traction drive. The cutting device includes a cutting disc with a cutting edge, the cutting disc being rotatable about an axis of the cutting device. The stabilizer supports the chassis relative to a mine surface. The stabilizer includes a pad, an actuator, and a support member. The pad is configured to engage the mine surface, and the actuator includes a first end connected to the chassis and a second end connected to the pad. The support member includes a first end connected to the chassis and a second end connected to at least one of the pad and the actuator.

[0006] On another front, a machine for mining rock includes: a chassis including at least one traction drive; a cantilever supported by the chassis; a cutting device supported by the cantilever, the cutting device including a cutting disc having a cutting edge, the cutting disc being rotatable about an axis of the cutting device; and a first stabilizer for supporting the chassis relative to a mine surface, the first stabilizer including a first pad, a first actuator, and a first support member, the first pad being configured to engage the mine surface, the first actuator including a first end connected to the chassis and a second end connected to the first pad, and the first support member including a... A first end and a second end connected to at least one of the first pad and the first actuator; a second stabilizer, independent of the first stabilizer, for supporting the chassis relative to the mine surface, the second stabilizer including a second pad, a second actuator, and a second support member, the second pad being configured to engage the mine surface, the second actuator including a first end connected to the chassis and a second end connected to the second pad, the second support member including a first end connected to the chassis and a second end connected to at least one of the second pad and the second actuator; and a lateral member connecting the first stabilizer and the second stabilizer.

[0007] On another front, a machine for quarrying rock includes: a frame; a cutting device including a shaft and a cutting element having a cutting edge, the cutting device further including an actuator shaft and an eccentric mass block positioned near an end of the shaft and rotatable about an actuator axis, the rotation of the actuator shaft and the eccentric mass block causing oscillation of the shaft and the cutting element; a cantilever supporting the cutting device, the cantilever including a first end, a second end, and a cantilever axis substantially parallel to the axis of the cutting device, the cantilever further including a first portion and a second portion, the first portion being connected to the frame for rotation about a first pivot axis between a raised position and a lowered position, the second portion being connected to the cutting device and pivotable about a second pivot axis between the raised position and the lowered position.

[0008] Other aspects will become clearer by considering the detailed description and accompanying drawings. Attached Figure Description

[0009] Figure 1A It is a perspective view of the mining machinery.

[0010] Figure 1B yes Figure 1A A perspective view of the chassis and feed frame of the mining machinery.

[0011] Figure 1C yes Figure 1A A perspective view of the mining machinery, with the stabilizer in the first position.

[0012] Figure 1D yes Figure 1A A perspective view of the mining machinery, with the stabilizer in the second position.

[0013] Figure 1E This is a side view of the cantilever and the cutting head.

[0014] Figure 1F yes Figure 1A A side view of the mining machinery, with the boom in the raised position.

[0015] Figure 1G yes Figure 1A A side view of the mining machinery, with the cantilever in the aligned position.

[0016] Figure 1H yes Figure 1A A side view of the mining machinery, with the boom in a lowered position.

[0017] Figure 1I yes Figure 1A A side view of the mining machinery, with the wrist in the first lower position.

[0018] Figure 1Jyes Figure 1A A side view of the mining machinery. The wrist is in the second lower position.

[0019] Figure 1K This is a perspective view of a chassis with a stabilizer according to another embodiment.

[0020] Figure 2 This is a side view of the cutting head.

[0021] Figure 3 It is viewed along section 3-3 shown in 1A. Figure 2 A cross-sectional view of the cutting head.

[0022] Figure 4 yes Figure 2 An exploded view of the cutting head.

[0023] Figure 5 yes Figure 4 An exploded view of a portion of the cutting head.

[0024] Figure 6 yes Figure 2 An exploded view of a portion of the cutting head.

[0025] Figure 7 yes Figure 6 An exploded view of a portion of the cutting head.

[0026] Figure 8 yes Figure 2 An exploded view of the cutting head contacting the rock surface.

[0027] Figure 9 This is a perspective view of the cutting head according to another embodiment.

[0028] Figure 10 It is viewed along section 10-10. Figure 9 A cross-sectional view of the cutting head.

[0029] Figure 11 yes Figure 9 The cutting head and a side cross-sectional view of the cantilever according to one embodiment.

[0030] Figure 12 This is a perspective view of the cutting head according to another embodiment.

[0031] Figure 13 It is viewed along section 13-13. Figure 12 A side cross-sectional view of the cutting head.

[0032] Figure 14 This is a perspective view of the cutting head according to another embodiment.

[0033] Figure 15 It is viewed along section 15-15. Figure 12 A side cross-sectional view of the cutting head.

