Machine chisel, retaining device, removing system and method

Description

[0001] Various embodiments relate to a machine chisel, a holding device, a material removal system and a method, e.g. a method relating to a machine chisel.

[0002] In the context of raw material production in mining, the importance of smaller deposits for numerous valuable minerals has increased, as comparatively large deposits are becoming depleted and / or more difficult to locate. Selective extraction of the respective mineral can be desirable in this context; that is, processes aimed at extracting the mineral with minimal dilution from accompanying minerals (e.g., vein minerals, inclusions, and / or waste rock). This reduces the effort required for subsequent processing of the raw minerals (e.g., transport, crushing, and the mechanical and chemical separation of valuable components) and for the stockpiling of residual materials. At the same time, selective extraction itself can be more complex than conventional extraction methods such as drilling and blasting.If selective extraction reduces material flows and energy expenditures in the overall balance, it leads to more sustainable and economical mining and reduces environmental damage.

[0003] Selective mineral extraction can be carried out manually by an operator of a rock excavator, who conventionally relies on visual information regarding the extracted rocks and, where applicable, on previously collected information from drilling data (also known as exploration drilling), strike inspections, and / or face mapping. However, water, extracted material (also known as stockpile), or the dust generated during rock extraction often obstruct the operator's view, preventing continuous monitoring of changes in the course or characteristics of the valuable mineral ore bodies.

[0004] The mining process must therefore be regularly interrupted to visually inspect the rock face, for example, once the dust has settled. This results in a significant increase in time, reduced mining output, and consequently higher mineral extraction costs. Since no up-to-date information is available during rock extraction, immediate process control of the selective mining between rock face inspections is not possible. This leads to an increased proportion of associated minerals in the extracted raw ore and correspondingly high costs for subsequent processing, as described above. The aforementioned exploration drilling, rock face inspections, and / or face mapping also require interruptions to rock extraction, thus increasing the time required. If the valuable mineral and the waste rock are visually similar, visual inspection (e.g., underground) can only provide limited information.Furthermore, the benefit gained from a visual inspection of the impact is highly dependent on the operator's skills and experience and therefore requires experienced personnel.

[0005] Reference is also made to US 4 655 082 A, US 4 001 798 A and US 2013 / 270890 A1.

[0006] According to various embodiments, it has been recognized that the selective removal of material (e.g., rock extraction) can be significantly improved if information about the removed or to-be-removed material is provided during the continuous process, even when the operator's view of the working face is restricted. It has been found that such information can be obtained more effectively by directly sensing the parameters of the machine bit used by the extraction machine (e.g., rock extraction machines) to remove the material.

[0007] According to various embodiments, movements of the machine chisel relative to the chisel holder during removal can be sensor-detected, and based on this, information regarding the removed or to-be-removed material (e.g., its type and / or physical properties, such as its hardness) can be determined. This improves the data availability and thus the control of the material removal machine (e.g., rock excavator) in such a way that selective material removal (e.g., rock mining) is improved and, furthermore, no interruptions of the removal process are required for the purpose of visual monitoring. For example, selective material removal with low dilution can be achieved independently of dust generation or obscuration by previously extracted material (stockpile), even if the course or consistency of the ore body changes spatially. The aforementioned information regarding the removed or to-be-removed material is then used to determine the precise location of the material being removed.The amount of material to be removed can also be determined using the embodiments described herein, regardless of the operator's skills and experience, and even without a direct operator (e.g., in the case of an autonomously operating extraction machine).

[0008] According to various embodiments, a machine chisel, a holding device, a removal system, and a method are provided which improve selective material removal (e.g., in rock extraction, civil engineering, building construction, tunneling, demolition, etc.) and thereby, for example, make it possible to increase the efficiency of a removal system or removal process and thus reduce operating costs. For example, in rock extraction, the improved selective rock removal also leads to reduced effort (and thus costs) in processing the extracted rock.

[0009] It was clearly demonstrated that a machine chisel with a sensor-detectable scale makes it possible to detect mechanical excitation of the machine chisel (e.g., exhibiting movements of the entire machine chisel or at least a part of it), and that this excitation is directly dependent on the material being removed, thus allowing conclusions to be drawn about the properties of the material being removed. This excitation of the machine chisel can be caused by the counterforce generated during material removal, but also separately for the purpose of maintenance and testing.

[0010] According to a first exemplary implementation, the machine chisel (e.g., a round shank chisel) can be held with play in a holding device, and the movement of the entire machine chisel within the holding device is recorded, for example, to determine information regarding the material removed. According to this or an alternative second exemplary implementation, the deformation of the machine chisel (e.g., a resulting movement of the chisel head) can be recorded, preferably when the machine chisel (e.g., a flat chisel) is rigidly fixed to the holding device, for example, to determine information regarding the material removed.

[0011] They show Figures 1A to 1H each show a machine chisel 100 according to different embodiments; Figure 2A shows a cutting device 200 consisting of a machine chisel 100 and a holding device 300 according to different embodiments; Figures 2B to 2U each show different components of the Figur 2A Figures 200 and 3C show a removal device 200 according to various embodiments, which can of course also be provided separately as individual assemblies from the removal device 200; Figures 3A to 3C each show a holding device 300 according to various embodiments; Figure 3 shows a data processing device 330 according to various embodiments; and Figure 4A shows a locking device 202 of the first type according to various embodiments; Figure 4 shows a removal device 200 with a locking device 402 of the second type according to various embodiments; Figures 5A to 5E show aspects of a material removal process; Figures 6A to 6C each show a removal system according to various embodiments; Figures 7 to 11 each show a flowchart of a process according to various embodiments; and Figures 12A to 12C each show various embodiments in which the locking device has the reference body.

[0012] The following detailed description refers to the accompanying drawings, which form part thereof and illustrate specific embodiments in which the invention can be implemented. In this context, directional terminology such as "top," "bottom," "front," "back," "anterior," "rear," etc., is used with reference to the orientation of the described figure(s). Since components of embodiments can be positioned in a number of different orientations, the directional terminology serves only for illustration and is in no way limiting. It is understood that other embodiments may be used and structural or logical modifications may be made without deviating from the scope of protection of the present invention.It is understood that the features of the various exemplary embodiments described herein can be combined with one another, unless specifically stated otherwise. The following detailed description is therefore not to be interpreted in a limiting sense, and the scope of protection of the present invention is defined by the appended claims.

[0013] Several embodiments relate to a machine chisel. A machine chisel, as used herein, can be understood as a tool that may consist of components rigidly connected to one another (e.g., by material bonding, force bonding, and / or form bonding). The machine chisel may extend longitudinally along a longitudinal axis (e.g., from its back to its front). The machine chisel may have a chisel tip (illustratively on the front), through which, for example, the longitudinal axis of the machine chisel may pass. The chisel tip forms, for example, the front edge of the chisel and may have a shape that tapers towards the front (e.g., conical).

[0014] In various examples, directional terminology is used, such as "along," "parallel," "transverse," etc. It is understood that these terms refer to preferred directions, such as the longitudinal extent or contour of a structure or body. For example, a structure (e.g., a depression) may extend along a path, with the longitudinal extent of the path as its preferred direction. The directional terminology can specify how the preferred direction (e.g., along the path) is aligned with the preferred direction of another structure or with respect to an axis (e.g., the longitudinal axis). Consequently, the directional terminology describes a positional relationship. A spatial position can describe both a location (e.g., in the coordinate system 101, 103, 105) and an orientation.

[0015] Two or more of the machine chisel's components can optionally be part of a monolithic body, e.g., machined from a single piece. Examples of machine chisel components include a shank (also called a chisel shaft) and a chisel head. The chisel head and / or the chisel shaft can, for example, be bodies of revolution.

[0016] The chisel head can have a chisel point (illustrated on the front of the machine chisel) and can be connected to the shank (which extends towards the back) on the side opposite the chisel point, i.e., the side facing the back of the machine chisel, for example, by a material-fit connection. Alternatively or additionally, the chisel head can have a collar (also called a chisel collar) that protrudes from the chisel point and / or the chisel shank.

[0017] Optionally, the chisel head can have a chisel shank, which forms the chisel point. The chisel shank preferably has a greater hardness than the chisel collar and / or the chisel shank. The chisel shank can, for example, be embedded in the chisel collar, e.g., pressed in. The chisel shank can be conical, parabolic, or stepped.

[0018] The chisel point can be ceramic, for example, or at least contain or be made of a ceramic material (e.g., a carbide such as tungsten carbide and / or nitride). The chisel collar and / or the chisel shank can be metallic, or at least contain or be made of a metal, e.g., steel.

[0019] A rigid connection, as used here, can be understood as a jointless connection, e.g., blocking all degrees of freedom. Two geometric objects (e.g., bodies or sections) rigidly connected to each other can be fixed in position relative to one another and completely exchange all forces acting upon them. A rigid connection is a connection by which the geometric objects remain rigidly and fixedly connected relative to each other during their movement. For example, a rigid connection can be: a material-bonded connection, a force-fit connection (e.g., created by press-fitting or shrink-fitting), and / or a form-fit connection (e.g., created by screwing and / or snapping) that blocks all degrees of freedom.

[0020] A magnetizable material (also referred to as a magnetic material) can be understood here as a material that has a magnetic permeability significantly greater than 1, e.g., ferrites with 4 to 15,000, cobalt with 80 to 200, or iron with 300 to 10,000. The magnetic material can be, for example, ferromagnetic, antiferromagnetic, or ferrimagnetic. The magnetic material can be, for example, hard magnetic material and / or soft magnetic material, or be composed of these. The magnetic material can exhibit magnetic polarization, e.g., magnetization, such that a dipole is provided by the magnetic material. A non-magnetic material (also referred to as a non-magnetizable material) can be understood here as a material that has a magnetic permeability of approximately 1 (e.g., a paramagnetic or a slightly diamagnetic material such as copper), e.g.,in a range of approximately 0.9 to approximately 5, e.g. in a range of approximately 0.9 to approximately 1.1.

[0021] The hard magnetic magnet material can have a coercive field strength greater than approximately 500 kiloamperes per meter (kA / m), e.g. greater than approximately 1000 kA / m.

[0022] The hard magnetic material (also known as permanent magnetic material) can, for example, contain or be composed of one or more permanent magnets. A permanent magnet (also known as a permanent magnetic pole body) can be understood as a body made of a hard magnetic material. The hard magnetic material can, for example, consist of a chemical compound and / or an alloy.

[0023] The hard magnetic magnet material can contain iron, cobalt, and / or nickel (e.g., a ferrite). The hard magnetic magnet material can contain or be composed of a rare earth metal (such as neodymium, samarium, praseodymium, dysprosium, terbium, and / or gadolinium), iron, cobalt, and / or nickel. For example, the hard magnetic magnet material can contain or be composed of at least neodymium, iron, and / or boron, e.g., a chemical compound thereof. Alternatively or additionally, the hard magnetic magnet material can contain or be composed of at least aluminum, nickel, and / or cobalt, e.g., a chemical compound thereof. Alternatively or additionally, the hard magnetic magnet material can contain or be composed of at least samarium and / or cobalt, e.g., a chemical compound thereof.

[0024] The hard magnetic material can, for example, consist of or be composed of neodymium-iron-boron (Nd₂Fe₁₄B) or samarium-cobalt (SmCo₅ and Sm₂Co₁₇). More generally, the hard magnetic material (e.g., any permanent magnet) can consist of or be composed of a rare-earth magnet material (such as neodymium-iron-boron (NdFeB) or samarium-cobalt (SmCo)), a ferrite magnet material (e.g., a hard ferrite magnet material), a bismanol magnet material, and / or an aluminum-nickel-cobalt magnet material.

[0025] The soft magnetic magnet material can have a coercive field strength of less than approximately 500 kA / m, e.g., less than approximately 100 kA / m, e.g., less than approximately 10 kA / m, e.g., less than approximately 1 kA / m. The soft magnetic magnet material can be an alloy containing iron, nickel and / or cobalt, steel, a powder material and / or a soft ferrite (e.g., containing nickel-tin and / or manganese-tin), or be formed from these materials.

[0026] This refers to a sensorily detectable scale. The scale can have a sensorily detectable (e.g., geometric and / or magnetic) pattern, which comprises several structures (also referred to in this context as scale elements). In this context, a structure can be understood as a geometric (e.g., in the case of a profile) and / or magnetic (e.g., in the case of a magnetic pole) variation that can be sensorily detected. In some embodiments, each scale element can have a geometric profile and / or be made of a magnetic material. A profiled magnetic material, for example, improves the sensory detectability of the scale. The geometric extent of each scale element spans a dimension of the scale (also referred to as the scale dimension) and can be converted into a geometric value, e.g., a distance or an angle, by means of the sensor.In some embodiments, the sensor-detectable scale has one or more than one edge, e.g. an edge adjacent to an end face of the chisel shank and / or an edge running along a closed path (in which, for example, the chisel axis is arranged).

[0027] A sensor (also called a detector) can be understood as a transducer designed to detect a property of its environment (e.g., qualitative or quantitative) corresponding to the sensor type, such as a physical property, a chemical property, and / or a material composition. The measured quantity is the physical quantity (also called the controlled variable) to which the measurement by the sensor applies. An example of a quantitatively detected measured quantity is magnetic field strength, the current state of which can be converted into a measured value by the sensor.

[0028] Each sensor can be part of a measurement chain, which includes the necessary infrastructure (e.g., a processor, storage medium, and / or bus system, etc.). The measurement chain can be configured to control the sensor, process its measured value as input, and then provide an electrical signal as output representing the measured value. For example, the output could indicate the measured value. The measurement chain can be implemented using a control device.

[0029] In various embodiments, the sensor itself can already include part of the measurement chain, which preprocesses the acquired sensor data and outputs the preprocessed sensor data. It is therefore understood that a so-called intelligent sensor, which preprocesses acquired sensor data and outputs this preprocessed sensor data, for example as a digital time series, and a sensor module that includes a sensor coupled with electronics (e.g., for detecting an amplitude), can also be understood as the sensor described herein.

[0030] FIG. 1A bis FIG. 1H Each figure shows a machine chisel 100 according to different embodiments in different schematic views.

[0031] The machine chisel 100 can have a chisel point 102. The machine chisel 100 can further have a shank 104 (also referred to as the chisel shaft). The shank 104 can extend from the chisel point 102 along a longitudinal axis 107 (also referred to as the chisel longitudinal axis or chisel axis) of the machine chisel 100 (e.g., in the direction 105). The shank 104 can, for example, be a body of revolution with respect to the longitudinal axis 107 (e.g., serving as the axis of rotation) and / or be cylindrical. The shank 104 can, for example, be circular cylindrical. According to various embodiments, the shank 104 can be a round shank. In various preferred embodiments, the machine chisel 100 can be a round shank chisel. Alternatively, the cross-section of the shank 104 can be non-rotationally symmetric.As used herein, non-rotationally symmetric can be understood as a finite n-fold rotational symmetry with respect to the longitudinal axis 107, where n can be any natural number greater than or equal to 1. According to various embodiments, the cross-section can be rectangular or trapezoidal. For example, the machine chisel 100 in this case can be a flat chisel (see, for example, ). FIG. 1H ).

