WO2018041348A1 - Unité mobile et procédé de transport de matériau et d'élimination de poussière - Google Patents
Unité mobile et procédé de transport de matériau et d'élimination de poussière Download PDFInfo
- Publication number
- WO2018041348A1 WO2018041348A1 PCT/EP2016/070481 EP2016070481W WO2018041348A1 WO 2018041348 A1 WO2018041348 A1 WO 2018041348A1 EP 2016070481 W EP2016070481 W EP 2016070481W WO 2018041348 A1 WO2018041348 A1 WO 2018041348A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- dust
- transfer area
- mobile unit
- laden air
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
- E21C35/22—Equipment for preventing the formation of, or for removal of, dust
- E21C35/223—Equipment associated with mining machines for sucking dust-laden air from the cutting area, with or without cleaning of the air
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
- E21C35/22—Equipment for preventing the formation of, or for removal of, dust
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F5/00—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
- E21F5/20—Drawing-off or depositing dust
Definitions
- the present invention relates to handling of dust-laden air in a mine tunnel and particularly to a mobile unit for a mine tunnel comprising a dust extraction system and a method of conveying material and removing dust in a mine tunnel.
- the overall dust collection arrangement (in particular the tubing) is removed, so that there is sufficient clearance also for removal of the mining equipment from the working face (e.g. to a new location).
- the rigid tubing might otherwise not allow passage of the mining equipment.
- the ratio of time of production (during which the mining equipment needs not to be removed from the working face) and the time needed for disassembling the dust collection arrangement is of such nature that the latter time is - if at all - only of minor concern.
- a mobile unit for a mine tunnel as defined in claim 1, namely a mobile unit comprising a conveying system having a first and a second transfer area, and a dust extraction system, wherein the conveying system is arranged to receive mined material in the first transfer area, to convey the received mined material to the second transfer area and to dispense the received and conveyed mined material at the second transfer area, wherein the dust extraction system is arranged to receive dust-laden air, to extract dust from the dust-laden air and to discharge air from which dust is extracted, wherein the mobile unit further comprises a first and/or a second dust collector for collecting dust-laden air from the first and/or second transfer area, respectively, with the first and/or second dust collector being arranged to supply the collected dust-laden air to the dust extraction system for dust extraction.
- a truck or another means for transporting the mined material may directly approach the mining equipment.
- the present invention allows for the dust extraction system to be arranged between the mining equipment and the truck or transport means, as the conveying system allows for receiving and dispensing mined material in such way that the dust extraction system does not block the flow of material.
- the dust collector(s) provide(s) that additional dust occurring at the first and/or second transfer area is also brought - in the form of dust-laden air - to the dust extraction system, so the additional transfer point(s) do not (significantly) counteract the dust extraction.
- the mobile unit furthermore, can be repositioned in accordance with the respective need of the mining process, e.g. can be forwarded so to follow the mining equipment in its progress or can be removed so to make way for a removal (or replacement) of the mining equipment.
- a mobile unit as defined in claim 11, namely a mobile unit comprising a conveying system having a first and a second transfer area and a dust extraction system, wherein the conveying system is arranged to receive mined material in the first transfer area, to convey the received mined material to the second transfer area and to dispense the received and conveyed mined material at the second transfer area, wherein the dust extraction system is arranged to receive dust-laden air, to extract dust from the dust-laden air and to discharge air from which dust is extracted, wherein the dust extraction system includes a dry filter unit for dust extraction.
- wet filter systems are provided as parts of the equipment itself. It was realized by the inventors that in the context of the invention, i.e. in an arrangement of a conveying system and a dust extraction system provided in combination, advantageously a dry filter unit may be used instead of known wet filters in other mining equipment.
- the mobile unit further comprises a heat exchanger arranged for being connected to an external unit, the external unit being external to the mobile unit, wherein the heat exchanger is arranged to receive a fluid having a first temperature from the external unit, to cause a heat transfer from the fluid to air flowing inside the dust extraction system and to return the fluid having a second temperature lower than the first temperature to the external unit.
- the flow of either dust-laden air or air from which dust is extracted in or around the dust extraction system allows for a transport also of heat, so that a heat exchanger can transfer heat received from the external unit (e.g. via a cooling liquid like water or oil) to the flowing air, such that the transferred heat is transported away by the air.
- the heat exchanger is preferably arranged such that heat is transferred to the air from which dust is (at least partially) already extracted, allowing for a higher efficiency and avoiding interacting between the dust and the heat exchanger (e.g. avoiding or at least reducing clogged ducting, abrasion, or other potential damage).