[0034] Figure 16 It is viewed along section 15-15. Figure 12 A side cross-sectional view of the cutting head. Detailed Implementation

[0035] Before explaining any embodiments in detail, it should be understood that the application of the present invention is not limited to the configuration details and component arrangements set forth in the following description or shown in the following drawings. This disclosure can have other embodiments and can be practiced or performed in various ways. Moreover, it should be understood that the wording and terminology used herein are for descriptive purposes only and should not be considered limiting. The use of “comprising,” “including,” or “having,” and variations thereof herein is intended to cover the items listed thereafter and their equivalents, as well as additional items. The terms “mounted,” “connected,” and “coupled” are used broadly and include both direct and indirect mounting, connection, and coupling. Furthermore, “connected” and “coupled” are not limited to physical or mechanical connections or couplings, but may also include electrical or fluid connections or couplings, whether direct or indirect. Furthermore, electronic communication and notification can be performed using any known means, including direct connections, wireless connections, etc.

[0036] Furthermore, it should be noted that embodiments of the present invention may include hardware, software, and electronic components or modules, and for the purposes of discussion, the foregoing has been shown or described as if most components were implemented solely in hardware. However, those skilled in the art, based on reading this detailed description, will recognize that in at least one embodiment, aspects of the present invention can be implemented using software (e.g., stored on a non-transient computer-readable medium) executable by one or more processing units (e.g., microprocessors, application-specific integrated circuits (“ASICs”), or other electronic devices). Therefore, it should be pointed out that the present invention can be implemented using multiple hardware- and software-based devices and multiple different structural components. For example, the “controller” described in the specification may include one or more electronic processors or processing units, one or more computer-readable medium modules, one or more input / output interfaces, and various connections of connecting components (e.g., system buses).

[0037] Figure 1A A rock excavation or mining machine 10 (e.g., an inlet excavator) is shown, which includes a chassis 14, a cantilever 18, and a rock face 30 for engaging the rock face. Figure 1GThe machine 10 includes a rock excavation device or cutting device or cutting head 22 and a material handling system 34. In the illustrated embodiment, the chassis 14 is supported on a traction drive (e.g., track 38) for movement relative to the ground (not shown). In the illustrated embodiment, the track 38 includes roller tracks 42 to distribute the machine's weight and minimize traction and wear. Rollers along the lower travel of the track 42 generate lower resistance and support the machine 10 as it moves. In some embodiments, the track 38 can be controlled to move the machine 10 at a travel speed of approximately 20 meters per minute. In other embodiments, the track 38 can move the machine at lower or higher speeds. The chassis 14 includes a first or front end and a second or rear end, and a longitudinal chassis axis 50 extends between the front and rear ends.

[0038] In the illustrated embodiment, the cantilever 18 is supported on a turntable, rotary table, or rotary joint 54 to pivot relative to the chassis 14. The rotary joint 54 is supported to rotate about a rotation axis 58 perpendicular to the chassis axis 50 (e.g., the rotation axis 58 is perpendicular to a support surface) (e.g., by a rotary bearing, not shown) to cause the cantilever 18 to pivot in a plane generally parallel to the chassis axis 50 (e.g., a plane parallel to the chassis axis 50). In the illustrated embodiment, a rotary actuator or cylinder 66 extends and retracts to cause the rotary joint 54 and the cantilever 18 to pivot about the rotation axis 58.

[0039] like Figure 1B As shown, the rotary joint 54, cantilever 18, cutting head 22, and material handling system 34 are supported on a common feed frame 52 that is movable relative to the chassis 14. In the illustrated embodiment, the feed frame 52 includes a laterally extending protrusion 56 received within a groove 60 of the chassis 14. The protrusion 56 is movable within the groove 60 (e.g., rolling or sliding), and a fluid actuator (e.g., cylinder 40) is connected between the chassis 14 and the feed frame 52 to move the feed frame 52. In other embodiments, movement of the feed frame 52 can be accomplished in an alternative manner. Movement of the feed frame 52 allows the cutting head 22 and material handling system 34 to move parallel to the chassis axis 50 and advance toward the rock surface 30, while the chassis 14 remains fixed relative to the ground. In some embodiments, the feed frame 52 allows the cutting head 22 to advance a total of 1 meter relative to the chassis 14 before the chassis 14 must advance / reposition; in other embodiments, the total feed distance can be greater or less. In some embodiments, retracting the feed frame 52 as the machine 10 moves on the track 38 will provide a favorable center of gravity for the travel activity.

[0040] The rotary joint 54 is supported on the recessed frame 52, reducing the need for additional auxiliary components and support structures behind the cantilever 18, which might be required in other types of cantilever configurations. Therefore, electric and hydraulic motors, pumps, valves, and conduits can be directly supported on the cantilever 18, resulting in simpler, more compact, and more reliable mechanics.

