WO2021191775A1 - Mining machine - Google Patents

Abstract

The invention relates to mining machines. The present mining machine comprises a chassis, a lower cutting device, at least one working member comprising a double-rotor module, and a means for controlling said working member, the double-rotor module being provided with at least one arm with a cutting device. Said cutting device has a cutting radius RP and, by means of said arm, the axis of rotation of the cutting device undergoes a translatory circular rotation having a radius RП. The rotation rate of the cutting device is determined by the given formula. The technical result is improved performance with minimal energy expenditure, and the formation of an optimal tunnel shape.

Description

Invention title

Mining harvester.

The technical field to which the invention relates

The invention relates to the mining industry, in particular to continuous mining combines, and is intended to expand the functionality of mining combines used when carrying out mine workings in the extraction of minerals by an underground method.

State of the art

In the mining industry, a large number of mining combines with rotating executive bodies of a rotary or planetary-disk type, ensuring the destruction of the rock mass when carrying out underground mine workings in various rocks.

When operating continuous miners when driving mine workings and during cleaning operations in chambers, when the combine moves to the face along the axis of the working, the primary task is to ensure its calculated geometric dimensions by equipping the combine with an executive body with correctly selected parameters of the kinematics of rotation drives and optimal cutting modes when destruction of the mountain range. At the same time, an increase in the width of the excavation being carried out cannot be achieved by simple separation of the axes of rotation of the executive bodies, since it will lead to the formation of upper and lower ledges of great height, the destruction of which by the upper and lower fenders of the mining machine will entail breaking off from the ledges of large-sized pieces of the rock mass, which, in in turn, they will impede the normal loading of the rock mass beaten off by the executive body and impede the advance of the combine to the bottom. For combines equipped with upper and lower fenders, it is important to optimize the size of the upper and lower ledges of the rock mass intact by the executive body.

Disclosure of invention

The technical result of the present invention is to increase the productivity of the mining machine with minimal energy consumption, as well as the formation of the optimal shape of the mining operation carried out by the combine with the maximum working width, at which the formed upper and lower benches of the undisturbed massif are completely are removed by the upper and lower fenders without chipping off large pieces of the rock mass.

The above technical results are achieved in that the mining harvester contains a running gear, a lower baffle device, at least one executive body including a two-rotor module, a control means for said executive body, said two-rotor module is equipped with at least one handle with a cutting device

- said cutting device has a cutting radius & _P , and the axis of rotation of said cutting device by means of said handle makes a portable circular rotation with a radius #? _/? ;

где коэффициент К отношение радиуса резания R К радиусу Rn, м;- the frequency of rotation of the said cutting device is determined by the formula:

where the coefficient K is the ratio of the cutting radius R to the radius Rn, m;

Through - cutting speed of the cutting device, m / s;

Н & yr - working height, m; in this case, the value of the coefficient R is not less than 0 _f 35 _t and the said control means is configured to adjust the rotational speed of the cutting device and the frequency of the portable rotation of the handle so that the ratio of the f to _{p is} in the range from 7 to 12

The above technical results are also achieved in that the rotating cutting device is made in the form of a cutting disc.

The above technical results are also achieved by the fact that, at K <0.85, additional cutting devices are installed on the said casing of the two-rotor module or the said handle. Since at h the value of the coefficient K, which is in the range from 0.86 to 1, the minimum size of the central ledge is achieved, which is destroyed during the operation of the combine without additional cutting devices.

The above technical results are also achieved by the fact that the additional cutting devices are made in the form of cutting discs attached to the handle.

The above technical results are also achieved by the fact that the additional cutting devices are made in the form of an inactive rotor bit fixed to the body of the two-rotor module.

The above technical results are also achieved by the fact that the additional cutting devices are made in the form of an active planetary-disk borer, fixed on the body of the two-rotor module.

- said borer contains at least one cutting disc.

The above technical results are also achieved by the fact that the additional cutting devices are made in the form of brackets mounted on the handle, with cutters fixed in them.

The above technical results are also achieved in that three handles with cutting rotating devices, preferably discs on each, are fixed on the body of the two-rotor module, and the handles are installed at an angle of 180 ° to each other.

