Mining trailers, mining vehicles, and methods

Abstract

A mining trailer, a mining vehicle, and a method for towing a mining trailer in a mine. The mining trailer (10) includes a chassis (11) equipped with at least one swivelable swivel wheel assembly (15) and one or more balancing devices (19) for controlling the movement of the mining trailer relative to a mining vehicle (1) that tows the trailer. The balancing devices include at least one actuator (20, 20a) for moving the chassis laterally relative to the mining vehicle.

Description

Technical Field

[0001] The present invention relates to a mining trailer for transporting mining equipment and being towable by a mining vehicle in a mine.

[0002] The present invention further relates to a mining vehicle for an underground mine and a method for towing a mining trailer of a mine.

[0003] The field of the present invention is more specifically defined in the preamble of the independent claims.

[0004] In mines, different types of mining vehicles are used to perform different mining tasks and operations. It is necessary to move mining vehicles in a mine to different work sites and other locations. Mining vehicles can be driven along different mine passages, which may include narrow sections, curved sections, and inclined sections. In some cases, it may be desirable to place additional mining devices and equipment on a trailer that can be towed by a mining vehicle. However, known solutions have shown some drawbacks.

Summary of the Invention

[0005] An object of the present invention is to provide a novel and improved mining trailer, mining vehicle, and method for towing a mining trailer.

[0006] The mining trailer according to the present invention is characterized by the characteristic features of the first independent apparatus claim.

[0007] The mining vehicle according to the present invention is characterized by the characteristic features of the second independent apparatus claim.

[0008] The method according to the present invention is characterized by the characteristic features of the independent method claim.

[0009] The concept of the disclosed solution is that the chassis of the mining trailer includes one or more swivel wheel assemblies. The swivel wheel assembly includes at least one wheel having a rotation axis. The assembly is swivelable about a swivel axis that crosses the rotation axis of the wheel and the longitudinal axis of the trailer. The mining trailer also includes one or more balancing devices for actively controlling the movement of the mining trailer relative to a mining vehicle configured to tow the trailer. The balancing devices include one or more actuators configured to move the trailer chassis laterally relative to the towing mining vehicle.

[0010] In other words, a slewing wheel assembly includes one or more wheels and their axles. One or more wheels and their axles can rotate relative to the chassis about a slewing axis. Typically, a slewing wheel assembly includes only one wheel, but it may also include twin wheels.

[0011] The advantage of the disclosed solution is that the mining trailer has improved management characteristics in narrow mining areas, which may include curves and gradients, where the situation and visibility are often very difficult. The mining vehicle is driven in the forward and backward directions within the mining passage, and in particular, reversing with a towed mining trailer is much easier when the disclosed solution is implemented.

[0012] One advantage of using a balancing device is that the mining trailer can be steered without being moved longitudinally, i.e., forward or backward.

[0013] The slewing wheel assembly of a mining trailer implements a passive or indirect steering principle because the slewing motion arises from the realized lateral movement of the chassis rather than from the direct control of the slewing wheel assembly.

[0014] The relative motion is caused by the operation of one or more actuators in the balance device.

[0015] According to one embodiment, the trailer includes only swivel-type wheels. Therefore, the trailer does not have other types of wheels for normal operation in the mine.

[0016] According to one embodiment, the trailer is movable laterally with respect to its longitudinal direction because one or more swivel wheels can rotate relative to the chassis. This swivel motion may result from an offset between axes, namely the swivel axis is laterally offset across the horizontal rotation axis of at least one wheel of the swivel wheel assembly and the longitudinal axis of the trailer.

[0017] According to one embodiment, the pivot axis of the swivel wheel is perpendicular or substantially perpendicular to the drive surface.

[0018] According to one embodiment, the swivel wheel functions as a load-bearing wheel during trailer use. This means that all vertical loads are transmitted to the drive surface via one or more swivel wheels. Thus, the swivel wheel does not function solely as a parking aid or a balancing element.

[0019] According to one embodiment, the mining equipment transported by the mining trailer may include one or more of the following: additional batteries, power storage units, generators, fuel cells, power packs, compressors, pumps, pump stations, reels, water reels, cable reels, drilling tools, drilling tool handlers, drilling tool magazines, rock bolt magazines, cable bolt reels, shot critting devices, shot critting materials, explosive storage units, bulk resin or bulk cement plants, injection cartridge systems or storage units. The aforementioned batteries and energy storage and generation means are also mining equipment or mining apparatus because they are related to the execution and trampling of mining measures in the mine.

