Mining machine with improved safety equipment

Abstract

A mining machine having a machine frame and a cutting tool system, wherein the mining machine includes: - a movable work member connected to the machine frame or the cutting tool system of the mining machine via a coupling part; - drive means for actuating a movement of the movable work member between a parking position and a working position; - locking means for locking or unlocking the coupling part when the movable work member is in a parking position or in a working position; wherein the mining machine further comprises - a position sensor system for sensing position of the mining machine in a mine; - a lock detection system for registering whether the locking means is in a state of locking or unlocking the coupling part.

Description

[0001] Mining machine with improved safety equipment

[0002] SUBJECT MATTER OF THE INVENTION

[0003] The present invention relates to a mining machine for cutting mines and tunnels, especially a full-face heading machine having a cutting tool system or cutting head, respectively, on the front side of the machine frame or machine body, respectively, a loading device usually involving a conveyor, and a crawler travelling track to move the entire machine forward. The mining machine of the present invention further has a plough system mounted to the machine frame or machine body on a side of the mining machine. The plough system is provided for gathering excavated material lying on the ground.

[0004] BACKGROUND OF THE INVENTION

[0005] In mining industry, full-face heading machines implementing the full-face cutting method of advance are widely used to excavate the entire diameter of a tunnel at a single cutting pass. The cutting process of such a machine does not require additional upward or downward movements since the rotating envelop of the cutting tool system corresponds to the desired cutting profile or tunnel dimension, respectively.

[0006] However, for economical and / or technical considerations, such heading machines usually have a certain width, and if the required tunnel roadway or lane needs to be much wider, it is required for the heading machine to perform multiple parallel cutting passes. During an additional cutting pass, the cut-off or excavated material may fall outwards on the side of the machine to the adjacent tunnel ground, especially on the free side where the cutting system is not in cutting contact with the side wall of the tunnel, i.e. on the side where a previous cutting pass has taken place. If the material is left on the ground without being collected, this results in loss of excavated material, such as valuable ore, and may have serious negative impact on mining efficiency and further mining operations, such as uneven floor conditions that lead to track slippage, misalignment of haulage systems etc. In order to gather such excavated material from the ground, additional manpower and / or extra machine tools and trucks to carry out such collecting operations may be required. US 4,363,519 discloses a drilling machine for performing a continuous mining operation in hard rock. In an embodiment the mining machine is equipped with mucking or gathering arms for gathering broken material lying on the ground and feeding the material to a mucker or scraper which conveys the material away. The mucking or gathering arms are to front extensions for pivotal motion in both horizontal and vertical planes actuated by hydraulic cylinders. In a parking position, when the mucking or gathering arms are not in use, they are positioned sidewardly of the drill head of the machine.

[0007] GB 2 397 313 also relates to a drilling machine having a shovel mounted underneath the drill on the front side of the machine on a retractable mounting for sliding the shovel into the body of the machine.

[0008] WO 2019 / 185160 discloses a full-face heading machine comprising a material handling apparatus including a material handling member for gathering excavated material from the ground and a linkage member. The material handling member is pivotably coupled to one end of the linkage member about a vertical axis of rotation, and the other end of the linkage member is pivotably coupled to the machine frame or machine body about another vertical axis of rotation, such that the material handling member can be swiveled between a retracted parking position and an extended working position along a horizontal plane. At the working position, the material handling member is situated on the side of the cutting system and extended substantially along or parallel to the longitudinal travelling direction of the machine. When relocated to the parking position, the entire apparatus is placed behind the cutting system, i.e. it does not extend laterally or transversely beyond the cutting profile of the cutting system.

[0009] In contrast to a fixed structure, where the plough systems or gathering members, respectively, need to be manually mounted to the machine when they are required to be used, and dismounted to clear the space between the cutting head and the side wall of a tunnel or the like, when they are not used, an advantage of the gathering members of each of US 4,363,519, GB 2 397 313 and WO 2019 / 185160 is that they are movable between a retracted parking position and an extended working position without the need to manually dismount them, when they are not used.

[0010] During a first cutting pass of a full-face heading machine the envelop of the cutting tool system corresponds to the cutting profile or tunnel dimension, respectively, and is usually in permanent cutting contact with the tunnel wall. Therefore, during such a first cutting pass, the gathering members must be held in a retracted parking position that they do not extend laterally or transversely beyond the cutting profile or envelope of the cutting system. During a subsequent cutting pass to widen the tunnel width the gathering member on the side of the machine, where the cutting system is in cutting contact with the side wall of the tunnel to be widened must also be held in a retracted parking position, whereas on the free opposite side of the machine a gathering member may be in an extended working position for gathering excavated material lying on the ground.

[0011] Since the mining machine cannot simply turn around in a tunnel to start a second cutting pass in the opposite travelling direction of the previous or first pass, niches or turning areas of sufficient lateral width are cut-out to allow the machine to turn around to the opposite travelling and cutting direction and to place the mining machine in the correct starting position for the next cutting pass. Such niches or turning areas may be cut-out wherever needed, usually they are provided about every 400 m in the tunnel or mine, if not needed in between to turn the machine for starting a cross-cut or to cut a connection tunnel. If no longer needed for turning the mining machine, such niches or turning areas may also be used to park cars, trucks and other machines or to deposit equipment.

