WO2003050391A2 - Mining method for steeply dipping ore bodies - Google Patents
Mining method for steeply dipping ore bodies Download PDFInfo
- Publication number
- WO2003050391A2 WO2003050391A2 PCT/US2002/039594 US0239594W WO03050391A2 WO 2003050391 A2 WO2003050391 A2 WO 2003050391A2 US 0239594 W US0239594 W US 0239594W WO 03050391 A2 WO03050391 A2 WO 03050391A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- excavator
- excavation
- deposit
- dip
- excavations
- Prior art date
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/16—Machines slitting solely by one or more rotating saws, cutting discs, or wheels
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C41/00—Methods of underground or surface mining; Layouts therefor
- E21C41/16—Methods of underground mining; Layouts therefor
Definitions
- the present invention relates generally to mining valuable mineral and/or metal deposits and specifically to mining steeply dipping valuable mineral and/or metal deposits.
- Such ore bodies typically have a dip of about 35° or more and more typically of about 45° or more, have thicknesses from several inches to several few feet, and are normally in hard or high strength rock at shallower depths and in very hard or very high strength rock at deeper depths.
- the block caving method suffers from high capital costs due to the need for extensive excavations before caving can commence. Additionally, the method is limited to proper combinations of ore and adjacent country rock characteristics and it is often difficult to control the rate of draw to prevent losing large amounts of ore, thereby causing a low recovery.
- an elongated excavation extending longitudinally along the strike of the ore body (known as the stope) is driven upwardly or downwardly following the deposit.
- pillars can be left in place and/or backfilling (using mine tailings, concrete, etc.) can be performed.
- This method is typically capital and labor intensive and therefore suffers from a high mining cost per ton of ore mined. All of the above methods have a number of common drawbacks.
- the methods typically have extreme difficulty controlling the effects of dilution. Dilution occurs where the valuable mineral or metal -containing rock is mixed with surrounding barren or country rock. The methods are generally uneconomical in narrow vein-type deposits.
- Narrow vein- type deposits have thicknesses in the order of 1 to 5 feet.
- the methods can lead to unsafe conditions for mining personnel. Whenever personnel are required to work in areas that are constantly changing, such as in stopes, there is a danger of an unplanned ground failure. As mining continues to reach greater depths, there are inherent increases in the principal stresses. These stresses can exceed the rock strength, resulting in potentially dangerous rock bursts. As noted, the methods further suffer from high capital and/or operating costs. As will be appreciated, the size of a mine's reserves is a direct function of the costs to extract and process the ore reserves. When the mine site costs are reduced, the economic cut off grade for the mineralization is also reduced so that additional mining reserves become profitable to be mined.
- the present invention provides a mining method and system that is capable of efficiently and effectively mining steeply dipping orebodies.
- a method for mining a valuable material in a steeply dipping deposit is provided. The method includes the steps of:
- the intersecting excavations typically include spaced apart first and second excavations, e.g., tunnels, headings, etc., extending generally in a direction of a strike of the deposit and a third excavation, e.g., shaft, stope, etc., intersecting the first and second excavations and extending generally in a direction of the dip of the deposit.
- the first and second segments generally extend in the direction of the dip of the deposit.
- the "strike" of a deposit is the bearing of a horizontal line on the surface of the deposit
- the "dip” is the direction and angle of a deposits inclination, measured from a horizontal plane, perpendicular to the strike.
- a number of excavations extending generally in the direction of the strike can be used in connection with one or more excavations extending generally in the direction of the dip to divide the orebody in a number of minable blocks.
- the mining method can be fully or partially automated.
- the excavation system can include control, sensor, navigation, and maneuvering subsystems.
- the various components can be distributed among a number of locations.
- part of the control subsystem can be located in the vicinity of the excavator while another part of the control subsystem (where the operator(s) is/are located) is located at a surface or remote underground location.
- Automation permits an operator or group of operators to control simultaneously and remotely a number of excavation systems.
- the system and method of the present invention can provide a number of advantages.
- the method provides an efficient and cost effective way to excavate steeply dipping orebodies, particularly steeply dipping orebodies of narrow widths.
- the method can mine the material in the orebodies with dilution levels far lower than those possible with current mining methods and techniques.
- a conventional narrow vein stope must be of a size that allows access for people and mining equipment, which typically requires the stope to be excavated to a size greater than the width of the mineralized vein causing dilution.
- the system and method of the present invention in contrast, can use a narrower stope width as the excavation is typically done remotely by operating personnel.
- the remote operation of the excavation assembly can also reduce significantly the danger to personnel caused by unstable ground, and the reduced sizes of voids in and about the stope can also beneficially reduce the likelihood of a seismic event as the impact on the regional void/rock ratio is significantly reduced.
- personnel generally do not have to enter the stope, except in the event of operational problems and/or maintenance of the excavator system. This is particularly advantageous for steeply dipping deposits located at great depths.
- the reduced dilution and improved automation can reduce the mine's costs significantly.
- the method and system of the present invention can be highly flexible.
- the method and system can follow and track narrow vein ore regardless of the orientation, dip, or metal being mined.
- the on board sensors and navigation system can provide precise tracking in most applications.
- the method and system can require less underground development before the orebody is mined by the technique of the present invention.
- the method of the present invention is typically not limited to proper combinations of ore and adjacent country rock characteristics for the method to be able to mine an orebody.
- the method of the present invention does not generally require a draw rate to be controlled to prevent losing large amounts of ore.
- FIG. 1 is a side view of an embodiment of a mining method according to the present invention
- Fig.2 is a plan view of the embodiment of the mining method of Fig. 1 along line 2-2 of Fig. 3;
- Fig. 3 is a side view of the embodiment of the mining method of Fig. 1 along line 3-3 of Fig. 1;
- Fig. 4 is a block diagram of the various system components of an embodiment of an excavator system according to an embodiment of the present invention
- Fig. 5 is a perspective view of an excavator according to a first configuration
- Fig. 6 is a side view of the excavator of Fig. 5;
- Fig. 7 is a perspective view of an excavator according to a second configuration
- Fig. 8 is a side view of another embodiment of a mining method according to the present invention
- Fig. 9 is a side view of yet another embodiment of a mining method according to the present invention.
- Fig. 10 is a perspective view of an excavator according to yet another configuration
- Fig. 1 1 is a perspective view of an excavator according to yet another configuration
- Fig. 12 is a cross-sectional view of an umbilical for the excavator of Fig. 5.
- Figs. 1-3 depict a mining method according to a first embodiment of the present invention for mining orebody 100.
- Orebody 100 can be any valuable mineral-containing deposit, whether of igneous, metamorphic, or sedimentary origin, whether the valuable minerals are metalliferous, industrial or nonmetallic, coal, or mineral fuel, and of any shape.
- Orebody 100 typically is planar in shape and has a dip 104 greater than an angle of repose of the excavated material and typically ranging from 35° to about 90°.
- the mine plan for the (down-dip) mining method includes first and second tunnels
- Each tunnel 108 and 112 located at different depths (or levels) and passing through at least portions of the orebody 100. Each tunnel 108 and 112 has a heading that is generally parallel to the strike 116 of the orebody 100.
- the first tunnel 108 provides access for deployment system 120 to raise and lower the excavation system 124 and provide various utilities and telemetry to the excavation system 124.
- the second tunnel 112 provides access for haulage equipment, such as loader 128, to load and haul the mined material 132 to a desired location.
- haulage equipment can also be a scraper, a (scraper) conveyor, a mini-scoop, tracked or rubber-tired haulage vehicles (e.g., trucks, shuttle cars, and tractor trailers), water jets, rail cars, a haulage pipeline (e.g., a hydraulic hoist), and combinations thereof.
- other tunnels can be located at the same, shallower or deeper depths to delineate or divide the orebody into a plurality of blocks such as the block shown in Fig. 1.
- a shaft 136 passes through at least a portion of the orebody 100.
- the heading of the shaft 136 is generally transverse (and sometimes normal) to the headings of the tunnels 108,
- the shaft 112 can have shaft sections having headings parallel to the dip 104.
- the shaft 135 permits access to the tunnels and removal of mined material.