[0041] like Figure 1C and 1D As shown, a stabilizing device is connected to the chassis 14 to selectively secure the chassis 14 relative to the mine surface (e.g., the mine floor or mine roof). The stabilizing device can lift the chassis 14 to unload the track 38 and keep the chassis 14 substantially stable during cutting operations, thereby supporting the chassis 14 against loads caused by the cutting forces applied by the cutting head 22. Figure 1A In the illustrated embodiment, the stabilizing device includes jacks 62 and stabilizers 64. Jacks 62 extend downward from the chassis 14 to engage a support surface or floor, and jacks 62 are positioned near each of the four corners of the chassis 14. Jacks 62 can be independently actuated to level the chassis 14 or position it in a desired orientation. In other embodiments, jacks may extend in different directions, and fewer or more jacks 62 may be connected to the chassis 14.

[0042] Stabilizers 64 extend upward from chassis 14 to engage a top plate surface or top wall surface. Each stabilizer 64 includes a pad 68 for engaging the surface, a hydraulic cylinder 72, and a support link or bracket 76. The hydraulic cylinder 72 includes one end pivotally connected to the pad 68 and the other end pivotally connected to chassis 14. The bracket 76 includes one end pivotally connected to the pad 68 and one end of the hydraulic cylinder 72, and the other end pivotally connected to chassis 14. In the illustrated embodiment, each bracket 76 is telescopic and can extend in length as the hydraulic cylinder 72 lifts the pad 68. By adjusting the length of the telescopic bracket 76 before loading the pad 68 against the surface, anomalies or defects on the top plate surface can be avoided. Actuation of the hydraulic cylinder 72 causes the associated pad 68 to engage the top plate surface and apply a load to the top plate surface, thereby increasing the reaction force applied by the jack 62 in the opposite direction (relative to the ground). The bracket 76 provides stability and distributes a portion of the reaction force to another part of chassis 14.

[0043] Now for reference Figure 1KIn another embodiment, the lower end of the hydraulic cylinder 472 may be pivotally connected to the chassis 14 at different locations to provide a shared stable load configuration with the jack 62. Furthermore, a telescopic link or lateral member 478 (e.g., a hydraulic cylinder) is connected between the pads 468 of the stabilizer 464 to prevent lateral movement of the pads 468 when they are loaded against the mining surface. Additionally, each bracket 476 may be pivotally connected to its associated pad 468 via a ball joint, and the lateral member 478 may be pivotally connected to both the pads 468 and the bracket 476 via a ball joint. Each bracket 476 may include a torsional flexibility portion 480 (e.g., to allow a predetermined range of torsional movement of the bracket 476). Even on uneven surfaces, the stabilizer 464 can be independently actuated to engage the top plate surface.

[0044] During operation, tracks 38 move the machine 10 to the desired position, and jacks 62 and stabilizers 64 are actuated to keep the chassis 14 level and clamp or secure the machine to the ground and / or roof. The feed frame 52 can advance or feed (e.g., via cylinder 40) toward the rock wall or rock strata in a direction parallel to the chassis axis 50 (FIG. 1). After each cutting operation, the feed frame 52 can advance a distance approximately equal to a cutting depth (e.g., 50 mm, 100 mm). The cutting load can be transferred to the ground via the stabilizing device.

[0045] Refer again Figure 1A The material handling system 34 includes a bucket or collection head 42 and a conveyor 44. The collection head 42 includes a baffle or deck 46 and a rotating arm 48. As the mining operation advances, the cut material is pushed onto the deck 46, and the rotating arm 48 moves the cut material onto the conveyor 44 for conveying the material to the rear end of the machine 10. In other embodiments, the arm may slide or sweep across a portion of the deck 46 (instead of rotating) to guide the cut material to the conveyor 44. The conveyor 44 may be a chain conveyor driven by one or more sprockets. In the illustrated embodiment, the conveyor 44 is connected to the collection head 42 and is supported to move relative to the chassis 14 together with the collection head 42.

[0046] like Figure 1AAs shown, the cantilever 18 includes a first portion or base 70, a second portion or wrist 74 supporting the cutting head 22, and an intermediate portion 78 located between the base 70 and the wrist 74. In the illustrated embodiment, the base 70 is pivotally connected to a rotary joint 54 (e.g., via a pin joint), and the base 70 is pivotally rotated or “lamped” relative to the rotary joint 54 by a first actuator 80 (e.g., a hydraulic cylinder). Extension and retraction of the first actuator 80 cause the base 70 to pivot about a lamping axis or a first pivot axis 82. The first pivot axis 82 may be transverse to the rotation axis 54, such that extension and retraction of the first actuator 80 causes the base 70 to move between an upper position and a lower position. Additionally, the intermediate portion 78 is pivotally connected to the base 70 (e.g., via a pin joint), and the intermediate portion 78 is pivotally connected to the base 70 by a second actuator 84 (e.g., a second hydraulic cylinder). The extension and retraction of the second actuator 84 cause the intermediate portion 78 to pivot about a second pivot axis 86 offset from the first pivot axis 82. In the illustrated embodiment for the cantilever unit oriented as shown, the second pivot axis 86 is substantially perpendicular to the luffing axis or the first pivot axis 82.