The above technical results are also achieved in that three handles with cutting rotating devices, preferably discs on each, are fixed on the body of the two-rotor module, and the handles are installed at an angle of 120 ° to each other. The above technical results are also achieved in that the plane of the rotating cutting devices is perpendicular to the axis of movement of the combine.

The above technical results are also achieved by the fact that the mining machine contains an upper baffle device and two two-rotor modules integrated into a single block;

где Ввыр - ширина выработки. The above technical results are also achieved by the fact that the mentioned two-rotor modules are installed at a distance L between the central axes, which is determined by the ratio:

where Vvyr is the width of the working.

The above technical results are also achieved in that the mining combine contains an upper baffle device and two two-rotor modules integrated into a single block, installed at a distance L between the central axes, and additional cutting devices are made in the form of cutting discs attached to the handles.

The above technical results are also achieved by the fact that the mining machine contains an upper baffle device and two two-rotor modules integrated into a single block, installed at a distance L between the central axes, and additional cutting devices are made in the form of an inactive rotor bit fixed to the body of the two-rotor module.

The above technical results are also achieved by the fact that the mining combine contains an upper baffle device and two two-rotor modules integrated into a single block, installed at a distance L between the central axes, and additional cutting devices are made in the form of active planetary-disk borers fixed on the housings of the two-rotor modules. ... - said borer contains at least one cutting disc.

The above technical results are also achieved by the fact that the mining combine contains an upper baffle device and two two-rotor modules integrated into a single block, installed at a distance L between the central axes, and additional cutting devices are made in the form of brackets mounted on the handles, with cutters fixed in them.

The above technical results are also achieved by the fact that the mining harvester contains an upper baffle device and two double-rotor modules integrated into a single block, installed at a distance L between the central axes, and two handles with cutting rotating devices are fixed on the body of the two-rotor module, preferably with discs on each , while the handles are set at an angle of 180 ° to each other.

The above technical results are also achieved by the fact that the mining harvester contains an upper baffle device and two double-rotor modules integrated into a single block, installed at a distance L between the central axes, and two handles with cutting rotating devices are fixed on the body of the two-rotor module, preferably with discs on each , while the handles are set at an angle of 120 ° to each other.

Comparison of the claimed mining machine with the existing technical solutions allows us to conclude that the latter lacks features similar to the essential distinctive features of the claimed invention. Also, the invention does not follow explicitly from the state of the art, therefore, the authors believe that the object is new and has an inventive step, since in the absence of the above technical solutions, with given working parameters, such as width and height, it is not possible to provide an optimal working shape with minimum the size of the upper and lower ledges, and, consequently, the technical result also disappears.

Description of drawings

The essence of the invention is illustrated by graphic materials, which shows:

FIG. 1 - Section of a mining machine with one two-rotor module;

FIG. 2 - General view of a mining combine with one two-rotor module;

FIG. 3 - Section of a mining machine with two twin-rotor modules;

FIG. 4 - General view of a mining combine with two twin-rotor modules;

FIG. 5 - diagrams of the executive body with different values of the coefficient K;

FIG. 6 to FIG. 57 - versions of a mining combine with one executive body.

FIG. 58 to FIG. 107 - versions of a mining combine with two executive bodies.

Implementation of the invention Extraction of solid minerals by drilling involves a number of complex technological processes, such as the destruction of rocks, the formation of the required geometry (profile) of the face, removal of chipped rock from the processing area, transportation of chipped rock, etc. Roadheaders are designed to handle all of these processes.

One of the most urgent tasks in this area is the search for solutions to optimize the design and modes of operation of tunneling machines.

The mined rocks have a wide range of mechanical, physical and rheological properties. The composition, structure and conditions of bedding of rocks are causally dependent on the geological processes that form them, taking place inside the earth's crust or on its surface. From a geochemical point of view, rocks are natural aggregates of minerals, consisting mainly of petrogenic elements (the main chemical elements of rock-forming minerals). It is known that, by origin, rocks are divided into three groups: a) magmatic (effusive and intrusive), b) sedimentary, and c) metamorphic. Igneous rocks by their origin are divided into effusive and intrusive.