- all or part of the shaft can be replaced by another suitable ingress/egress excavation, such as an incline, decline, drift, tunnel, borehole, and raise.
- the deployment system 120 is positioned in the first tunnel 108 and tethers the excavation system 124.
- the deployment system 120 includes a mobile hoist 140 and support cables and umbilicals 144.
- the cable(s) suspend and control positioning of the excavation system 124 while the umbilical line(s) provide to the excavation system 124 one or more of (flushing) water, electric power, telemetry, communication links, hydraulic fluid, and pneumatics.
- the deployment system 120 can use any suitable carriage for the hoist 140 and any suitable boom components for the boom 148.
- the boom 148 can swing or move side-to-side as shown in Fig. 2 to facilitate movement of the excavation system 124.
- the carriage of the deployment system 120 is also articulated to permit such movement.
- the cables and umbilical line(s) can be combined into a single umbilical line having strengthening members.
- the excavator can include features, such as hydraulically actuated pads or feet, to support and maneuver itself during excavation. In this configuration, the cables would provide support only in the event that the excavator was unable to maneuver itself or lost its grip against the opposing hanging wall and foot wall of the excavation.
- the excavator 152 progressively removes slices 172 of the orebody 100 to form stope
- the excavator 152 can be any suitable batch, semicontinuous or continuous excavation system for excavating the material in the orebody.
- the excavator 152 is preferably continuous and should be selected based on mining factors such as rock stress, ore orientation, rock quality, ore access, materials handling systems and the like.
- suitable excavators include disc cutters, plasma hydraulic excavators, drill and/or blasting techniques (whether using small or large charges), hammers, and water jets. Several of these excavators are discussed in more detail below.
- FIGs. 5-6 depict a first configuration of a disc cutter-type excavator.
- the cutter 500 includes a cutter head 504 mounted on a swinging boom structure 508 and a body 512.
- the cutter head 504 mounts a plurality of overlapping cutting discs or rollers 516, such as rolling type kerf cutters, carbide cutters, button cutters, and disc cutters.
- the rear end 520 of the boom 524 is rotatable about the anchorable body 512.
- the rotational axis is formed by a vertically (or horizontally) arranged hydraulic actuator 528 with its axis at right angles to the length of the boom 524.
- Actuator 528 has a hanging wall engaging head 532 and a footwall engaging foot 536.
- the boom 524 is mounted on the cylinder 540 of the actuator 528. Additional actuators 544 and 548a,b are located in the body to provide additional anchor supports and to facilitate movement/maneuvering of the cutter 500 (as discussed below). Further vertical (or horizontal) actuators 552a,b are provided at the front end 556 of the boom 524 to permit the boom 524 to be anchored between the hanging and footwalls 180, 184 (Fig. 3). Each of the actuators 544, 548a,b, and 552a,b has a hanging wall engaging head and a footwall engaging foot. Actuators 528, 544, 548a,b and 552a,b collectively form part of the maneuvering subsystem.
- Boom 524 includes advancing hydraulic actuator 564a,b extend the cutter head 504 relative to the body 512 and thereby force the discs or rollers 516 against the rock face.
- Hydraulic cylinders 564a,b also provide rigidity to the cutter head 504 during excavation to resist torsional forces exerted on the cutter head 504 body 512 interface.
- swing actuators 568a,b cause rotation of the boom 504 relative to the body 512 (as shown) by extending and retracting in opposing cycles. That is, when swing actuator 568a extends, swing actuator 568b retracts and vice versa.
- the cutter 500 typically excavates rock by breaking rock in compression during boom rotation or swings.
- the discs or rollers work by applying high point loads to the rock and crushing a channel through the rock.
- the pressure exerted by the discs or rollers in turn breaks small wedges of rock away from the edge of the discs or rollers, thereby excavating the rock.
- the array of discs or rollers 516 in the head 504 will sweep (or cycle) across the face excavating in the order of about 2 mm of the rock face per rotational cycle.
- the cutter 500 maneuvers itself by using the various actuators (or hydraulic rams). For example, when the advancing hydraulic cylinder 564 is extended to a desired degree, the cutter 500 must be moved forward to excavate more rock. This is done by aligning the boom and body centerlines and releasing (or extracting or disengaging) hanging wall engaging heads and footwall engaging feet of actuators 532, 544 and 548a,b from the hanging and footwall, respectively, while engaging (or extending) hanging wall engaging heads and footwall engaging feet of actuators 552a,b with the hanging wall and footwall, respectively. Advancing hydraulic cylinder 564 is then retracted causing the body 512 to move forward while the cutter head 504 remains stationary.
- actuators or hydraulic rams
- the cutter 500 can turn by aligning the boom and body centerlines, extending actuators 552a,b while retracting activators 532, 544, and 548a,b, and rotating the body around actuator 532 by actuating swing actuators 568a,b. After retracting actuators 552a,b and extending actuators 532, 544, and 548a,b, excavation is resumed in a new direction.
- the cutter 500 can turn by rotating the boom 524 relative to the body 512 before the above sequence is initiated.
- directional control can be achieved by differential loading of the various actuators during the foregoing sequence of steps.
- the boom can be steered vertically to raise or lower the cutter head 504 by swinging the boom to one side, retracting (or reducing the force applied by) actuator 528, and extending/retracting the actuators 544, and/or 548a,b to raise or lower the body to place the cutter head at a desired height.
- the cutter 500 will typically have one or more umbilicals 584, one of which provides water to flush cuttings from the face, to control dust, and control heat buildup during excavation, another of which provides electric power, another of which provides hydraulic fluid, and/or yet another of which provides signal transmission or telemetry (for navigation, steering, video, operating level measurements, etc.).
- the cutter 500 height "H" (Fig. 6) can be selected to be no more than the thickness of the orebody 100. In some applications, the height is much less than the orebody thickness, thereby requiring several sweeps across the face to produce a cut having the desired height.
- the cutter 500 is described in more detail in U.S. Provisional Application entitled “Continuous Vein Mining System", Serial No. 60/410,048, to Gibbons et al., filed October 15, 2002, which is incorporated herein by this reference.
- An undercut disc cutter can also be employed as the excavator.
- An undercut disc cutter breaks rock in tension, using discs to undermine and "rip" rock from the face.
- the undercut disc cutter can use a carrier similar to that depicted in Figs. 5-6.
- the undercut disc cutter can use the carrier depicted in Fig. 7.
- the carrier includes a plurality of booms 700a,b mounting undercut disc cutters 704a,b mounted on a body 708.
- the booms and disc cutters typically move in three dimensions to excavate the face.
- the booms can be hydraulically extendible to permit the cutter to excavate an increased depth of rock from a single location.
- a plurality of actuators 712, 716, 720, and 724 are used to engage the hanging and footwalls and thereby anchor the body in place. To advance the disc cutters for the next cycle, the actuators are retracted (or disengaged with the hanging and footwalls) and cables 728 and 732 lowered until the cutter is in the desired position. Vibrating Undercutting Disc Cutter
- a vibrating undercutting disc cutter can also be employed as the excavator 152 (Figs. 1-3).
- the vibrating undercutting disc cutter operates by slicing a relatively large vibrating disc under and across the face. The slicing action removes relatively small pieces of rock from the face using tensile forces which are far lower than those typically required by compressive disc cutters.
- the carrier for the disc cutter can be similar to that described above with reference to Figs. 5-6. The carrier would utilize hydraulic rams or actuators to control and support the cutting head.
- Fig. 10 depicts an excavator configuration that is particularly suited for vibrating undercutting disc cutters.
- the excavator includes a body 1000 and a boom 1004.
- the body 1000 includes a plurality of actuators 1012a-d and a corresponding plurality of hanging wall- engaging feet 1016a-d and footwall-engaging feet 1020a-d.
- the boom rotates side- to-side and engages a rotatably mounted cutting module 1008 engaging a cutter.
- the excavator can have at least four degrees of movement.
- the forward section 1028 of the body 1000 has legs 1036a,b telescopically engaging the rear sections 1032a,b of the body.
- the legs are offset spatially from one another and have longitudinal centerlines (not shown) that are at least substantially parallel to one another.