[0047] In other embodiments (not shown), the base of the cantilever may alternatively be connected to the frame and supported for pivoting about a lateral axis or a luffing axis, and a rotary joint may be formed on a portion of the cantilever. It should be noted that other embodiments may include various configurations for the articulated portion of the cantilever.

[0048] In addition, the wrist 74 includes a lug 90 ( Figure 2 Lug 90 is pivotally connected to intermediate portion 78 (e.g., via a pin joint). Wrist 74 is pivoted relative to intermediate portion 78 via wrist actuator 92 (e.g., a hydraulic cylinder). Extension and retraction of wrist actuator 92 cause wrist 74 to pivot about wrist axis 94 offset from first pivot axis 82 and second pivot axis 86. In the illustrated embodiment, second pivot axis 86 is substantially perpendicular to first pivot axis 82 and substantially perpendicular to wrist axis 94.

[0049] like Figure 1E-1H As shown, in some embodiments, the cantilever 18 may be positioned aligned with the base 70, the intermediate portion 78, and the wrist 74. The cantilever 18 may be maintained in this aligned or straight configuration for important parts of the cutting operation, and the position of the cutting head 22 may be primarily determined by the rotary actuator 66. Figure 1F Controlled by the actuation of the amplitude actuator 80. For example... Figure 1I and 1JAs shown, when cutting below the lower limit of the linear cantilever configuration, the rotation angle (i.e., the orientation of the base 70 relative to the rotary joint 54) can be maintained at its lower limit while the wrist 74 is hinged or luffed via the wrist actuator 92. In some embodiments, the wrist 74 can also be hinged or luffed even when the base 70 is above the lower limit of the linear cantilever configuration. In some embodiments, the base 70 can pivot about a first pivot axis 82 between about 11 degrees below the horizontal plane and about 35 degrees above the horizontal plane. In some embodiments, the wrist 74 can pivot about about 50 degrees relative to the intermediate portion 78 about the wrist axis 94, thereby providing a significant amount of additional hinge.

[0050] like Figure 1E As shown, in the illustrated embodiment, the first pivot axis 82 and the wrist axis 94 can be positioned along a straight line 96 aligned with the cutting head 22, thereby allowing switching between cutting via actuation of the amplitude actuator 80 and cutting via actuation of the wrist actuator 92. In other embodiments, a combination of cantilever and wrist amplitude control can be used. Moreover, the wrist 74 and intermediate portion 78 of the cantilever 18 and its associated actuators provide elastic or biasing functionality to function as a suspension mechanism during cutting. The actuators 80, 84, 92 can hinge the cantilever portion to provide a desired cutting profile and can also function as springs to respond to cutting forces applied to the cantilever 18.

[0051] like Figure 1J As shown, in the illustrated embodiment, the distal wrist 74 can be bent downwards at an angle to position the cutting head 22 near the ground, while also pulling the cutting disc 102 close to the leading edge of the bucket 42. The lower surface of the cantilever 18 also maintains a large clearance relative to the bucket 42, facilitating material flow through the bucket 42 and onto the conveyor 44. Figure 1A The steep pivot angle of the wrist 74 and its close proximity between the cutting element and the leading edge of the bucket deck 46 facilitate loading the cut material onto the deck 46. The steep pivot angle provides a profile similar to a large-radius chamfer, with the cut surface to the ground, to prevent material from getting stuck between the leading edge of the bucket 42 and the cut surface 30. For example, by further lowering the base 70 and reducing the inclination of the wrist 74, the ground can be undercut. The cantilever 18 is compact while also being highly versatile and articulated, allowing the cutting head 22 to penetrate previously cut material deposited on the ground to remove the material from the cut surface 30 and clear the space. Moreover, because both the bucket 42 and the cantilever 18 are mounted on the feed frame 52, the relative geometry between the components is maintained regardless of the position of the feed frame 52.