[0032] According to various embodiments, the machine chisel 100 can have a chisel head 108. The chisel head 108 can extend from the chisel tip 102 along the longitudinal axis 107 towards the shank 104. The chisel head 108 and the shank 104 can be rigidly connected to each other (e.g., by material bonding, force bonding, and / or form bonding). For example, the rigid connection (e.g., form bonding and / or material bonding) can be configured to transmit a force acting on the chisel head 108 (e.g., along the longitudinal axis 107) directly to the chisel shank 104, and vice versa. The chisel head 108 can be a body of revolution with respect to the longitudinal axis 107 (e.g., serving as an axis of rotation). A rigid connection by means of a positive fit between the shank 104 and the chisel head 108 can be achieved, for example, by pressing the shank 104 into the chisel head 108, or by shrinking the chisel head 108 onto the shank 104 (e.g. thermally).

[0033] A rigid connection between the shank 104 and the chisel head 108 by means of a material bond can be achieved, for example, by manufacturing the shank 104 and the chisel head 108 as a monolithic component (e.g., welded together) or from a single component. The chisel head 108 and the shank 104 can, for example, be manufactured from one piece. According to various embodiments, the shank 104 and the chisel head 108, which has the chisel tip 102, can be materially bonded together and form a body of revolution about the longitudinal axis 107 of the machine chisel 100.

[0034] The chisel head 108 can be multi-part in some preferred embodiments, for example comprising a chisel pin 109 (see for example the following): FIG. 1B The chisel shank 109 (e.g., having or being made of ceramic) can have the chisel tip 102 on the front of the machine chisel 100. The chisel shank 109 can have a tapered shape (e.g., conical and / or tapered) towards the chisel tip 102. The chisel head 108 can, for example, have a head body (e.g., having or being made of metal) into which the chisel shank 109 is embedded, e.g., pressed in. The head body can be rigidly connected to the shaft 104.

[0035] The head body can, for example, be designed as a chisel collar 111 that protrudes from the shaft 104. The chisel pin 109 can, for example, be embedded in the chisel collar 111, e.g., pressed in.

[0036] The machine chisel 100 can have a locking structure 110 (see for example FIG. 1C The locking structure 110 can be configured such that the machine chisel 100 is secured by means of a locking device (see, for example, [reference to be added]). Fig.2I ) can be positively locked in a holding device (e.g., the holding device 300 described herein). The positive locking between the machine tool 100 and the holding device 300 can be arranged such that the machine tool 100 is arranged with play in the holding device 300 (i.e., their movement relative to each other is limited) or that the machine tool 100 is rigidly connected to the holding device 300.

[0037] In the first case, the machine tool 100 can move within the limits of the clearance. For example, a positive fit with clearance can be formed between the shank 104 of the machine tool 100 and the holding device 300. Visually, the machine tool 100 can be loosely arranged in the holding device 300. The positive fit between the machine tool 100 and the holding device 300 can be formed transversely to the longitudinal axis 107.

[0038] In the second case, the machine chisel 100, which is rigidly connected to the holding device 300, cannot move relative to the holding device 300. In other words, movement of the machine chisel relative to the holding device 300 can be prevented (i.e., blocked).

[0039] The locking structure 110 can have one or more positive locking profiles. Examples of positive locking profiles include: a recess extending into the shaft 104 (e.g., towards the longitudinal axis), and a projection protruding from the shaft 104 (e.g., away from the longitudinal axis). The locking structure 110 can, for example, be a circumferential recess (e.g., groove or slot) of the shaft 104 (e.g., running around the longitudinal axis 107). Alternatively or additionally, the locking structure 110 can have or be formed from a bore in the shaft 104. The locking structure 110 is described in more detail with reference to the holding device 300 and the removal device 200. The locking structure 110 can provide the respective positive locking in conjunction with a locking device. For example, the interaction of the locking structure 110 with a locking device 202 (see, for example, FIG. 4A ) of the first type, movement of the machine tool 100 in the holding device 300 within the limits of the play is possible. In contrast, the interaction of the locking structure 110 with a locking device 402 of the second type (see, for example, FIG. 4B ) prevent movement of the machine chisel 100 in the holding device 300.

[0040] According to various embodiments, the machine chisel 100 can have a reference body 106 (see, for example, FIG. 1A The reference body 106 can generally be a body rigidly connected to the shaft 104 (e.g., by material bonding, positive locking, and / or force locking) or a part of the shaft 104. The reference body 106 can, for example, be a reference area (e.g., as a part) of the shaft 104. For instance, the reference body 106 can be a monolithic part of the shaft 104. Alternatively, the reference body 106 can be embedded in or attached to the shaft 104, e.g., by screwing, gluing, or other means. For example, the reference body 106 and the shaft 104 can be detachably connected to each other (e.g., by screwing or plugging) or brought into a rigidly connected state by means of another positive locking mechanism. In some embodiments, the reference body 106 can be a body of revolution with respect to the longitudinal axis 107 (e.g., serving as the axis of rotation). Alternatively, the reference body 106 can be rigidly connected to the chisel head 108 (e.g.The reference body 106 can be a body or part of the chisel head 108 that is connected by a material-fit, form-fit, and / or force-fit connection. For example, the reference body 106 can be a body rigidly connected to the chisel head 108, which is embedded in or attached to the chisel head 108, e.g., screwed, glued, or otherwise fastened. Alternatively, the reference body 106 and the chisel head 108 can be detachably connected (e.g., by screws or plugs) or brought into a rigidly connected state by means of another form-fit connection.

[0041] According to various embodiments, the reference body 106, the shank 104, and the chisel head 108 can be rigidly connected to one another. For example, the chisel head 108 can be arranged on a first end face of the shank 104 and rigidly connected to it. Similarly, the reference body 106 can be arranged on a second end face of the shank 104 opposite the first end face and rigidly connected to it. According to various embodiments, the reference body 106, the shank 104, and the chisel head 108 can form a body of revolution about the longitudinal axis 107 (e.g., serving as the axis of rotation).

[0042] The reference body 106 can have at least one (i.e., exactly one or more than one, e.g., two or more, e.g., three or more, etc.) sensorily detectable scale. The sensorily detectable scale is preferably made of, or can at least have, a magnetizable material (e.g., a ferromagnetic, antiferromagnetic, or ferrimagnetic). Alternatively or additionally, the sensorily detectable scale can have one or more optically detectable scales.

[0043] The sensor-detectable scale, as used herein, may in some embodiments have a magnetic pattern and / or at least one (e.g., exactly one or more than one) magnetic pole. The sensor-detectable scale, consisting of at least one magnetizable material, may consist of one or more permanent magnets and already form the magnetic pattern, and / or may consist of a material that can be magnetized to form the magnetic pattern (e.g., by means of an external permanent magnet, for example, as part of the holding device 300 described herein). According to various embodiments, a sensor-detectable scale may have or be formed from a dipole magnet, a diametral magnet, a pole ring, and / or a pole rod.

[0044] A magnetic pattern can be provided, for example, by giving the magnetizable material a structured (e.g., profiled) surface. A structured surface, as used here, can be understood, for example, as a regular structure on the surface of the reference body 106. For instance, the reference body 106 can have several spatially regularly arranged depressions (e.g., grooves, ridges) and / or protrusions (these structures can also be referred to as increments). In this case, the structured surface of the reference body 106 can form the sensorially detectable scale. A sensorially detectable scale provided by means of a structured surface can also be referred to as a mechanical scale. A mechanical scale can consist of a regular sequence of similar depressions in the material surface.The shape of the recesses may be of secondary importance in some embodiments, for example, when the spatial mass distribution of the magnetizable material is crucial. Examples of recesses include grooves with a (e.g., rounded) rectangular profile, a V-shaped profile, or a round profile.

[0045] A depression described herein can also be a (e.g., round) bore. The depressions can optionally be filled (e.g., partially or completely) with non-magnetizable solid material. This prevents the depressions from filling with other materials, such as metallic abrasion or rock flour, which could lead to erroneous measurements and / or increased wear. According to various embodiments, the sensor-detectable scale(s) can be covered by a layer of non-magnetizable material (e.g., thin compared to the diameter of the reference body 106). This may make the structure itself barely or not at all visible to the (human) eye.

[0046] The following are exemplary implementations of the magnetic pattern. For example, a magnetizable material (e.g., ferromagnetic, ferrimagnetic, and / or antiferromagnetic) and a paramagnetic material can alternate to form the pattern (e.g., in the form of stripes). Alternatively, a first magnetizable material (e.g., ferromagnetic, ferrimagnetic, antiferromagnetic) and a second magnetizable material (e.g., ferromagnetic, ferrimagnetic, antiferromagnetic) can alternate to form the pattern (e.g., in the form of stripes). Here, the first and second magnetizable materials can exhibit different remanence and / or saturation magnetizations. The magnetic pattern can form a magnetic standard.

[0047] More generally speaking, the (e.g. mechanical and / or magnetic) embodiment of a sensorially detectable scale can be characterized by a geometry (e.g. a distance) of the scale elements (e.g. the depressions relative to each other or the magnetic pattern) and / or the magnetizable material.

[0048] A sensor-detectable scale can be arranged externally or in an internal cavity or in the shaft 104. Various designs of externally located sensor-detectable scales are described with reference to FIG. 1D bis FIG. 1H described. An illustration of an internal, sensorially perceptible scale is shown in FIG. 2L und FIG. 2M shown.

[0049] More detailed implementations of the reference body 106 or the sensorially detectable scale are explained below.

[0050] FIG. 1D Figure 1 shows a first sensorily detectable scale 112(1) according to various embodiments. The first sensorily detectable scale 112(1) can have elongated structures (e.g., profiles) along a closed path. For example, the elongated structures (e.g., protrusions) can consist of a magnetizable material that has a remanence and / or saturation magnetization different from that of the regions located between the elongated structures. Optionally, the material arranged between the protrusions can be paramagnetic.

[0051] For example, the first sensorily detectable scale 112(1) can have several depressions, each depression being arranged between two elongated protrusions. Each of the several depressions can extend along a closed path circumferentially around the longitudinal axis 107. The path can run along a surface (e.g., the lateral surface) of the reference body 106. Each depression can, for example, extend into the reference body 106 (e.g., its lateral surface) towards the longitudinal axis 107. Each depression can form a closed and / or circumferential trench around the longitudinal axis 107.

[0052] According to various embodiments, each of the multiple depressions of the first sensorily detectable scale 112(1) can form a trench extending along the closed path. The distance between the depressions (e.g., in the direction 105) and / or the extent (e.g., width or depth) of each depression among the multiple depressions can constitute the first sensorily detectable scale 112(1). For example, the distance between the depressions and / or the extent of each depression can define a dimension of the sensorily detectable scale. For example, each elevation can form a magnetic pole of the first sensorily detectable scale 112(1).

[0053] FIG. 1E Figure 1 shows a second sensor-detectable scale 112(2) according to various embodiments. The second sensor-detectable scale 112(2) can have elongated structures (e.g., profiles) extending along a surface (e.g., the lateral surface) of the reference body 106 substantially parallel to the longitudinal axis 107 (e.g., in the direction 105). For example, the longitudinal extent of each of the structures can lie substantially in the plane spanned by directions 103 and 105. Optionally, the elongated structures can be curved along the surface of the reference body. The elongated structures can be made of a magnetizable material that has a remanence and / or saturation magnetization different from that of the regions between the elongated structures, or wherein the intermediate material is paramagnetic. The second sensor-detectable scale 112(2) can have multiple recesses.Each of the multiple recesses of the second sensorily detectable scale 112(2) can extend longitudinally towards the shaft 104 (e.g., in the direction of 105). Alternatively or additionally, two adjacent recesses of the multiple recesses of the second sensorily detectable scale 112(2) can be spaced apart from each other at a distance transverse to the longitudinal axis 107 of the machine chisel 100. According to various embodiments, each of the multiple recesses of the second sensorily detectable scale 112(2) can form a groove extending along the longitudinal axis 107 (e.g., towards the chisel tip 102). The distance between the recesses (e.g., in the circumferential direction of the reference body 106) and / or the extent (e.g., width) of a respective recess of the multiple recesses can constitute the second sensorily detectable scale 112(2).For example, the distance between the depressions of the second sensorily detectable scale 112(2) and / or the extent of each depression can define a dimension of the sensorily detectable scale. For example, the protrusions of the second sensorily detectable scale 112(2) can form respective magnetic poles of the second sensorily detectable scale 112(2).

[0054] According to various embodiments, the multiple recesses of the first sensorially detectable scale 112(1) and the multiple recesses of the second sensorially detectable scale 112(2) can be oriented obliquely (or perpendicularly) to each other.

[0055] FIG. 1 F and FIG. 1G Figures 1 and 2 each show an embodiment of a third sensorially detectable scale 112(3) according to different embodiments. The third sensorially detectable scale 112(3) can be arranged on a side of the reference body 106 facing away from the shaft 104. With reference to FIG. 1F The third sensorily detectable scale 112(3) can have a radial pattern. As described above, the radial pattern can be formed by means of a magnetizable material of different remanence and / or saturation magnetization or an intermediate paramagnetic material, and / or the radial pattern can be formed by means of multiple depressions. For example, the third sensorily detectable scale can have several radial depressions (or other profiles). Each of the multiple radial depressions can extend towards the longitudinal axis 107. With reference to FIG. 1G The third sensorily detectable scale 112(3) can have a concentric pattern. The concentric pattern can be formed by means of a magnetizable material of different remanence and / or saturation magnetization or an intermediate paramagnetic material, and / or the concentric pattern can be formed by means of several depressions. For example, the third sensorily detectable scale 112(3) can have several concentrically arranged depressions (or other profiles). Each of the several concentrically oriented depressions can be arranged around the longitudinal axis 107.

[0056] According to various embodiments, each of the multiple (radial or concentric) depressions of the third sensorily detectable scale 112(3) can form a trench. The arrangement of the depressions (e.g., an angle between the rays of the radial depressions or a distance between the concentric depressions) and / or the extent (e.g., a width or depth) of a respective depression among the multiple depressions can form the third sensorily detectable scale 112(3). For example, the distance between the depressions of the third sensorily detectable scale 112(3) and / or the extent of a respective depression can define a dimension of the sensorily detectable scale transverse to the longitudinal axis 107.

[0057] According to various embodiments, the third sensorially detectable scale 112(3) can have both the radial pattern and the concentric pattern.

[0058] Each sensor-detectable scale can be configured such that, in conjunction with a sensor, a translation and / or a rotation (e.g., a rotation) of the machine chisel 100 can be detected. Specifically, axial, rotational, and / or lateral movements of the machine chisel 100 can be detected. As described above, the machine chisel 100 can move within the limits of the clearance in the holding device 300.

[0059] For example, the first sensorily detectable scale 112(1) can enable the detection of a translation of the machine chisel 100 (e.g., of the shank 104) along the longitudinal axis (e.g., in the direction 105) and / or a rotation of the machine chisel 100 (e.g., of the shank 104) about an axis perpendicular to the longitudinal axis 107, e.g., independently of a rotation of the machine chisel 100 about the longitudinal axis 107.

[0060] For example, the second sensor-detectable scale 112(2) can enable the detection of a translation of the machine chisel 100 (e.g., of the shank 104) along an axis transverse to the longitudinal axis (e.g., in the direction 101), and / or a rotation of the machine chisel 100 (e.g., of the shank 104) around the longitudinal axis 107, e.g., independently of a translation of the machine chisel 100 along the longitudinal axis 107.