One of the most important initial parameters is strength - the property of rocks (materials) to resist destruction and the formation of large deformations, i.e. do not collapse under a certain load. The higher the strength of the rock, the higher the cutting forces that must be applied for its destruction and the greater the load acting on the units and aggregates of the combine. Loose, disconnected and soft rocks are characterized by significantly lower strength and stability and greater deformability, strong water permeability. The nature of the properties of coarse, sandy and especially clayey rocks is determined not only by their geological and petrographic features, but also by such a property as dispersion, since these rocks are multiphase systems consisting of mineral particles, water and air or other gases. The technological properties of the rock, for example, cutting resistance, also depend on the physical and mechanical properties.

The density of rocks mined by the tunneling method can vary from 0.4 to 4.5 t / m ³ . The properties and conditions of coal mining are significantly different, for example, from the extraction of potash salt. Other types of rock also have a significant scatter of properties, for example, sylvinite, carnallite, rock salt, gypsum, throne.

The foregoing shows that the creation of a mining-tunneling machine with versatility, i.e. the ability to work effectively on a wide range of rocks is challenging. As a rule, roadheaders are created for the extraction of rock of one kind and their design parameters are laid for work in a particular field or even a particular mine.

The present invention is directed to the creation of a mining machine, which provides energy efficient shaping of the penetration with a wide range of factors.

The mining harvester contains a chassis (1), a lower (3) baffle device, an executive body including a two-rotor module (4) with a housing (5), a handle (6), rotating cutting devices (7), additional internal cutting devices (8) ... The design of the harvester must ensure the rotation of the cutting device (7) with the rotational speed pd and the portable rotation of the handle (6) with the frequency of the portable rotation _pn .

The harvester contains a means for controlling the movement of the executive body, the main parameters of which are the frequencies Пд and п _п .

One of the possible versions is the use of independent drives for the main cutting movement (i.e. rotation of the cutting device (7)) and portable rotation (i.e. rotation of the handle (6)). Electric motors can be used as sources of rotary motion. In this case, the control means will be a control unit that supplies electric motors with voltage and current with the required parameters, or a mechanical device that changes the gear ratio of the drive.

The initial data for creating a mining machine and determining the optimal values of its parameters are: the type of rock to be destroyed, the width Bwyr and the height H _in s _P working. The number of executive bodies in the harvester depends on the ratio of the required width B _in s _P and the height Hwa _{P of the working.} In the case of B _in s _P = H _in s _{P, the} shearer needs one executive body, as shown in Figs. 1-57. In the case of B _in s _P <H _in s _P , two actuators are required, as shown in FIGS. 58 to 107 or more.

Thus, the first step in creating a harvester in accordance with the present invention is to select the required number of actuators.

The type of mined rock determines the technological parameters of the impact of the cutting device (7) for its destruction and ensuring the specified lumpiness. The shaping movement during penetration includes three parameters: the main cutting movement, the portable rotation of the cutter, and the movement of the shearer to the bottom. First two movements the value of the cutting speed Vp _e3 is determined, which, in addition to the type of rock, is determined by the type of cutting tool with which the cutting device (7) or (8) is equipped. In the case of mining, for example, potash salt, the cutting speed V _pe3 ranges from 2.0 to 2.5 m / s. Choosing too high a cutting speed leads to an increase in frictional forces, and, consequently, to excessive heating of the cutting device and a decrease in its life. In turn, low cutting speeds reduce productivity and increase the energy intensity of the fracture process.

The cutting device (7) has a cutting radius RP, and the axis of rotation of the said cutting device by means of the said handle (6) makes a portable circular rotation with a radius Rn. The value of the cutting radius RP And the radius Rn determine their ratio - the coefficient K.

It has been experimentally established that the optimal value of the coefficient K is not less than 0.35. At K> 1, the cutting devices overlap each other in the structure of the mining machine, which leads to an irrational pattern of destruction. A decrease in the K coefficient below 0.35 will lead to an increase in the amount of fines and a deterioration in the quality of the cut rock. In addition, a decrease in the K coefficient less than 0.35 will lead to a complication in the design of additional cutting devices installed in the central part.

Table 1 below shows the fractional composition of potash salt when driving with a planetary disk mining machine with different values of the K coefficient (at a cutting speed of 2.3 m / s). Table 1. Fractional composition of the rock depending on the coefficient K.

A further increase in the K coefficient does not lead to significant changes in the parameters. From the above table, it follows that the value of 0.35 is the minimum justified in terms of fractional composition and related indicators (in particular, the content of the refractory fraction).