[0012] Accordingly, in the process of cutting mines and tunnels, especially when using a full-face heading machine, the positions of the gathering members need to be changed between a retracted parking position and an extended working position several times. In current mining machines this change of position and also the locking and unlocking of the gathering member in a parking position or in a working position may be carried out or supported by hydraulic systems activated by an operator. However, at least the change from the retracted parking position to an extended working position requires supervision by an operator standing near the machine to see whether there is enough space to move the gathering member to a working position and to avoid collision of the extending or extended gathering member with a barrier or tunnel wall. This is also the case while the machine advances during cutting operation with extended gathering member, especially during niche cutting operations, when the machine does not advance straight forward.

[0013] Furthermore, even though the locking of the gathering member in a parking position or in a working position may be carried out or supported by a hydraulic system, it is still required to check whether the gathering member has actually been locked correctly, because a locking failure may lead to unintended change of the gathering member’s position during advance of the machine and to a collision with a barrier or tunnel wall, which in turn can cause tremendous damage to the system and costly downtime of the machine for repair. Therefore, an operator is also required to check the correct locking of the gathering member in the parking or working position.

[0014] Supervision and check of the movement and locking of the gathering member by at least one operator is time consuming, costly and also dangerous, since the operator has to work very close to the machine and its danger and noise zone.

[0015] OBJECT OF THE INVENTION

[0016] It is therefore an object of the present invention to provide a mining machine, especially a fullface heading machine with a plough system for gathering excavated material lying on the ground that allows for improved control of the operation of the plough system, especially during the movement and locking of the gathering member, and that requires less direct proximity of an operator.

[0017] DESCRIPTION OF THE INVENTION

[0018] This object of the invention is achieved by a mining machine, preferably a full-face heading machine, having a machine frame and a cutting tool system, wherein the mining machine includes: a movable work member connected to the machine frame or the cutting tool system of the mining machine via a coupling part; drive means for actuating a movement of the movable work member between a parking position and a working position; locking means for locking or unlocking the coupling part when the movable work member is in a parking position or in a working position; wherein the mining machine further comprises a position sensor system for sensing position or position change of the mining machine in a mine; a lock detection system for registering whether the locking means is in a state of locking or unlocking the coupling part.

[0019] Herein the position may be understood as a position or proximity relative to the mine work face or mine side wall or mine roof, and / or a location in a specific mine zone, and / or height and / or orientation.

[0020] Preferably, the mining machine comprises a control unit, the control unit is configured to control the drive means to effect the movement of the movable work member to a parking position or a working position based on the data received from the position sensor system and / or the information on the state of the locking means received from the lock detection system.

[0021] Preferably, the movable work member comprises a material gathering member for gathering excavated material lying on the ground, the coupling part comprises a linkage member, wherein the material gathering member is coupled to the linkage member at a first end thereof by a first joint connection, and the linkage member is coupled at a second end thereof to the machine frame by a second joint connection, wherein each of the first joint connection and the second joint connection is a pin pivot or hinge having a vertical axis of rotation for providing a pivotable joint connection respectively, the locking means is configured to lock or unlock rotation of the pivotable joint connection. In another embodiment the movable work member comprises an extendible cutting member attached via an actuator (such as hydraulic cylinder) to the cutting tool system.

[0022] In one embodiment, the position sensor system comprises a distance meter for measuring the distance between the mining machine and a wall or barrier on the same side of the mining machine where the movable work member is mounted to the mining machine. The distance may be understood as a distance between the distance meter’s predefined position on the machine frame and a wall or barrier, preferably it is measured in a direction transverse to the machine longitudinal direction,

[0023] The mining machine of the present invention provides the advantage that the need for mining and operating personal to be in the area of the plough system to supervise and check movement and locking in a parking position or a working position can be reduced or even avoided. The invention allows for operation and control of the system remote from the danger and noise zone and it is suitable to save valuable operating time and personal costs. The danger of machine damage due to collision of the gathering member with a tunnel wall or barrier can be reduced or avoided.

[0024] The distance meter provides the information to the operator and / or to an automatic control system if there is enough space for the material gathering member to be placed or extended in a working position. The lock detection system provides the information to the operator remote from the danger zone of the plough system and / or to an automatic control system whether the locking means have correctly be brought into a state of locking or unlocking the rotation of the pivotable joint connection. In a preferred embodiment, the mining machine of the invention is a full-face heading machine. The mining machine of the invention may suitably be designed to cut variable cutting profiles having different widths and / or heights, for example by extendible cutting sections on the cutting drum or rotors.