[0052] like Figure 2As shown, the cutting head 22 includes a housing 98 supported at one end of the wrist 74 and spaced apart from the intermediate portion 78 (FIG. 1). In the illustrated embodiment, the housing 98 is formed as a separate structure that is detachably attached to the wrist 74 (e.g., by fasteners). The cutting head 22 is located near the distal end of the cantilever 18 (FIG. 1). Figure 2 and 3 As shown, the cutting head 22 includes a cutting member or drill bit or cutting disc 102 having a peripheral edge 106, and a plurality of cutting drill bits 110 are positioned along the peripheral edge 106. The peripheral edge 106 may have a circular (e.g., circular) profile, wherein the cutting drill bits 110 are oriented in a common plane or cutting plane 114.

[0053] Now for reference Figure 3 The cutting disc 102 is rigidly connected to a bracket 122 supported on a shaft 126. The shaft 126 includes a first portion 138 and a second portion 140. The first portion 138 is supported by one or more bearings 134 (e.g., tapered roller bearings) for rotation relative to the housing 98, and rotates about a first axis 142. The second portion 140 of the shaft 126 extends along a second axis 144 that is inclined to or not parallel to the first axis 142. In the illustrated embodiment, the second axis 144 forms an acute angle 146 relative to the first axis 142.

[0054] In some embodiments, angle 146 is greater than about 0 degrees and less than about 25 degrees. In some embodiments, angle 146 is between about 1 degree and about 15 degrees. In some embodiments, angle 146 is between about 1 degree and about 10 degrees. In some embodiments, angle 146 is between about 1 degree and about 7 degrees. In some embodiments, angle 146 is about 3 degrees.

[0055] The second part 140 supports the bracket 122 and the cutting disk 102 for rotation about a second axis 144. Specifically, the bracket 122 is supported by a bracket bearing 148 (e.g., a tapered roller bearing) for rotation relative to the axis 126. In the illustrated embodiment, the second axis 144 represents the cutting axis around which the cutting disk 102 rotates, and the second axis 144 is perpendicular to the cutting plane 114. Furthermore, in the illustrated embodiment, the second axis 144 intersects the first axis 142 at the center of the front surface of the cutting disk 102, or at the center of the cutting plane 114 defined by the cutting drill bit 110.

[0056] An excitation element 150 is positioned within a housing 98 near a first portion 138 of shaft 126. The excitation element 150 includes an actuator shaft 154 and an eccentric mass 158 disposed on the actuator shaft 154. The actuator shaft 154 and the eccentric mass 158 may be supported within an actuator housing 162. The actuator shaft 154 is supported by actuator bearings 166 (e.g., roller bearings, such as spherical roller bearings, compact aligned roller bearings, and / or toroidal roller bearings) for rotation relative to the actuator housing 162. The actuator shaft 154 is connected to an actuator motor 170 and is driven to rotate about an actuator axis 174. The eccentric mass 158 is offset from the actuator axis 174. In the illustrated embodiment, the actuator shaft 174 is aligned with a first axis 142. In other embodiments, the actuator axis 174 may be oriented parallel to and offset from the first axis 142. In other embodiments, the actuator axis 174 may be tilted relative to the first axis 142, or oriented at a tilt angle. The actuator axis 174 may also be positioned offset and tilted relative to the first axis 142.

[0057] In the illustrated embodiment, the actuator motor 170 is supported on the wrist 74, and the actuator shaft 154 is connected to the output shaft of the actuator motor 170 via a connector 178 extending between one end of the actuator shaft 154 and the actuator motor 170. Furthermore, in the illustrated embodiment, the actuator housing 162 includes multiple portions (162a, 162b, 162c) that are fixed to each other and to the shaft 126. That is, the actuator housing 162 rotates with the shaft 126 and is supported to rotate relative to the housing 98. In other embodiments, the actuator housing 162 may be integrally formed with the shaft 126.

[0058] Rotation of the eccentric mass 158 about the actuator axis 174 causes eccentric oscillations of the housing 98, shaft 126, bracket 122, and cutting disk 102. In some embodiments, the actuator element 150 and cutting head 22 are similar to the actuator components and cutting drill bit described in U.S. Publication No. 2014 / 0077578, published March 20, 2014, the entire contents of which are incorporated herein by reference. In the illustrated embodiment, the bracket 122 and cutting disk 102 are freely rotatable relative to the shaft 126; that is, they neither prevent nor actively drive the cutting disk 102 to rotate, except for induced vibrations caused by the actuator element 150 and / or reaction forces exerted on the cutting disk 102 by the rock surface 30. In embodiments where the actuator axis 174 is offset and / or tilted relative to the first axis 142, rotation of the eccentric mass 158 will cause radial (perpendicular to the first axis 142) and axial (parallel to the first axis 142) excitations or oscillations.

[0059] In the above relative Figure 1E In the described aligned cantilever configuration, the actuator axis 174 is aligned to extend through the wrist axis 94 and the first pivot axis 82. The cutting disc 102 can provide clearance relative to the rock surface 30, whether the cantilever 18 is pivoting about the first pivot axis 82 in the aligned configuration or with the base 70 locked and the wrist 74 pivoted.