[0061] For example, the third sensor-detectable scale 112(3) can enable the detection of a translation of the machine chisel 100 (e.g., of the shank 104) transversely and / or parallel to the longitudinal axis. For example, the third sensor-detectable scale 112(3) can enable the detection of a rotation of the machine chisel 100 about an axis perpendicular to the longitudinal axis 107 and / or about the longitudinal axis (e.g., in the case of a radial pattern).

[0062] According to various embodiments, the machine chisel 100 can have several sensorially detectable scales. For example, the at least one sensorially detectable scale can comprise the first sensorially detectable scale 112(1), the second sensorially detectable scale 112(2), and / or the third sensorially detectable scale 112(3). It is understood that the sensorially detectable scales described herein are merely exemplary and that other patterns for the sensorially detectable scales may be used, provided that at least one translation and / or at least one rotation of the machine chisel 100 can be detected by means of them.

[0063] According to various embodiments, the reference body 106 can be a body rigidly connected to the chisel head 108 or part of the chisel head 108. A corresponding machine chisel 100 according to various embodiments is in FIG. 1H shown. In these embodiments, the shank 104 may preferably have a rectangular or trapezoidal cross-section, for example, if the machine chisel 100 is a flat chisel. The reference body 106 may have a fourth sensorially detectable scale 112(4). The fourth sensorially detectable scale 112(4) may, similar to the second sensorially detectable scale 112(2), have elongated structures extending along a surface of the reference body 106 (e.g., a surface of the chisel head 108). The fourth sensorially detectable scale 112(4) is defined with reference to FIG. 4B described in more detail.

[0064] FIG. 2A Figure 1 shows a cutting device 200 according to various embodiments, which can include the machine chisel 100 and the holding device 300. FIG. 2B bis FIG. 2U Each figure shows at least individual components of a cutting device 200 according to various embodiments. The cutting device 200 can include the machine chisel 100. The cutting device 200 can also include a holding device 300 (see also the description of the FIG. 3A bis FIG. 3D and FIG. 4A The holding device 300 can be a round shank chisel holder designed to accommodate a round shank chisel (e.g., with play). The machine chisel 100 can, for example, be a type as shown in FIG. 1A bis FIG. 1G The illustrated round shank chisel can be used. Alternatively, the holding device 300 can be a flat chisel holder designed to accommodate a flat chisel (e.g., without play, i.e., rigidly). In this case, the machine chisel 100 can, for example, be a chisel like the one shown. FIG. 1H The depicted flat chisel should be used.

[0065] The holding device 300 can have one or more sensors 306 (n = 1 to N) (e.g., exactly one sensor or more than one sensor). The number, N, of sensors can be any integer greater than or equal to "1".

[0066] FIG. 2B Figure 1 shows an exemplary arrangement of several sensors. A first sensor 306(1), a second sensor 306(2), and a third sensor 306(3) are shown as examples. Each sensor 306(n) of the one or more sensors 306(n=1 to N) can be configured to detect a sensorily detectable scale associated with the sensor. Each sensorily detectable scale can be detected by one or more sensors.

[0067] According to various embodiments, at least one (e.g., each) sensor 306(n) of the one or more sensors 306(n=1 to N) can be configured to detect the associated sensory scale without contact. This can, for example, reduce (e.g., prevent) wear on the sensors and / or improve the quality of the measured values.

[0068] According to various embodiments, the reference body 106 can have the first sensorily detectable scale 112(1), the second sensorily detectable scale 112(2), and the third sensorily detectable scale 112(1). The holding device 300 can have the first sensor 306(1), which may be configured to detect the first sensorily detectable scale 112(1). The holding device 300 can have the second sensor 306(2), which may be configured to detect the second sensorily detectable scale 112(2). The holding device 300 can have the third sensor 306(3), which may be configured to detect the third sensorily detectable scale 112(3). According to various embodiments, the holding device 300 can have several first sensors configured to detect the first sensorily detectable scale 112(1).For example, the multiple first sensors can be spaced apart and / or aligned at an angle to each other (e.g., perpendicular to each other). For example, the holding device 300 can have four first sensors 306(1) for detecting the first sensorily detectable scale 112(1). According to various embodiments, the holding device 300 can have multiple second sensors configured to detect the second sensorily detectable scale 112(2). For example, the multiple second sensors can be arranged at an angle to each other (e.g., perpendicular to each other). For example, the holding device 300 can have four second sensors 306(2) for detecting the second sensorily detectable scale 112(2). According to various embodiments, the holding device 300 can have multiple third sensors configured to detect the third sensorily detectable scale 112(3).

[0069] At least one (e.g., each) sensor 306(n) of the one or more sensors 306(n=1 to N) can be configured to detect a field emanating from the reference body 106 (e.g., a magnetic field and / or an electric field) and / or a field influenced by the reference body 106. A sensor described herein can also be a displacement sensor or a distance sensor.

[0070] As described herein, the one or more sensors 306 (n=1 to N) can be configured to detect a translation of the machine tool 100 parallel to the longitudinal axis 107, a translation of the machine tool 100 transverse to the longitudinal axis 107, a rotation of the machine tool 100 about the longitudinal axis 107, and / or a rotation of the machine tool 100 perpendicular to the longitudinal axis 107. The sensor-detectable scale(s) of the machine tool 100 can be configured such that the respective translation and / or rotation can be detected by means of the one or more sensors 306 (n=1 to N). The sensor-detectable scale(s) of the machine tool 100 and the one or more sensors 306 (n=1 to N) of the holding device 300 can be coordinated.

[0071] According to various embodiments, one or more sensors 306(n) can be configured to detect the distance of the reference body 106 from the sensor 306(n). One or more sensors 306(n) can be configured to detect the distance (e.g., an amplitude) by which the reference body 106 moves relative to the sensor 306(n) (e.g., relative to the holding device 300, e.g., relative to the chisel holder 302). One or more sensors 306(n) can be configured to detect the frequency at which the reference body 106 moves (e.g., a translational frequency and / or a rotational frequency).

[0072] According to various embodiments, the respective sensor can be configured to detect the frequency at which the reference body 106 moves during the respective material removal process. For example, cutting a rock, further influenced by the contact force of the removal system against the rock and the relative velocity of the removal system with respect to the rock body during the cutting process, can lead to vibration frequencies in the range of approximately 0.5 kHz to approximately 8 kHz. For example, the sensor can have a sampling rate in the range of approximately 5 kHz to approximately 10 kHz, from approximately 15 kHz to approximately 20 kHz, or even higher than approximately 20 kHz.

[0073] A sensor 306(n) or one or more sensors 306(n=1 to N) can be a magnetoresistive sensor, a Hall sensor, a capacitive sensor, or an inductive sensor (e.g., an eddy current sensor). For example, the reference body 106 can be made of an electrically conductive material, which enables detection by means of an eddy current sensor. According to various embodiments, the sensor-detectable scale(s) can be detected by means of sensors of different sensor types (e.g., one or more magnetoresistive sensors, one or more Hall sensors, one or more capacitive sensors, and / or one or more inductive sensors). An example of magnetic sensors (e.g., magnetoresistive sensors and / or Hall sensors) is shown in FIG. 2J shown. Here, the first sensorily detectable scale 112(1), the second sensorily detectable scale 112(2), and the third sensorily detectable scale 112(3) do not necessarily have to be provided by means of recesses, but can alternatively or additionally be provided by means of a respective permanent magnetic pole. An example of capacitive and / or inductive sensors (e.g., an eddy current sensor) is shown in FIG. 2K shown.

[0074] Capturing the movement directly at the machine tool 100 (e.g., the reference body) allows for significantly better resolution compared to capturing movements or vibrations of the entire system, since the latter approach can introduce additional vibration influences on top of those caused by material properties. In essence, movements that arise (almost) exclusively from the interaction of the machine tool 100 with the material being removed can be captured directly at the machine tool 100.

[0075] With reference to FIG. 2C The holding device 300 can have a chisel holder 302. The chisel holder 302 can have an opening 316 (see, for example, FIG. 3A bis FIG. 3C The opening 316 can be configured to receive a machine chisel, such as the machine chisel 100. The holding device 300 can have a first receiving area 320 (e.g., having a cavity). The first receiving area 320 can be exposed towards the opening 316. The first receiving area 320 can, for example, be arranged along the longitudinal axis 107 behind the opening 316. The first receiving area 320 can, for example, be cylindrical or cuboid. The first receiving area 320 can be configured to receive at least a section of the reference body 106. Alternatively or additionally, the holding device 300 can have a second receiving area 324 (e.g., having a cavity). The second receiving area 324 can be exposed towards the opening 316. The second receiving area 324 can, for example, be arranged along the longitudinal axis 107. The second receiving area 324 can, for example, be cylindrical.The second receiving area 324 can be configured to receive at least a section of the shaft 104 (e.g., substantially the entire shaft 104). The first receiving area 320 and the second receiving area 324 can have a common cavity (see, for example, Figure 1). FIG. 3A ).

[0076] The one or more sensors 306 (n = 1 to N) can be arranged within the chisel holder 302 (e.g., attached to it). The one or more sensors 306 (n = 1 to N) can be arranged on the first receiving area 320 of the holding device 300. According to various embodiments, at least one (e.g., each) sensor 306(n) of the one or more sensors 306 (1 ≤ n ≤ N) can be configured to detect an associated sensory scale without contact. A gap can be arranged between the respective sensor 306(n) and the associated sensory scale. Optionally, it can be detected whether contaminants are present within the gap.

[0077] FIG. 2D Figure 1 shows a material removal device 200 with exemplary embodiments of the machine chisel 100 and the holding device 300 according to various embodiments. FIG. 2E shows a cross-section of the in FIG. 2D depicted removal device 200. FIG. 2F and FIG. 2G show enlarged sections of the cross-sectional view and FIG. 2H shows a sectional view regarding FIG. 2G .

[0078] The machine chisel 100 can, for example, have the first sensorily detectable scale 112(1). In this embodiment, the first sensorily detectable scale 112(1) can have several recesses, each forming a closed path around the longitudinal axis 107. The machine chisel 100 can, for example, have the second sensorily detectable scale 112(2). In this embodiment, the second sensorily detectable scale 112(2) can have several recesses, each arranged parallel to the longitudinal axis 107. Visually, the reference body 106 can have a gear-shaped section that forms the second sensorily detectable scale 112(2). The holding device 300 can have four second sensors 306(2) arranged perpendicularly (approximately 90°) to each other (see, for example, FIG. 2H ).

[0079] The holding device 300 can have a chisel bushing 304. The chisel bushing 304 can have a greater hardness than the chisel holder 302. The chisel bushing 304 can be one-piece or multi-piece. A one-piece chisel bushing 304 can have the form of a sleeve (e.g., cap-shaped). The one-piece chisel bushing 304 can be at least partially closed along the longitudinal axis 107 (e.g., except for bores and the opening 316). A multi-piece chisel bushing 304 can, for example, have a first part 304(1) and a second part 304(2). The first part 304(1) can, for example, have the second receiving area 324. A cavity in the first part 304(1) of the chisel bushing 304 can be configured to receive the shank 104 of the machine chisel 100. The second part 304(2) can, for example, be cap-shaped. The second part 304(2) can, for example, have the first receiving area 320.A cavity in the second part 304(2) of the chisel bushing 304 can be configured to receive the reference body 106 of the machine chisel 100. The second part 304(2) of the chisel bushing 304 can, for example, be attached to the chisel holder 302 and / or to the first part 304(1) of the chisel bushing 304 (e.g., detachably). Various embodiments of a multi-part chisel bushing 304 are described, for example, in [reference]. FIG. 3A bis FIG. 3C shown.

[0080] According to various embodiments, the first part 304(1) of the multi-part chisel bushing 304 can serve as a wear bushing. In essence, the first part 304(1) can be a wear part, thereby increasing the service life of the chisel holder 302.

[0081] According to various embodiments, the second part 304(2) of the multi-part chisel bushing 304 can serve as a cover (e.g. as a cap or lid) of the receiving area (e.g. of the first receiving area 320), thereby protecting the reference body 106 and / or the one or more sensors 306 from external influences.

[0082] The one or more sensors 306 (n=1 to N) can be arranged (e.g., attached) to the chisel bushing 304 (e.g., to the second part 304(2) in the case of a multi-part chisel bushing). The one or more sensors 306 (n=1 to N) can be rigidly connected (e.g., positively and / or force-fit) to the chisel bushing 304.

[0083] The machine chisel 100 can have the locking structure 110. As described above, the locking structure 110 can be a circumferential recess (e.g., a groove) in the shank 104 (e.g., around the longitudinal axis 107) or a bore in the shank 104. The cutting device 200 can have a locking device 202 of the first type or a locking device 402 of the second type. The locking device 202, 402 (of the first or second type) can also be considered part of the holding device 300.

[0084] The respective locking device 202, 402 can be arranged to be brought into a first state and a second state, of which the locking device 202, 402, when it is brought into the first state, locks the machine chisel 100 received in the opening 316 in the holding device 300, and, when it is brought into the second state, releases the locking of the machine chisel 100.

[0085] If the machine chisel 100 is locked by means of the first-type locking device 202, its movement along the longitudinal axis 107 can be limited, e.g., to a maximum displacement 214 (also referred to as maximum displacement distance). The maximum displacement 214 can, for example, be less than 10 millimeters (mm) or less than 1 mm. This will be described in more detail later with regard to the elastically deformable element 310. The first-type locking device 202 of the cutting device 200 or the holding device 300 can be configured to couple with the locking structure 110 of the machine chisel 100. The first-type locking device 202 can, for example, be configured, when in its first state, to form an additional positive locking (along the longitudinal axis 107) with the machine chisel 100 received in the opening 316, which limits its movement along the longitudinal axis 107.

[0086] If the machine chisel 100 is locked by means of the locking device 402 of the second type, this can form a positive locking connection with the machine chisel 100 received in the opening, which rigidly connects the machine chisel to the chisel holder 302.

[0087] As illustrated herein, the machine chisel 100 can be configured such that it can be used (e.g., inserted) in various configurations of the holding device 300. For example, the machine chisel 100 can be used in holding devices 300 with a chisel bushing (see, for example, FIG. 2K ) as well as in holding devices 300 without chisel bushing (see for example FIG. 2Q ) are used.

[0088] As described above, the locking structure 110 of the machine tool 100 and the locking device 202, 402 can be configured such that, in combination, they either allow movement of the machine tool 100 within the holding device 300 within the clearance or prevent movement of the machine tool within the holding device (e.g., relative to the holding device 300). Numerous configurations of the locking structure 110 and the locking device 202, 402 are possible in this respect. For example, the locking structure 110 can be or have a groove, and the machine tool 100 can be locked in holding devices 300 that use a screw, a pin, and / or a threaded stud as the locking device 202 of the first type (see, for example, FIG. 2D bis FIG. 2G ), as well as in holding devices 300, which have a U-shaped clamp as a locking device 202 of the first type (see for example FIG. 2I ) or an L-shaped clamp as a locking device 202 of the first type (see for example FIG. 2L und FIG. 2M ) are used to enable movement of the machine chisel 100 in the holding device 300 within the play. However, the locking structure 110 can also have a bore (e.g., with a thread) and the holding devices 300 can optionally additionally have a screw, a pin, and / or a threaded stud as a second-type locking device 402, in which case a rigid connection (e.g., by screwing) can be created between the holding device 300 and the machine chisel 100 (see, for example, FIG. 4B ). In a visual representation, the locking device 202, 402 can be configured, in conjunction with the locking structure 110 of the machine chisel 100, to lock the machine chisel 100 (in the locked first state) either with play or rigidly in the holding device 300.