[0025] According to the present invention, the material gathering member can be moved between a parking position and a working position, and it can be locked in the respective positions. In this context, the term “a working position” includes embodiments wherein the material gathering member can be moved to, positioned at and locked in only one single working position at a predefined distance from the machine frame. However, the term “a working position” also includes preferred embodiments wherein a set of various predefined working positions is provided at different distances from the machine frame such that the material gathering member can be moved to, positioned at and locked in one of the several working positions. This allows to extend the material gathering member to different working positions depending on the available lateral space between the mining machine and a wall or barrier. In an embodiment of the invention the material gathering member may automatically be extended or retracted between different working positions depending on the information received from the distance meter about the distance between the mining machine and a wall or barrier during operation.

[0026] In a working position the material gathering member is preferably situated on the side of the cutting system and oriented parallel or substantially parallel to the longitudinal direction of the machine or in a predefined acute angle relative to the longitudinal direction of the machine. This is achievable by providing the linkage member with pivotable first and seconds joint connections between the material gathering member and the machine frame and by adjusting the locking positions of the locking means such that for each working position the material gathering member is oriented in the desired predefined angle relative to the longitudinal direction of the machine. When the material gathering member is relocated to the parking position, it is located behind the cutting system, i.e. it does not extend laterally or transversely beyond the cutting profile of the cutting system.

[0027] The material gathering member for gathering excavated material found on the ground preferably has a substantially flat under-surface and a height. Suitably, it includes a body part coupled to the linkage member by the first joint connection and a conveying panel being pivotably attached to the body part via a pivot connection having a horizontal axis of rotation. The conveying panel may be in the form of reinforced slab, its distal end may be freely raised upwardly when the slab runs onto an uneven ground or inclined slope or local ramp, which has the benefit of avoiding a damage to the material gathering member by a bump on uneven ground during a cutting process i.e. when the machine advances.

[0028] Optionally, the conveying panel includes an upper part and a lower part that is movably coupled to the upper part, and an actuation means that is adapted to lift and lower the lower part relative to the upper part. Such a setup facilitates the relocation of the material gathering member between a parking position and a working position. At a working position the lower part descends to close the gap between the lower part and the ground, thereby to enable efficiently collecting material on the ground; whilst during the relocation, the lower part which has much lighter weight than the upper part is easily lifted up without the need to lift the entire heavy panel, due to sufficient space being present under lower part, the relocation is thereby not to be blocked by uneven ground. Furthermore, the system may also allow for a vertical movement of the material gathering member to allow for an inclined movement while it is positioned in a working position or during movement between a parking position and a working position.

[0029] The drive means for actuating a movement of the material gathering member between a parking position and a working position preferably includes a hydraulic cylinder, a chain winch, a motor or a combination thereof. A hydraulic cylinder may be controlled by a hydraulic circuit having a solenoid valve, the control of which may be easily integrated into an automation system. A chain winch may be stationarily fixed and its chain may be motorically wound up and off. A motor may be electrically powered and preferably includes a gear mechanism for reducing the rotation speed, its rotary shaft may be coupled to the material handling member or the linkage member. The drive means is coupled to the material gathering member, or coupled at one end to the material gathering member and coupled at another end to the machine frame or to the linkage member.

[0030] In an embodiment of the invention, the drive means include first and second arms pivotably attached together at one end of each arm, whereby the other end of the second arm is coupled to the material gathering member or to the linkage member, and the other end of the first arm is configured to be pivotably coupled to the machine frame at a base position departing from the second joint connection. In this embodiment the drive means includes an actuator arranged between the first and second arms for providing an angular displacement therebetween. The first and second arms are configured to form a deformable V-shaped structure that can be closed or opened by the actuator. Optionally the actuator includes a hydraulic cylinder, with one end pivotably attached to an intermediate point of the second arm, with the other end being pivotably attached to the first arm or the base position. Use of a single cylinder to drive the material handling apparatus makes the movement control easier. In another embodiment, the drive means includes a first hydraulic cylinder with one end thereof being pivotably coupled to the linkage member at a position departing from the second joint connection, and the other end thereof being configured to be pivotably coupled to the machine frame at a base position departing from the second joint connection. In this embodiment the drive means further includes a second hydraulic cylinder, whose one end is pivotably coupled to the distal end of the linkage member, and the other end is pivotably coupled to the material gathering member at a position remote from the first joint connection.

[0031] In an embodiment of the mining machine of the present invention the locking means comprises first and second movable members each of them being arranged on the linkage member and being movable relative to the linkage member between a locking position and an unlocked position, the fist movable member having an engagement part being adapted to engage with a complementary engagement part on the material gathering member such that a rotation movement of the material gathering member relative to the linkage member is prevented, when the fist movable member is in the locking position, the second movable member having an engagement part being adapted to engage with a complementary engagement part on the machine frame of the mining machine such that a rotation movement of the linkage member relative to the machine frame is prevented, when the second movable member is in the locking position.

[0032] Movement of the first and second movable members between a locking position and an unlocked position effects locking or unlocking of the rotation movement of the pivotable first and second joint connections between the linkage member and the material gathering member on one end of the linkage member and between the linkage member and the machine frame on the other end of the linkage member.