[0060] refer to Figure 6 and 7 One end of the actuator housing 162 is fixed to a gear surface 190 (e.g., a spur gear, a toothed belt, etc.). Additionally, the cutting head 22 includes a second motor 194 supported adjacent to the end of the actuator housing 162. The second motor 194 includes an output shaft (not shown) connected to a pinion 198, which meshes with or engages with the gear surface 190. Operation of the second motor 194 drives the pinion 198, thereby rotating the gear surface 190. The rotation of the gear surface 190 causes the actuator housing 162 and shaft 126 to rotate about a first axis 142. As a result, a second portion 140 of shaft 126 also rotates, thereby changing the orientation of the second axis 144 (about which the cutting disc 102 rotates). For example, Figure 3 The cutting disc 102 is oriented to cut downwards; in order to adjust the cutter gap to change the cutting direction (e.g., upwards), the shaft 126 can rotate 180 degrees.

[0061] In the illustrated embodiment, the second axis 144 intersects the first axis 142 at the center of the front surface of the cutting disk 102 (i.e., the center of the cutting plane 114 defined by the peripheral edge 106 in the illustrated embodiment) or very close to the center of the plane 114. As a result, the center of the cutting disk 102 remains in a fixed (or nearly fixed) relative position as the axis 126 rotates, thereby preventing translation of the cutting disk 102 during axis 126 rotation. In other embodiments, a small offset may exist between axes 142 and 144.

[0062] Furthermore, in the illustrated embodiment, the cutting head 22 includes a rotary joint or hydraulic rotary head 206 for providing fluid communication between the fluid source and components within the cutting head 22. The rotary head 206 can deliver various types of fluids, including lubricants, hydraulic fluids, water, or other media for rinsing the rock being cut and / or cooling the cutting disc 102. In some embodiments, the rotary head 206 is located between the actuator motor 170 and the actuator shaft 154, and a connector 178 extends through the rotary head 206. In other embodiments, the components may be positioned in different ways.

[0063] Figure 8A schematic diagram shows the cutting head 22 engaging the rock surface 30 in an undercut manner. The cutting disc 102 extends across the length of the rock surface 30 along the cutting direction 214. The front portion 218 of the cutting disc 102 contacts the rock surface 30 at the contact point. The cutting plane 114, oriented perpendicular to the second axis 144, forms an approximately acute angle 222 with respect to the tangent of the rock surface 30, such that the rear portion 226 of the cutting disc 102 (i.e., a portion of the disc positioned behind the front portion 218 relative to the cutting direction 214) is spaced apart from the rock surface 30. Angle 222 provides a gap between the rock surface 30 and the rear portion 226.

[0064] By rotating the axis 126, the operator can modify the orientation of the second axis 144 and thus change the orientation of the cutting disk 102. A plane containing the first axis 142 and the second axis 144 (e.g., Figure 3 The plane of the cross-section also includes the width or diameter 202 of the outer edge 106. Diameter 202 extends between the point on the cutting disc 102 closest to the surface 30 relative to the first axis 142 (i.e., the front portion 218) and the point on the cutting disc 102 furthest from the surface 30 relative to the first axis 142 (i.e., the tail portion 226). To cut in the desired direction, the operator rotates the axis 126 such that the plane containing the first axis 142 and the second axis 144 is aligned with the desired cutting direction.

[0065] The cutting head 22 is omnidirectional, capable of effectively cutting in any direction and changing the cutting direction. The controller can coordinate the translation of the cutting disc 102 on the face 30 and the rotation of the second part 140 of the axis 126 during changes in cutting direction to prevent axial interference between the cutting disc 102 and the face 30. Furthermore, the cantilever 18 with multiple pivot axes is compact and versatile, simplifying the suspension and control of the wrist 74 and reducing the frequency at which the position and orientation of the cutting head 22 must be reconfigured.

[0066] Although the intersection of the first axis 142 and the second axis 144 has been described above as being located at the center of the cutting plane 114, it is also possible that the intersection of axes 142 and 144 may be offset by a small distance from the cutting plane 114. In this case, the center of the cutting plane 114 will move with the rotation of axis 126, resulting in a small translation of the cutting disk 102. The cutting disk 102 can still cut rock under such conditions, and the cutting characteristics can be changed depending on the offset distance between the intersection and the cutting plane 114 and the characteristics of the rock to be cut (e.g., the specific energy or energy required to excavate a unit volume of rock).