[0020] According to one embodiment, the trailer balancing device is configured to steer the chassis or slewing wheel assembly, thereby influencing the direction of operation of the mining trailer.

[0021] According to one embodiment, the trailer balancing device is configured to steer the chassis or slewing wheel assembly in accordance with the steering direction of the mining vehicle.

[0022] According to one embodiment, the balancing device is configured to stabilize and balance the chassis against the movement of the towing mining vehicle. Thus, the balancing device can stabilize a trailer with a single swivel wheel assembly, whereas a single-wheel type trailer cannot be stabilized in the same way. The balancing device can also dampen the movement of the trailer during tramping, thereby improving driving characteristics.

[0023] According to one embodiment, the swivel wheel assembly includes an actuator for rotating the wheel around its axis of rotation, thereby the swivel wheel includes a traction mechanism, i.e., the wheel can rotate around its horizontal axis of rotation. In this way, the wheel can be driven independently of the movement of the mining vehicle, thereby allowing the trailer to move laterally even when the mining vehicle is stationary. The actuator may be, for example, a hydraulic or electric motor.

[0024] According to one embodiment, the mining trailer includes only one wheel, which is a swivel wheel assembly. In other words, the trailer is supported on the driven surface by only a single swivel wheel assembly. In this case, the structure can be lightweight and simple. In this disclosed one-wheel embodiment, other degrees of freedom of the trailer's movement are handled by a link between the tow bar and the vehicle, thereby supporting and balancing the trailer.

[0025] According to one embodiment, the mining trailer includes only two swivel wheel assemblies that are arranged at the same position in the longitudinal direction of the mining trailer and spaced apart from each other in the lateral direction. In other words, the two swivel wheel assemblies are on both sides of the central longitudinal line of the chassis, and there is a lateral distance between the swivel wheel assemblies to enable the swivel wheel assemblies to swivel around the swivel axis without colliding with each other. The advantage of this embodiment is that the stability of the mining trailer can be improved by using two swivel wheel assemblies instead of one load-carrying capacity.

[0026] According to one embodiment, at least one swivel wheel assembly is freely swivellable about the swivel axis according to movement or the chassis. In other words, the swiveling movement of the swivel wheel assembly is not restricted, whereby the swivel wheel assembly can rotate a full 360 degrees and can also rotate with unlimited rotation.

[0027] According to an alternative solution, the swiveling movement of the swivel wheel assembly is restricted and a range of swivel angles is given.

[0028] According to one embodiment, the swiveling movement of the swivel wheel assembly can be selectively blocked. The blocking can be done temporarily to improve the stability of the trailer or can be implemented during parking.

[0029] According to one embodiment, the swivel axis of at least one swivel wheel assembly is arranged offset with respect to a rotation axis parallel to the drive surface, whereby the swivel axis and the rotation axis of the wheel do not intersect. The advantage of the offset is that the swivel wheel assembly is configured to automatically swivel around the swivel axis when the chassis changes its direction of movement. This type of swivel wheel assembly is also sometimes referred to as a jockey wheel, or simply a swivel wheel or articulating wheel.

[0030] According to one embodiment, the balance device includes at least one hydraulic actuator configured to rotate the chassis laterally.

[0031] According to another solution, the balance device for rotating the chassis may be an electric actuator such as an electric linear actuator.

[0032] According to one embodiment, the mining trailer includes a mounting adapter or plate attached to the free end of the towing bar. The mounting adapter is detachable from the mining vehicle. The actuator for pivoting the chassis may be attached between the trailer chassis and the mounting adapter, thereby eliminating the need to directly attach one end of the actuator to the frame of the mining vehicle. The mounting adapter can also include the necessary connections to hydraulic circuits, electrical circuits, control systems, etc. to facilitate quick and easy connection of the mining trailer. The mounting adapter can include quick-connect elements and joints for mechanical connections as well as electrical, hydraulic, pneumatic, and other connections.