[0033] Each of the first and second movable members comprises at least one engagement part being adapted to engage with a complementary engagement part on the material gathering member or on the machine frame, respectively. In a locking position the engagement of the engagement parts and the complementary engagement parts prohibit the rotation movement of the pivotable first and seconds joint connections, i.e. the engagement of the locking means locks the material gathering member in a parking position or in a working position.

[0034] In an embodiment of the invention, the first and second movable members of the locking means are in the form of rods or cylinders movably mounted on the linkage member and being actuated to move between a locking position and an unlocked position. Preferably, the first and second movable members are vertically movable relative to the linkage member. Vertical movement of the first and second movable members means that the movement is parallel to the vertical axis of rotation of the first and second joint connections between the linkage member, the material gathering member and the machine frame of the mining machine.

[0035] In an alternative embodiment, the first and second movable members may also be movable parallel to the linkage member, i. e. perpendicular to the vertical axis of rotation of the first and second joint connections. In this case, to effect locking, the first and second movable members are moved in opposite directions to engage with respective complementary engagement parts on the material gathering member and on the machine frame, respectively. For example, the complementary engagement parts may be bores or recesses, and the end sections of the first and second movable members may enter into such bores or recesses to effect lock the members against rotation movement. To unlock the engagement, the movable members are pulled back and retracted from the engagement positions.

[0036] The locking means of the mining machine of the present invention suitably further includes one or two actuators, preferably one or two hydraulic cylinders, mounted to the linkage member and being arranged and configured to effect the movement of the first and second movable members.

[0037] In a first variant, one actuator, preferably at least one hydraulic cylinder, is arranged and configured to effect simultaneous and / or synchronous movement of the first and second movable members between a locking position and an unlocked position. In a preferred embodiment of this variant cylindrical or rod-shaped first and second movable members, which are mounted to be vertically movable relative to the linkage member, are connected, for example at one end thereof, by a connection piece, such as a bar, a rod or the like, and the connection piece is moved by the actuator to simultaneously move both of the movable members. In an alternative embodiment, wherein the first and second movable members are movable parallel to the linkage member, i.e. perpendicular to the vertical axis of rotation of the first and second joint connections, a single actuator may effect simultaneous movement of the first and second movable members in opposite directions by providing a reversing device or reversing hinge that is designed to deflect and direct a single direction movement of the actuator into movements in two opposite directions.

[0038] In another variant, a first actuator is arranged and configured to effect movement of the first movable member between a locking position and an unlocked position, and a second actuator is arranged and configured to effect movement of the second movable member between a locking position and an unlocked position. Thereby, movement can be controlled to be synchronous or asynchronous.

[0039] Engagement parts on the first and second locking means and complementary engagement parts on the material gathering member and on the machine frame, respectively, may have any suitable design to lock the members in the respective position and to prohibit rotation movement of the pivotable first and seconds joint connections against the forces acting thereon in operation of the plough system. For example, the engagement parts on the first and second locking means and the complementary engagement parts may have the form of recesses and complementary protrusions etc.

[0040] The material gathering member of the present invention is movable and consequently lockable in at least one parking position and in one or more working positions. Accordingly, the locking means are designed to lock the rotation movement of the material gathering member, the locking member and the machine frame through the pivotable first and seconds joint connections in as many as the sum of desired parking and working positions. Therefore, a corresponding number and positioning of engagement parts on the first and second movable members mounted to the linkage member and complementary engagement parts on the material gathering member and the machine frame, respectively, must be provided. For example, if one engagement part is provided on a movable member, the material gathering member or the machine frame, respectively, must have a number of complementary engagement parts, which corresponds to the number of desired locking positions of the material gathering members. However, a movable member may also be provided with two or more engagement parts, then the number of complementary engagement parts may correspondingly be lower. The various required engagement parts and complementary engagement parts to realize the required number of locking positions may be distributed at different heights along the axis of rotation, at the same height around the axis of rotation or a combination thereof.

[0041] The distance meter of the present invention for measuring the distance between the mining machine and a wall or barrier on the same side of the mining machine where the plough system is mounted to the mining machine may be mounted at any suitable position on the mining machine. Preferably, the distance meter is mounted to the machine frame.

[0042] In a preferred embodiment of the present invention the mining machine is provided with two plough systems of the type described herein, one on each side of the mining machine to have the option to gather material from the ground on each side of the mining machine, depending on the travelling and cutting direction of the machine. Accordingly, it is preferred that the mining machine is provided with distance measuring means that is able to measure the distance between the mining machine and a wall or barrier on each side of the mining machine. This can be realized by one single distance meter that is able to measure the distance on each side of the mining machine, either at the same time or by using a turning mechanism that turns the device depending on the desired or required measurement direction. In an alternative, at least two distance meters are provided, one for measuring the distance on one side of the machine and another one for measuring the distance on the opposite side of the machine.

[0043] Any type of suitable distance meter can be used in the present invention, such as a radar distance meter, a laser distance meter or an ultrasound distance meter, whereby a radar distance meter is particularly preferred.