- Known heat exchangers which are, for example, used in mining environments in an air stream generated by an axial ventilator, may be used without need for much modification, other than placing the heat exchanger in the air flow of the dust extraction system instead of that of the ventilator.
- the dust extraction system includes a fan unit, a filter unit and a diffuser unit.
- the fan unit may suck air through the filter unit and/or push air into the filter unit, while the diffuser unit directs the air into a desired direction, together with forming a desired flow profile, for example to allow for an exchange with fresh air supplied by the mine.
- the diffuser unit is preferably on the downstream side of the arrangement, providing a direction to the discharged air so not to disturb the overall mining operation.
- a way to preserve and extend the lifetime of the fan unit is to locate the filter unit upstream to the fan unit, so that the fan unit operates with a clean(er) air ambience.
- the fan unit is resistant to the dust in the dust- laden air, the order of fan unit and filter unit may also be reversed. It is additionally possible to provide multiple instances of either of the units in series.
- the fan unit includes at least one of a radial fan, an axial fan and a silencer.
- the silencer contributes to a noise reduction, thereby allowing for a reduced stress on any personnel in the vicinity of the mobile unit.
- the filter unit is a dry filter unit.
- the first and second dust collectors each include a channel for at least partially enclosing the first and second transfer area, respectively.
- Such channel defines an area around the transfer area, from which the respective dust collector, e.g. by means of negative pressure, collect the dust-laden air, while the channels furthermore ensure that dust-laden air reaches the dust collector.
- the channel is a partially enclosed passage.
- the walls, i.e. the limitations to create the channel may be rigid or flexible, e.g. a box shaped enclosure made of steel or a curtain made of rubber hung on a cable.
- a possible form for the dust collectors may be an inverted U-form or gate form.
- the first and second dust collector may be designed differently, in particular with the aim of an improved air velocity and good dust absorption capacity, may be done using computerized fluid dynamics simulations, i.e. by adapting the design to the particular needs of each
- the dust extraction system is arranged for being connected to an exhaust channel for receiving dust-laden air.
- the dust extraction system in principle, may collect dust-laden air from a general area (e.g. in front of the mobile unit), it is beneficial to provide a forced transfer of dust- laden air from its point of origin (i.e. the working face or the head of the mining equipment) to the dust extraction system, while the means for such forced transfer may already be provided in conventional mining equipment in case such equipment is arranged to connect to a tubing for transporting the dust-laden air to a conventionally known stationary dust extraction system.
- the second transfer area is arranged for a dispensing of mined material to a truck.
- the present invention is not limited to dispensing material to a truck, as, for example, also a further conventional conveying system may be provided for further transporting the mined material. Transport by truck, however, gives the benefit that there is no or only little need for further equipment to be removed, for example, in case the mining equipment is to be removed from the working face.
- the mobile unit further comprises an undercarriage allowing a movement of the mobile unit.
- the undercarriage may be self-propelled or passive (i.e. not provided with a drive of its own) and allows for an easy and convenient mobility of the mobile unit.
- the mobile unit may be arranged for being picked-up (e.g. raised up by a jack and moved away) or may include other means for movement, e.g. a slide, a skid or the like.
- the term "mobile unit” is to be understood as also including units without an undercarriage or a slide or a skid, as long as such unit can be handled and moved in the confines of a mining tunnel without need for major dissembling.
- the dust extraction system is arranged in parallel to the conveying system and arranged to receive dust-laden air from an area forward to the first transfer area and to discharge air from which dust is extracted to an area rearward of the second transfer area.
- the general direction of the flow of air through the dust extraction system and the direction of the transport of mined material in or on the conveying system coincide (i.e. are parallel), so that the conveying system and the dust extraction system are arranged next to each other and thus share the cross section of the available space.
- the object is solved by a method of conveying material and removing dust in a mine tunnel as defined in claim 12, namely a method comprising the steps of moving a mobile unit having a conveying system and a dust extraction system in the mine tunnel such that a first transfer area of the conveying system is located to receive mined material from a mining machine, receiving, by the conveying system, mined material in the first transfer area, conveying, by the conveying system, the received mined material to a second transfer area of the conveying system, dispensing the received and conveyed mined material at the second transfer area, receiving, by the dust extraction system, dust-laden air from an area of the mining machine, extracting dust from the dust- laden air, and discharging air from which dust is extracted, wherein the method further comprises collecting dust-laden air from the first and/or second transfer area, respectively, and supplying the collected dust-laden air to the dust extraction system for dust extraction.