[0033] According to one embodiment, the mining trailer includes a steering control system configured to control at least one balance device for the direction of movement of the mining trailer. In other words, the balance adjustment actuator functions as a steering actuator, and the steering control system is configured to control the actuator for steering the mining trailer.

[0034] According to one embodiment, the steering control system is connectable to the hydraulic steering circuit of the mining vehicle and configured to control the operation of at least one balance adjustment actuator based on the realized steering means of the mining vehicle. The mining vehicle may be a frame steering vehicle including a front frame unit, a rear frame unit, and joints between the frame units. One or more frame steering hydraulic actuators are arranged to rotate the frame units of the mining vehicle relative to each other. The trailer's steering control system can then be connected to the hydraulic circuit of the vehicle's frame steering cylinders and can provide hydraulic control commands to the balance actuators to mimic the steering motion of the vehicle. The characteristics of the balance actuators and the steering control system are designed so that the mining trailer can be automatically steered using the same turning radius as the towing vehicle. Thus, the design and driving geometry of the towing vehicle are implemented to steer the trailer. In this case, it is possible to avoid the use of several sensors and the steering control can be simple. In this embodiment, the active steering control may include only a bypass for operator control or a valve to disable the balance function.

[0035] According to one embodiment, the steering control system provides a hydraulic link between the balancing actuator and the hydraulic steering actuator of the mining vehicle. The steering control system may include a selectable bypass for the hydraulic link, which makes it possible, for example, to lock the balancing actuator or to allow it free movement. The balancing actuator may also be connected to a mode that allows the operator to control and steer the trailer.

[0036] According to one embodiment, the steering control system includes one or more sensing means for detecting and monitoring the relative positions of the mining vehicle and the mining trailer. Sensing means for detecting the relative positions of the front frame unit and the rear frame unit of the mining vehicle may also be present. Furthermore, the steering control system may include at least one control unit capable of generating steering control data and commands based on the sensing data and possible input kinematic data. The control unit can then control a balance adjustment actuator to steer the mining trailer based on the calculations or other processing performed. The steering balance actuator may be a hydraulic or electric actuator.

[0037] According to one embodiment, the steering control system includes selectable automatic and manual control modes. In automatic control mode, the trailer can be steered in accordance with the steering motion of the mining vehicle and taking into account the dimensions and kinematics of the mining vehicle and the mining trailer. In manual control mode, the operator of the mining vehicle can take control and steer the mining trailer in a desired direction relative to the mining vehicle. Thus, the operator can turn the mining trailer even if no steering action is being taken by the mining vehicle.

[0038] According to one embodiment, at least one balancing device is configured to adjust the tilt angle of the mining trailer according to the tilt angle of the towed mining vehicle and / or according to the tilt angle between the tow bar and the longitudinal axis of the towed mining vehicle. In situations where the towed mining vehicle and the mining trailer are traveling on running surfaces of different inclines, one or more balancing devices may be present on the trailer. The balancing devices can then compensate for the tilt effect caused by the shape of the joint between the trailer and the mining vehicle, thereby leveling the mining trailer or adjusting it to an appropriate angular position.

[0039] According to one embodiment, the trailer may include one or more first balancing devices for lateral steering and one or more second balancing devices for tilting and leveling.

[0040] According to one embodiment, the mining trailer includes a tilt control system configured to control the tilt angle of the mining trailer according to detection data received from one or more sensors, such as an inclinometer.

[0041] According to one embodiment, the mining trailer includes a third wheel, jack, or support that can be connected to a tow bar or chassis to assist in handling the trailer when it is detached from the mining vehicle.

[0042] According to one embodiment, a brake is provided on at least one swivel wheel of the mining trailer. The brake enhances safety and can be used while driving, parked, or both.

[0043] According to one embodiment, at least one swivel wheel of the mining trailer can be electrically operated and thereby implemented to increase the towing force of the mining vehicle.

[0044] According to one embodiment, each end of the linear actuator may have a specific bearing or joint that conforms to the kinematics.

[0045] According to one embodiment, the trailer balancing device includes at least one actuator which can be selectively implemented to rotate the chassis in accordance with steering motion and to tilt the chassis in accordance with an inclination angle.