[0089] The locking device 202 of the first type can be configured such that the machine tool 100 is provided with one or more rotational degrees of freedom when the positive locking is established. The locking device 202 of the first type can also be configured such that the machine tool 100 is provided with one or more translational degrees of freedom when the positive locking is established. In essence, the machine tool 100 can be arranged in a positive locking manner in the holding device 300, wherein the machine tool 100 can have at least one rotational degree of freedom and / or at least one translational degree of freedom. According to various embodiments, the movement of the machine tool 100 resulting from the at least one rotational degree of freedom and / or at least one translational degree of freedom (e.g., during a machining process) can be detected by means of one or more sensors.To illustrate, in this case the machine chisel 100 can have standard-compliant play in the holding device 300 so that the sensor system functions.

[0090] In contrast, the locking device 402 of the second type can be configured such that no degree of freedom is provided to the machine tool 100 when the positive locking is formed. For example, the positive locking can prevent movement in three translational degrees of freedom and in three rotational degrees of freedom (then also referred to as a rigid connection).

[0091] According to various embodiments, the locking structure 110 can have the self-contained recess and the locking device 202 of the first type can have a screw (see for example FIG. 2D bis FIG. 2G ) or have a clamp (e.g., U-shaped or L-shaped). A removal device 200 with a U-shaped clamp as a locking device 202 of the first type is in FIG. 2I An example of a U-shaped clamp (also called a retaining clip) in cross-section or top view is shown in FIG. 4A shown. A removal device 200 with an L-shaped clamp as a locking device 202 of the first type is shown in FIG. 2L und FIG. 2M shown. According to various embodiments, the locking structure 110 can have a bore (e.g. having a thread) and the locking device 402 of the second type can have a pin (e.g. a threaded pin) and / or a screw (see, for example, FIG. 4B ).

[0092] Optionally, the holding device 300 can include a seal 308 (e.g., a sealing ring). The chisel bushing 304 (e.g., the first part 304(1) of the chisel bushing 304) or the chisel shank 104 can have a recess, and the seal 308 can be arranged in the recess. The seal 308 can optionally be configured to form or at least improve the positive fit between the machine chisel 100 and the holding device 300 (e.g., between the shank 104 and the chisel bushing 304). The seal 308 can be configured to limit movement of the machine chisel 100 perpendicular to the longitudinal axis 107 (but to allow movement along the longitudinal axis 107). According to various embodiments, the seal 308 can prevent particles (e.g., contaminants) from entering the first receiving area 320 from the direction of the chisel tip 102.

[0093] According to various embodiments, the chisel holder 302 and the chisel bushing 304 can be rigidly connected to each other (e.g., positively and / or force-fit). For example, the chisel bushing 304 can be pressed into the chisel holder 302 and / or the chisel holder 302 can be shrink-fitted onto the chisel bushing 304.

[0094] In general, the holding device 300 may not have a (e.g., one-piece or multi-piece) chisel bushing 304 in the opening 316 (then also referred to as a bushingless holding device 300). In the bushingless holding device 300, as used herein, the second part 304(2) may be designed as an attachment bushing or at least be arranged outside the chisel holder 302. For example, the second part 304(2) may be designed as a cap or cover that is placed on the chisel holder 302. In this case, the chisel holder 302 may have the second receiving area 324 (and optionally also the first receiving area 320). An example of this is shown in FIG. 3B shown.

[0095] A cavity in the chisel holder 302 can be configured to receive the shank 104 and / or the reference body 106 of the machine chisel 100. The locking structure 110 and the locking device 202 of the first type can be configured relative to each other such that the machine chisel 100, arranged in the holding device 300 (e.g. the chisel holder 302), can have at least one rotational degree of freedom (e.g. about the longitudinal axis 107) and / or at least one translational degree of freedom (e.g. along the longitudinal axis 107 limited to the maximum displacement 214).

[0096] Alternatively, the locking structure 110 and the locking device 402 of the second type can be arranged in such a way that the machine chisel 100 is rigidly connected to the holding device 300 (e.g. the chisel holder 302).

[0097] The one or more sensors 306 (n = 1 to N) can detect the movement of the machine tool 100 (e.g., during a machining process) along and / or transversely to or around the longitudinal axis 107. The one or more sensors 306 (n = 1 to N) can be arranged (e.g., attached) on or in the tool holder 302. The one or more sensors 306 (n = 1 to N) can be rigidly connected (e.g., positively and / or force-fit) to the tool holder 302.

[0098] As described above, one or more sensory-detectable scales can be arranged in an internal cavity (e.g., in the form of internal recesses, such as internal grooves). This provides even better protection for the sensors against contamination. An example of this is shown in FIG. 2L shown, which depicts a cross-sectional view of a removal device 200 according to various embodiments. FIG. 2M shows an enlarged section of the FIG. 2K The cross-sectional view shown illustrates this. In this exemplary embodiment, the chisel bushing 304 can be two-part, and the second part 304(2) can be cap-shaped or plug-shaped. The second part 304(2) of the chisel bushing 304 can be configured such that, when the second part 304(2) is inserted (or pushed into) the inner cavity, the second part 304(2) and the first part 304(1) of the chisel bushing 304 are rigidly connected to each other (e.g., by frictional and / or positive locking). The second part 304(2) of the chisel bushing 304 can have one or more sensors 306 (n = 1 to N). As shown, the reference body 106 can be screwed into the shaft 104. In this process, the shaft 104 and the reference body 106 can be rigidly connected (e.g. force-fit and / or form-fit) by screwing the reference body 106 into the shaft 104.The shaft 104 and the reference body 106 can be separated from each other by unscrewing the reference body 106 from the shaft 104.

[0099] According to various embodiments, the holding device 300 can have an elastically deformable element 310, which makes it possible to determine not only the frequency of movement but also the distance traveled by the machine tool 100 and / or the force acting on the machine tool 100. An elastically deformable element, as used herein, can be understood as any element (e.g., a structural component) that is capable of elastically changing its shape as a result of a mechanical stress (e.g., a compressive force acting upon it) against a restoring force, and of returning to its original shape when the stress is removed (also referred to as elastic deformation). The limit to which an element is elastically deformable is referred to as the yield strength in the case of tensile stress.The elastically deformable element can be selected such that it deforms elastically as a result of the forces generated during a material removal process using the material removal device 200. The stiffness, shape, and / or size of the elastically deformable element 310 can be application-specific. Alternatively or additionally, the elastically deformable element 310 can be interchangeable.

[0100] The elastically deformable element 310 can be elastically deformable due to its shape, for example, it can be configured as a (e.g., metallic) spring. Examples of this are in FIG. 2N bis FIG. 2Q shown. FIG. 2N und FIG. 2O Figure 1 shows a holding device 300 which has the chisel bushing 304. Here, the elastically deformable element 310 (e.g. the spring) can be arranged between the machine chisel 100 (e.g. the chisel head 108) and the chisel bushing 304 (and in direct contact with them). FIG. 2N Figure 3 further shows an exemplary embodiment of a one-piece chisel bushing 304. For illustration, an enlarged section (E") is shown in Figure 304. FIG. 2P Figure 1 shows the one-piece chisel bushing 304 in the area of ​​the locking device 202 of the first type. In the embodiment as a one-piece chisel bushing 304, the locking device 202 of the first type can, for example, have a screw or be made from one. As described herein, the holding device 300 can be designed without a bushing (i.e., without an internal chisel bushing 304 or at least without the first part 304(1) of the chisel bushing 304). In this case, the elastically deformable element 310 can be arranged between the machine chisel 100 (e.g., the chisel head 108) and the chisel holder 302 (and in direct contact with them). An example of this is shown in Figure 1. FIG. 2Q shown. The elastically deformable element 310 can define a distance 212 (e.g. in direction 105) between the holding device 300 (e.g. the chisel bushing 304 and / or the chisel holder) and the machine chisel 100 (e.g. the chisel head 108).

[0101] The elastically deformable element 310 can also be elastically deformable due to the material. An exemplary embodiment of this is shown in FIG. 2R und FIG. 2S shown. For example, the elastically deformable element 310 can be made of or comprise an elastomer.

[0102] According to various embodiments, the elastically deformable element 310 can have a known stiffness, k. A force, F, acting on the machine tool 100 can deform (also referred to as deformation) the elastically deformable element 310. The deformation of the elastically deformable element 310 can lead to a movement of the machine tool 100 along the longitudinal axis 107 (e.g., in the direction 105). This movement can lead to a displacement, s, of the machine tool 100 along the longitudinal axis 107. According to various embodiments, the force, F, acting on the machine tool 100 can be determined from the stiffness, k, and the displacement, s, according to F = k·s (see also description of FIG. 5D , FIG. 5E and FIG. 6A ). Intuitively, the force, F, can be a force acting on the machine chisel 100 along the longitudinal axis 107. According to various embodiments, the locking structure 110 of the machine chisel 100 can be configured such that the machine chisel 100 can move in the holding device 300 in the direction 105 (see, for example, FIG. 2P The movement of the machine chisel 100 along the longitudinal axis 107 can be limited by means of the first-type locking device 202 (e.g., in conjunction with the locking structure 110) (e.g., defining a maximum displacement 214, which is, for example, the maximum spring travel of the machine chisel 100). The first-type locking device 202 can, for example, be a screw. According to various embodiments, the distance 212 can be selected such that the maximum displacement 214 can be achieved. For example, the distance 212 can be greater than the maximum displacement 214.

[0103] According to various embodiments, the elastically deformable element 310 can absorb a moment and / or a force when the machine tool 100 rotates. For example, based on the movement (e.g., rotation) of the machine tool 100 detected by means of one or more sensors 306 and the stiffness, k, of the elastically deformable element 310, a moment and / or a force acting on the machine tool 100 can be determined.

[0104] According to various embodiments, at least one sensor of one or more sensors can be arranged to detect the displacement (e.g. the spring travel), s, of the machine chisel 100 relative to the holding device 300. FIG. 2T und FIG. 2U Figure 1 shows the removal device 200 according to various embodiments with an elastic element. The chisel bushing 304 can be a single piece, and the third sensor 306(3) can be arranged (e.g., attached) to or in the end face (opposite the opening 316) of the chisel bushing 304. The third sensor 306(3) can be an inductive sensor (e.g., an eddy current sensor) (see, for example, Figure 1). FIG. 2T The third sensor 306(3) can be a magnetic sensor (e.g., Hall sensor) (see, for example, FIG. 2U According to various embodiments, the displacement, s, can be detected by means of the third sensor 306(3). For example, the third sensor 306(3) can detect a distance to the reference body 106, where a relative change in the distance can correspond to the displacement, s. Intuitively, the forces acting on the machine tool 100 (e.g., the force F) can be determined directly based on the displacement of the machine tool 100.

[0105] Similar to the elastically deformable element 310, forces acting on the machine chisel 100 can be determined by detecting a deformation of the machine chisel 100 itself (also referred to as chisel deformation), for example, the resulting movement of the chisel head 108. Detecting the deformation of the machine chisel 100 can be facilitated if the machine chisel is rigidly fixed in the holding device 300. A corresponding removal device 200 according to various embodiments is described in FIG. 4B shown.

[0106] Machining (e.g., cutting) a material using a machine chisel 100 can cause deformation of the machine chisel 100 (also referred to as chisel deformation), e.g., of the chisel head 108, due to a counterforce acting on the machine chisel 100. The chisel deformation can, for example, involve deformation of the chisel head 108 and / or deformation of the chisel shank 104. The chisel deformation can, for example, involve compression and / or torsion of the machine chisel 100. This refers, among other things, to a deformation of the chisel head 108, whereby the description provided can apply analogously to a deformation of the entire machine chisel 100 or at least of the chisel shank 104.

[0107] Chisel deformation can, for example, lead to a movement of the entire fourth sensory-detectable scale 112(4) (e.g., opposite to the direction of the acting force, F). Chisel deformation can, for example, lead to a compression of the fourth sensory-detectable scale 112(4). In this case, the individual elements of the fourth sensory-detectable scale 112(4) can move relative to each other. The detection (e.g., sensing and / or calculating) of the chisel deformation, as used herein, can be performed using one or more sensors, for example, by detecting a change in the fourth sensory-detectable scale 112(4) (e.g., a movement of the entire fourth sensory-detectable scale 112(4) and / or a compression of the fourth sensory-detectable scale 112(4)) using one or more sensors.

[0108] The cutting device 200 can include the machine chisel 100 and the holding device 300. The cutting device 200 can include the locking device 402 of the second type for providing the rigid connection between the machine chisel 100 and the holding device 300. In the FIG. 4B In the illustrated example, the machine chisel 100 can have several threaded boreholes, and the locking device 402 of the second type can have an associated screw for each of the several boreholes, so that the machine chisel 100 can be screwed to the holding device 300 in a form-fitting manner, thus preventing movement of the machine chisel 100 relative to the holding device 300. The one or more sensors 306 (n = 1 to N) can be arranged such that they can detect the fourth sensorily detectable scale 112(4) of the reference body 106, which is attached to or part of the chisel head 108 (e.g., to an upper part of the chisel head 108).

[0109] As described herein, the machine chisel 100 can be received in the opening 316 of the holding device 300 in the direction 105. According to various embodiments, the opening 316 can be arranged behind the receiving area 420 with respect to the direction 105.

[0110] According to various embodiments, the holding device 300 can be a flat chisel holder designed to receive a flat chisel. In this case, the machine chisel 100 can, for example, be a type as shown in FIG. 1H The flat chisel shown is used. In this case, the opening 316 of the chisel holder 302 can have a rectangular or trapezoidal cross-section corresponding to the cross-section of the flat chisel.

[0111] The cross-section of the flat chisel can be polygonal. For example, the cross-section of the flat chisel can have an inner circle, which may abut an inner surface of the opening 316 of the holding device 300 at one or more points, and one or more outer structures (e.g., a projection) that define the polygonal shape. These one or more outer structures can be part of the locking structure 110 and at least hinder (e.g., prevent) movement of the machine chisel 100 in the holding device 300. For example, the shank 104 of the machine chisel 100 can be a cylinder with a trapezoidal base, and the opening 316 can have a corresponding trapezoidal cross-section, the trapezoidal shape being able to hinder rotation of the machine chisel 100 about the longitudinal axis 107. For example, the shape of the machine chisel 100 can serve as a torque support.The polygonal shape of the cross-section of the machine chisel 100 can serve as a locking structure 110 or be part of it.

[0112] The elongated structures (e.g., grooves) of the fourth sensorily detectable scale 112(4) can run along the surface of the reference body 106 (e.g., the surface of the chisel head 108). The elongated structures of the fourth sensorily detectable scale 112(4) can run essentially parallel to the longitudinal axis 107 (e.g., in the direction of 105) (see exemplary embodiment (a) in FIG. 4B ) or can be arranged lying in the plane spanned by directions 103 and 105 at an angle in a range of approximately 1° to approximately 45° to the longitudinal axis 107 (see exemplary embodiment (b) in FIG. 4B ).