- Fig. 1 shows a perspective view of a mobile unit according to an embodiment of the invention
- Fig. 2 shows a side elevation of the mobile unit illustrated in Fig. 1;
- Fig. 3 shows a perspective view of the mobile unit shown in Fig. 1 and 2 together with a mining machine and a truck;
- Fig. 4 shows a schematic illustration of a mobile unit according to another embodiment of the invention.
- Fig. 5 shows a flow diagram of a method of conveying material and removing dust in a mine tunnel in accordance with another embodiment of the invention.
- Fig. 1 shows a perspective view of a mobile unit 10 according to an embodiment of the invention.
- the mobile unit 10 includes a dust extraction system 25, which is arranged in parallel to a conveying system (not shown in this perspective view, see Fig. 4).
- the dust extraction system 25 includes a connector 65 to an exhaust channel of a mining machine (see Fig. 3), a fan unit 40, a filter unit 45 and a diffuser unit 50, arranged in this order along a longitudinal axis of the mobile unit 10.
- the mobile unit 10 is further provided with an undercarriage 70, which allows independent movement of the mobile unit 10.
- the conveying system has a first transfer area 15, located in the forward direction of the mobile unit 10, i.e. close to the mining machine (see Fig. 3) and a second transfer area 20, arranged on a rearward side of the mobile unit 10.
- the first and second transfer area 15, 20 are, respectively, housed in a first dust collector 30 and a second dust collector 35, which enclose the areas 15, 20 by means of channels 55, 60.
- the first and second dust collector 30, 35 are provided such that they, by means of negative pressure, collect dust in the first and second transfer area 15, 20, wherein the resulting dust-laden air is forwarded by the first and second dust collector 30, 35 to the dust extraction system 25.
- Fig. 2 shows a side elevation of the mobile unit 10 illustrated in Fig. 1.
- the mobile unit 10 rests on the undercarriage 70, which allows a movement of the mobile unit 10 by means of wheels provided on the undercarriage.
- the mining machine (see Fig. 3) is provided on the left side and provides mined material to the first transfer area 15, while furthermore providing dust- laden air to the connector 65 of the dust extraction system 25.
- the channels 55, 60 extend all the way down to the ground level on which the wheels of the undercarriage 70 rest, as long as the channels 55, 60 or more generally the dust collectors 30, 35 sufficiently collect dust generated at the first and second transfer area 15, 20.
- the second transfer area 20 is provided on the right side of the arrangement shown in Fig 2 and is arranged to receive any kind of container such as a truck, into which the mined material is dispensed from the conveying system (see Fig. 3 or Fig. 4).
- Fig. 3 shows a schematic illustration of a mobile unit 10 as shown in Figs. 1 and 2 together with a mining machine 75 and a truck 80.
- the mobile unit 25 is provided between the mining machine 75 and the truck 80.
- the mining machine 75 provides mined material to the first transfer area 15, where the mined material is received by the conveying system and forwarded to the second transfer area 20, where the mined material is dispensed by the conveying system to the truck 80.
- dust-laden air is collected by the mining machine 75 in a conventional manner and is forwarded via an exhaust channel 115 of the mining machine 75 and the connector 65 to the dust extraction system 25.
- Fig. 4 shows a schematic illustration of a mobile unit 10 according to another embodiment of the invention.
- a fan unit 40, a filter unit 45 and a diffuser unit 50 of a dust extraction system are provided in parallel to a conveying system 95 having a first and a second transfer area 15, 20.
- the conveying system 95 receives mined material at the first transfer area and dispenses the mined material received at the second transfer area 20, as it is illustrated by the dotted arrows in Fig. 4.
- Fig. 4 only the second transfer area 20 is provided with a dust collector 35, wherein channels 60 enclose the transfer area 20.
- the dust collector 35 is arranged to forward dust-laden air collected and the second transfer area 20 to the dust extraction system, more specifically to a connector 65 of the dust extraction system.
- the dust extraction system receives dust-laden air, not only from the dust collector 35 but also from the mining machine (see Fig. 3).
- the air passes through the fan unit 40, which includes an axial fan 105 and a silencer 110. Further, the dust-laden air reaches the filter unit 45, where dust is removed and extracted from the air.
- the filter unit 45 is furthermore provided with a heat exchanger 100, which is used for cooling parts of the mining machine, as illustrated by the double headed arrow in Fig. 4.
- the air, from which dust is extracted reaches the diffuser 50, where the air is discharged from the dust extraction system, while the combination of diffuser unit 50 and channel 60 provides a direction of the discharged air as illustrated in Fig. 4.