- a hydraulic cylinder mounted longitudinally in each of the legs 1036a,b of the forward section 1028 causes the rear sections 1032a,b to move linearly forwards and backwards in the directions 1040.
- the rear sections can be moved independently of one another.
- the body 1000 can be moved upwardly and downwardly in the direction 1044 by differentially displacing or extending the hanging wall- engaging and footwall-engaging feet.
- the boom 1004 rotates side-to-side in the direction 1048.
- the cutting module 1008 rotates up and down in the direction 1052.
- the planes containing directions 1048 and 1052 are at least substantially orthogonal or pe ⁇ endicular to one another.
- the plane containing direction 1048 is at least substantially parallel to direction 1040 while the plane containing direction 1052 is at least substantially parallel to direction 1044.
- the excavator of Fig. 10 is able, through the (differential) extension of rear sections 1032a,b along legs 1036 and the orthogonal rotation of the boom and cutting module, to cut a slot of variable widths.
- the rear sections can be extended to differing lengths or positions along the legs. This can be highly advantageous in orebodies of variable widths to realize a lower degree of dilution.
- Fig. 11 depicts another excavator configuration that is particularly useful for vibrating undercutting disc cutters.
- the excavator includes a body 1100 and boom 1104.
- the body 1100 includes a plurality of actuators 1112a-f, each engaging a corresponding hanging wall- engaging foot 1116a-f and footwall-engaging foot 1120a-f. Differential displacement of the feet permits the body to move in the vertical direction 1136.
- the boom 1104 is articulated and includes first and second sections 1180 and 1184.
- the first section 1180 rotatably engages the second section 1184.
- the second section 1184 further includes a cutting module 1108 rotatably mounted thereon.
- the boom 1104 rotates side-to-side in the direction 1140, and the second section 1184 upwardly and downwardly in orthogonal direction 1143.
- the cutting module 1108 rotates upwardly and downwardly in direction 1144, which is in a plane at least substantially parallel to the plane of direction 1143 and at least substantially orthogonal to the plane of direction 1140.
- the rear actuators 1112a and 1112c are used to grip the hanging and footwalls while the other actuators are retracted to advance or retreat the body 1100. These two actuators are mounted at the end of arms 1148a,b, which rotatably or pivotably engage the upper and lower plates 1128 and 1132 of the body. The arms rotate respectively in the directions 1136 and 1118.
- a hydraulic actuator (not shown) mounted in or on each arm causes linear displacement of a rear portion of each arm in the direction 1124a,b, as shown.
- a respective angle between the centerline of each arm (not shown) and the centerline of the upper and lower plates 1128 and 1132 (or the body) (not shown) changes.
- the corresponding angle decreases in magnitude and, as each arm is retracted, the corresponding angle increases in magnitude due to rotation of the arm in the corresponding directions 1118 and 1136.
- the excavator 152 can also be implemented using drill-and-blast technology.
- the excavator 152 can use, for example, either small charge blasting in a shallow hole or large charge blasting in a deep hole, either of which can use stemming to increase blasting efficiency.
- the drilling system preferably controls booms and feeds of drills in an automatic or semi-automatic manner, which will facilitate a remotely operated drilling system.
- the drilling system preferably is able to drill a set pattern thus providing a means of ensuring hole spacings and burdens are optimized as well as ensuring accurate wall control drilling.
- Automated drilling systems can optimize feed rates and minimize the potential for bogging the drill steels with little or no operator input.
- the excavator 152 can include either a cate ⁇ illar or ram style carrier because it would only require sufficient feed force at the face to ensure that the drill steel remains secure while drilling. Although the excavator using this technique can be smaller than the above excavators, the excavator using this technique will require a relatively large inbuilt magazine to store the explosives.
- the system can be designed as a relatively continuous method by using a carousel approach for the drill/charge cycle. Additionally, a series of carousels could be strung together to form a train, with each of the carriages operating independently on the drill, charge and blast cycle.
- the umbilicals would provide water, electric power, hydraulic power, and telemetry.
- An excavator using drill and blasting techniques can have considerable flexibility in its excavation width and will be relatively simple to steer. It will produce considerable dust and gaseous emissions, which will require considerable water to control. While this approach is likely the simplest approach, is well known to mine personnel, and has a great deal of flexibility by permitting the drill pattern to be changed to accommodate varying thicknesses of the orebody, it may be difficult to operate in a continuous mode.
- the excavation can also be implemented using plasma hydraulic or electrical pulse discharge techniques.
- the plasma hydraulic technique is described in U.S. Patents
- the plasma- hydraulic technique works by creating an intense shock wave in water to crush rock.
- the shock wave is created by rapidly expanding plasma which in turn was created by an electric spark created in water and a high power pulse of electricity being passed through this spark.
- the shock waves are created by an electrode known as a projector, and an array of these projectors is used to excavate an area of rock.
- the umbilical 144 (Fig. 1) provides flushing water, electric power, and telemetry.
- the electrical power required by this technique is typically much greater than the electrical power required by the other techniques.
- the carriage for a plasma hydraulic system can be any suitable carriage, including those discussed above.
- the plasma-hydraulic technology is theoretically well suited to the mining technique of the present invention in that it is scalable, produces fine fragmentation, and is a continuous mining process.
- the ore slurry produced by this technique makes the technique conducive to cost effective hydraulic hoisting and will allow considerable savings in mill comminution.
- the excavation system 124 excavates material in the orebody 100 in a series of parallel slices 172a-h.
- the deployment system 120 is positioned in the first tunnel 108 above the excavation system 124 and progressively lowers the excavation system 124 as the excavator 152 excavates material.
- the excavated material 132 falls under the combined influence of gravity and water (which assists in cooling, clearing cuttings and dust suppression) to the second tunnel 112 where the excavated material 132 is collected by a suitable haulage system, such as the loader 128, and removed from the second tunnel 112.
- the loader 128 operates under the unexcavated section of the orebody 100 and is thereby protected from the falling excavated material.
- the loader can operate under previously excavated slices (on the other side of the muck pile 132) at a safe distance from the excavator 152 and the falling material 190.
- the deployment system 120 raises the excavation system 124 to the first tunnel 108 and moves to a new position behind the current position to prepare for excavation of the next slice 172b. In the new deployment system position, the excavation system 124 is positioned above the next slice 172b.
- the excavation system 124 starts a new cut, such as by engaging head and feet against the hanging wall and footwall (both being in the plane of the page), respectively.
- support for the hanging and footwalls can be provided by any technique, such as by leaving a slice or a portion thereof in position to act as a pillar, timbering, forming concrete, cement, or grout pillars, backfilling, steel sets, waste rock, and intrusive ground support techniques such as cables, gewie bars, resin bolts, split sets, grouted dowels, swellex bolts, etc.
- the mining method described above can be used with a manned or fully or partly automated excavation system. Due to the relative inaccessibility of the excavator, a fully or partly automated excavation system is preferred. An embodiment of an automated excavation system will now be discussed.
- Fig. 12 depicts an umbilical 1298 that is particularly useful for the excavator of Figure 5 above.
- the umbilical 1298 comprises a sheath hose 1300 (which may contain a strengthening component such as woven or braided steel fibers), constant power hydraulic lines 1304a,b, a hydraulic return line 1308, a emergency hydraulic retract line 1312, a hydraulic fluid case drain line 1316, a constant pressure hydraulic fluid line 1320, a water hose 1324, and a plurality of electrical power/signal conductors 1328.
- the automated excavation system includes a number of subsystems.
- the system includes not only the excavator 1200 to excavate the orebody 100 but also a sensor array 156 to assist in positioning the excavator 1200, a navigation subsystem 160 to track the position of the excavator 1200, a maneuvering subsystem 164 to maneuver the excavator 1200, and a control subsystem 168 to receive input from sensor array 156 and the navigation subsystem 160 and provide appropriate instructions to the maneuvering subsystem 164, excavator 1200, sensor array 156, and/or navigation subsystem 160.
- the sensor array 156 and navigation subsystem 160 are important to the effectiveness of the excavator system 124. As will be appreciated, location errors can result in increased dilution and a reduced economic outcome.
- the systems are capable collectively of defining the position of the excavation system 124, whether the excavation system's position is relative to a known 3D model (such as the digital map or model discussed below) or to a real time and/or previously sensed vein or structure.