The exact value of the coefficient K is selected according to table 2 below, depending on the cutting resistance of the rock. If the value of the rock resistance to cutting falls within the boundary of the interval, the value of the K coefficient should be selected for a higher range. Table 2.

где коэффициент К - отношение радиуса резания RP К радиусу Rn, м; \/рез - скорость резания режущего устройства, м/с; Further, based on the initial parameters, the optimal value of the rotational speed pd of the cutting device (7) is determined by the formula:

where coefficient K is the ratio of the cutting radius RP to the radius Rn, m; \ / cut - cutting speed of the cutting device, m / s;

Нvyr - working height, m.

During the operation of the combine, the cutting device (7) gradually changes its cutting properties, because the tool becomes blunt, its durability decreases, the geometry changes. Thus, those parameters that were optimal at the beginning of work may become suboptimal after some time.

To solve this problem, the control means is configured to adjust the rotational speed of the front cutting device and the frequency of the portable rotation n _{p of the} handle in such a way that the ratio

Pd

Pd k p _p was in the range from 7 to 12. At -> 12,

Pr reduction of the cutting step and chip width, and therefore - reduction

Ore quality pd. When - <7, there will be, respectively, an increase in the step

_PP cutting, which, in turn, will increase the burden on the executive body.

The selection of a specific numerical value can be made based on information about the actual cutting forces at a specific point in time. In this case, the control implements adaptive algorithms. To obtain real-time data on the values of various parameters - for example, the load on the combine as a whole or on its individual units, the fractional composition and quality of the mined ore, the level of vibrations - the combine can be equipped with appropriate sensors and measuring instruments.

The control of the rotational speeds of the pd and p _p can be carried out by supplying electric power with the required frequency and / or amperage to the corresponding drive motors.

After determining the calculated design and technological parameters, the miner with the help of the undercarriage 1 moves along the roadway until the cutting rotating devices, preferably disks 7, come into contact with the bottom. In accordance with the specified interval of frequency ratios, the rotary cutting devices, preferably disks, fixed on the handles, begin to simultaneously perform circular portable rotation of the handle b and relative rotation. In this case, the destruction of the bottom occurs along the contour R _n + R _P , described by rotating handles b with rotating devices, preferably discs. The radius of the portable circular rotation and the cutting radius of the rotating device, preferably the disc, correspond to the stated ratios. In the version of the mining machine, in addition to the upper (2) baffle device, and two double-rotor modules (4) integrated into a single block, as the combine moves forward between the contours of counter rotation of the handles b with rotating cutting devices, preferably, the disks begin to form ledges that are destroyed by the upper 2 and the bottom 3 fenders. In this case, the diameters of the fenders must correspond to the optimal dimensions and ensure that the given shape of the roof and the working soil is obtained. Depending on the value of the coefficient K, additional internal cutting devices 8 are installed on the handle b or the body 5 of the two-rotor modules 8. Thus, the declared dimensions of the cutting radius of the rotating cutting devices, preferably discs and the radius of the circular portable rotation of the handle, make it possible to obtain optimal parameters of the ongoing mining operation with optimal the sizes of the upper and lower ledges.

Example 1. Initial data of penetration:

- mined rock - potash ore with cutting resistance 450-470 N / mm;

- the geometry of the bottomhole profile B _you = H _vyR = Zm;

- type of cutters: tangential;

- operational productivity - 3.0 t / min.

определяем номинальное значение частоты вращения режущего инструмента пд = 40,8 об/мин. Номинальное значение частоты переносного вращения п_п определяем, исходя из середины диапазона от 7 о 12 (среднее значение 9,5). Получаемое номинальное значение п_п = пд / 9,5 = 4,3 об/мин. Из значения коэффициента К выбирают размеры режущего устройства и рукояти, обеспечивая соотношение Rp = 0,6 Rn . Using the reference tables, we determine the average value of the cutting speed of 2.3 m / s. According to table 2, we obtain the value of the coefficient K = 0.6. According to the formula

we determine the nominal value of the rotational speed of the cutting tool pd = 40.8 rpm. The nominal value of the frequency of the portable rotation n _p is determined, based on the middle of the range from 7 to 12 (average value 9.5). The resulting nominal value n _p = pd / 9.5 = 4.3 rpm. The dimensions of the cutting device and the handle are selected from the value of the coefficient K, providing the ratio Rp = 0.6 Rn.

