EARTH EXCAVATION CONTROL METHOD AND EXCAVATOR FOR ITS IMPLEMENTATION Russian patent published in 2011 - IPC E02F3/28 

FIELD: mining.

SUBSTANCE: control method of earth excavation by installing the grab into the working face, its movement with drives of head and lifting till filling, turning from the working face and unloading; at that, at initial excavating stage there performed is continuous monitoring of turn angle of saddle bearing with handle and vertical; at angle values <6° the head force is decreased to restriction (stop) value. Excavator includes undercarriage with roller disk on which there installed is turning platform with provided body, cabin, actuators, turning and lifting mechanisms, control system, jack boom made in the form of front and rear two-beam structures, working equipment including arm, saddle bearing, grab with handle installed in saddle bearing. Head reduction gear with rack gear and electric motor are arranged on the arm connected by means of back stays to jack boom. On the arm, in attachment zone of saddle bearing there installed is turn angle sensor of saddle bearing, which is connected to electric actuator control system. At that, lifting mechanism is arranged in close proximity to rear edge of turning platform. Actuators and turning mechanisms are arranged between rear beams of jack boom above the roller disk.

EFFECT: automatic operational control of position of grab with handle by means of monitoring of saddle bearing position.

2 cl, 2 dwg