- the subsystems are preferably at least partially integrated, operate in a complementary manner, and are typically distributed systems, with some components being on the excavator and other components being on the deployment system 120.
- the sensor array 156 includes an assortment of geophysical sensors, position sensors, attitude sensors, and component monitoring sensors. The desired combination of sensors depends on the rock properties, orebody geometry, and access configuration. Examples of such sensors 156 include inertial sensors, attitude (or pitch/roll) sensors (such as inclinometers), tilt sensors, gyros, accelerometers, etc.), magnetic sensors, laser gyro sensors, sound monitors, laser positioning sensors, video cameras (e.g., conventional, infra-red, and/or ultraviolet), vibration sensors, directional gamma radiation sensors, electrical discharge detectors, distributed (on board) geophysical instruments, navigation sensors, cavity monitoring sensors, cylinder position and force sensors (such as temposonics, pressure transducers, load cells, and rotary sensors), hydraulic fluid pressure sensors, end-of-stroke sensors to monitor boom position, temperature sensors, fluid level sensors, boom position sensors, cutter wear sensors, chemical sensors, x-ray sensors, laser tracking sensors, and seismo-electric sensors. It is believed that the highest resolution of orebody geometry
- the navigation subsystem 160 provides the real-time capability for defining position with respect to a fixed 3D reference (e.g., in geographical coordinates,) and/or a geologic feature and following a prescribed trajectory or path.
- the navigation subsystem 160 preferably provides in real time the position and/or attitude of the excavator 152.
- the navigation subsystem 160 can include position determining components, such as a geopositioning system, a video camera, one or more electromagnetic transmitters and receivers and triangulation logic, laser range meters, inertial navigation sensors, operator positional input, and systems for measuring the distance traveled by the excavator from a fixed reference point; a digitally accessed coordinate system such as the static or continuously or semi-continuously updated digital map or model of the orebody 100; and one or more navigation computational components.
- the digital map is typically generated by known techniques based on one or more of an orebody survey (performed using diamond core drilling logs, surrounding geologic patterns or trends, previously excavated material, chip samples, and the like).
- the map typically includes geophysical features, such as target orebody location and rock types (or geologic formations), and excavation features, such as face location, tunnel locations, shaft locations, raise and stope locations, and the like.
- the map can be updated continuously or semi-continuously using real time geophysical, analytical and/or visual sensing techniques. Examples of digital mapping algorithms that may be used include DATAMINETM sold by Mineral industries Computing Ltd. and VULCANTM sold by Maptek.
- the navigation computational components can include any of a number of existing off-the-shelf integrated inertial navigation systems, such as the ORE RECOVERY AND TUNNELING AIDTM sold by Honeywell, the Kearfott Sea Nav system, and the Novatel BDS Series system.
- the maneuvering subsystem 164 can be any positioning system for the excavator 152 that preferably is remotely operable.
- the maneuvering subsystem 164 should be a secure and robust carrier which can steer (tightly) through cutting action in three dimensions and adapt to varying stope widths.
- Illustrative methods of implementing these capabilities include hydraulic (or pneumatic) rams, rotational mounts and extendable arms to enable the excavator to walk, articulated arms capable of allowing the excavator to work in various vein widths and pitches, extendible (or expandable) cate ⁇ illar style tracks to maintain contact with the hanging and footwalls, and combinations of these techniques.
- hydraulic (or pneumatic) rams to enable the excavator to walk
- articulated arms capable of allowing the excavator to work in various vein widths and pitches
- extendible (or expandable) cate ⁇ illar style tracks to maintain contact with the hanging and footwalls, and combinations of these techniques.
- the subsystem 164 includes a plurality of hydraulically activated actuators that exert pressure against surrounding rock surfaces to hold the excavator in position and provide suitable forces to exert against cutting device(s) in the excavator.
- the control subsystem 168 typically includes a real time operating system such as QNXTM sold by QNX Software Systems Ltd. or Vxworks from Wind River, a control engine such as SrMULINK REAL TIME WORKSHOPTM sold by The Mathworks Inc. or ACE from International Submarine Engineering, to provide suitable control signals to the appropriate components, and application software that can receive information from the sensor array, maneuvering subsystem, navigation subsystem, excavator, and/or operator and convert the information into usable input for the control engine.
- a real time operating system such as QNXTM sold by QNX Software Systems Ltd. or Vxworks from Wind River
- a control engine such as SrMULINK REAL TIME WORKSHOPTM sold by The Mathworks Inc. or ACE from International Submarine Engineering
- the excavation system 124 is positioned beside or next to the face 194 and excavates the material from the side as shown in Fig. 8.
- This embodiment is particularly useful for drill and blasting techniques.
- the holes are drilled pe ⁇ endicular to the face 194.
- the excavation system 124 can be raised to avoid damage thereto when the explosives in the holes are initiated.
- the material in each slice is excavated from the bottom/up (or up-dip) rather than from the top/down (or down-dip as shown in Fig. 1). This embodiment is shown in Figs. 8-9. Common reference numbers refer to the same components.
- the deployment system 120 lowers the excavation system 124 to a position at or adjacent to the second tunnel 112 at the initiation of the excavation of a slice 172.
- the excavation system 124 will be located at or adjacent to the first tunnel 108 at the end of excavating slice 172a.
- the deployment system 120 then moves to a new position and lowers the excavation system 124 to a position at or near the second tunnel 112 to initiate excavation of the next slice 172b.
- the excavator is located in the path of the falling excavated material, which can be problematical in certain applications.
- the excavation system typically must be able to reliably support itself between the hanging and footwalls as the cables 144 can provide only limited support for the excavation system 124 when the excavation system is excavating. If the excavation system loses its footing against the hanging and footwalls, the cables will, of course, suspend the excavation system 124 and keep the excavation system 124 from falling to the second tunnel 112. However, there is a danger that the moment of the swinging excavation system 124 about the boom 148 may cause damage to or dislodgement of the deployment system 120.
- the down-dip and up-dip methods can be combined.
- the excavator 152 excavates down dip from the first tunnel 108 to the second tunnel 112 and then up dip from the second tunnel 112 to the first tunnel 108, where the cycle is repeated.
- the navigation system is used with only limited remote sensing.
- An accurately defined vein model or map allows the excavator system 124 to mine the orebody 100 without real-time ore sensing (remote sensing).
- the map must be accurate.
- An unreliable model or map will require real time assaying or, at least, realtime differentiation between the orebody 100 and surrounding (waste) rock, which can only be provided by remote sensing.
- one or more of the umbilicals can include strength members to replace the cables.
- an umbilical for hydraulic fluid can be omitted by using an on board tank and pump for the hydraulic fluid.
- the present invention in various embodiments, includes components, methods, processes, systems and/or apparatus substantially as depicted and described herein, including various embodiments, subcombinations, and subsets thereof. Those of skill in the art will understand how to make and use the present invention after understanding the present disclosure.