[0044] The lock detection system of the present invention provides the advantage that an operator of the mining machine does not need to be in the area or danger zone of the plough system to supervise and check the locking of the gathering member in a parking position or a working position. The registered information of the lock detection system whether the locking means is in a state of locking or unlocking the rotation of the pivotable joint connection can, for example, be forwarded to a display or a controller remote from the danger and noise zone of the plough system.

[0045] In an embodiment of the invention the lock detection system comprises at least one lock detection sensor being arranged and configured to detect whether the locking means is in a locking position or in an unlocked position, wherein the at least one lock detection sensor preferably is a proximity sensor, a touch sensor, a tactile sensor or a light barrier sensor.

[0046] A single lock detection sensor can be arranged and configured to detect the position of the first and second movable members arranged on the linkage member, at the same time. In an alternative, two lock detection sensors are provided, one of them being arranged and configured to detect whether the position of the first movable member is in a locking position or an unlocked position and the second one being arranged and configured to detect whether the position of the second movable member is in a locking position or an unlocked position.

[0047] The one or more lock detection sensors are preferably mounted on the linkage member, either to directly detect the positions of the first and second movable members or to indirectly detect the positions of one or more members connected to the first and second movable members in a manner that such members simultaneously move with the movement of the first and second movable members, such as detection pins or protrusions on the movable members or the like.

[0048] A particularly preferred type of lock detection sensor is a proximity sensor, which is able to detect the presence of nearby objects without any physical contact. Proximity sensors are generally known. In the present invention the proximity sensor may detect the presence of a detection pin that has moved close to the sensor due to movement of a movable members to a locking position or to an unlocked position. Proximity sensors have the advantage of high reliability and long functional life because of the absence of mechanical parts and lack of physical contact between the sensor and the sensed object.

[0049] In a preferred embodiment of the present invention the mining machine further comprises a control unit,

[0050] - wherein the control unit is connected to the drive means and configured to control the drive means to effect movement of the movable work member to a parking position or a working position, and / or

[0051] - wherein the control unit is connected to the locking means and configured to control the locking means to lock or unlock rotation of the pivotable joint connection between the material gathering member and the machine frame of the mining machine when the material gathering member is in the parking position or in the working position, and / or

[0052] - wherein the control unit is connected to the distance meter to receive data of the measured distance between the mining machine and a wall or barrier on the same side of the mining machine where the movable work member is mounted to the mining machine, and / or

[0053] - wherein the control unit is connected to the lock detection system to receive information whether the locking means is in a state of locking or unlocking the rotation of the pivotable joint connection.

[0054] The control unit allows an operator to supervise and activate the several functions of the mining machine remote from the danger and noise zone of the plough system. The control unit may be connected to the mining machine by wired or wireless connection. The control unit may also be able carry out automated operations, such as retraction of the material gathering member in case a too close barrier is registered by the distance meter on the side of the mining machine where the material gathering member is in an extended working position.

[0055] Preferably, the control unit further comprises means to visualize to an operator the measured distance between the mining machine and a wall or barrier on the same side of the mining machine where the movable work member is mounted to the mining machine, and / or the information whether the locking means is in a state of locking or unlocking the rotation of the pivotable joint connection, and / or the information whether or not the measured distance between the mining machine and a wall or barrier is sufficiently large for the material gathering member to be moved or positioned in the working position.

[0056] Suitable means to visualize to an operator at least the distance and locking information may be a screen or display. The visualization means may also provide further information about the status of the mining machine, such as travelling speed, information about the operation status of the cutting tool system etc.

[0057] The present application is a further development of the machine described in W02019 / 185160 which is owned by the same applicant, W02019 / 185160 is incorporated herein by reference in its entirety.

[0058] While preferred embodiments of the present invention have been illustrated, and described, it will be understood that changes and modifications may be made therein without departing from the invention in its broader aspects.

[0059] Further advantages, features and possible applications of the present invention will become apparent from the following description of embodiments according to the invention and the associated figures. In the figures, the same functional elements, even if differently designed, are designated by the same reference numbers.

[0060] IN THE DRAWINGS

[0061] Figure 1 is a schematic top view of a mining machine equipped with two plough systems according to the present invention, one plough system on each side of the machine, showing the material gathering member of the plough system on the right hand side of the machine (left side in figure 1) in a parking position and the material gathering member of the plough system on the left hand side of the machine (right side in figure 1) in a working position.

[0062] Figure 2 is a front view of the mining machine of figure 1. Figure 3 is a perspective view of the mining machine of figure 1 with the material gathering member of the plough system on the left hand side of the machine being in a working position (as also shown in figure 1) with a representation of the entire machine in the upper part of the figure and an enlarged representation in the lower part of the figure taken from the circle “C”.

[0063] Figure 4 is a perspective view of the mining machine of figure 1 with the material gathering member of the plough system on the left hand side of the machine being in a parking position with a representation of the entire machine in the upper part of the figure and an enlarged representation in the lower part of the figure taken from the circle “B”.

[0064] Figure 5 shows a top view of the material gathering member, the linkage member and part of the drive means of the plough system of the mining machine of figure 1 in a parking position (a), in an intermediate position (b) and in a working position (c).

[0065] Figure 6 is a sectional view of the linkage member of the plough system of the mining machine of figure 1.