[0113] According to various embodiments, the one or more sensors 306 (n=1 to N) can be configured to detect the fourth sensorily detectable scale 112(4). The detection of the fourth sensorily detectable scale 112(4) by means of the one or more sensors 306 (n=1 to N) can be carried out as described with reference to the holding device 300. According to various embodiments, the one or more sensors 306 (n=1 to N) can detect the fourth sensorily detectable scale 112(4) by means of a magnetic measurement, as described herein for the sensorily detectable scales 112(1), 112(2), 112(3).

[0114] The flat chisel can have an angled chisel tip 102. A firmly locked flat chisel can be deformed by the counterforce when cutting a material. Detecting the fourth sensor-detectable scale 112(4) arranged on the chisel head 108, in conjunction with the second-type locking device 402, which prevents movement of the machine chisel 100 locked in the holding device 300, makes it possible to detect chisel deformation, e.g., deformation of the chisel head 108. As described above, the deformation of the chisel head 108 can lead to a movement or compression of the fourth sensor-detectable scale (e.g., a movement of the entire fourth sensor-detectable scale and / or a compression of the fourth sensor-detectable scale), which can be detected and used to determine the deformation.This chisel deformation can allow conclusions to be drawn about the acting counterforce. For example, the acting counterforce can be determined from the detected movement of the fourth sensor-detectable scale. A resistance of the cut material can be intuitively detected. According to various embodiments, the force F acting on the machine chisel 100 (also referred to here as the counterforce) can be determined from the movement resulting from the chisel deformation (see also the description of [reference]). FIG. 5D , FIG. 5E and FIG. 6A ). In a more intuitive way, measuring the chisel deformation can be used as an alternative (or additionally) to measuring the displacement, s, to determine the force, F, acting on the machine chisel 100.

[0115] The chisel deformation (e.g., change in its extent along the chisel axis 107) can range from approximately 10 µm to approximately 500 µm. According to various embodiments, the resulting movement of the chisel head 108 can lie within the same range.

[0116] FIG. 3A bis FIG. 3C Each figure shows a holding device 300 with a chisel bushing 304 according to various embodiments. In the FIG. 3A bis FIG. 3C The one or more sensors 306 are arranged, for example, on the recording area 320 to detect the first, second and / or third sensorily detectable scale. It is understood that the one or more sensors 306 can also be arranged in the recording area 420 to detect the fourth sensorily detectable scale.

[0117] With reference to FIG. 3A The chisel bushing 304 can have a first part 304(1) and a second part 304(2). The second part 304(2) of the chisel bushing 304 can, for example, be cap-shaped. The second part 304(2) of the chisel bushing 304 can be attached to the first part 304(1) of the chisel bushing 304 (e.g., detachably). The second part 304(2) of the chisel bushing 304 can be attached to the first part 304(1) of the chisel bushing 304 (e.g., detachably). The second part 304(2) of the chisel bushing 304 can, for example, be glued or screwed to the first part 304(1) of the chisel bushing 304.

[0118] With reference to FIG. 3B The chisel bushing 304 can consist solely of the second part 304(2). The second part 304(2) of the chisel bushing 304 can be cap-shaped. In this case, the second part 304(2) can be attached to the chisel holder 302 (e.g., detachably), for example, by resting against its outer surface (e.g., in a dust-tight manner). The second part 304(2) of the chisel bushing 304 can, for example, be glued or screwed to the chisel holder 302.

[0119] With reference to FIG. 3C The second part 304(2) of the chisel bushing 304 can be arranged at a distance 322 (in the direction 105) from the chisel holder. The cavity of the second part 304(2) of the chisel bushing 304 can be configured to receive the reference body 106 of the machine chisel 100. The one or more sensors can be arranged (e.g., attached) on and / or in the second part 304(2) of the chisel holder 304. When a machine chisel 100 is inserted into the holding device 300, the locking structure 110 can be arranged in the area (defined by the distance 322) between the chisel holder 302 and the second part 304(2) of the chisel bushing 304. The locking device 202 of the first type can, for example, be the one described in FIG. 4A have or be the U-shaped clamp shown.

[0120] According to various embodiments, the holding device 300 can have a support 314 (see, for example, FIG. 3C The support 314 can be rigidly connected (e.g., by material bonding, force bonding, and / or form bonding) to the chisel holder 302. In the FIG. 3C In the illustrated embodiment, the carrier 314 can be rigidly connected (e.g., by material bonding, force bonding, and / or form bonding) to the second part 304(2) of the holding device. The carrier 314 (also referred to as tool carrier or cutting roller) can, for example, be a machine drum, a cutting wheel, or a chain.

[0121] According to various embodiments, the holding device 300 can optionally include a data processing device 330. The data processing device 330 can, for example, be provided wholly or partially externally by the holding device 300, e.g., connected to it via a network (e.g., local or global). An exemplary data processing device 330 according to various embodiments is shown in FIG. 3D shown.

[0122] The data processing device 330 can have a first communication interface 332. The first communication interface 332 can be configured to receive the data (also referred to as sensor data) acquired by the one or more sensors 306 (n=1 to N). The data processing device 330 can optionally be configured to transmit control commands to the one or more sensors 306 (n=1 to N) via the first communication interface 332, for example, to configure them or to instruct them to output data.

[0123] The data processing device 330 can have a second communication interface 338. The second communication interface 338 can be configured to transmit data to (and optionally receive data from) a signal processing system 601.

[0124] A communication interface described herein (e.g., the first communication interface 332 and / or the second communication interface 338) can be a wired interface and / or a wireless interface. A wireless interface can be configured and communicate according to a radio communication protocol or standard. For example, the wireless interface can be configured and communicate according to a short-range radio communication standard, such as Bluetooth, Zigbee, etc. For example, the wireless interface can be configured and communicate according to a medium- or long-range radio communication standard, such as 3G, 4G, and / or 5G according to the 3GPP standard. A wireless interface can operate according to a local area network (WLAN) protocol or standard, such as the IEEE 802.11 standard.

[0125] The data processing device 330 can comprise one or more processors 334. The one or more processors 334 can be configured to process the data received from the sensor(s) 306 (n = 1 to N). The one or more processors 334 can be configured to transmit the data received from the sensor(s) 306 (n = 1 to N) to the signal processing system 601 via the second communication interface 338. The one or more processors 334 can be configured to forward the data received from the sensor(s) 306 (n = 1 to N) directly to the signal processing system 601 via the second communication interface 338 without intermediate processing.

[0126] The term "processor" can be understood as any type of entity that allows the processing of data and / or signals. The data or signals can be processed, for example, according to at least one (i.e., one or more than one) specific function performed by the processor. A processor can be an analog circuit, a digital circuit, a mixed-signal circuit, a logic circuit, a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a programmable logic gate array (FPGA), an integrated circuit, or any combination thereof. Any other type of implementation of the respective functions, which are described in more detail below, can also be understood as a processor or logic circuit.It is understood that one or more of the process steps described in detail herein can be executed (e.g., implemented) by a processor through one or more specific functions performed by the processor. The processor can therefore be configured to perform one of the procedures described herein or its components for information processing.

[0127] The data processing device 330 can include a storage device 336. According to various embodiments, the one or more processors 334 can use the storage device 336 when processing data (e.g., data received from the one or more sensors) and / or as temporary storage.

[0128] The storage device 336 can have at least one memory. The memory can be used, for example, in processing performed by a processor. A memory used in the embodiments can be volatile memory, for example, a DRAM (dynamic random-access memory), or non-volatile memory, for example, a PROM (programmable read-only memory), an EPROM (erasable PROM), an EEPROM (electrically erasable PROM), or flash memory, such as a floating-gate memory device, a charge-swapping memory device, an MRAM (magnetoresistive random-access memory), or a PCRAM (phase-change random-access memory).

[0129] FIG. 5A bis FIG. 5E show aspects of a process 500 of material removal (e.g. rock cutting).

[0130] The removal of material 502, as used herein, can be understood as the mechanical separation of material components from the material structure. Continuous, sometimes uninterrupted, removal of a rock is also referred to as rock cutting or rock abrasion. FIG. 5A illustrates the components, forces, and terms involved.

[0131] According to various embodiments, the holding device 300 can include the elastically deformable element 310 (see, for example, FIG. 2N bis FIG. 2S ). FIG. 5B Figure 1 shows, by way of example, the distance 212 between the machine chisel 100 and the holding device 300 along its longitudinal axis over the cutting length. A change in the distance 212 corresponds to the displacement s.

[0132] FIG. 5C Illustrates the cyclical process of pressure build-up, crack formation, and solution during rock cutting. Material removal can accordingly constitute a contact phase (① in FIG. 5C ) exhibiting a surface in which the machine chisel 100 comes into contact with the surface of the material 502. The machine chisel 100 can be moved in the direction of 504, thereby building up pressure in the material. During further contact, discontinuous fracture zone formation can then occur (cf. FIG. 5A below) and solution of fragments (②-⑥ in FIG. 5C Fragments of varying sizes can occur during these phases. The size of the fragments, and thus the frequency of macroscopic fracture events, is influenced, among other things, by the compressive strength of the material 502 and the feed rate of the machine tool 100, but also significantly by the shape of the tool tip 102. The orientation of the machine tool 100 (e.g., an angle between the machine tool 100 and the material contact surface) can remain essentially constant during cutting. According to various embodiments, the machine tool 100 can move and / or deform in one or more degrees of freedom within the holding device 300 during these phases. This movement and / or deformation can depend on the properties of the material 502, as described herein.

[0133] During material removal, the machine chisel 100 can be pressed against the material 502. A contact force FN (also referred to as contact pressure) can act upon it. A cutting force, FC, can act at an angle (e.g., perpendicular) to the contact force FN. FIG. 5D Figure 1 shows the cutting force, FC, over the cutting path in a material 502 that is homogeneous with respect to strength. Figure 2 shows a possible signal from a sensor 306 that detects the variable distance 212, s, between a machine chisel 100 and the chisel holder 302 over the cutting path. It is clearly shown that high cutting forces, FC, e.g., in ①, ③, and ⑤, lead to a strong deformation of the elastic element 310, i.e., to a large displacement, s, and thus a comparatively small distance 212. Consequently, the cutting force, FC, correlates with the displacement, s. It is understood that in the case of a cutting device 200 with a flat chisel as the machine chisel 100 (e.g., a machine chisel 100 according to [reference missing]), the cutting force, FC, is significantly reduced by the displacement, s. FIG. 1H ) the recorded chisel deformation (e.g. deformation of the chisel head 108) can represent the cutting forces.

[0134] The machine chisel 100 can (e.g., by means of the contact force FN) engage the material to be removed (e.g., rock, soil, ore, concrete, asphalt, etc.) parallel to its longitudinal axis 107. According to various embodiments, the longitudinal axis 107 of the machine chisel 100 can define a direction of attack (e.g., in the direction 504) of the machine chisel 100 on the material to be removed. However, the machine chisel 100 can also be arranged such that a chip-cutting action occurs (e.g., with a deviation of approximately 5°) or that (e.g., during lateral movement of the tool carrier, such as the cutting roller of an attachment milling machine) the machine chisel 100 also exerts a pressing force on the material to be removed.

[0135] FIG. 5E shows an exemplary cutting process, where the cut rock initially has a less compressive strength material, for example limestone, and then a rock with higher compressive strength, for example granite.

[0136] Three-dimensional forces act on a machine chisel 100 during a cutting process, which can be described, for example, as cutting force FC, pressure force FN and lateral force or forces. FIG. 5A This figure symbolically represents these forces. As described herein, the force F acting on the machine chisel 100 can be determined from the stiffness, k, and the displacement, s, according to F = k·s. The force F can be a combination of other forces, such as the contact force FN and / or the cutting force FC. The force F can therefore also be referred to as the resultant force or resultant. This figure illustrates FIG. 5E , that the force curve, F, provides information regarding the material being cut (e.g., the material's strength). According to various embodiments, the displacement, s, can be a direct indicator of the force acting on the machine chisel 100.

[0137] FIG. 6A bis FIG. 6C Figure 1 shows a material removal system 600 according to various embodiments. The material removal system 600 can have at least one (e.g., exactly one or more than one) holding device 300. The material removal system 600 can have the signal processing system 601.

[0138] The holding device 300 can include the data processing device 330. A machine chisel 100 can be inserted in the holding device 300. The removal system 600 can, for example, include the removal device 200. The one or more sensors 306 (n = 1 to N) of the holding device 300 can be configured to detect the sensor-detectable scale 112 of the machine chisel 100. The data processing device 330 can be configured to receive the data detected by the one or more sensors 306 (n = 1 to N) and transmit it to the signal processing system 601.

[0139] The signal processing system 601 can have a third communication interface 602. The third communication interface 602 can be configured to communicate with the second communication interface 338 according to a communication standard. For example, the third communication interface 602 can be a wireless interface and can communicate with the second communication interface 338 according to one of the standards described herein (e.g., Bluetooth, Zigbee, 3G, 4G, 5G, WLAN, etc.). In essence, the signal processing system 601 can receive the data 604 acquired by the one or more sensors 306 (n=1 to N).

[0140] The signal processing system 601 can optionally have one or more additional communication interfaces. These interfaces can be configured to communicate with sensors on the tool carrier or in its drive unit according to a communication standard. The signals from the additional sensors can be used to assign the measured values ​​determined by the data processing device 330 to a spatial removal point and / or to obtain supplementary information about the operating parameters of the material removal system 600, which can be used, for example, to compensate for or classify the measured values. For example, the signal processing system 601 can have one or more sensors for determining a (e.g., global or local) position of the material removal system 600. For example, the one or more additional sensors can have one or more sensors for detecting a rotational speed (e.g.,the storage device 632), a hydraulic and / or electrical pressure force, acoustic signals, optical signals, and / or information from a digital document management system (DMS).

[0141] Optionally, the signal processing system 601 can be a cloud-based processing system. For example, the signal processing system 601 can be implemented in a cloud. To illustrate, the data processing device 330 can be configured to transmit the data acquired by one or more sensors to a cloud for data processing.

[0142] According to various embodiments, the signal processing system 601 can be a local processing system (e.g., as part of an extraction machine, such as a rock excavator). For example, the signal processing system 601 can be implemented in a remote control and / or a control unit of the extraction system 600.

[0143] According to various embodiments, the signal processing system 601 can be configured to output a signal 610 based on the machine chisel 100 detected by at least one of the one or more sensors 306 (n=1 to N). The signal processing system 601 can also be configured to output the signal 610 based on the data 604 detected by the one or more sensors 306 (n=1 to N). Specifically, the one or more sensors 306 (n=1 to N) can detect a movement of the machine chisel 100 relative to the chisel holder 302 by means of the sensorially detectable scale 112(1), 112(2), 112(3), 112(4), and the signal processing system 601 can determine the signal 610 based on this detected movement. The movement of the machine chisel 100 can be a movement of the machine chisel 100 relative to the chisel holder 302 or a chisel deformation.

[0144] Signal 610 can represent the properties of an object removed by the machine chisel 100. The properties of the removed object can, for example, be a material property. A material property of the removed object could be, for example, its (Mohsian) hardness, tensile or compressive strength, grain size or conglomerate distribution, fracturing, water content, abrasiveness, etc.

[0145] The nature of the removed object may exhibit a change in one or more material properties (e.g., a change in hardness, a change in strength, fracturing, water content, etc.).