Based on the initial data, the layout of the harvester is selected in accordance with Fig. 15. Adjustment of the equipment is performed to the values _{of n} and l nq calculated above and begin tunneling.

With the volume of excavated rock 800 tons by means of control and measurement, there is a significant increase in power consumption in the drive of the cutting device, caused by tool wear. With the help of the controls, the rotational speed of the cutting tool is controlled, thereby reducing the load on the cutting motion drive. At the same time, it is possible to regulate the frequency of the portable rotation n _p to compensate for the loss of productivity. During the operation of the combine, the ratio of pd to p _p is provided in the range from 7 to 12, supplying management influences depending on the applied control method.

Example 2. Initial data of penetration:

- mined rock - rock salt with cutting resistance 600-630 N / mm;

- the geometry of the bottomhole profile H _vyR = Zm; V _vyR = 1.6 N _vyR ;

- type of cutters: tangential;

- operational productivity - 5.0 t / min.

определяем номинальное значение частоты вращения режущего инструмента пд = 51,4 об/мин. Номинальное значение частоты переносного вращения п_п определяем, исходя из середины диапазона от 7 о 12 (среднее значение 9,5). Получаемое номинальное значение п_п = Пд / 9,5 = 5,4 об/мин. Из значения коэффициента К выбирают размеры режущего устройства и рукояти, обеспечивая соотношение Rp = 0,35 Rn . Using the reference tables, we determine the average value of the cutting speed of 2.0 m / s. According to table 2, we obtain the value of the coefficient K = 0.35. According to the formula

determine the nominal the value of the rotational speed of the cutting tool pd = 51.4 rpm. The nominal value of the frequency of portable rotation n _p is determined based on the middle of the range from 7 to 12 (average value 9.5). The resulting nominal value n _p = Pd / 9.5 = 5.4 rpm. The dimensions of the cutting device and the handle are selected from the value of the coefficient K, providing the ratio Rp = 0.35 Rn.

Based on the initial data, a layout diagram of a combine with two executive bodies is selected in accordance with Fig. 70. The equipment is adjusted to the values of p _p and p, calculated above and start sinking.

With a volume of mined rock of 1500 tons by means of control and measurement, a significant increase in the vibration load in the drive of the portable motion is noted. Using the controls, the frequency of the portable rotation n _{p is} changed, reducing the vibration level to acceptable values. At the same time, it is possible to change the frequency of rotation of the cutting tool PD to compensate for the loss of productivity. During the operation of the combine, the ratio of pd to p _p is provided in the range from 7 to 12, supplying management influences depending on the applied control method.

