METHOD OF POSITIONING TUNNELING MACHINE AND ITS ACTUATOR CROWN Russian patent published in 2024 - IPC E21C35/24 E21D9/10 E21D9/14 

FIELD: mining industry.

SUBSTANCE: invention relates to positioning of a tunneling machine in a mine working and a crown of its actuator. Method for positioning a tunneling machine and its actuator bit includes using a positioning system, the latter comprises two range finders—left and right—with variable inclination angles of measuring beam along three axes, which are fixed on left and right walls of tunneling machine housing, respectively. One inclinometer is located in any part of the tunneling machine housing, and one inclinometer is located in any part of the tunneling machine boom housing, connected through matching device to tunneling machine location control module, said module comprises tunneling machine location data storage unit connected with tunneling machine control system via RS-485 digital interface. During movement of the tunneling machine, alternate measurement of the distance to the permanent support posts of the mine working to the left and to the right of the tunneling machine housing is performed. Before determining the location, the angles of inclination of the measuring beam of the range finder are corrected to maintain the parallelism of the soil and the measurement plane and adjusting the angle of rotation of the tunneling machine body in the plane parallel to the soil. Based on readings of range finders, coordinates of the body, bits of the actuator and stands of permanent support are calculated in a fixed coordinate system of a mine working. Determining the displacement of the tunneling machine relative to the longitudinal axis of the mine working, determining the coordinates of the confining contour of the mine working, limiting angles of lifting and turning of the boom of the tunneling machine actuator are calculated taking into account the displacement and turn of the body of the tunneling machine in the mine working.

EFFECT: improving positioning accuracy of a tunneling machine relative to a longitudinal axis of a mine working, a crown of its actuating element with reference to a fixed coordinate system of a mine working.

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