- the present invention in various embodiments, includes providing devices and processes in the absence of items not depicted and/or described herein or in various embodiments hereof, including in the absence of such items as may have been used in previous devices or processes, e.g., for improving performance, achieving ease and ⁇ or reducing cost of implementation.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA002469578A CA2469578A1 (en) | 2001-12-10 | 2002-12-10 | Mining method for steeply dipping ore bodies |
AU2002360553A AU2002360553A1 (en) | 2001-12-10 | 2002-12-10 | Mining method for steeply dipping ore bodies |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US33945401P | 2001-12-10 | 2001-12-10 | |
US60/339,454 | 2001-12-10 | ||
US41871602P | 2002-10-15 | 2002-10-15 | |
US60/418,716 | 2002-10-15 | ||
US10/309,237 | 2002-12-04 | ||
US10/309,237 US6857706B2 (en) | 2001-12-10 | 2002-12-04 | Mining method for steeply dipping ore bodies |
Publications (3)
Publication Number | Publication Date |
---|---|
WO2003050391A2 true WO2003050391A2 (en) | 2003-06-19 |
WO2003050391A3 WO2003050391A3 (en) | 2004-11-11 |
WO2003050391A8 WO2003050391A8 (en) | 2005-05-19 |
Family
ID=27405371
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2002/039594 WO2003050391A2 (en) | 2001-12-10 | 2002-12-10 | Mining method for steeply dipping ore bodies |
Country Status (4)
Country | Link |
---|---|
US (1) | US6857706B2 (en) |
AU (1) | AU2002360553A1 (en) |
CA (1) | CA2469578A1 (en) |
WO (1) | WO2003050391A2 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7695071B2 (en) | 2002-10-15 | 2010-04-13 | Minister Of Natural Resources | Automated excavation machine |
RU2444625C1 (en) * | 2010-07-07 | 2012-03-10 | Учреждение Российской академии наук Институт проблем комплексного освоения недр Российской академии наук (УРАН ИПКОН РАН) | Development method of tube-like and thick ore bodies |
RU2449125C1 (en) * | 2010-10-13 | 2012-04-27 | Учреждение Российской академии наук Институт горного дела Сибирского отделения РАН | Method to mine large sloping ore bodies |
RU2709846C1 (en) * | 2019-04-24 | 2019-12-23 | Федеральное Государственное Бюджетное Учреждение Науки Институт Проблем Комплексного Освоения Недр Им. Академика Н.В. Мельникова Российской Академии Наук (Ипкон Ран) | Method for underground development of kimberlite pipes |
CN112682041A (en) * | 2020-12-25 | 2021-04-20 | 飞翼股份有限公司 | Filling mining method for upper-wall-breaking gentle-inclination thick and large ore body |
Families Citing this family (35)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE526134C2 (en) * | 2003-11-21 | 2005-07-12 | Atlas Copco Rock Drills Ab | Drilling rig for production drilling in confined spaces |
US7192093B2 (en) * | 2004-04-23 | 2007-03-20 | Placer Dome Technical Services Limited | Excavation apparatus and method |
US7377593B2 (en) * | 2004-05-03 | 2008-05-27 | Her Majesty The Queen In The Right Of Canada, As Represented By The Minister Of Natural Resources | Continous extraction of underground narrow-vein metal-bearing deposits by thermal rock fragmentation |
US7416258B2 (en) * | 2005-04-19 | 2008-08-26 | Uchicago Argonne, Llc | Methods of using a laser to spall and drill holes in rocks |
AT502468B1 (en) * | 2005-08-03 | 2008-09-15 | Voest Alpine Bergtechnik | METHOD AND DEVICE FOR DISMANTLING UNDERLYING STORAGE SITES |
US7556319B1 (en) * | 2007-03-20 | 2009-07-07 | Blasters Technologies, LLC | Apparatus for resurfacing concrete |
US7934776B2 (en) * | 2007-08-31 | 2011-05-03 | Joy Mm Delaware, Inc. | Mining machine with driven disc cutters |
US8424973B2 (en) * | 2009-05-20 | 2013-04-23 | Mti Products Pty Ltd. | Collapsible cushion |
US8636324B2 (en) * | 2010-01-22 | 2014-01-28 | Joy Mm Delaware, Inc. | Mining machine with driven disc cutters |
CN101936163B (en) * | 2010-06-01 | 2012-08-08 | 中国矿业大学 | Method for recovering large mining height fully-mechanized face end part ground coal |
RU2740182C2 (en) | 2011-08-03 | 2021-01-12 | ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи | Stabilization system for mining machine |
DE102011053984A1 (en) * | 2011-09-27 | 2013-03-28 | Caterpillar Global Mining Europe Gmbh | Device for the milling and / or drilling of materials and methods therefor |
US8746369B2 (en) | 2011-09-30 | 2014-06-10 | Elwha Llc | Umbilical technique for robotic mineral mole |
US8875807B2 (en) | 2011-09-30 | 2014-11-04 | Elwha Llc | Optical power for self-propelled mineral mole |
US8866470B2 (en) | 2011-12-19 | 2014-10-21 | Harnischfeger Technologies, Inc. | Permanent magnet inclinometer for an industrial machine |
WO2013130745A2 (en) * | 2012-02-28 | 2013-09-06 | Cidra Corporate Services Inc. | Acoustic monitoring of block caving |
AU2013207575B2 (en) * | 2012-07-20 | 2016-10-20 | Jollan Kingsley | Stope fill barrier |
US9470087B2 (en) | 2012-09-14 | 2016-10-18 | Joy Mm Delaware, Inc. | Cutter head for mining machine |
US9773075B2 (en) * | 2013-12-19 | 2017-09-26 | Dassault Systemes Canada Inc. | Underground tactical optimization |
SE539411C2 (en) * | 2014-07-03 | 2017-09-19 | Skanska Sverige Ab | Method and arrangement for mounting bolts in a tunnel wall |
NO20160570A1 (en) | 2015-04-09 | 2016-10-10 | Joy Mm Delaware Inc | System and method of detecting dull and worn cutter bits |
AU2016101449A4 (en) | 2015-08-12 | 2016-09-08 | Evolution Resource Group Pty Ltd | Method and apparatus for creating a void for underground mining |
CA3012831A1 (en) | 2016-01-27 | 2017-08-03 | Joy Global Underground Mining Llc | Mining machine with multiple cutter heads |
KR20170098079A (en) * | 2016-02-19 | 2017-08-29 | 삼성전자주식회사 | Electronic device method for video recording in electronic device |
US11391149B2 (en) | 2016-08-19 | 2022-07-19 | Joy Global Underground Mining Llc | Mining machine with articulating boom and independent material handling system |
US10738608B2 (en) | 2016-08-19 | 2020-08-11 | Joy Global Underground Mining Llc | Cutting device and support for same |
CA3033879C (en) | 2016-08-19 | 2023-10-03 | Joy Global Underground Mining Llc | Mining machine with articulating boom and independent material handling system |
CA3038050A1 (en) | 2016-09-23 | 2018-03-29 | Joy Global Underground Mining Llc | Rock cutting device |
CA2944212A1 (en) | 2016-10-04 | 2018-04-04 | Sturda Inc. | Fill fence and method and system for installing same |
ES2837488T3 (en) | 2017-06-05 | 2021-06-30 | Joy Global Underground Mining Llc | System and procedure to determine the efficiency of an industrial machine |
CA2974555C (en) | 2017-07-26 | 2024-02-20 | Sturda Inc. | System and method for forming a cavity in a backfilled stope |
CN112654765B (en) | 2018-07-25 | 2024-01-30 | 久益环球地下采矿有限责任公司 | Rock cutting assembly |
RU2744683C1 (en) * | 2020-07-27 | 2021-03-15 | Федеральное государственное бюджетное учреждение науки Хабаровский Федеральный исследовательский центр Дальневосточного отделения Российской академии наук | Combined method of disintegration of a rock mass in the development of thin ore veins |