[0066] DESCRIPTION OF THE INVENTION

[0067] Referring now to the drawings, the mining machine 1 , as shown in figure 1 in a schematic top view, is designed and featured as a full-face heading machine comprising a machine frame 2, a cutting tool system 3 at the front side of the machine 1 , and two plough systems 100 according to the present invention, one plough system 100 on each side of the machine 1. Each plough system 100 includes a linkage member 102 and a material gathering member 101 for gathering excavated material lying on the ground, when the material gathering member 101 is in a working position. As shown in more detail in figures 3 and 5, the material gathering member 101 is coupled to the linkage member 102 at a first end thereof by a first joint connection 103, and the linkage member 102 is coupled to the machine frame 2 at a second end of the linkage member 102 by a second joint connection 104. Each of the first joint connection 103 and the second joint connection 104 is a pin pivot or hinge having a vertical axis of rotation for providing a pivotable joint connection between the material gathering member 101 and the machine frame 2 of the mining machine 1 . In the representation shown in figure 1 the material gathering member 101 of the plough system 100 on the right hand side of the machine (left side in figure 1) is in a parking position and the material gathering member 101 of the plough system 100 on the left hand side of the machine (right side in figure 1) is in a working position. Figure 2 shows a front view of the mining machine 1 of figure 1. When the material gathering member 101 is in the working position, it is situated on the side of the cutting system 3 and extends substantially along or parallel to the longitudinal travelling direction of the machine 1 , as shown on the right side in figures 1 and 2. When retracted to the parking position, as shown on the left side in figures 1 and 2, the material gathering member 101 and the linkage member 102 of the plough system 100 are placed behind the cutting system 3 and do not extend laterally or transversely beyond the envelope or cutting profile of the cutting system 3.

[0068] The plough system 100 further includes drive means for actuating the movement of the material gathering member 101 in a horizontal plane between a parking position and a working position. As shown in figures 3 and 5, a drive means 105 comprising a hydraulic cylinder is on one end thereof pivotably coupled to the linkage member 102 and on the other end thereof pivotably coupled the machine frame 2 to effect movement of the linkage member 102 relative to the machine frame 2. Another drive means (not shown) may include first and second arms pivotably attached together to form a deformable V-shaped structure that can be closed or opened by a hydraulic cylinder, whereby the free ends of the arms are pivotably coupled to the material gathering member 101 and the machine frame 2, respectively.

[0069] As shown in figures 3 and 4, the plough system of the present invention further includes a distance meter 300 for measuring the distance between the mining machine and a wall or barrier on the same side of the mining machine where the plough system 100 is mounted to the mining machine 1. In the embodiment shown in the figures herein, the distance meter 300 is a radar distance meter mounted near the material gathering member on one side of the machine frame. Another distance meter is provided on the opposite side of the machine (not shown). Optionally, several distance meters may be mounted on each side of the machine frame to obtain even more distance information along the length of the mining machine.

[0070] Figure 5 shows the material gathering member 101 , the linkage member 102 and the drive means 105 in a parking position (figure 3a), in an intermediate position (figure 3b) and in a working position (figure 3c). The part of the machine frame 2, to which the linkage member 102 is coupled by the second joint connection 104, is not shown in figure 3. Figure 6 shows a sectional view of the linkage member with the first joint connection 103 for providing the pivotable connection to the material gathering member 101 (not shown in figure 6), and the second joint connection 104 for providing the pivotable connection to the machine frame 2 (only partially shown in figure 6). The locking means arranged on the linkage member 102 for locking and unlocking rotation of the pivotable joint connection 103 and 104 between the material gathering member 101 and the machine frame 2 comprises essentially cylindrically shaped first and second movable members 201 and 202 each of them being movable relative to the linkage member 102 in a horizontal direction between a locking position and an unlocked position. The first movable member 201 has engagement parts 203 being adapted to engage with complementary engagement parts (not shown in figure 6) on the material gathering member 101 such that a rotation movement of the material gathering member 101 relative to the linkage member 102 is prevented, when the fist movable member 201 is in the locking position. The second movable member 202 has engagement parts 204 being adapted to engage with complementary engagement parts 206 on the machine frame 2 such that a rotation movement of the linkage member 102 relative to the machine frame 2 is prevented, when the second movable member 202 is in the locking position. The horizontal movement of the first and second movable members 201 and 202 of the locking means is effected by hydraulic cylinders 207 and 208 mounted to the linkage member 102.