[0067] Figure 9 and 10 The cutting head 22, separate from the cantilever, is shown. (See figure) Figure 10 As shown, the actuator housing 562 may have the same characteristics as the one referenced above. Figure 3The actuator housing 162 is described in different shapes and structures. Additionally, Figure 11 A cutting head 422, connected to a wrist 474, is shown according to another embodiment. The wrist 474 does not include a lug, but instead includes a shaft 490 supported for pivoting relative to a fixed portion 492. The connector 574 is different from the one described above. Figure 3 The connector 174 is described as being long enough to accommodate additional distances between the actuator motor 170 and the actuator shaft 154.

[0068] Figure 12 and 13 A cutting head 822 according to yet another embodiment is shown. Many aspects of the cutting head 822 are similar to those of the cutting head 22, and similar features are identified by similar reference numerals plus 800. The cutting head 822 includes an actuator motor 970, which is supported on the housing 898 rather than on a portion of the cantilever. Additionally, a second motor 994 is located outside the housing 898, rather than near one end of the housing 898.

[0069] Figure 14 and 15 A cutting head 1222 according to yet another embodiment is shown. Many aspects of the cutting head 1222 are similar to those of the cutting head 22, and similar features are identified by similar reference numerals plus 1200.

[0070] like Figure 15 As shown, the cutting head 1222 includes a single motor 1370 for driving the actuator shaft 1354 to rotate the eccentric mass block 1358 about the actuator axis 1374. The cutting head 1222 also includes a shaft 1326 supporting the cutting disc 1302. Specifically, the shaft 1326 includes a first portion 1338 and a second portion 1340. The first portion 1338 is supported to rotate relative to the housing 1298 (e.g., via a bearing 1334). The first portion 1338 extends along a first axis 1342, and the second portion 1340 extends along a second axis 1344 that is inclined or non-parallel to the first axis 1342. In the illustrated embodiment, the second axis 1344 forms an acute angle 1346 relative to the first axis 1342. The cutting disc 1302 is connected to a bracket 1322 supported and rotating on the second portion 1340. In the illustrated embodiment, the bracket 1322 is not directly driven to rotate but is supported to rotate freely relative to the second portion 1340 (e.g., by means of the bearing 1348).

[0071] In the illustrated embodiment, housing 1298 may be connected to actuator housing 1362 (e.g., via adapter plate 1364), but the first portion 1338 of shaft 1326 (e.g., the first end or proximal end of shaft 1326) is not directly fixed to rotate with actuator housing 1362. Shaft 1326 is not directly driven to rotate but is supported to rotate freely relative to housing 1298 and relative to actuator housing 1362. In the illustrated embodiment, shaft 1326 rotates about an axis (e.g., first axis 1342) concentric with actuator axis 1374. In other embodiments, the axis of rotation of shaft 1326 may be offset and / or tilted relative to actuator axis 1374. Furthermore, in the illustrated embodiment, the combined center of gravity of the second portion 1340 of shaft 1326 and the components supported thereon (e.g., cutting disc 1302, bracket 1322, bearing 1348, etc.) is located on an axis concentric with first axis 1342.

[0072] The cutting head 1222 does not include a second motor for driving the rotation of the shaft 1326. A portion of the shaft 1326 supporting the cutting disc 1302 (i.e., the second portion 1340) is inclined or not parallel to the first portion 1338. Figure 16 As shown, because the cutting disc 1302 can rotate freely about the second axis 1344, the radial component of the cutting reaction force F acts on the second portion 1340 at the point where the second axis 1344 intersects the cutting plane 1314 of the disc 1302. Consequently, any radial load applied to the cutting disc 1302, such as the reaction force caused by the cutting disc 1302 impacting the rock strata, will generate a torque on the shaft 1326, causing the shaft 1326 to rotate about the first axis 1342, thus orienting the second portion 1340 away from the applied force. The magnitude of the torque is equal to the radial component of the cutting force F multiplied by the distance D between the line of action of the cutting force F (i.e., the intersection of the second axis 1344 and the cutting plane 1314) and the intersection of the first axis 1342 and the cutting plane 1314. The product of the radial component and the distance D produces a steering torque T. Therefore, even if the direction of travel of the cutting head 1222 changes, the front portion 1418 of the cutting disc 1302 (i.e., the portion of the disc 1302 that protrudes furthest in the direction parallel to the first axis 1342) can automatically orient itself to engage the rock. It should be noted that the radial component of the reaction force may never be precisely aligned with the direction of travel, but they are generally aligned. The bearing 1334 may also generate some friction to resist minor changes in the direction of travel. The bearing 1334 also applies reaction forces R1 and R2 on the shaft 1326 in response to the cutting force F.

