AUTOMATIC CONTROL OF A MACHINE USED FOR EXCAVATING DRIFTS, TUNNELS, STOPES, CAVERNS OR THE LIKE

摘要

The invention provides an automatic control of the operation of a machine used for excavating drifts, tunnels, stopes, caverns or the like of a predetermined profile which has a rotatable head (10) and cutting arms (14, 16) mounted on the head for rotation therewith, extending in the direction of excavation and at least one of these cutting arms (14, 16) being radially pivotable. According to the invention the angular position (ζ) of the head (10) is continuously measured as the head is rotated and the radial position angle (υ) of each pivotable cutting arm is also measured and the output signals from these measurements are processed by the computer (44) which controls the angular positions of the head and of the arms according to a predetermined profile code or program stored in the computer memory for cutting the predetermined profile. Additional sensors (54, 56) may be provided to control other parameters such as RPM of the rotating head, the force exerted on the arms, the positioning of the machine and the like.