[0046] According to one embodiment, the disclosed solution also relates to a mining vehicle for underground mines. The mining vehicle is frame-steering and includes a front frame unit, a rear frame unit, and steering joints between the frame units, and at least one steering actuator associated with steering joint movement for generating steering motion between the front and rear frame units, and a mining trailer releasably coupled to the rear frame and towable by the mining vehicle. Furthermore, the mining trailer conforms to the features and embodiments disclosed herein.

[0047] According to one embodiment, at least one steering actuator of the mining vehicle is hydraulically operable and connected to a hydraulic circuit. The mining trailer includes at least one hydraulic actuator for pivoting the mining trailer relative to the rear frame unit. Furthermore, the hydraulic actuator of the mining trailer is connectable to the hydraulic circuit of the mining vehicle via a steering control system and is configured to generate pivoting motion in accordance with the steering motion of the mining vehicle.

[0048] According to one embodiment, the mining vehicle has a selectable turning radius in response to steering motion, and the mining trailer is configured to follow the achieved turning radius of the mining vehicle under the control of a steering control system.

[0049] According to one embodiment, the solution also relates to a method for towing a mining trailer. The method includes selectively coupling a mining trailer to the rear end of a mining vehicle, and towing the mining trailer with the mining vehicle. Furthermore, the method includes supporting the chassis of the mining trailer on a drive surface by at least one swivel wheel assembly rotatable relative to the chassis, and steering the mining trailer by rotating the chassis of the mining trailer relative to the mining vehicle.

[0050] According to one embodiment, the method includes selectively moving the mining trailer laterally when the mining vehicle is stopped.

[0051] According to one embodiment, the method includes tilting the mining trailer chassis relative to the frame of the mining vehicle, thereby tilting the mining trailer in accordance with the tilting motion of the mining vehicle and / or in accordance with the tilt angle between the towing bar and the longitudinal axis of the towing mining vehicle.

[0052] According to alternative embodiments not covered by the claims, the balancing device includes at least one actuator configured to rotate the slewing wheel assembly relative to the chassis. Thus, in this embodiment, the steering force is transmitted directly to the slewing wheel assembly rather than to the chassis, as in other embodiments. There may be a linear actuator, such as a hydraulic cylinder or electric linear actuator, connected to slewing the slewing wheel assembly. Alternatively, a hydraulic or electric motor may be implemented to generate steering motion. Furthermore, when the disclosed direct steering principle is implemented, the slewing wheel assembly is not of the freely rotating type, and the structure may not have an offset between the rotating axle and the slewing axle. The rotating axle and the slewing axle can intersect. The wheels of the slewing wheel assembly may be positioned directly below the slewing axle actuated by one of the steering actuators described above.

[0053] The embodiments disclosed above can be combined to form a suitable solution having the required features described above.

[0054] Several embodiments are described in more detail in the accompanying drawings. [Brief explanation of the drawing]

[0055] [Figure 1] This is a schematic side view of an underground rock drilling rig. [Figure 2]This is a schematic side view of the loading machine. [Figure 3] This is a schematic side view of a mining trailer towed by a mining vehicle. [Figure 4] This is a schematic top view showing the slewing motion of a mining trailer and its slewing wheel assembly. [Figure 5] This is a schematic top view showing the slewing motion of a mining trailer and its slewing wheel assembly. [Figure 6] This is a schematic top view of a mining trailer including a balancing device with two actuators for rotating the mining trailer. [Figure 7] This is a schematic top view of a mining trailer that includes only one swivel wheel assembly. [Figure 8] This is a schematic side view of a swivel wheel assembly with an offset mechanism, viewed from two different directions. [Figure 9] This is a schematic side view of a swivel wheel assembly with an offset mechanism, viewed from two different directions. [Figure 10] This is a schematic side view of a swivel wheel assembly with two wheels. [Figure 11] This is a schematic side view of a swivel wheel assembly without an offset mechanism. [Figure 12] This is a schematic side view of a two-wheel swivel assembly equipped with swivel actuators for changing direction. [Figure 13] This is a schematic side view of a two-wheel swivel assembly equipped with swivel actuators for changing direction. [Figure 14] This is a schematic top view of a frame-operated mining vehicle and the mining trailer towed by it. [Figure 15] This is a schematic top view of a frame-driven mining vehicle with a mining trailer operating in a mine passage. [Figure 16] This is a schematic side view of a mining trailer that includes a balancing mechanism for adjusting the inclination angle of the mining trailer when operating on an inclined drive surface. [Figure 17]This is a schematic side view of a mining trailer that includes a balancing mechanism for adjusting the inclination angle of the mining trailer when operating on an inclined drive surface. [Figure 18] This is a schematic side view of a mining trailer equipped with a balancing device that includes an actuator having a selectable usage position and mounting configuration.