It should be noted that the given configuration of the mining machine and its elements are a special case and can be performed differently. Essential are the very possibilities that such a configuration provides and which, nevertheless, can be achieved by a number of other design solutions. For example, each two-rotor module can be equipped with two sticks set at 180 ° to each other, or three sticks set at 120 ° to each other, while rotary cutting devices can be mounted on the handle with their position, both perpendicular and and parallel to the axis of motion mining harvester. For example, additional cutting discs can be installed on the handles, and a borer can be installed on the body of the two-rotor module. In addition, a large number of options for joint use of rotating and additional cutting devices on one, two, three sticks with one or two two-rotor modules are possible. For example, the executive body of a mining combine can be made with one double-rotor module, with one handle with one cutting disc with internal cutting devices in the form of additional cutting discs. The outer and additional cutting discs are located on the same axis in the vertical plane (Fig. 6). Also, the executive body of a mining combine can be made with one double-rotor module, with one handle with one cutting disc with internal cutting devices in the form of additional cutting discs. Additional cutting discs are offset forward from the vertical plane of the outer discs (Fig. 7). Also, the executive body of a mining combine can be made with one double-rotor module, with one handle with one cutting disc with internal cutting devices in the form of additional cutting discs. Additional cutting discs are offset back from the vertical plane of the outer discs (Fig. 8). Also, the executive body of the mining combine can be made with one double-rotor module, with two handles with one cutting disc each with internal cutting devices in the form of additional cutting discs. The outer and additional cutting discs are located on the same axis in the vertical plane (Fig. 9). Also, the executive body of the mining combine can be made with one double-rotor module, with two handles with one cutting disc each with internal cutting devices in the form of additional cutting discs. Additional cutting discs are offset forward from the vertical plane of the outer discs (Fig. 10). Also the executive body of the mining combine can be made with one double-rotor module, with two handles with one cutting disc each with internal cutting devices in the form of additional cutting discs. Additional cutting discs are offset back from the vertical plane of the outer discs (Fig. 11). Also, the executive body of a mining combine can be made with one double-rotor module, with three handles with one cutting disc each with internal cutting devices in the form of additional cutting discs. The outer and additional cutting discs are located on the same axis in the vertical plane (Fig. 12). Also, the executive body of a mining combine can be made with one double-rotor module, with three handles with one cutting disc each with internal cutting devices in the form of additional cutting discs. Additional cutting discs are offset forward from the vertical plane of the outer discs (Fig. 13). Also, the executive body of a mining combine can be made with one double-rotor module, with three handles with one cutting disc each with internal cutting devices in the form of additional cutting discs. Additional cutting discs are offset back from the vertical plane of the outer discs (Fig. 14). Also, the executive body of the mining combine can be made with one two-rotor module, with one handle with one cutting disc with internal cutting devices in the form of an inactive rotary bit (Fig. 15). Also, the executive body of the mining combine can be made with one double-rotor module, with two handles with one cutting disc each with internal cutting devices in the form of an inactive rotary bit (Fig. 16). Also, the executive body of the mining combine can be made with one double-rotor module, with three handles with one cutting disc each with internal cutting devices in the form of an inactive rotary borer (Fig. 17). Also, the executive body of the mining combine can be made with one double-rotor module, with one handle with one cutting disc with internal cutting devices in the form of an active planetary bit with one disc (Fig. 18). Also, the executive body of the mining combine can be made with one double-rotor module, with two handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with one disc (Fig. 19). Also, the executive body of the mining combine can be made with one double-rotor module, with three handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with one disc (Fig. 20). Also, the executive body of the mining combine can be made with one double-rotor module, with one handle with one cutting disc with internal cutting devices in the form of an active planetary borer with two discs (Fig. 21). Also, the executive body of the mining machine can be made with one double-rotor module, with two handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with two discs (Fig. 22). Also, the executive body of the mining combine can be made with one double-rotor module, with two handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with two discs (Fig. 23). Also, the executive body of the mining combine can be made with one double-rotor module, with one handle with one cutting disc with internal cutting devices in the form of an active planetary borer with three discs (Fig. 24). Also, the executive body of the mining combine can be made with one two-rotor module, with two handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with three discs (Fig. 25). Also, the executive body of the mining combine can be made with one two-rotor module, with three handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with three discs (Fig. 26). Also, the executive body of the mining combine can be made with one two-rotor module, with one handle with one cutting disc with internal cutting devices in the form of an active planetary borer with four discs (Fig. 27). Also, the executive body of the mining machine can be made with one two-rotor module, with two handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with four discs (Fig. 28). Also, the executive body of the mining combine can be made with one two-rotor module, with three handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with four discs (Fig. 29). Also, the executive body of the mining combine can be made with one double-rotor module, with one handle with one cutting disc with internal cutting devices, in the form of brackets mounted on the handle with cutters fixed in them (Fig. 30). Also, the executive body of the mining combine can be made with one double-rotor module, with two handles with one cutting disc each with internal cutting devices, in the form of brackets mounted on the handles with cutters fixed in them (Fig. 31). Also, the executive