- Fig. 5 shows a flow diagram of a method of conveying material and removing dust in a mine tunnel in accordance with another embodiment of the invention.
- a mobile unit according to the invention i.e. having a conveying system and a dust extraction system, is moved in the mine tunnel to a location such that a first transfer area of the conveying system can receive mined material from a mining machine.
- a first "branch” of the method by the conveying system, mined material is received (step 205) in the first transfer area, followed by a conveying step 210 of conveying the received mined material to a second transfer area of the conveying system, where, in step 215, the received and conveyed mined material is dispensed.
- the dust extraction system receives, in step 220 dust-laden air from an area of the mining machine.
- dust-laden air is extracted from the dust-laden air, wherein air, from which dust is extracted, is discharged in step 230.
- the method includes a step of collecting (step 235) dust-laden air from the first and/or second transfer area, respectively, and a step of supplying (step 240) the collected dust-laden air to the dust extraction system for dust extraction (step 225).
- an embodiment of the invention allows for an alternative approach in that, for example, a mobile dust extraction unit is positioned directly behind the cutting machine which can tram out of the heading in case of the need for a place change of the cutting machine.
- the mobile unit in this example includes a mobile dust extractor unit, an axial or radial fan unit, an air discharge diffuser, an integrated conveyor to transfer the cut material from the machine to a truck, integrated dust collection boxes to extract the dust from the conveyor discharge to the truck, and an undercarriage for independent tramming, wherein there is provided an integration of cooling units for the mining machine into the air discharge diffuser of the dust extractor.
- the dust extractor (including the fan and a diffuser for discharging the clean(ed) air) is equipped with an undercarriage for tramming to be able to move out of a heading together with the mining machine.
- the diffuser for discharging the clean(ed) air is directed towards a sidewall of the heading in order to allow an exchange with the fresh air supply which is provided by the mine at the opposite side of the heading by a flexible ventilation tubing or via an air channel.
- a conveyor is integrated in order to transfer the cut material from the mining machine in front of the dust extractor to a truck which is positioned behind the unit.
- a dust collection box to extract the dust from the conveyor discharge to the truck is integrated.
- Suction devices create an under pressure in this area to collect the dust which is directly fed into the dust extractor unit.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Refuse Collection And Transfer (AREA)
- Ventilation (AREA)
- Filtering Of Dispersed Particles In Gases (AREA)
Abstract
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201680088800.0A CN109642461A (zh) | 2016-08-31 | 2016-08-31 | 移动式单元及输送材料和去除灰尘的方法 |
| AU2016421317A AU2016421317A1 (en) | 2016-08-31 | 2016-08-31 | Mobile unit and method of conveying material and removing dust |
| US16/327,381 US20190186262A1 (en) | 2016-08-31 | 2016-08-31 | Mobile unit and method of conveying material and removing dust |
| RU2019105417A RU2721734C1 (ru) | 2016-08-31 | 2016-08-31 | Передвижная установка и способ транспортировки материала с удалением пыли |
| PCT/EP2016/070481 WO2018041348A1 (fr) | 2016-08-31 | 2016-08-31 | Unité mobile et procédé de transport de matériau et d'élimination de poussière |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2016/070481 WO2018041348A1 (fr) | 2016-08-31 | 2016-08-31 | Unité mobile et procédé de transport de matériau et d'élimination de poussière |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2018041348A1 true WO2018041348A1 (fr) | 2018-03-08 |
Family