[0056] For clarity, the drawings show simplified representations of several embodiments of the disclosed solution. In the drawings, similar reference numerals indicate similar elements. [Modes for carrying out the invention]

[0057] Figure 1 discloses a mining vehicle 1, which is a drilling rig 2 equipped with a movable carrier 3 and one or more mining work devices 4. In this case, there is one drilling boom 5 equipped with a drilling unit 6. However, there may be several booms equipped with drilling grooves and bolting units for drilling.

[0058] Figure 2 discloses a load-haul dump vehicle (LHD), which is also a mining vehicle 1. Vehicle 1 is equipped with a movable carrier 3, and the back functions as a mining work device 4.

[0059] The mining vehicles disclosed in Figures 1 and 2 may be for underground mines, and their carriers 3 may be of the frame steering type, including a front frame unit 3a, a rear frame unit 3b, and a steering joint 7 between the frame units 3a and 3b. One or more steering actuators 8 are arranged in relation to the steering joint 7 for generating steering motion between the front frame unit 3a and the rear frame unit 3b. The rear frame unit 3b may include a coupling device or coupling location 9 for releasably coupling a mining trailer to the mining vehicle 1. The mining trailer conforms to the features and characteristics disclosed herein.

[0060] The mining vehicle 1 may be electrically powered, and thereafter the mining trailer may include an onboard energy storage unit such as a battery. The stored electrical energy on the mining trailer can then be used when the mining vehicle 1 is traversed to a planned excavation site along an inclined slope, and to mining sites of different types of mines, such as underground mines.

[0061] Figure 3 discloses a mining trailer 10 connected to a mining vehicle 1. The mining trailer 10 includes a wheeled chassis 11 for carrying mining equipment 12. The mining equipment 12 may be related to, for example, actual excavation and rock processing work, or tramming the mining vehicle 1 in a mine. Figure 3 shows two mining equipment units 12a and 12b loaded on the trailer 10. The first unit 12a may be an electric battery to supply additional energy for tramming the mining vehicle 1 by an electric drive motor. The second unit 12b may include, for example, materials and equipment to facilitate rock reinforcement work. The tow bar 13 of the mining trailer 10 is releasably connectable to the rear of the mining vehicle 1 for towing the mining trailer 10. There may be a coupling adapter 14 attached to the tow bar 13 and connectable to the mining vehicle 1. Quick coupling means can be used for coupling. The chassis 11 is provided with one or more swivel wheel assemblies 15. Each slewing wheel assembly 15 is rotatable around a slewing axis 16 that crosses the rotation axis 17 of one of the multiple wheels 18 of the slewing wheel assembly 15. The slewing axis 16 also crosses the longitudinal axis of the trailer 10. The slewing wheel assembly 15 supports the mining trailer 10 on the drive surface 29 and functions as the main load-bearing element of the chassis 11.

[0062] The mining trailer 10 also includes at least one balancing device 19 for actively controlling the movement of the mining trailer 10 relative to the mining vehicle 1. The balancing device 10 includes at least one actuator 20a configured to move the chassis 11 of the trailer 10 laterally relative to the towing mining vehicle 1, for example, as shown in Figures 4 to 7. There are several different methods for controlling the operation of the balancing device 19.

[0063] In Figures 4 to 7, which are top views, the slewing wheel assembly 15 is typically located beneath the chassis 11 and is therefore not visible when inspecting the mining trailer 10 from above, but is shown for clarity.

[0064] In Figures 4 to 6, the mining trailer 10 includes two swivel wheel assemblies 15 arranged symmetrically with respect to the longitudinal axis 21 of the mining trailer 10. In Figure 7, only one swivel wheel assembly 15 is carrying the cargo of the mining trailer 10.