RU2752912C1 (en) * | 2020-12-24 | 2021-08-11 | Федеральное государственное бюджетное учреждение науки Хабаровский Федеральный исследовательский центр Дальневосточного отделения Российской академии наук | Combined method for development of thin ore veins |
CN115263312B (en) * | 2022-09-27 | 2022-12-13 | 北京科技大学 | Mining method for multi-fault-breaking near-horizontal extremely-thin ore body |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1008679B (en) * | 1953-07-08 | 1957-05-23 | Demag Ag | Process for the extraction of coal u. Like. From Floezen with a steep dip |
US3620573A (en) * | 1969-04-10 | 1971-11-16 | Desmond De Villiers Oxford | Mining method and apparatus therefor |
US3647263A (en) * | 1970-03-19 | 1972-03-07 | Atlas Copco Ab | Tunnelling machines and the like |
US4123109A (en) * | 1975-10-28 | 1978-10-31 | Edenvale Engineering Works (Proprietary) Limited | Mining method |
US4213653A (en) * | 1978-04-17 | 1980-07-22 | Bechtel International Corporation | Method of mining of thick seam materials |
US4330155A (en) * | 1980-03-26 | 1982-05-18 | Santa Fe International Corporation | Bore hole mining |
US4391469A (en) * | 1980-10-31 | 1983-07-05 | Gewerkschaft Eisenhutte Westfalia | Mineral mining installation |
US4523651A (en) * | 1979-12-17 | 1985-06-18 | Conoco Inc. | Coal auger guidance system |
US4603910A (en) * | 1983-03-23 | 1986-08-05 | Jcc Construction Company Ab | Method of blasting rock caverns with large cross-sectional area |
Family Cites Families (114)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1211679A (en) | 1914-02-27 | 1917-01-09 | Walter Haddon | Hydraulic power transmission. |
US1566460A (en) * | 1923-05-14 | 1925-12-22 | Sullivan Machinery Co | Controlling system |
US3309145A (en) * | 1965-03-08 | 1967-03-14 | Lee Norse Co | Mining machine having independent means to rotate and oscillate cutters |
US3341254A (en) * | 1965-05-28 | 1967-09-12 | Goodman Mfg Co | Method and machine for mining with relatively shiftable pairs of obtuse angled drum cutters |
DE1226512B (en) * | 1965-06-30 | 1966-10-13 | Eickhoff Geb | Device for scanning the hanging wall, especially for cutting machines in unmanned struts in underground mining |
GB1221723A (en) | 1967-06-09 | 1971-02-10 | J C Soding & Halbach Kg | Improved roller for rock boring equipment |
US3477762A (en) * | 1967-08-28 | 1969-11-11 | Eickhoff Geb | Mining machine and method |
US3544075A (en) | 1968-08-21 | 1970-12-01 | Robbins & Assoc James S | Vibrator systems |
GB1311094A (en) * | 1969-03-25 | 1973-03-21 | Dubois M | Machine and process for digging undergrojnd galleries |
US3598445A (en) * | 1969-05-08 | 1971-08-10 | Douglas F Winberg | Tunnel-boring machine |
US3584918A (en) * | 1969-10-07 | 1971-06-15 | Jarva Inc | Articulated torque arm construction |
US3581500A (en) | 1969-11-24 | 1971-06-01 | Robbins & Assoc James S | Fluid pulse generators |
GB1273334A (en) * | 1970-01-15 | 1972-05-10 | Coal Industry Patents Ltd | Method of and apparatus for steering a longwall mineral mining machine |
US3695717A (en) * | 1970-07-21 | 1972-10-03 | Atlas Copco Ab | Tunneling machine |
DE2159351C3 (en) | 1971-11-30 | 1981-02-26 | Salzgitter Maschinen Und Anlagen Ag, 3320 Salzgitter | Drilling device with at least one cutting roller provided with an unbalance vibrator |
US3904244A (en) * | 1972-01-20 | 1975-09-09 | John C Haspert | Method and apparatus for mechanized seam mining |
US3784257A (en) * | 1972-02-16 | 1974-01-08 | Atlas Copco Ab | Steering system for a tunnel boring machine |
US3788703A (en) * | 1972-04-14 | 1974-01-29 | Humphreys Corp | Method of rock cutting employing plasma stream |
US3776592A (en) * | 1972-10-12 | 1973-12-04 | A Ewing | Remotely controlled mining machine |
US3840270A (en) * | 1973-03-29 | 1974-10-08 | Us Navy | Tunnel excavation with electrically generated shock waves |
US3847584A (en) * | 1973-05-24 | 1974-11-12 | Ppg Industries Inc | Automatic variable phase shift control for welding glass sheets |
US3957310A (en) * | 1974-01-02 | 1976-05-18 | Winberg Douglas F | Tunnel boring machine with dual support members |
US3861748A (en) * | 1974-02-08 | 1975-01-21 | Robbins Co | Earth boring machine and method |
US3907366A (en) * | 1974-08-11 | 1975-09-23 | David R Pender | Method and apparatus for mining coal or other solids in flooded mines |
US3963080A (en) * | 1975-01-29 | 1976-06-15 | Dresser Industries, Inc. | Tunneling machine for boring a side drift |
GB1520984A (en) * | 1975-04-17 | 1978-08-09 | Binnewies I | Mining machine and a method for mining of minerals |
US4323280A (en) * | 1976-11-30 | 1982-04-06 | Coalex, Inc. | Remote controlled high wall coal mining system |
DE2704495C3 (en) * | 1977-02-03 | 1981-03-26 | Gewerkschaft Eisenhütte Westfalia GmbH, 4670 Lünen | Bracing device for a conveyor and / or extraction system in mining |
US4159852A (en) * | 1978-03-14 | 1979-07-03 | Montgomery Warren G | Continuous mining machine with improved cutter head slide means |
DE2962492D1 (en) * | 1978-04-04 | 1982-05-27 | Atlas Copco Ab | Tunnelling machine and method of tunnelling by means of said machine |
US4189186A (en) * | 1978-06-12 | 1980-02-19 | Jarva, Inc. | Tunneling machine |
US4284368A (en) * | 1979-01-18 | 1981-08-18 | Fmc Corporation | Vehicle with dual drill booms and temporary roof support |
US4312541A (en) * | 1980-03-24 | 1982-01-26 | Jarva, Inc. | Hard rock trench cutting machine having anchoring and steering structure |
US4375594A (en) * | 1981-01-12 | 1983-03-01 | The United States Of America As Represented By The Secretary Of The Army | Thyratron Marx high voltage generator |
DE3111805A1 (en) * | 1981-03-25 | 1982-10-14 | Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V., 3400 Göttingen | METHOD AND DEVICE FOR GENERATING PRE-IMPULSE-FREE, SMOOTH LASER RADIATION IMPULSES VARIABLE IMPULSE DURATION |
JPS5861843A (en) | 1981-09-12 | 1983-04-13 | Senichi Masuda | High voltage generator for ultrashort pulse |
AT371902B (en) * | 1981-11-16 | 1983-08-10 | Voest Alpine Ag | MOVABLE BREWING MACHINE |
AT375152B (en) * | 1982-09-03 | 1984-07-10 | Voest Alpine Ag | SCREW HEAD FOR TRACK DRIVING MACHINES |
AT375151B (en) * | 1982-09-03 | 1984-07-10 | Voest Alpine Ag | SCREW HEAD FOR TRACK DRIVING MACHINES AND METHOD FOR THE PRODUCTION THEREOF |
AT377056B (en) * | 1982-12-31 | 1985-02-11 | Voest Alpine Ag | DEVICE FOR PROTECTING PARTIAL CUTTING MACHINES |
US4527837A (en) * | 1983-01-27 | 1985-07-09 | Harrison Western Corporation | Tunnel boring machine |
US4637657A (en) * | 1983-01-27 | 1987-01-20 | Harrison Western Corporation | Tunnel boring machine |
AT379432B (en) * | 1983-06-24 | 1986-01-10 | Voest Alpine Ag | DEVICE FOR CONTROLLING THE POSITION OF A TRACK DRIVING MACHINE |
AT378572B (en) * | 1983-07-15 | 1985-08-26 | Voest Alpine Ag | CORRECTION DEVICE FOR CONTROLLING OR DISPLAYING THE POSITION OF A BREWING TOOL OF A BREWING MACHINE |
AT380925B (en) | 1984-07-16 | 1986-07-25 | Voest Alpine Ag | DEVICE FOR BREAKING OUT BREAKDOWNS WITH ESSENTIAL LEVEL DISASSEMBLY FRONT |
AT381986B (en) * | 1984-08-31 | 1986-12-29 | Voest Alpine Ag | DEVICE FOR SEALING A SECTION OF A SECTION OPEN FROM A BREWING MACHINE |