[0071] The lock detection system 400 (shown in dashed ellipse in figure 6) of this embodiment of the present invention comprises first and second lock detection sensors 401 and 402 and first and second detection pins 403 and 404 configured and arranged to detect whether the locking means is in a locking position or in an unlocked position. In the present embodiment the lock detection sensors 401 and 402 are proximity sensors. The first lock detection sensor 401 detects the position of the first movable member 201 , and the second lock detection sensor 402 detects the position of the second movable member 202. In the present embodiment, the lock detection sensors 401 and 402 indirectly detect the positions of the first and second movable members 201 and 202 by detecting the positions of the first and second detection pins 403 and 404, which are connected to the first and second movable members 201 and 202, respectively, in a manner that the detection pins simultaneously move with the movement of the movable members 201 and 202, respectively. The information from the first and second lock detection sensors 401 and 402 whether the locking means is in a locking position or in an unlocked position, i. e. whether the detection pins 403 and 404, respectively, are in the proximity of the detection sensors, is forwarded to a control unit by a wired or wireless connection (not shown). The mining machine 1 further comprises a control unit (not shown in the figures), which is connected to the drive means 105 and 106 and comprises means operable by an operator to operate the drive means to actuate movement of the material gathering member to a parking position or a working position. Furthermore, the control unit is connected to the locking means and comprises means operable by an operator to operate the locking means to lock or unlock rotation of the pivotable joint connection between the material gathering member 101 and the machine frame 2 of the mining machine when the material gathering member is in the parking position or in the working position. The control unit is also connected to the distance meters 300 to receive data of the measured distance between the mining machine and a wall or barrier on the same side of the mining machine where the plough system is mounted to the mining machine, and the control unit is connected to the lock detection system 400 to receive information whether the locking means is in a state of locking or unlocking the rotation of the pivotable joint connection. The control unit allows an operator to supervise and activate the several functions of the mining machine remote from the danger and noise zone of the plough system. In the present embodiment the control unit is connected to the mining machine by a wireless connection.

[0072] For the purposes of the original disclosure, it is pointed out that all features, as they appear to a person skilled in the art from the present description, the drawings and the claims, even if they have been described specifically only in connection with certain specific further features, can be combined both individually and in any combination with other features or groups of features disclosed here, unless this has been expressly excluded or technical circumstances make such combinations impossible or pointless. A comprehensive, explicit description of all conceivable combinations of features is omitted here only for the sake of brevity and readability of the description.

[0073] While the invention has been illustrated and described in detail in the drawings and the foregoing description, this description of the invention is given by way of example only and is not intended to limit the scope of protection as defined by the claims. The invention is not limited to the embodiments shown.

[0074] Variations of the disclosed embodiments will be obvious to those skilled in the art from the drawings, the description and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" does not exclude a plurality. The mere fact that certain features are claimed in different claims does not exclude their combination. Reference signs in the claims are not intended to limit the scope of protection. In mining industry, full-face heading machines implementing the full-face cutting method of advance are widely used to excavate the entire diameter of a tunnel at a single cutting pass. The cutting process of such a machine does not require additional upward or downward movements since the rotating envelop of the cutting tool system corresponds to the desired cutting profile or tunnel dimension, respectively.

[0075] However, for economical and / or technical considerations, such heading machines usually have a certain width, and if the required tunnel roadway or lane needs to be much wider, it is required for the heading machine to perform multiple parallel cutting passes. During an additional cutting pass, the cut-off or excavated material may fall outwards on the side of the machine to the adjacent tunnel ground, especially on the free side where the cutting system is not in cutting contact with the side wall of the tunnel, i.e. on the side where a previous cutting pass has taken place. If the material is left on the ground without being collected, this results in loss of excavated material, such as valuable ore, and may have serious negative impact on mining efficiency and further mining operations, such as uneven floor conditions that lead to track slippage, misalignment of haulage systems etc. In order to gather such excavated material from the ground, additional manpower and / or extra machine tools and trucks to carry out such collecting operations may be required.

[0076] Reference Numerals

[0077] 1 mining machine

[0078] 2 machine frame

[0079] 3 cutting tool system

[0080] 100 plough system

[0081] 101 material gathering member

[0082] 102 linkage member

[0083] 103 first joint connection

[0084] (103+104 = pivotable joint connection)

[0085] 104 second joint connection

[0086] 105 drive means

[0087] 201 fist movable member

[0088] 202 second movable member

[0089] 203 engagement part of fist movable member

[0090] 204 engagement part of second movable member

[0091] 206 complementary engagement part on the machine frame

[0092] 207 actuator (hydraulic cylinder)

[0093] 208 actuator (hydraulic cylinder)

[0094] 300 distance meter

[0095] 400 lock detection system

[0096] 401 first lock detection sensor

[0097] 402 second lock detection sensor

[0098] 403 first detection pin

[0099] 404 second detection pin

Claims

Claims1. A mining machine (1) having a machine frame (2) and a cutting tool system (3), wherein the mining machine includes: a movable work member (101) connected to the machine frame (2) or the cutting tool system (3) of the mining machine (1) via a coupling part (102, 103, 104); drive means (105) for actuating a movement of the movable work member (101) between a parking position and a working position; locking means (201 , 202, 203, 204, 206) for locking or unlocking the coupling part (102, 103, 104) when the movable work member (101) is in a parking position or in a working position; wherein the mining machine further comprises: a position sensor system (300) for sensing position or position change of the mining machine in a mine; a lock detection system (400) for registering whether the locking means (200) is in a state of locking or unlocking the coupling part (102, 103, 104).