[0065] In Figure 4, the mining trailer 10 is towed forward by the mining vehicle 1, and the mining trailer 10 follows the mining vehicle 1 along a substantially similar drive path, which is curved in this case. The balancing device 19 keeps the mining trailer 10 on the same track. At this time, the swivel wheel assembly 15 can automatically follow the movement of the chassis 11.

[0066] Figure 5 discloses that the chassis 11 of the mining trailer 10 can be rotated by the actuator 20a of the balancing device 19, and that the movement of the chassis 10 does not necessarily require the forward or reverse movement of the mining vehicle 1. This enables rotation while stationary. The swivel wheel assembly 15 can rotate relative to the swivel axis 16 when the chassis 11 is rotated, as shown in Figure 5. The swivel force generated by the actuator 20a is denoted by the letter F.

[0067] In Figures 4 and 5, only one actuator 20a is implemented for the slewing and balancing motion of the chassis 11 of the mining trailer 10. Figure 6 shows two actuators 20a, which may be beneficial in several structures and situations. Figure 6 also discloses the possibility of a coupling adapter 14 comprising connecting elements for the actuators 20a and the tow bar 13, as well as connectors 22 for hydraulic lines and electrical connections.

[0068] In Figure 7, the actuators of the balancing device are not shown for clarity, but the use of two actuators can improve stability and drive characteristics. The actuators can generate a pushing force and a pulling force, indicated as F1 and F2. As the chassis 11 begins to pivot under the influence of these forces, the pivot wheel assembly 15 also begins pivoting motion.

[0069] Figures 8 and 9 disclose a slewing wheel assembly 15 with an offset mechanism OF. This means that the slewing axis 16 and the rotation axis 17 do not intersect. When the slewing axis 16, which is connected to the mining trailer chassis by bearings 23, is moved, torque is generated to slewing the slewing wheel assembly 15 and allow the wheel 18 to rotate freely. A lateral link 24 or coupling may be present between the slewing axis 16 and the rotation axis 17. The slewing axis 16 may include a slewing shaft, and the rotation axis 17 may include a rotation shaft. The magnitude of the torque that rotates the assembly 15 depends on the length of the lateral link 24.

[0070] Figure 10 discloses a swivel wheel assembly 15 with two wheels 18. All other features can be found in Figures 8 and 9.

[0071] Figure 11 discloses a swivel wheel assembly 15 without an offset mechanism. There may be any other configurations to swivel the wheel 18 when the mining trailer chassis swivels.

[0072] Figures 12 and 13 disclose a swivel wheel assembly 15 with a swivel actuator 25 for changing the direction of its wheels 18. Figure 12 shows a motor 26 for swiveling the swivel axis 16. The motor 26 may be an electric or hydraulic motor. In Figure 13, the swivel actuator 25 is a hydraulic cylinder 27. Alternatively, it may be, for example, an electric linear actuator. When the swivel actuator 25 is implemented, the solution may or may not include the offset mechanism described above.

[0073] Figure 14 discloses a frame-operated mining vehicle 1 and a mining trailer 10 towed by it. The mining vehicle 1 may be a drilling rig 2 including a drilling boom 5, in which a first frame unit 3a and a second frame unit 3b are connected to each other by a steering joint 7. The frame units 3a and 3b are connected to a hydraulic circuit HC and rotated relative to each other by steering actuators SA, which are controlled by operator control or under an automatic control system for the mining vehicle. The mining trailer 10 includes a balancer 19 with a hydraulic actuator HA that functions as an actuator for pivoting the chassis 11 of the mining trailer 10. The hydraulic actuator HA is controlled by a steering control system SCS. The hydraulic actuator HA is connected to the hydraulic circuit HC via the steering control system SCS. The steering control system SCS may be provided with a selectable automatic control mode and a bypass or manual mode. A sensing device or sensor S may be associated with the steering joint 7 and a connecting joint 28 between the mining vehicle 1 and the mining trailer 1. The detection data from sensor S may be transmitted to a steering control system SCS, which can take the detection data into account when generating control data for the hydraulic actuator HA.