AT382207B (en) * | 1984-08-31 | 1987-01-26 | Voest Alpine Ag | TRACK DRIVE OR EXTRACTION MACHINE |
AT380728B (en) * | 1984-09-20 | 1986-06-25 | Voest Alpine Ag | BREWING MACHINE |
AT380729B (en) * | 1984-09-20 | 1986-06-25 | Voest Alpine Ag | BREWING MACHINE |
AT381561B (en) * | 1985-01-21 | 1986-11-10 | Voest Alpine Ag | DEVICE FOR SUPPLYING WATER TO THE SCREWING HEADS OF A SCREWING MACHINE |
AT386051B (en) * | 1985-01-29 | 1988-06-27 | Voest Alpine Ag | TRACK DRIVE OR EXTRACTION MACHINE |
AT382206B (en) * | 1985-04-18 | 1987-01-26 | Voest Alpine Ag | DEVICE FOR INTERMITTENTLY PUTTING AXIAL SLIDING CHISELS OF A SCRAPER HEAD WITH PRESSURE |
AT389092B (en) * | 1985-05-06 | 1989-10-10 | Voest Alpine Ag | TRACKED TRACK FOR TRACKED VEHICLES |
AT389916B (en) * | 1985-09-12 | 1990-02-26 | Voest Alpine Ag | DEVICE FOR UNDERGROUND OPERATION OF A MOBILE EXTRACTION MACHINE |
AT384274B (en) * | 1985-10-14 | 1987-10-27 | Voest Alpine Ag | SHIELD DRIVING MACHINE |
AT384258B (en) * | 1985-10-28 | 1987-10-27 | Voest Alpine Ag | TRACKED CHASSIS FOR HEAVY VEHICLES |
AT383867B (en) * | 1985-11-04 | 1987-09-10 | Voest Alpine Ag | METHOD FOR CONTROLLING THE MOVEMENT OF A REVERSIBLE SWIVELING ARM OF A PARTIAL CUTTING MACHINE, AND DEVICE FOR CARRYING OUT THIS METHOD |
CH672908A5 (en) | 1986-04-15 | 1990-01-15 | Bechem Hannelore | |
US4736987A (en) | 1986-06-09 | 1988-04-12 | General Mining Union Corporation Limited | Rock cutting assembly |
US4815543A (en) | 1986-06-09 | 1989-03-28 | General Mining Union Corporation Limited | Activated rock cutting assembly |
AT385814B (en) * | 1986-07-23 | 1988-05-25 | Voest Alpine Ag | DRIVE ARRANGEMENT FOR DRIVING CLEANING ROLLERS OF A DRAWING MACHINE |
US4753484A (en) * | 1986-10-24 | 1988-06-28 | Stolar, Inc. | Method for remote control of a coal shearer |
AT386457B (en) * | 1986-11-26 | 1988-08-25 | Voest Alpine Ag | BREWING MACHINE |
US4741405A (en) * | 1987-01-06 | 1988-05-03 | Tetra Corporation | Focused shock spark discharge drill using multiple electrodes |
SE460212B (en) * | 1987-02-19 | 1989-09-18 | Alimak Ab | SETTING AND EQUIPMENT FOR SMALL ORE MINING |
DE3715977A1 (en) * | 1987-05-13 | 1988-12-01 | Bauer Spezialtiefbau | ROOM DEVICE |
US4957606A (en) * | 1987-07-28 | 1990-09-18 | Juvan Christian H A | Separation of dissolved and undissolved substances from liquids using high energy discharge initiated shock waves |
AT388776B (en) * | 1987-10-29 | 1989-08-25 | Voest Alpine Ag | SCREWING OR CUTTING ROLL |
DE3737664A1 (en) * | 1987-11-06 | 1989-05-24 | Halbach & Braun Ind Anlagen | EXTRACTION PLANT FOR THE MECHANIZED RECOVERY OF MINERAL RAW MATERIALS, ESPECIALLY COAL, UNDERGROUND |
GB2212836B (en) * | 1987-11-25 | 1991-12-04 | Anderson Strathclyde Plc | Mining machine |
CH677890A5 (en) | 1987-12-30 | 1991-07-15 | Hannelore Bechem | Eccentric FOR DRILLING. |
AT395840B (en) * | 1988-02-10 | 1993-03-25 | Voest Alpine Bergtechnik | CIRCUIT ARRANGEMENT FOR THE HYDRAULIC DRIVE OF TRACKED VEHICLES |
US4884847A (en) | 1988-02-19 | 1989-12-05 | Consolidation Coal Co. | Apparatus and method for mapping entry conditions in remote mining systems |
AT399202B (en) * | 1988-08-23 | 1995-04-25 | Voest Alpine Bergtechnik | DEVICE FOR TENSIONING A DRIVING MACHINE IN A TRACK |
US5268683A (en) | 1988-09-02 | 1993-12-07 | Stolar, Inc. | Method of transmitting data from a drillhead |
US5087099A (en) * | 1988-09-02 | 1992-02-11 | Stolar, Inc. | Long range multiple point wireless control and monitoring system |
US5181934A (en) * | 1988-09-02 | 1993-01-26 | Stolar, Inc. | Method for automatically adjusting the cutting drum position of a resource cutting machine |
AT392513B (en) * | 1989-05-16 | 1991-04-25 | Voest Alpine Maschinenbau | DRIVE ARRANGEMENT FOR SCREW ROLLERS |
AT393296B (en) * | 1989-05-16 | 1991-09-25 | Voest Alpine Maschinenbau | DEVICE FOR SUPPLYING FLUID FOR THE USE OF CHISELS IN A CLEANING ROLLER |
AT393295B (en) | 1989-05-17 | 1991-09-25 | Voest Alpine Maschinenbau | BREWING MACHINE |
AT392119B (en) * | 1989-05-17 | 1991-01-25 | Voest Alpine Maschinenbau | BREWING MACHINE |
US5228552A (en) * | 1990-01-12 | 1993-07-20 | Voest-Alpine Berftechnik Gesellschaft M.B.H. | Loading device for mining |
US5390125A (en) * | 1990-02-05 | 1995-02-14 | Caterpillar Inc. | Vehicle position determination system and method |
CH684786A5 (en) | 1990-04-09 | 1994-12-30 | Bechem Hannelore | Exzenteraktivierte radially vibrating rotating tool holder. |
DE4015462A1 (en) * | 1990-05-14 | 1991-11-21 | Wirth Co Kg Masch Bohr | METHOD AND MACHINE FOR PROCESSING ROUTES, TUNNELS OR THE LIKE |
AT397286B (en) * | 1990-09-26 | 1994-03-25 | Voest Alpine Bergtechnik | SUPPORT BRACKET |
US5161857A (en) * | 1991-04-29 | 1992-11-10 | The United States Of America, As Represented By The Secretary Of The Interior | Teleoperated control system for underground room and pillar mining |
AT404282B (en) * | 1992-01-10 | 1998-10-27 | Voest Alpine Bergtechnik | CUTTING MACHINE |
CA2080217C (en) * | 1992-10-08 | 1997-12-23 | Edward Krueckl | Mine boring machine |
US5368369A (en) * | 1993-03-23 | 1994-11-29 | Council Of Scientific & Industrial Research | Equipment useful for winning ores particularly coal in longwall mining |
AT401282B (en) * | 1994-04-11 | 1996-07-25 | Voest Alpine Bergtechnik | MANUAL TRANSMISSION |
US5513903A (en) * | 1994-09-06 | 1996-05-07 | Deep Shaft Technology, Inc. | Method and apparatus for developing shafts using small diameter shafts |
US5582467A (en) | 1995-04-10 | 1996-12-10 | Centre De Recherche Industrielle Du Quebec | Displaceable working apparatus with extensible boom |
US5810447A (en) * | 1995-04-26 | 1998-09-22 | Arch Mineral Corporation | Apparatus and method for continuous mining |
US6027175A (en) * | 1995-11-29 | 2000-02-22 | Cutting Edge Technology Pty Ltd. | Method and apparatus for highwall mining |
US5896938A (en) * | 1995-12-01 | 1999-04-27 | Tetra Corporation | Portable electrohydraulic mining drill |
US5685615A (en) | 1996-01-17 | 1997-11-11 | Bechem; Klaus | Eccentrically driven percussive tools for treating materials |
WO1998006234A1 (en) * | 1996-08-05 | 1998-02-12 | Tetra Corporation | Electrohydraulic pressure wave projectors |
JP3109005B2 (en) * | 1996-08-21 | 2000-11-13 | 株式会社小松製作所 | Power supply for discharge shock wave generation |
US5752572A (en) | 1996-09-10 | 1998-05-19 | Inco Limited | Tractor for remote movement and pressurization of a rock drill |
RU2123596C1 (en) | 1996-10-14 | 1998-12-20 | Научно-исследовательский институт высоких напряжений при Томском политехническом университете | Method for electric-pulse drilling of wells, and drilling unit |
US5939986A (en) * | 1996-10-18 | 1999-08-17 | The United States Of America As Represented By The United States Department Of Energy | Mobile machine hazardous working zone warning system |
DE19652022C2 (en) | 1996-12-13 | 2000-03-23 | Bauer Spezialtiefbau | Trench cutter |
AT405318B (en) * | 1997-01-30 | 1999-07-26 | Tamrock Voest Alpine Bergtech | CUTTING OR CUTTING ROLL WITH CHANGEABLE CUTTING WIDTH |
US5992941A (en) * | 1997-07-23 | 1999-11-30 | Delli-Gatti, Jr.; Frank | Conveyor for ultra thin seam coal mining |