2. The mining machine (1) of claim 1 , wherein the movable work member comprises a material gathering member (101) for gathering excavated material lying on the ground, the coupling part comprises a linkage member (102), wherein the material gathering member (101) is coupled to the linkage member (102) at a first end thereof by a first joint connection (103), and the linkage member (102) is coupled at a second end thereof to the machine frame (2) by a second joint connection (104), wherein each of the first joint connection (103) and the second joint connection (104) is a pin pivot or hinge having a vertical axis of rotation for providing a pivotable joint connection (103, 104) respectively, the locking means (201 , 202, 203, 204, 206) is configured to lock or unlock rotation of the pivotable joint connection (103, 104).

3. The mining machine (1) of claim 1 or claim 2, wherein the position sensor system comprises a distance meter (300) for measuring the distance between the mining machine and a wall or barrier on the same side of the mining machine where the movable work member (101) is mounted to the mining machine (1).

4. The mining machine (1) of claim 2 or claim 3, wherein the locking means comprises first and second movable members (201 , 202) each of them being arranged on the linkage member (102) and being movable relative to the linkage member (102) between a locking position and an unlocked position,the fist movable member (201) having an engagement part (203) being adapted to engage with a complementary engagement part on the material gathering member (101) such that a rotation movement of the material gathering member (101) relative to the linkage member (102) is prevented, when the fist movable member (201) is in the locking position, the second movable member (202) having an engagement part (204) being adapted to engage with a complementary engagement part (206) on the machine frame (2) of the mining machine (1) such that a rotation movement of the linkage member (102) relative to the machine frame (2) is prevented, when the second movable member (202) is in the locking position.

5. The mining machine (1) of claim 4, wherein the first and second movable members (201 , 202) are vertically movable relative to the linkage member (102) between a locking position and an unlocked position.

6. The mining machine (1) of any of claims 4 or 5, wherein the locking means further includes one or two actuators (207, 208), preferably one or two hydraulic cylinders, mounted to the linkage member (102) and being arranged and configured to effect movement of the first and second movable members (201 , 202),- wherein one actuator (207) is arranged and configured to effect simultaneous movement of the first and second movable members (201 , 202) between a locking position and an unlocked position, or- wherein a first actuator (207) is arranged and configured to effect movement of the first movable member (201) between a locking position and an unlocked position, and a second actuator (208) is arranged and configured to effect movement of the second movable member (202) between a locking position and an unlocked position.

7. The mining machine (1) of any of the claims 3 to 6, wherein the distance meter (300) is a radar distance meter, a laser distance meter or an ultrasound distance meter.

8. The mining machine (1) of any of the preceding claims, wherein the lock detection system (400) comprises at least one lock detection sensor (401 , 402) being arranged and configured to detect whether the locking means (200) is in a locking position or in an unlocked position, wherein the at least one lock detection sensor (401 , 402) preferably is a proximity sensor, a touch sensor, a tactile sensor or a light barrier sensor.

9. The mining machine (1) of any of claims 4 to 8, comprising one or two lock detection sensors (401 , 402) being arranged and configured to detect the position of the first and second movable members (201 , 202) arranged on the linkage member (102) being in a locking position or an unlocked position.

10. The mining machine (1) of any of the preceding claims further comprising a control unit,- wherein the control unit is connected to the drive means (105) and configured to control the drive means (105) to effect movement of the movable work member (101) to a parking position or a working position, and / or- wherein the control unit is connected to the locking means (200) and configured to control the locking means (200) to lock or unlock the coupling part (102, 103, 104), or to lock or unlock rotation of the pivotable joint connection between the material gathering member (101) and the machine frame (2) of the mining machine when the material gathering member (101) is in the parking position or in the working position, and / or- wherein the control unit is connected to the distance meter (300) to receive data of the measured distance between the mining machine (1) and a wall or barrier on the same side of the mining machine where the movable work member (101) is mounted to the mining machine (1), and / or- wherein the control unit is connected to the lock detection system (400) to receive information whether the locking means (200) is in a state of locking or unlocking the rotation of the pivotable joint connection.

11. The mining machine (1) of claim 10,- wherein the control unit further comprises means to visualize to an operator the measured distance between the mining machine (1) and a wall or barrier on the same side of the mining machine where the movable work member (101) is mounted to the mining machine (1), and / or the information whether the locking means (200) is in a state of locking or unlocking the rotation of the pivotable joint connection, and / or the information whether or not the measured distance between the mining machine and a wall or barrier is sufficiently large for the material gathering member (101) to be moved or positioned in the working position.

12. The mining machine of any of the preceding claims, wherein the mining machine comprises the mining machine comprises two movable work member (101) as defined in any of the preceding claims, one movable work member (101 )) on each of the opposite sides of the mining machine (1) relative to its travelling direction, and / or the mining machine comprises at least two distance meters (300), at least one distance meter (300) for measuring the distance between the mining machine and a wall or barrier on one side of the mining machine relative to its travelling direction and at least one distance meter (300) for measuring the distance between the min- ing machine and a wall or barrier on the opposite sides of the mining machine (1) relative to its travelling direction.

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