[0146] The properties of a material can influence its fracture characteristics. These material-specific fracture characteristics (e.g., brittle or ductile fracture, chip shape and / or chip size, influence of grain size distribution, etc.) can lead to a material-specific movement pattern of the machine tool 100.

[0147] The material properties of the removed object can intuitively influence the mechanical excitation of the machine tool 100, and the response of the machine tool 100 to this excitation can be recorded. Recording the response of the machine tool 100 can include detecting movement (e.g., translation and / or rotation) of the reference body 106 or the scale, detecting deformation (e.g., elongation or compression) of the reference body 106 or the scale, and, for example, recording the frequency of this movement. For instance, the frequency (e.g., of translation and / or rotation) at which the reference body is moved and / or deformed can be recorded as a response to the excitation of the machine tool 100. Based on the recorded response, inferences can be made about these material properties (e.g., they can be calculated or classified).

[0148] Signal 610 can alternatively or additionally represent a state of the machine tool 100. For example, the state of the machine tool 100 could be a wear condition. If the tool tip 102 is no longer pointed (e.g., rounded) and / or partially chipped, this can lead to a detectable change in the fracture characteristics. In other words, wear of the machine tool 100 can alter its movement (e.g., translation, rotation, frequency of translation and / or rotation, etc.) when removing material from an object, so that the wear condition of the machine tool 100 can be deduced from its detected movement.In one example, the material removal system 600 can have a plurality of machine tools configured according to the machine tool 100, wherein the signal 610 output for one machine tool 100 of the plurality of machine tools exhibits deviations from the signals 610 output for the other machine tools of the plurality. These deviations can be an indication of wear of the machine tool 100. In another example, the material removal system 600 can store limit values ​​(e.g., upper and / or lower) for the signal 610 in a memory, and a signal 610 outside (e.g., below or above) the range defined by the limit values ​​can indicate or at least suggest wear of the machine tool 100.

[0149] The signal processing system 601 can be coupled with one or more processors 606. For example, the signal processing system 601 can have one or more processors 606 (see, for example, FIG. 6A and FIG. 6B However, the signal processing system 601 can also be connected to a server (e.g., a cloud) as a local processing system via a suitable communication interface. In this case, the server can additionally or alternatively have one or more processors for data processing as well as interfaces to further sensors that provide additional information about the material removal system, for example, for data fusion analysis. In this case, the signal processing system 601 can receive the information determined herein (e.g., signal 610, e.g., information about the movement of the machine tool 100) from the server via the communication interface.

[0150] As described herein, the data 604 acquired by the one or more sensors 306(n=1 to N) can represent a distance of the reference body 106 from the respective sensor 306(n), a distance (e.g. an amplitude) by which the reference body 106 moves relative to the sensor 306(n), a frequency at which the reference body 106 moves (e.g. a frequency of translation and / or a frequency of rotation and / or a frequency of movement of the chisel head 108 due to chisel deformation).

[0151] The one or more 606 processors can be configured to implement a Model 608. The Model 608 can be stored in local memory of the 601 signal processing system and / or in cloud storage. The Model 608 can be configured to perform one or more of the following processes: data correction (featuring, for example, normalization, drift correction, noise reduction, outlier identification, and / or filtering), (evolutionary) spectral analysis, statistical time series analysis, classification (for example, by means of histogram analysis and / or by means of one or more neural networks), pattern recognition, etc.

[0152] The model 608 can be configured to output the signal 610 in response to input data. The input data can include the data 604 acquired by the one or more sensors 306 (n=1 to N). Optionally, the input data of the model 608 can also include one or more data from the following group: geodata (geocoordinates, reference values, parameters), reference values ​​for signal amplitudes, spectral characteristics, reference patterns (e.g., as sample time series, sample spectra, sample images), digitized and / or processed sensor data, processed sensor data (e.g., displacements, accelerations, frequencies), and operating data of the machine.

[0153] Signal 610 can, for example, contain class values ​​related to geodata (e.g., material strength classes 1...K) and / or condition values ​​related to geodata (e.g., wear states 1...N).

[0154] According to various embodiments, the acquired data 604 can (e.g., among other things) include or at least represent the displacement, s. Consequently, the displacement, s, (at least as part of the acquired data 604) can be supplied to the model 608. Alternatively, the acquired data 604 can (e.g., among other things) represent the chisel deformation (e.g., including information about it), e.g., the movement of the chisel head 108. In this case, the deformation can be supplied to the model 608 at least as part of the acquired data 604.

[0155] Additionally or alternatively, one or more processors 606 can be configured to determine the force, F, acting on the machine tool 100, based on the displacement, s, (e.g., according to F = k·s) or the tool deformation. For example, the model 608 can be configured to output the signal 610 based on the determined force, F. Intuitively, the model 608 can represent the force, F, acting on a property of the object being removed by the machine tool 100 and / or a property of the machine tool 100 itself.

[0156] Additionally or alternatively, the one or more processors 334 of the data processing device 330 can be configured to determine the force, F, acting on the machine chisel 100, based on the displacement, s, or the chisel deformation (e.g., according to F = k·s). The data processing device 330 can be configured to transmit the determined force, F, to the signal processing system 601 in addition to (or alternatively with) the acquired data 604. According to various embodiments, the model 608 can be configured to output the signal 610 based on the determined force, F, and / or on the acquired data 604 (see, for example, FIG. 6B The force, F, can be determined intuitively from the translation of the machine chisel 100 along the longitudinal axis 107. Based on the other translations and / or rotations of the machine chisel 100 described herein, in combination with the acting force, F, the properties of the object removed by the machine chisel 100 and / or the properties of the machine chisel 100 (i.e., the signal 610) can be determined (e.g., using model 608). Alternatively, the force, F, can be determined from the chisel deformation, which allows conclusions to be drawn about the properties of the object removed by the machine chisel 100 and / or the properties of the machine chisel 100 (i.e., the signal 610).

[0157] The signal processing system 601 can clearly distinguish (differentiate) or classify materials to be removed or removed (e.g. automatically) based on patterns in measured values ​​(the recorded data 604).

[0158] Model 608 can be specific to a particular erosion process. For example, model 608 can be a deposit model that maps the data 604 acquired during rock cutting to the material properties of the cut or to-be-cut rock.

[0159] Model 608 can be a machine learning-based model. For example, Model 608 can incorporate a reinforcement learning algorithm. According to various embodiments, at least part of Model 608 can be implemented using a neural network. A neural network can be any type of neural network, such as an autoencoder network, a convolutional neural network (CNN), a variational autoencoder network (VAE), a sparse autoencoder network (SAE), a recurrent neural network (RNN), a deconvolutional neural network (DNN), a generative adversarial network (GAN), a forward-thinking neural network, or a sum-product neural network.The neural network can be a sum-product neural network, etc. It can have any number of layers, and the trained neural network can have been trained using any type of supervised or unsupervised learning method. These methods can include, for example, elastic or classical backpropagation.

[0160] According to various embodiments, the machine learning-based model 608 can be trained. Training the model 608 can involve the acquisition of a multitude of data sets, the acquisition of each data set potentially comprising: analyzing (e.g., measuring) the properties of the material to be removed and assigning it to a material class; capturing movements of the machine tool 100 in the removal system 600 using one or more sensors 306; optionally, capturing and assigning operational data during the use of the removal system 600; and determining unique characteristic values ​​or curves of these movements for the analyzed material class and the captured operational data.Subsequently, the model 608 can be trained using the determined multitude of data sets in such a way that the trained model maps the movements of the machine chisel 100, taking into account the operating state of the removal system 600, to properties of the removed material.

[0161] According to various embodiments, the one or more processors 606 can be configured to determine information about the movement and / or deformation of the machine tool 100. The one or more processors 606 can be configured to determine the movement and / or deformation of the machine tool 100 based on the acquired data 604. For example, the model 608 can be configured to output the signal 610 in response to input of the determined movement and / or deformation of the machine tool 100.

[0162] According to various embodiments, the one or more processors 606 can be configured to determine a value of the force acting on the machine chisel 100. The one or more processors 606 can be configured to determine the force acting on the machine chisel 100 based on the acquired data 604. For example, the model 608 can be configured to output the signal 610 in response to an input of the determined force acting on the machine chisel 100.

[0163] According to various embodiments, the one or more processors 606 can use additional data to determine the signal 610. For example, the additional data can also be input into the model 608 to determine the signal 610. The additional data can, for example, include operating data of one or more components of the removal system 600 or, for example, of the working machine that drives and controls the removal system.

[0164] FIG. 6C The material removal system 600 is shown according to various embodiments with an exemplary machining machine 630.

[0165] The processing machine 630 can, for example, be a rock processing machine used in mining (e.g., a rock cutting machine), a rock processing machine used in civil engineering, or a rock processing machine used in building construction. A processing machine used in civil engineering can, for example, be used for creating or demolishing foundations or for driving or repairing a tunnel. A processing machine used in building construction can, for example, be used for constructing or demolishing structures. A rock processing machine used in mining can, for example, be a partial-face cutting machine, a surface miner, a continuous miner, a shaft drilling machine, a cutting machine, a road milling machine, a trench cutter, a hydraulic excavator with a milling attachment, or a similar device. Depending on the specific embodiment, the machine chisel 100 can be a round-shank chisel or a flat chisel.For example, a milling attachment can have a longitudinal cutting head, a transverse cutting head, a cutting wheel, or a cutting chain.

[0166] According to various embodiments, the removal system 600 can have at least one bearing device 632. Optionally, the bearing device 632 can be part of the holding device 300. The bearing device 632 can be configured to provide the carrier 314 of the holding device 300 with at least one degree of freedom such that the tool holder 302 (and optionally the machine tool 100) can be moved in a direction 504 obliquely to the longitudinal axis 107 and / or pressed against a surface along the longitudinal axis 107. This enables, for example, the FIG. 5A bis FIG. 5C described material removal.

[0167] According to various embodiments, attack forces can be transferred to the machine chisel 100 by means of the carrier 314.

[0168] The signal processing system 601 can receive the data 604 acquired by the one or more sensors 306 (n=1 to N) via the communication interface 602. According to various embodiments, the material removal system 600 can include a visualization device 634. The visualization device 634 can be designed to provide an operator (e.g., an operator of the processing machine 630) with instructions for operating the material removal system 600 based on the output signal 610. For example, a material property of the removed rock can be displayed to the operator visually as a signal 610 (e.g., as a strength value, a classification value, a color indication, such as a first color for "hard" and a second color for "soft," etc.). The visualization device 634 can, for example, be located in the cab of the processing machine 630.For example, an operator of the 600 removal system can use signal 610 to adjust the removal process (e.g., the rock cutting process). It is not necessary for the operator to see the material to be removed or the removed material.

[0169] According to various embodiments, the contact force FN can be adjusted (e.g., to the strength of the removed material). A contact force not adapted to the removal process can lead to significantly increased wear of the machine tool 100. Illustratively, adjusting the contact force FN to the output signal 610, which characterizes properties of the removed and presumably still-to-be-removed material, can reduce wear of the machine tool 100. Optimal operation can, for example, exhibit a maximum contact force FN with simultaneously low wear of the machine tool 100.

[0170] Furthermore, wear of the machine tool 100 can lead to wear of the tool holder 302. Consequently, adjusting the contact pressure FN can also reduce wear of the holding device 300. A defective (e.g., worn) holding device 300 would require its replacement, for example, by welding another holding device 300 to the carrier 314. This would result in high costs for materials and labor, as well as downtime. Moreover, such a replacement would never restore the original durability of the holding device 300, thus reducing the utility of the machine tool 630 – a situation that can be avoided by adjusting the contact pressure using the material removal system 600.

[0171] According to various embodiments, the movement speed (also referred to as cutting speed) in direction 504 and / or the contact area during cutting (also referred to as cutting depth) can be adjusted alternatively or in addition to the pressure force FN.

[0172] The material removal system 600 can incorporate a variety of machine chisels. The embodiments described herein enable the determination of an optimal contact force FN for each individual machine chisel 100 of the variety of machine chisels.

[0173] According to various embodiments, the material removal system 600 can have at least one actuator. The actuator can be configured to influence the movement of the machine tool 100. The actuator can be configured to influence the movement of the machine tool 100 based on the signal 610. For example, depending on a determined strength (as signal 610) of the material being removed, the actuator can change (e.g., adjust) the movement speed of the machine tool 100 (in direction 504) and / or the contact force FN. In essence, the material removal system 600 can automatically (or at least semi-automatically) adjust the material removal process (e.g., the rock cutting process) based on the signal 610 using the actuator. No operator is required.

[0174] According to various embodiments, the detection of the reference body 106 of the machine chisel 100 by means of the one or more sensors 306 of the holding device 300 can provide real-time feedback on the movement of the machine chisel 100. Real-time, as used herein, can be understood as the time between the removal of a rock layer and the output of the associated signal 610 being less than 1 minute (e.g., less than 30 seconds, e.g., less than 10 seconds, e.g., less than 1 second).

[0175] Consequently, the extraction process (e.g., mining) no longer needs to be regularly interrupted to visually inspect the newly exposed cut surface (also called the buttress). This reduces the extraction time and, therefore, operating costs. In essence, it enables selective mining with continuous feedback, which doesn't need to be interrupted due to dust, overburden, or tool contamination. Regarding rock extraction, real-time feedback allows for selective mining, reducing the proportion of associated minerals, inclusions, and / or waste rock in the extracted rock. This also reduces the costs associated with subsequent processing of the raw minerals, such as transportation, storage, investment, and processing costs.

[0176] The feedback on the material to be removed (e.g., rock, soil, ore, concrete, asphalt, etc.) enables process optimization (e.g., through selective extraction) in various industries, such as civil engineering, tunneling, demolition, etc. The wear detection of the machine chisel 100 described herein can lead to additional cost reductions (e.g., visual inspection of the machine chisel 100 is no longer required).

[0177] According to various embodiments, the material removal system 600 can have at least one other communication interface. This at least one other communication interface can be a wired interface or a wireless interface. According to various embodiments, the signal processing system 601 can be configured to transmit the generated signals 610 and / or the data 604 to a higher-level data processing system (e.g., to integrate them into it) via the communication interface 602 and / or via the at least one other communication interface. The higher-level data processing system can be configured to update the model 608 (e.g., the deposit model), for operational documentation, and / or for maintenance planning. For example, maintenance can be planned based on the determined wear condition of the machine tool 100.According to various embodiments, geological data relating to the object to be excavated (e.g., a deposit, a structure, and / or a construction site) can be determined by the higher-level data processing system using data 604 and / or signal 610. According to various embodiments, the additional data can be used for maintenance and / or repair planning.

[0178] FIG. 7 shows a flowchart of a process 700 according to various embodiments.

[0179] Method 700 may involve removing a reference body from a first machine tool (in 702). For example, the reference body may be detached from the first machine tool by releasing a rigid (e.g., positive-locking and / or force-locking) connection between the reference body and the first machine tool. The reference body may comprise a magnetizable material that forms a sensorily detectable scale.

[0180] The first machine chisel can, for example, be set up according to the machine chisel 100, which has the reference body 106.

[0181] Method 700 can include the subsequent addition of the reference body to a second machine tool (in 704). According to various embodiments, the reference body can be added to the second machine tool such that a rigid (e.g., positive-locking and / or force-locking) connection is formed between a tool tip of the second machine tool and the reference body. For example, the second machine tool can be configured according to machine tool 100 after the addition of the reference body.