NO983765L (en) | 1997-08-18 | 1999-02-19 | Bechem Hannelore | Combination of slotted tool with surface milling tool |
US5999865A (en) | 1998-01-29 | 1999-12-07 | Inco Limited | Autonomous vehicle guidance system |
JP3899676B2 (en) * | 1998-05-22 | 2007-03-28 | 石川島播磨重工業株式会社 | Tunnel excavator |
US6109699A (en) * | 1998-08-24 | 2000-08-29 | Dm Technologies, Ltd. | Tow line equipped remote mining machine and method |
US6224164B1 (en) * | 1999-02-12 | 2001-05-01 | Joy Mm Delaware, Inc. | Mining machine with detachable articulated cutting assembly |
US6799809B2 (en) * | 1999-02-16 | 2004-10-05 | Dm Technologies Ltd. | Method and apparatus for remote self-propelled conveying in mineral deposits |
US6308787B1 (en) * | 1999-09-24 | 2001-10-30 | Vermeer Manufacturing Company | Real-time control system and method for controlling an underground boring machine |
US6315062B1 (en) * | 1999-09-24 | 2001-11-13 | Vermeer Manufacturing Company | Horizontal directional drilling machine employing inertial navigation control system and method |
US6257671B1 (en) * | 1999-09-29 | 2001-07-10 | Tamrock Voest-Alpine Bergtechnik Gesellschaft M.B.H. | Device for protecting selective cutting machines against overload |
-
2002
- 2002-12-04 US US10/309,237 patent/US6857706B2/en not_active Expired - Fee Related
- 2002-12-10 AU AU2002360553A patent/AU2002360553A1/en not_active Abandoned
- 2002-12-10 WO PCT/US2002/039594 patent/WO2003050391A2/en not_active Application Discontinuation
- 2002-12-10 CA CA002469578A patent/CA2469578A1/en not_active Abandoned
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1008679B (en) * | 1953-07-08 | 1957-05-23 | Demag Ag | Process for the extraction of coal u. Like. From Floezen with a steep dip |
US3620573A (en) * | 1969-04-10 | 1971-11-16 | Desmond De Villiers Oxford | Mining method and apparatus therefor |
US3647263A (en) * | 1970-03-19 | 1972-03-07 | Atlas Copco Ab | Tunnelling machines and the like |
US4123109A (en) * | 1975-10-28 | 1978-10-31 | Edenvale Engineering Works (Proprietary) Limited | Mining method |
US4213653A (en) * | 1978-04-17 | 1980-07-22 | Bechtel International Corporation | Method of mining of thick seam materials |
US4523651A (en) * | 1979-12-17 | 1985-06-18 | Conoco Inc. | Coal auger guidance system |
US4330155A (en) * | 1980-03-26 | 1982-05-18 | Santa Fe International Corporation | Bore hole mining |
US4391469A (en) * | 1980-10-31 | 1983-07-05 | Gewerkschaft Eisenhutte Westfalia | Mineral mining installation |
US4603910A (en) * | 1983-03-23 | 1986-08-05 | Jcc Construction Company Ab | Method of blasting rock caverns with large cross-sectional area |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7695071B2 (en) | 2002-10-15 | 2010-04-13 | Minister Of Natural Resources | Automated excavation machine |
RU2444625C1 (en) * | 2010-07-07 | 2012-03-10 | Учреждение Российской академии наук Институт проблем комплексного освоения недр Российской академии наук (УРАН ИПКОН РАН) | Development method of tube-like and thick ore bodies |
RU2449125C1 (en) * | 2010-10-13 | 2012-04-27 | Учреждение Российской академии наук Институт горного дела Сибирского отделения РАН | Method to mine large sloping ore bodies |
RU2709846C1 (en) * | 2019-04-24 | 2019-12-23 | Федеральное Государственное Бюджетное Учреждение Науки Институт Проблем Комплексного Освоения Недр Им. Академика Н.В. Мельникова Российской Академии Наук (Ипкон Ран) | Method for underground development of kimberlite pipes |
CN112682041A (en) * | 2020-12-25 | 2021-04-20 | 飞翼股份有限公司 | Filling mining method for upper-wall-breaking gentle-inclination thick and large ore body |
Also Published As
Publication number | Publication date |
---|---|
US6857706B2 (en) | 2005-02-22 |
CA2469578A1 (en) | 2003-06-19 |
AU2002360553A2 (en) | 2003-06-23 |
WO2003050391A8 (en) | 2005-05-19 |
US20030173819A1 (en) | 2003-09-18 |
AU2002360553A1 (en) | 2003-06-23 |
WO2003050391A3 (en) | 2004-11-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6857706B2 (en) | Mining method for steeply dipping ore bodies | |
Hartman et al. | SME mining engineering handbook | |
Zheng et al. | Challenges and opportunities of using tunnel boring machines in mining | |
EP2539542B1 (en) | Underground mining | |
ES2902703T3 (en) | underground mining | |
Bullock | Comparison of underground mining methods | |
US20130106166A1 (en) | Horizontal Borehole Mining System and Method | |
US20130127231A1 (en) | Hydraulic Mining System for Tabular Orebodies Utilising Directional Drilling | |
US20220145759A1 (en) | Tunneling and mining method using pre-conditioned hole pattern | |
CN114542067B (en) | Safe mining method for coal seam overlying hard rock stratum | |
CN111927450B (en) | Hard rock ore body mining equipment based on hole array advanced presplitting and mining method thereof | |
Okubo et al. | Underground mining methods and equipment | |
US20210148229A1 (en) | Projectile augmented boring system | |
ZA200404120B (en) | Mining method for steeply dipping ore bodies. | |
Bustillo Revuelta et al. | Mineral resource extraction | |
Grasso et al. | Construction methods | |
RU2801989C1 (en) | Method for the development of mineral deposits by an underground method using tunnel-boring mechanized complexes | |
Meyer | Tunnel Boring in highly fractured ground | |
Klenowski et al. | Development of support systems for longwall mining in the Bowen Basin, Central Queensland | |
RU2030581C1 (en) | Method for combined mining of thick ore bodies | |
Zou et al. | Mechanical Underground Excavation in Rock | |
CN109403972A (en) | Sublevel open stoping afterwards filling mining method | |
Bäckblom et al. | Choice of rock excavation methods for the Swedish deep repository for spent nuclear fuel | |
CA3200764A1 (en) | Tunneling and mining method using pre-conditioned hole pattern | |
Çopur | Overview of roadheader applications in Turkish mining and civil construction industries |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A2 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ OM PL PT RO RU SD SE SG SK SL TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A2 Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LU MC NL PT SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2004/04120 Country of ref document: ZA Ref document number: 200404120 Country of ref document: ZA |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2002360553 Country of ref document: AU |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2469578 Country of ref document: CA |
|
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
122 | Ep: pct application non-entry in european phase | ||
CFP | Corrected version of a pamphlet front page | ||
CR1 | Correction of entry in section i |
Free format text: IN PCT GAZETTE 25/2003 UNDER (72, 75) REPLACE "DIMOCK, TIMOTHY, B. [CA/CA]" BY "DIMOCK, TIMOTHY, B.[US/CA]"; UNDER (72, 75) ADD "JACKSON, SIMON MARK [CA/CA]; 1403 1238 MELVILLE STREET, VANCOUVER, BC V6E 4N2 (CA)." |
|
NENP | Non-entry into the national phase |
Ref country code: JP |
|
WWW | Wipo information: withdrawn in national office |
Country of ref document: JP |