[0074] The steering control system SCS may be a hydraulic valve or valve device configured to control the supply of hydraulic fluid to the hydraulic actuator HA in response to monitoring data received from the steering actuator SA. A hydraulic link may be present between the steering system of the mining vehicle 1 and the balancer 19 of the mining trailer 10 so that the mining trailer 10 can actively mimic the movement of the mining vehicle 1 when traveling around a curve. The hydraulic link may be in its default setting and can be interrupted by connecting a bypass mode. In bypass control mode, the mining trailer 10 can be turned even when the mining vehicle 1 is not moving. Bypass control mode also allows the mining trailer 10 to be controlled when traveling around a curve so that the mining trailer's travel path deviates from the mining vehicle 1's travel path. In normal automatic control mode, the hydraulic actuator or hydraulic fluid flow, or both, can be sized so that the mining trailer 10 follows the movement of the mining trailer 1 in a desired manner.

[0075] Alternatively, the steering control system SCS may include a processor and a control unit capable of generating control commands for the hydraulic actuator HA. The control unit of the steering control system SCS may store a steering control program and data relating to the kinematics of the mining vehicle 1. The control unit can also receive detection data from the sensor S, as well as commands and control parameters provided via the user interface UI.

[0076] Figure 15 discloses a frame-driven mining vehicle 1 towing a mining trailer 10 in a narrow, curved mine passage. A steering control system SCS can control the movement of the mining trailer 10 so that it moves along the same curve as the mining vehicle. The mining trailer 10 can also be independently rotated if necessary. Independent rotation can be used, for example, when reversing the mining vehicle 1 and in routes with particularly narrow and difficult sections.

[0077] Figures 16 and 17 disclose the mining vehicle 1 and the mining trailer 10 moving on drive surfaces 29a, 29b, and 29c at different angles. The mining trailer 10 can conform to any of the aforementioned figures, but in addition to the features already disclosed, the tow bar 13 can be connected to the chassis 11 of the mining trailer 10 by a first joint 30. Furthermore, the tow bar 14 may include a second joint 31 at its distal end. The first joint 30 may have one degree of freedom, i.e., vertical pivoting motion, and the second joint 31 may include at least two degrees of freedom, i.e., vertical pivoting motion and lateral pivoting motion. The third degree of mobility of the second joint 31 may include torque. Next, the tilt angle of the chassis 11 can be adjusted by a balancing device 19 including one or more actuators 20b and a steering control system SCS. The balancing device 19 can also dampen the movement of the mining trailer 10 when traveling on different drive surfaces, for example, when the inclination angle of the drive surface changes suddenly.

[0078] To detect the position of the mining trailer 10, one or more sensors S may be placed on the mining trailer 10. The sensors S may be, for example, angle sensors that are connected to and mounted on the first joint 30. Alternatively, or in addition, there may be inclinometers and other detection devices mounted on the mining trailer 10. Furthermore, the mining vehicle 1 may also include one or more mounted second detection devices S2 for determining the tilt and position of the mining vehicle, thereby the detection data collected by the second sensors S2 may be transmitted to the steering control system SCS and used to control the tilt of the mining trailer 10 based on the detected tilt of the mining vehicle 1.

[0079] Figures 16 and 17 do not disclose a separate actuator for the balancing device to rotate the chassis laterally. However, the balancing device may include separate actuators for adjusting the tilt and for lateral rotation. It may also be possible to use an integrated actuator capable of performing both of these movements.

[0080] Figure 18 discloses a balancing device 19 that can tilt actuator 20a for lateral rotation of the trailer 10, thereby allowing it to be used as a balancing or tilt angle adjustment actuator 20a'. Actuator 20a can be moved by tilt actuator 33 on a guide surface 33. The disclosed system can be controlled by a steering control system SCS. Therefore, in this embodiment, one actuator can be implemented universally.

[0081] The drawings and related descriptions are intended to illustrate the concept of the present invention for illustrative purposes only. In its details, the present invention may be modified within the scope of the claims.