[0182] Method 700 demonstrates how a reference body can be used successively for different machine tools. Specifically, a reference body for a machine tool (e.g., reference body 106 for machine tool 100) can be interchangeable. This can, for example, reduce the operating costs of a device that uses machine tool 100.

[0183] FIG. 8shows a flowchart of a process 800 according to various embodiments.

[0184] Method 800 may involve removing a first machine chisel, which has a reference body, from a chisel holder (in 802). The reference body may have a magnetizable material that forms a sensorily detectable scale.

[0185] The first machine chisel can, for example, be configured according to machine chisel 100, which has the reference body 106. The chisel holder can, for example (as chisel holder 302), be part of the holding device 300.

[0186] Method 800 may involve inserting a second machine chisel, which has the reference body, into a chisel holder (in 804). According to various embodiments, the second machine chisel may be inserted into the chisel holder such that a rigid (e.g., positive-locking and / or force-locking) connection is formed between a chisel tip of the second machine chisel and the reference body. The first machine chisel may, for example, be configured according to machine chisel 100. The second chisel holder may be inserted into the same chisel holder or a different chisel holder.

[0187] For example, the tool holders can be part of the holding device 300. The first machine tool can be removed from a tool holder 302 of the holding device 300 (in 802), the reference body can be removed from the first machine tool and added to the second machine tool (e.g. according to method 700), and the second machine tool can be inserted into the tool holder 302 or another tool holder.

[0188] FIG. 9 shows a flowchart of a process 900 according to various embodiments.

[0189] Method 900 can involve the removal of material (e.g., cutting a rock) using a machine chisel which has a reference body (in 902). An exemplary removal of material is described with reference to FIG. 5A to FIG. 5C described.

[0190] Method 900 can include detecting a movement of the reference body relative to a chisel holder, into which the machine chisel is inserted in the opposite direction to the chisel longitudinal direction, by means of at least one sensor of the chisel holder during the removal of material (in 904).

[0191] The machine chisel can be configured according to machine chisel 100. The chisel holder (as chisel holder 302) can be part of the holding device 300. For example, the machine chisel 100 can be inserted into the chisel holder 302 opposite to the longitudinal direction 107. In this case, during material removal, at least one sensor or sensors 306 can detect the movement of the machine chisel 100 relative to the chisel holder 302.

[0192] Method 900 can include the output of a signal based on the detected movement of the reference body (in 906). The output signal can, for example, be a sensor signal. The output signal can contain or at least represent detected data from the at least one sensor.

[0193] According to various embodiments, the method 900 can further include determining a characteristic value representing a force acting on the machine chisel, based on the output signal.

[0194] Method 900 can be vividly described as a method for material differentiation.

[0195] FIG. 10 shows a flowchart of a process 1000 according to various embodiments.

[0196] Method 1000 can include determining the mechanical response of a reference body (e.g., its change or the frequency of the change) of a machine tool held in a fixture to a mechanical excitation of the machine tool (in 1002). The mechanical excitation of the machine tool can include a deflection of the machine tool relative to the fixture and / or from a reference position. Method 1000 can, for example, include generating instructions to excite the deflection of the machine tool. The response of a reference body can, for example, include a movement (e.g., a vibration) and / or a deformation of the reference body, the frequency of which is detected.

[0197] Method 1000 can include classifying a sensor of the holding device, by means of which the response is detected, based on a comparison of the response detected by the sensor with a stored reference response (in 1004). Method 1000 can optionally also include generating a signal indicating the result of the classification. The signal can indicate whether the response of the machine chisel meets a stored criterion. The criterion can be met if the deviation of the response of the machine chisel from a stored reference response is less than a (e.g., stored) threshold value.

[0198] The method enables, for example, the detection of contaminants in the recording area, on the reference body (e.g., on the sensor-detectable scale), and / or on the sensor itself. The method can also enable sensor calibration and functional testing.

[0199] The method can provide indications or criteria that rock or metal dust has accumulated in the sensor area, hindering the detection of the machine chisel's movement or increasing the risk of premature wear, by selectively moving the machine chisel in the holding device and comparing the measured values ​​with target values.

[0200] According to various embodiments, the machine chisel can be moved to defined stop points, the signal of at least one sensor can be recorded, and the recorded signal can be compared with a stored reference response (e.g., a previously determined, stored calibration signal).

[0201] The machine chisel can, for example, be deflected manually. According to various embodiments, the machine chisel can be deflected semi-automatically using a deflection device. The deflection device can be configured such that, by selecting the appropriate parameters, the machine chisel is moved by the deflection device to the predefined stop positions. The sensor can acquire the corresponding measured values, and these values ​​can be compared with the reference response (e.g., using the data processing device 330). For example, the measured values ​​acquired by several sensors can be summarily compared with the reference response and / or a reference response assigned to each of the several sensors.

[0202] The reference response can be the result of a qualitative and / or quantitative dual or gradual assessment of the contamination and / or wear condition.

[0203] FIG. 11 Figure 1100 shows a flowchart of a method for operating a material removal device according to various embodiments. For example, method 1100 can be a method for restoring and / or maintaining the function of a sensor of the material removal device.

[0204] The removal device can include the holding device 300. The removal device can be configured according to the removal device 200.

[0205] Method 1100 may include the removal of solid particles adhering to a machine chisel and / or the chisel holder and / or located between the machine chisel and the chisel holder (in 1102). The solid particles may be removed, for example, by ablation and / or magnetic binding (e.g., trapping).

[0206] For example, an area near the sensor can be cleaned of any intruding rock and / or metal dust.

[0207] The removal of solid particles can be achieved, for example, using compressed air. This method can utilize compressed air to keep the sensor dust-free or to re-dust it after a certain period. The removal of magnetic solid particles can be accomplished, for example, using a capture magnet. The capture magnet (or optionally, multiple capture magnets) can intercept any metal shavings that are generated before they reach the sensor's measuring scale and / or bias magnet. These metal shavings are generated almost exclusively at the chisel tip and on the front contact surface of the chisel holder by the impact of the machine chisel and by its interaction with the rock. Steel shavings that accumulate on the bias magnet can distort its signal by weakening and / or shifting the level proportional to the amount of shavings deposited.If the material is not removed, this constitutes sensor wear.

[0208] This method serves to prevent wear on the reference body and / or the one or more sensors and to ensure the continuous maintenance of the specified detection quality during operation of the ablation system. The method can be automated by using specific patterns in the measured values ​​to automatically detect contamination of the sensor area.

[0209] Method 1100 may involve the removal of material by means of the machine chisel which is held in the chisel holder, before and / or after the removal of the solid particles (in 1104).

[0210] Fig. 12AFigure 1200a shows the locking device 202, 204 according to various embodiments 1200a, in which the locking device 202, 402 includes or is formed from the reference body (then also referred to as locking device 1200). This locking device 1200 simplifies the design and / or simplifies the retrofitting of an existing design.

[0211] For example, the locking device 1200 can be configured as a locking device (e.g., a retaining ring) which is designed to be inserted into a recess (e.g., a groove or bore) of the locking structure 110 (e.g., of the shaft 104) or otherwise positively connected to the shaft 104. For example, such a locking device can be configured as a drive-in locking device, i.e., designed to be driven into the recess.

[0212] In the exemplary implementation of embodiment 1200 shown here, a (e.g., open) retaining ring serves as a locking device 1200, which can be inserted into a circumferential groove 110 of the shaft 104. The description above can apply analogously to any other geometry of the locking device 1200 (e.g., if it has a locking pin) or to any other component that can be positively connected to the shaft (e.g., interlocking). It should be noted that the connection between the shaft 104 and the locking device 1200 need not necessarily be rigid, but may optionally have some play. This can still be sufficient, for example, to sensingly detect a rotation of the chisel 100.

[0213] The (e.g., toothed) retaining ring can have (or be formed from) one or more (e.g., tooth-shaped) scales 112 made of the magnetizable material, which may be spaced apart from one another. As described above, the detectable scale of the retaining ring can have elongated structures 112 (e.g., profiles, e.g., teeth) that run along a surface (e.g., the outer surface) of the retaining ring essentially parallel to the longitudinal axis 107 (e.g., in the direction 105) or are arranged concentrically.

[0214] FIG. 12B Figure 1 shows a cutting device 200 according to various embodiments, which has the machine chisel 100 and the holding device 300 with the locking device 1200, according to various embodiments 1200b in a schematic perspective view and FIG. 12BThe removal device 200 in a schematic cross-sectional view 1200c from direction 105. In the exemplary implementation shown, the shaft can be removed from the receiving space.

[0215] The following are various examples that relate to what has been described above and depicted in the figures.

[0216] Example 1 is a machine chisel comprising: a chisel tip; a shank extending (for example, at an angle (e.g., 0° or more, e.g., 5° or more, e.g., 10° or more)) from the chisel tip along a longitudinal axis of the machine chisel; a reference body comprising at least one (i.e., one or more than one) sensorily detectable scale (e.g., made of or comprising a magnetizable material); wherein the reference body, the shank, and the chisel tip are rigidly connected to one another (e.g., by positive locking or material locking); and / or wherein the reference body is positively connected to the shank (e.g., interlocking) or at least configured to be so.

[0217] Example 2 is set up according to Example 1, wherein the chisel tip is arranged on a first end face of the shaft and / or rigidly connected to it.

[0218] Example 3 is set up according to Example 1 or 2, wherein the reference body is arranged on a second end face of the shaft and / or rigidly connected to it, which is preferably opposite the first end face.

[0219] Example 4 is set up according to one of Examples 1 to 3, wherein the at least one scale is arranged at least partially in a (e.g. internal or external) cavity (e.g. extending along the longitudinal axis into the shaft) of the reference body.

[0220] Example 5 is set up according to one of Examples 1 to 4, wherein the magnetizable material has one or more permanent magnets by means of which the sensorially detectable scale is formed.

[0221] Example 6 is set up according to one of Examples 1 to 5, wherein the sensorially detectable magnetic scale is formed from a magnetizable but not permanent magnetic material.

[0222] Example 7 is set up according to any one of Examples 1 to 6, wherein the at least one scale has one or more than one magnetic pole, each of which is provided by means of the magnetizable material and / or provides a scale element of the scale.

[0223] Example 8 is set up according to any one of Examples 1 to 7, wherein the reference body has one or more depressions, each depression providing a scale element of the scale.

[0224] Example 9 is set up according to one of Examples 1 to 8, wherein the scale has at least one: a first scale having multiple depressions whose spacing and / or extent spans one dimension of the scale along a closed path, and / or a second scale having multiple depressions whose spacing and / or extent spans one dimension of the scale towards the shaft.

[0225] Example 10 is set up according to Example 9, wherein each of the depressions of the second scale forms a trench extending along the longitudinal axis and / or towards the chisel tip, and / or wherein each of the depressions of the first scale forms a trench extending along the closed path.

[0226] Example 11 is set up according to one of Examples 1 to 10, wherein at least one scale has: a third scale having several (e.g. concentric or radial) depressions whose spacing and / or extent spans one dimension of the scale transverse to the longitudinal axis.

[0227] Example 12 is set up according to Example 11, wherein each of the depressions of the third scale forms a trench extending around the longitudinal axis, and / or wherein each of the depressions of the third scale forms a trench extending towards the longitudinal axis.

[0228] Example 13 is set up according to one of Examples 1 to 12, wherein the reference body and the shaft are detachably connected to each other (e.g. by means of a positive locking mechanism).

[0229] Example 14 is set up according to one of Examples 1 to 13, wherein the shaft is a round shaft.

[0230] In Example 15, the machine chisel according to one of Examples 1 to 14 may optionally further comprise: a chisel head extending from the chisel tip along the longitudinal axis towards the shank, wherein the chisel head and the shank are joined by a material bond.

[0231] Example 16 is a holding device comprising: a chisel holder with an opening for receiving a machine chisel (e.g., a machine chisel according to any one of Examples 1 to 15); a locking device (e.g., of the first type or the second type) configured to form a positive fit with the machine chisel received in the opening, limiting movement of the machine chisel along a longitudinal axis of the machine chisel; a receiving area (e.g., a cavity) for receiving a section (e.g., having a reference body) of the machine chisel that is exposed towards the opening (e.g., along the longitudinal axis); at least one sensor arranged on the receiving area and configured to detect the section extending into the receiving area (e.g., its sensor-detectable scale) without contact, wherein the (e.g., ring-shaped or ring-segment-shaped) locking device (e.g.,whose retaining ring or locking pin) has (or is formed from) a reference body (e.g. ring-shaped or ring-segment-shaped) which has (or is formed from) at least one scale made of a magnetizable material that can be detected by means of at least one sensor.

[0232] Example 17 is set up according to Example 16, wherein at least one sensor is set up to detect a distance of the reference body from the sensor and / or a distance (e.g. amplitude) by which the reference body moves relative to the chisel holder and / or a frequency at which the reference body moves.

[0233] Example 18 is set up according to one of Examples 16 or 17, wherein the sensor is rigidly connected to the chisel holder.

[0234] Example 19 is set up according to one of Examples 16 to 18, wherein the at least one sensor comprises: one or more than one magnetoresistive sensor, one or more than one Hall sensor; one or more than one capacitive sensor; and / or one or more than one inductive sensor (e.g. an eddy current sensor).

[0235] Example 20 is configured according to one of Examples 16 to 19, wherein the at least one sensor is configured to detect a field emanating from and / or influenced by the machine chisel, wherein the field is preferably a magnetic field and / or an electric field.

[0236] In Example 21, the holding device according to one of Examples 16 to 20 may further comprise: a chisel bushing arranged in the opening which carries the sensor.

[0237] Example 22 is set up according to Example 21, wherein the chisel bushing has a greater hardness than the chisel holder.

[0238] Example 23 is configured according to Example 21 or 22, wherein the chisel bushing is: one-piece (e.g. in the form of a, e.g. cap-shaped, sleeve) and / or is at least partially closed along the longitudinal axis (e.g. except for bores), or is multi-piece (e.g. in the form of a two-part sleeve), of which one (e.g. second) part of the chisel bushing has the receiving area and can preferably be attached to another (e.g. first) part of the chisel bushing or the chisel holder, wherein the at least one sensor is preferably arranged on the part that has the receiving area.

[0239] Example 24 is configured according to one of Examples 16 to 23, wherein the at least one sensor is configured to detect a translation of the machine chisel parallel to the chisel axis and / or a translation of the machine chisel transverse to the chisel axis and / or a rotation of the machine chisel about the longitudinal axis of the machine chisel and / or a rotation of the machine chisel perpendicular to the longitudinal axis of the machine chisel.

[0240] Example 25 is set up according to one of Examples 16 to 24, wherein the locking device is set up such that one or more degrees of rotational freedom are provided to the machine chisel when the positive locking is formed.

[0241] Example 26 is set up according to one of Examples 16 to 25, wherein the locking device is set up such that one or more than one translational degree of freedom is provided to the machine chisel when the positive locking is formed.

[0242] Example 27 is configured according to one of Examples 16 to 20, wherein the opening extends along a direction into the chisel holder and wherein the opening is arranged behind the receiving area with respect to that direction; and wherein the locking device is configured to form a positive fit with the machine chisel received in the opening, rigidly connecting the machine chisel (e.g., a shank of the machine chisel) to the chisel holder (for example, limiting 3 translational degrees of freedom and 3 rotational degrees of freedom of the machine chisel). According to various embodiments, the machine chisel can be a flat chisel.