ID=56877020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2016/070481 Ceased WO2018041348A1 (fr) | 2016-08-31 | 2016-08-31 | Unité mobile et procédé de transport de matériau et d'élimination de poussière |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20190186262A1 (fr) |
| CN (1) | CN109642461A (fr) |
| AU (1) | AU2016421317A1 (fr) |
| RU (1) | RU2721734C1 (fr) |
| WO (1) | WO2018041348A1 (fr) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190186262A1 (en) * | 2016-08-31 | 2019-06-20 | Sandvik Intellectual Property Ab | Mobile unit and method of conveying material and removing dust |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110107336A (zh) * | 2019-06-17 | 2019-08-09 | 中国铁建重工集团股份有限公司 | 一种隧道除尘台车 |
| CN114294045B (zh) * | 2021-11-23 | 2024-02-06 | 中国煤炭科工集团太原研究院有限公司 | 矿用掘进工作面除尘方法及除尘器 |
| CN114534419A (zh) * | 2022-03-02 | 2022-05-27 | 扎赉诺尔煤业有限责任公司 | 地面输送巷道除尘系统和除尘方法 |
| CN117211856A (zh) * | 2023-10-07 | 2023-12-12 | 北方重工集团有限公司 | 钾盐矿井下用干法除尘系统 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2100178A (en) * | 1936-05-11 | 1937-11-23 | Pittsburgh Coal Company | Coal mining machine |
| DE2444934A1 (de) * | 1974-09-20 | 1976-04-08 | Heinz Hoelter | Banduebergabe mit staubsichtung |
| DE2635405A1 (de) * | 1976-08-06 | 1978-02-09 | Hochtief Ag Hoch Tiefbauten | Anordnung zur staubabsaugung beim vortrieb von tunneln und strecken |
| US4289509A (en) * | 1978-08-04 | 1981-09-15 | Hoelter Heinz | Dust aspirating arrangement |
| US5673974A (en) * | 1994-03-15 | 1997-10-07 | Voest-Alpine Bergtechnik Gesellschaft M.B.H. | Dry dust removal device |
| EP2218871A2 (fr) * | 2009-02-12 | 2010-08-18 | Cft Gmbh Compact Filter Technic | Procédé d'assainissement et/ou d'élargissement de galeries sur lesquelles on peut rouler |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU402675A1 (ru) * | 1971-06-21 | 1973-10-19 | УСТРОЙСТВО дл ГАШЕНИЯ НЫЛИ | |
| US4348057A (en) * | 1980-08-25 | 1982-09-07 | B & J Manufacturing Company | Blower and dust collecting machine and method of operation |
| RU2065061C1 (ru) * | 1993-10-11 | 1996-08-10 | Иван Васильевич Герасимов | Установка сухого пылеулавливания |
| CN2742138Y (zh) * | 2004-10-28 | 2005-11-23 | 三一重型装备有限公司 | 掘进机用除尘器 |
| CN202645573U (zh) * | 2012-07-12 | 2013-01-02 | 中煤科工集团重庆研究院 | 一种带控除尘功能的扒渣机 |
| CN203808887U (zh) * | 2014-04-21 | 2014-09-03 | 永城煤电控股集团有限公司 | 本煤层钻孔除尘用过滤式除尘装置 |
| CN104500060A (zh) * | 2014-11-19 | 2015-04-08 | 三一重型装备有限公司 | 掘进机转载输送装置及综掘设备 |
| CN109642461A (zh) * | 2016-08-31 | 2019-04-16 | 山特维克知识产权股份有限公司 | 移动式单元及输送材料和去除灰尘的方法 |
-
2016
- 2016-08-31 CN CN201680088800.0A patent/CN109642461A/zh active Pending
- 2016-08-31 AU AU2016421317A patent/AU2016421317A1/en not_active Abandoned
- 2016-08-31 US US16/327,381 patent/US20190186262A1/en not_active Abandoned
- 2016-08-31 WO PCT/EP2016/070481 patent/WO2018041348A1/fr not_active Ceased
- 2016-08-31 RU RU2019105417A patent/RU2721734C1/ru active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2100178A (en) * | 1936-05-11 | 1937-11-23 | Pittsburgh Coal Company | Coal mining machine |
| DE2444934A1 (de) * | 1974-09-20 | 1976-04-08 | Heinz Hoelter | Banduebergabe mit staubsichtung |
| DE2635405A1 (de) * | 1976-08-06 | 1978-02-09 | Hochtief Ag Hoch Tiefbauten | Anordnung zur staubabsaugung beim vortrieb von tunneln und strecken |
| US4289509A (en) * | 1978-08-04 | 1981-09-15 | Hoelter Heinz | Dust aspirating arrangement |
| US5673974A (en) * | 1994-03-15 | 1997-10-07 | Voest-Alpine Bergtechnik Gesellschaft M.B.H. | Dry dust removal device |
| EP2218871A2 (fr) * | 2009-02-12 | 2010-08-18 | Cft Gmbh Compact Filter Technic | Procédé d'assainissement et/ou d'élargissement de galeries sur lesquelles on peut rouler |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190186262A1 (en) * | 2016-08-31 | 2019-06-20 | Sandvik Intellectual Property Ab | Mobile unit and method of conveying material and removing dust |
Also Published As
| Publication number | Publication date |
|---|---|
| AU2016421317A1 (en) | 2019-03-07 |
| RU2721734C1 (ru) | 2020-05-21 |
| US20190186262A1 (en) | 2019-06-20 |
| CN109642461A (zh) | 2019-04-16 |
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