Claims

1. A mining trailer (10), A wheeled chassis (11) for transporting mining equipment (12), The tow bar (13) is connected to the mining vehicle (1) for towing the mining trailer (10), The chassis (11) is provided with at least one swivel wheel assembly (15) that can swivel around a swivel axis (16) across the rotation axis (17) of at least one wheel (18) of the swivel wheel assembly (15) and across the longitudinal axis (21) of the mining trailer (10). The mining trailer (10) is provided with at least one balancing device (19) for actively controlling the movement of the mining trailer (10) relative to the mining vehicle (1). The balancing device (19) includes at least one hydraulic actuator (20, HA) configured to rotate the chassis (11) of the mining trailer (10) laterally with respect to the towing mining vehicle (1), The mining trailer (10) is provided with a steering control system (SCS) configured to control the at least one balance device (19) for the direction of movement of the mining trailer (10), The hydraulic actuator (20, HA) is controlled by the steering control system (SCS), The hydraulic actuator (20, HA) is connectable to the hydraulic circuit (HC) of the mining vehicle (1) via the steering control system (SCS), and is configured to generate a turning motion in response to the steering motion of the mining vehicle (1). A mining trailer characterized by the following features.

2. The mining trailer (10) includes only one wheel, which is the swivel wheel assembly (15). The mining trailer according to claim 1, characterized in that...

3. The mining trailer (10) includes only two swivel wheel assemblies (15) that are positioned at the same location in the longitudinal direction of the mining trailer (10) and spaced apart from each other in the lateral direction. A mining trailer according to claim 1 or 2, characterized in that...

4. The at least one swivel wheel assembly (15) is capable of freely swiveling around the swivel axis (16) in accordance with the movement or the chassis (11). A mining trailer according to any one of claims 1 to 3, characterized in that

5. The pivot axis (16) of at least one swivel wheel assembly (15) is positioned offset (OF) with respect to the rotation axis (17) which is parallel to the drive surface, so that the pivot axis (16) and the rotation axis (17) of the wheel (18) do not intersect. A mining trailer according to any one of claims 1 to 4, characterized in that

6. At least one balancing device (19) is configured to adjust the tilt angle of the mining trailer (10) according to the tilt angle of the towed mining vehicle (1) and / or according to the tilt angle between the tow bar (14) and the longitudinal axis of the towed mining vehicle (10). A mining trailer according to any one of claims 1 to 5, characterized in that

7. A mining vehicle (1) for underground mines, The mining vehicle (1) is a frame steering type, and comprises a front frame unit (3a), a rear frame unit (3b), and a steering joint (7) between the frame units (3a, 3b), Between the front frame unit and the rear frame unit (3a, 3b), there is at least one steering actuator (8, SA) associated with the steering joint (7) for generating steering motion, Includes a mining trailer (10) which is detachably connected to the rear frame (3b) and towable by the mining vehicle (1), The mining trailer (10) is as described in any one of claims 1 to 6. A mining vehicle characterized by the following features.

8. The at least one steering actuator (8, SA) is hydraulically operable and connected to a hydraulic circuit (HC), The mining trailer (10) includes at least one hydraulic actuator (20, HA) for rotating the mining trailer (10) relative to the rear frame unit (3b), The hydraulic actuator (20, HA) of the mining trailer (10) is connectable to the hydraulic circuit (HC) of the mining vehicle (1) via a steering control system (SCS), and is configured to generate the turning motion in response to the steering motion of the mining vehicle (1). The mining vehicle according to claim 7, characterized in that

9. The mining vehicle (1) has a selectable turning radius in response to the steering motion, and the mining trailer (10) is configured to follow the achieved turning radius of the mining vehicle (1) under the control of a steering control system (SCS). A mining vehicle according to claim 8 or 10, characterized in that...

10. A method for towing a mining trailer (10), The method includes selectively connecting the mining trailer (10) to the rear end (3b) of the mining vehicle (1), and towing the mining trailer (10) with the mining vehicle (1). The chassis (11) of the mining trailer (10) is supported on the drive surface (29) by at least one swivel wheel assembly (15) that is rotatable relative to the chassis (11), The mining trailer (10) is operated by rotating the chassis (11) of the mining trailer (10) relative to the mining vehicle (1), A method characterized by the following.

11. When the mining vehicle (1) stops, the mining trailer (10) is selectively moved laterally. The method according to claim 10, characterized by the above.

12. The chassis (11) of the mining trailer (10) is tilted relative to the frame (3) of the mining vehicle (1), thereby tilting the mining trailer (10) in accordance with the tilting motion of the mining vehicle (1) and / or in accordance with the tilt angle between the towing bar (14) and the longitudinal axis of the towing mining vehicle (1). The method according to claim 10 or 11, characterized by the above.

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