[0243] Example 28 is set up according to Example 27, wherein the sensor is set up to detect a chisel head of the machine chisel extending into the recording area as a section without contact.

[0244] Example 29 is configured according to Example 27 or 28, wherein the at least one sensor is configured to detect a mechanical change (e.g., movement and / or deformation) of the machine chisel. For example, the at least one sensor may be configured to detect a movement of the sensor-detectable scale resulting from the deformation of the machine chisel. For example, the at least one sensor may be configured to detect a movement of the entire sensor-detectable scale and / or a compression of the sensor-detectable scale (e.g., a relative movement of individual elements of the sensor-detectable scale to each other). Since the movement of the machine chisel may result from a deformation of the machine chisel, the at least one sensor may be configured to detect a deformation of the machine chisel (e.g., the chisel head).

[0245] Example 30 is set up according to Examples 28 and 29, wherein the at least one sensor is set up to detect a deformation of the chisel head (e.g. a movement of the sensor-detectable scale due to a deformation of the chisel head).

[0246] In Example 31, the holding device according to one of Examples 16 to 30 may optionally further include: a cleaning device which is configured to remove (e.g. by removing and / or magnetically binding) solid particles which adhere to the machine chisel and / or the chisel holder and / or which are arranged between the machine chisel and the chisel holder.

[0247] Example 32 is a material removal system comprising: a holding device according to one of Examples 16 to 31, optionally the machine chisel (e.g. configured according to one of Examples 1 to 15) and optionally a signal processing system (e.g. implemented in a cloud or a remote control) configured to output a signal based on the machine chisel detected by means of the at least one sensor.

[0248] Example 33 is set up according to Example 32, wherein the signal processing system is set up to determine a specification of a mechanical change (e.g. movement and / or deformation) of the machine chisel based on the machine chisel detected by means of the at least one sensor, wherein the signal is based on the specification.

[0249] Example 34 is set up according to Example 32 or 33, wherein the signal processing system is configured to determine a value of a force acting on the machine tool based on a characteristic value (e.g., the displacement, s, or the spring travel of the machine tool relative to the tool holder) that represents a spring force acting on the machine tool, wherein the signal is based on the value. The characteristic value can, for example, be determined based on the machine tool detected by the at least one sensor or be stored in a data memory.

[0250] Example 35 is set up according to one of Examples 32 to 33, wherein the signal processing system is set up to determine the signal based on a mechanical change (e.g. movement and / or deformation) of the machine tool relative to the tool holder detected by means of the at least one sensor.

[0251] Example 36 is set up according to one of Examples 32 to 35, wherein the signal represents a property of an object removed by means of the machine chisel.

[0252] Example 37 is set up according to one of Examples 32 to 36, wherein the signal represents a state of the machine tool, preferably a wear state of the machine tool.

[0253] In Example 38, the removal system according to one of Examples 32 to 37 may optionally further include: an actuator which is configured to influence a movement of the chisel holder based on the signal.

[0254] Example 39 is a method (e.g., a method for transferring a reference body) comprising: removing a reference body from a first machine chisel (e.g., by breaking a rigid connection between a chisel tip of the first machine chisel and the reference body), and subsequently adding the reference body to a second machine chisel such that a rigid connection is formed between a chisel tip of the second machine chisel and the reference body, wherein the reference body comprises a magnetizable material forming a sensorially detectable scale, and wherein the machine chisel is configured, for example, according to any one of Examples 1 to 15.

[0255] Example 40 is a method (e.g., a method for changing a machine chisel) comprising: removing a first machine chisel having a reference body from a chisel holder; inserting a second machine chisel having the reference body into a chisel holder, wherein a rigid connection is formed between a chisel tip of the second machine chisel and the reference body; wherein the reference body has a magnetizable material forming a sensorily detectable scale; wherein the machine chisel is configured, for example, according to one of Examples 1 to 15; and / or wherein the chisel holder is configured, for example, according to one of Examples 16 to 31.

[0256] Example 41 is a method comprising: removing material by means of a machine chisel having a reference body; detecting a mechanical change (e.g., movement and / or deformation) of the reference body (e.g., due to movement of the machine chisel as a whole and / or deformation of the machine chisel) relative to a chisel holder into which the machine chisel is inserted opposite a longitudinal direction of the machine chisel, by means of at least one sensor of the chisel holder during material removal; outputting a signal based on the detected mechanical change (e.g., movement and / or deformation) of the reference body, wherein the machine chisel is configured, for example, according to one of Examples 1 to 15 and / or wherein the chisel holder is configured, for example, according to one of Examples 16 to 31, wherein the signal is determined or configured, for example, according to one of Examples 32 to 38.

[0257] Example 42 is a method (e.g., a method for functional testing of a sensor) comprising: determining a mechanical response of a reference body of a machine chisel, which is held in a holding device, to a mechanical excitation of the machine chisel (e.g., relative to the holding device and / or from a reference position); and classifying a sensor of the holding device, by means of which the response is detected, based on a comparison of the response detected by means of the sensor with a stored reference response.

[0258] Example 43 is set up according to Example 42, further comprising: generating instructions to stimulate a deflection of the machine chisel which is held in a holding device.

[0259] Example 44 is set up according to Example 42 or 43, further comprising: generating a signal which indicates a result of the classification, preferably whether the response of the machine chisel satisfies a stored criterion, wherein the criterion is preferably satisfied if a deviation of the response of the machine chisel from a stored reference response is less than a (e.g. stored) threshold value.

[0260] The method according to one or more of Examples 42 to 44 enables the detection of contaminants in the recording area, on the scale and / or on the at least one sensor.

[0261] Example 45 is a method for operating a material removal device (e.g., for restoring and / or maintaining the function of a sensor of the material removal device), which comprises a machine chisel (e.g., a machine chisel according to one of Examples 1 to 15) arranged in a holding device according to one of Examples 16 to 31, comprising the method of: removing solid particles that adhere to a machine chisel and / or the chisel holder and / or that are arranged between the machine chisel and the chisel holder, preferably by removing and / or magnetically binding (e.g., capturing) the solid particles; and removing material by means of the machine chisel that is held in the chisel holder, before and / or after the removal of the solid particles.

[0262] In Example 46, which is preferably configured according to one of Examples 1 to 45, the reference body is attached to the chisel shank at an end opposite the chisel head, embedded in the chisel shank, or is part of the chisel shank (e.g., attached to the rear of the chisel or part of the chisel shank).

[0263] In Example 47, which is preferably configured according to one of Examples 1 to 46, the scale borders a convex outer surface of the chisel shank and / or reference body (for example, arranged externally); or the scale borders a concave inner surface of the chisel shank and / or reference body (for example, arranged internally), for example, if the reference body has a cavity (e.g., arranged at an end of the chisel shank opposite the chisel head) which is bounded by the concave inner surface. The cavity may, for example, be configured to receive the at least one sensor, e.g., if the sensor extends at least partially into the cavity during operation.

[0264] In Example 48, which is preferably configured according to one of Examples 1 to 47, the at least one sensor is attached to the chisel bushing and / or arranged below the opening for receiving the machine chisel.

[0265] In Example 49, which is preferably configured according to one of Examples 1 to 48, the at least one sensor is arranged in the chisel bushing or at least attached to it. Preferably, the chisel bushing is penetrated by an opening (e.g., forming a passage extending transversely to the chisel axis) into which the at least one sensor extends, and / or through which the at least one sensor detects the chisel, and / or which exposes the detection area to the at least one sensor. Alternatively or additionally, the at least one sensor can be exposed to the outside.

[0266] In Example 50, which is preferably set up according to one of Examples 1 to 49, the at least one sensor is arranged such that the distance from the sensor to the machine chisel, when the latter is received in the opening of the holding device, is less than approximately 1 cm (centimeter), e.g., less than approximately 0.5 cm, e.g., less than approximately 0.2 cm, e.g., less than approximately 0.1 cm.

[0267] In Example 51, which is preferably configured according to one of Examples 1 to 50, the at least one sensor is arranged such that it has a distance from the machine chisel when the latter is received in the opening of the holding device (e.g. not touching it).

[0268] In Example 52, which is preferably configured according to one of Examples 1 to 51, the scale has one or more than one edge (preferably formed by means of the magnetizable material), one of which, for example, is adjacent to an end face (e.g., the rear face) of the chisel and / or one of which is adjacent to a recess (e.g., groove or chamfer) of the chisel. Preferably, the scale can be formed by means of exactly one edge of the magnetizable material, which is detectable by the at least one of the, for example, Reference symbol list:

[0269] 100 machine chisel 101, 103, 105 Directions 102 Chisel tip 104 shaft 106 Reference body 107 Longitudinal axis 108 Chisel head 109 Chisel 110 Locking structure 111 Chisel collar 112 sensorily perceptible scales 200 Removal device 202 Locking device 212 Distance 214 shift 300 Holding device 302 Chisel holder 304 Chisel bushing 306 one or more sensors 308 seal 310 elastically deformable element 314 carrier 316 opening 320 Recording area 322 Distance 324 second recording area 330 Data processing device 332 Communication interface 334 Processors 336 storage device 338 Communication interface 402 Locking device 420 Recording area 500 The process of material removal 502 material 504 Direction 600 Removal system 601 Signal processing system 602 Communication interface 604 Data 606 Processors 608 Model 610 signal 630 machining center 632 Storage device 634 Visualization setup 700, 800, 900, 1000, 1100 Proceedings 1200 Locking device

Claims

1. Machine pick (100) comprising: • a pick tip (102); • a shaft (104) extending away from the pick tip (102) along a longitudinal axis (107) of the machine pick (100); and • a reference body (106) comprising at least one sensor-sensible scale (112) made of a magnetizable material; • wherein the reference body (106), the shaft (104) and the pick tip (102) are rigidly connected to each other, and / or wherein the reference body (106) is set up to be form-fittingly connected to the shaft (104).

2. Machine pick (100) according to claim 1, wherein the at least one scale (112) is disposed at least partially in a cavity of the reference body (106), and / or wherein the at least one scale (112) comprises one or more than one magnetic pole, each magnetic pole being provided by means of the magnetizable material and / or providing a scale element of the at least one scale.

3. Machine pick (100) according to any one of claims 1 to 2, wherein the reference body (106) comprises one or more than one recess, each recess providing a scale element of the at least one scale, and / or wherein the reference body (106) and the shaft (104) are detachably connected to each other.

4. Machine pick (100) according to any one of claims 1 to 3, wherein the at least one scale (112) comprises: • a first scale (112(1)) comprising a plurality of recesses, the spacing and / or extension of which spans a dimension of the at least one scale (112) along a closed path; and / or • a second scale (112(2)), which comprises a plurality of recesses, the spacing and / or extent of which span a dimension of the at least one scale (112) towards the shaft (104).

5. Holding device (300) comprising: • a pick holder (302) having an opening (316) for receiving a machine pick (100); • a locking device (202, 402), which is set up to form a form-fit with the machine pick received in the opening (316), which limits movement of the machine pick along a longitudinal axis of the machine pick; • a receptacle area (320, 420) for receiving a portion of the machine pick, the receptacle area (320, 420) being exposed to the opening (316); and • at least one sensor (306), which is disposed at the receptacle area (320, 420) and is set up to contactlessly sense the portion extending into the receptacle area (320, 420); • wherein preferably the locking device (202, 402) comprises a reference body (106), which comprises at least one sensor-sensible scale (112) made of a magnetizable material, which may be detected by means of the at least one sensor (306). • preferably a pick bushing (304) disposed in the opening (316) and carrying the least one sensor (306).

6. Holding device (300) according to claim 5, wherein the pick bushing (304): • is in one piece and / or is at least partially closed along the longitudinal axis; or • is multi-part, of which one part (304(2)) of the pick bushing (304) comprises the receptacle area (320) and may preferably be attached to another part (304(1)) of the pick bushing (304) or to the pick holder (302), wherein the at least one sensor (306) is preferably disposed on the part (304(2)) that comprises the receptacle area (320).

7. Holding device (300) according to one of the claims 5 to 6, wherein the at least one sensor (306) is set up to sense: • a translation of the machine pick parallel to the pick axis and / or • a translation of the machine pick transverse to the pick axis and / or • a rotation of the machine pick around the longitudinal axis of the machine pick and / or • a rotation of the machine pick perpendicular to the longitudinal axis of the machine pick.

8. Holding device (300) according to claim 5, • wherein the opening (316) extends along a direction (105) into the pick holder (302) and wherein the opening (316) is disposed behind the receptacle area (420) with respect to the direction (105); • wherein the locking device (402) is set up to form a form-fit connection with the machine pick received in the opening (316), which rigidly connects the machine pick to the pick holder (302); • wherein preferably the at least one sensor (306) is set up to sense a deformation of the machine pick and / or a movement of the sensor-sensible scale resulting from the deformation of a pick head (108) of the machine pick (100).

9. Holding device (300) according to any one of claims 5 to 8, further comprising: • a cleaning device set up to remove solid particles, which adhere to the machine pick and / or the pick holder (302), and / or which are disposed between the machine pick and the pick holder (302), from it.

10. Excavation system (600), comprising: • a holding device (300) according to any one of claims 5 to 9; • a signal processing system (601) set up to output a signal (610) based on the machine pick (100) sensed by the at least one sensor (306).

11. Method (700) comprising of: • removal of a reference body from a first machine pick (702); and • thereafter attachment of the reference body to a second machine pick in such a way that a rigid connection is formed between a pick tip of the second machine pick and the reference body (704); • wherein the reference body comprises a magnetizable material that forms a sensor-sensible scale.

12. Method (800) comprising of: • removal of a first machine pick comprising a reference body from a pick holder (802); and • insertion of a second machine pick comprising the reference body into a pick holder, wherein a rigid connection is formed between a pick tip of the second machine pick and the reference body (804); • wherein the reference body comprises a magnetizable material that forms a sensor-sensible scale.

13. Method (1000) for operating the holding device (300) according to one of the claims 5 to 9, the method comprising: • determination of a mechanical response of a reference body of a machine pick received in a holding device to a mechanical excitation of the machine pick (1002); and • classification of the sensor of the holding device, by means of which the response is sensed, based on a comparison of the response sensed by means of the sensor with a stored reference response (1004).

14. Method (1100) for operating an excavation device (200) comprising a holding device (300) according to any one of claims 5 to 9 and the machine pick disposed therein, the method (1100) comprising of: • removal of solid particles adhering to a machine pick and / or the pick holder and / or disposed between the machine pick and the pick holder, preferably by means of eroding and / or magnetic binding of the solid particles (1102); • excavation of a material by means of the machine pick, which is received in the pick holder, before and / or after removing the solid particles (1104).

15. Method (900) for operating an excavation device (200) comprising a holding device (300) according to one of the claims 5 to 9 and the machine pick arranged therein, the method comprising of: • excavation of a material by means of a machine pick (902) comprising the reference body; • sensing of a mechanical change, preferably a movement, of the reference body relative to the pick holder, into which the machine pick is inserted against a longitudinal direction of the machine pick, by means of at least one sensor of the pick holder during excavation of the material (904); and • output of a signal based on the sensed change of the reference body (906).

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