[0073] Refer again Figure 15The cutting head 1222 also includes one or more nozzles 1404, a hydraulic rotary head 1406, and a fluid passage 1408 extending through the shaft 1326. In the illustrated embodiment, the hydraulic rotary head 1406 receives jet fluid, such as water, from a fluid source (e.g., a pump – not shown). The fluid passage 1408 provides fluid communication between the rotary head 1406 and the nozzles 1404 located on the shaft 1326 adjacent to the cutting disk 1302. Pressurized fluid is ejected from the nozzles 1404. In the illustrated embodiment, the nozzles 1404 are fixed to one end of the shaft 1326 and oriented toward the front portion 1418 of the disk 1302. As the shaft 1326 rotates, the nozzles 1404 maintain their orientation to eject fluid toward the direction of impact.

[0074] The cutting head 1222 eliminates the need for a second electric motor and accompanying hydraulic components, and also includes simple mechanical parts to achieve the "steering" function. In addition, a smaller diameter cutting disc 1302 can be used, and the control of the cantilever (Figure 1) supporting the cutting head 1222 is also less complicated.

[0075] Although cutting devices have been described above for mining machinery (e.g., entrance development machines), it should be noted that one or more separate aspects of the cutting device and / or other components may be incorporated into another type of machine or supported on the cantilever of another type of machine. Examples of other types of machines may include (but are not limited to) drilling rigs, tunnel boring machines, borehole machines, continuous mining machines, longwall mining machines, and excavators.

[0076] Although various aspects have been described in detail with reference to certain embodiments, variations and modifications may exist within the scope and spirit of one or more independent aspects described. Various features and advantages are set forth in the following claims.

Claims

1. A machine for mining rocks, characterized in that, The machinery includes: frame; A cutting device includes a shaft and a cutting element having a cutting edge. The cutting device also includes an actuator shaft and an eccentric mass block. The eccentric mass block is located near the end of the shaft and is rotatable about the actuator axis. The rotation of the actuator shaft and the eccentric mass block causes the shaft and the cutting element to oscillate. A cantilever supporting the cutting device includes a first end, a second end, and a cantilever axis substantially parallel to the axis of the cutting device. The cantilever also includes a first portion and a second portion, the first portion being connected to the frame for rotation about a first pivot axis between a raised position and a lowered position, and the second portion being connected to the cutting device and pivotable about a second pivot axis between the raised position and the lowered position.

2. The machine according to claim 1, characterized in that, The first portion of the cantilever includes a base and an intermediate portion connected between the base and the second portion, the intermediate portion being pivotable relative to the base about a third pivot axis oriented at an angle relative to the first pivot axis.

3. The machine according to claim 1, characterized in that, The machine also includes a chassis with a traction drive for engaging a support surface, the chassis having a front end and a rear end, and a chassis axis extending between the front end and the rear end, the frame being supported on the chassis for movement in a direction parallel to the chassis axis.

4. The machine according to claim 1, characterized in that, The machinery also includes a material handling device comprising a bucket for receiving cut material from a space in front of the frame relative to the direction of travel, the bucket having a leading edge, wherein the cutting device can be positioned near the leading edge of the bucket.

5. The machine according to claim 1, characterized in that, The first end of the cantilever is connected to the frame via a swivel connector, which is pivotable about an axis to allow the cantilever to move in the lateral direction.

6. The machine according to claim 1, characterized in that, The first portion is capable of pivoting at least 30 degrees about the first pivot axis, wherein the second portion is capable of pivoting at least 45 degrees about the second pivot axis and is capable of pivoting independently of the pivoting motion of the first portion.

7. The machine according to claim 1, characterized in that, The shaft is supported on a second portion of the cantilever for rotation about the axis of the shaft, wherein the cantilever axis intersects the first pivot axis and the second pivot axis, and when the cantilever is in a straight configuration, the cantilever axis is aligned with the axis of the shaft.

8. The machine according to claim 1, characterized in that, The mechanism further includes a first actuator for pivoting the cantilever about the first pivot axis, and a second actuator for pivoting the second portion about the second pivot axis, wherein the second actuator can be controlled to pivot the second portion when the first actuator reaches its maximum or minimum extension.

9. The machine according to claim 1, characterized in that, The shaft includes a first portion and a second portion connected to one end of the first portion. The first portion is rotatable about a first axis, and the second portion extends along a second axis inclined relative to the first axis. The cutting disc is supported on the second portion for rotation about the axis of the cutting device.

10. The machine according to claim 1, characterized in that, The machine further includes a first actuator for pivoting the cantilever about the first pivot axis and a second actuator for pivoting the second portion about the second pivot axis, wherein the first actuator and the second actuator include hydraulic cylinders for deflecting the first and second portions of the cantilever against a reaction force exerted on the cantilever by the rock.

11. The machine according to claim 1, characterized in that, The cutting element is supported to rotate freely about the axis of the cutting device relative to the axis.

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