body of a mining combine can be made with one two-rotor module, with three handles with one cutting disc each with internal cutting devices, in the form of mounted on handles brackets with cutters fixed in them (Fig. 32). Also, the executive body of a mining combine can be made with one double-rotor module, with one handle with one cutting disc, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of additional cutting discs (Fig. 33). Also, the executive body of the mining combine can be made with one double-rotor module, with two handles with one cutting disc each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of additional cutting discs (Fig. 34). Also, the executive body of the mining combine can be made with one double-rotor module, with three handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of additional cutting discs (Fig. 35). Also, the executive body of a mining combine can be made with one double-rotor module, with one handle with one cutting disc, the plane of which is perpendicular to the axis of the combine's movement and with internal cutting devices in the form of an inactive rotary bit (Fig. 36). Also, the executive body of the mining combine can be made with one double-rotor module, with two handles with one cutting disc each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an inactive rotary bit (Fig. 37). Also, the executive body of a mining combine can be made with one double-rotor module, stirrups with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an inactive rotary bit (Fig. 38). Also, the executive body of the mining combine can be performed with one double-rotor module, with one handle with one cutting disc, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with one disc (Fig. 39). Also, the executive body of the mining machine can be made with one double-rotor module, with two handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with one disc (Fig. 40). Also, the executive body of the mining combine can be made with one double-rotor module, with three handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with one disc (Fig. 41). Also, the executive body of the mining combine can be made with one double-rotor module, with one handle with one cutting disc, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary borer with two discs (Fig. 42). Also, the executive body of a mining combine can be made with one double-rotor module, with two handles with one cutting disc each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with two discs (Fig. 43). Also, the executive body of the mining machine can be made with one double-rotor module, with three handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with two discs (Fig. 44). Also, the executive body of the mining combine can be made with one a two-rotor module, with one handle with one cutting disc, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary borer with three discs (Fig. 45). Also, the executive body of the mining machine can be made with one double-rotor module, with two handles with one cutting disc each, the plane of which is perpendicular to the axis of the combine's movement and with internal cutting devices in the form of an active planetary bit with three discs (Fig. 46). Also, the executive body of the mining combine can be made with one double-rotor module, with three handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with three discs (Fig. 47). Also, the executive body of the mining combine can be made with one double-rotor module, with one handle with one cutting disc, the plane of which is perpendicular to the axis of the combine and with internal cutting devices in the form of an active planetary borer with four discs (Fig. 48). Also, the executive body of the mining machine can be made with one double-rotor module, with two handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with four discs (Fig. 49). Also, the executive body of the mining machine can be made with one double-rotor module, with three handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with four discs (Fig. 50). Also, the executive body of the mining combine can be made with one a two-rotor module, with one handle with one cutting disc, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an additional cutting disc and brackets mounted on the handle with cutters fixed in them (Fig. 51). Also, the executive body of a mining combine can be made with one double-rotor module, with two handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an additional cutting disc and brackets mounted on the handle with cutters fixed in them ( Fig. 52). Also, the executive body of the mining combine can be made with one double-rotor module, with one handle with one cutting disc, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices, in the form of brackets mounted on the handle with cutters fixed in them (Fig. 53). Also, the executive body of a mining combine can be made with one double-rotor module, with two handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices, in the form of brackets mounted on the handle with cutters fixed in them (Fig. 54 ). Also, the executive body of a mining combine can be made with one double-rotor module, with one handle with one cutting disc with internal cutting devices in the form of an additional cutting disc and brackets mounted on the handle with cutters fixed in them (Fig. 55). Also, the executive body of the mining combine can be made with one double-rotor module, with two handles with one cutting disc each with internal cutting devices in the form of an additional cutting disc and brackets mounted on the handles with cutters fixed in them (Fig. 56). Also the executive body of the mining combine can be made with one double-rotor module, with three handles with one cutting disc each with internal cutting devices in the form of an additional cutting disc and brackets mounted on the handles with cutters fixed in them (Fig. 57). Also, the executive body of a mining combine can be made with two double-rotor modules, with one handle with one cutting disc with internal cutting devices in the form of additional cutting discs. The outer and additional cutting discs are located on the same axis in the vertical plane (Fig. 58). Also, the executive body of a mining combine can be made with two double-rotor modules, with one handle with one cutting disc with internal cutting devices in the form of additional cutting discs. Additional cutting discs are offset forward from the vertical plane of the outer discs (Fig. 59). Also, the executive body of a mining combine can be made with two double-rotor modules, with one handle with one cutting disc with internal cutting devices in the form of additional cutting discs. Additional cutting discs are offset back from the vertical plane of the outer discs (Fig. 60). Also, the executive body of the mining combine can be made with two two-rotor modules, with two handles with one cutting disc each with internal cutting devices in the form of additional cutting discs. The outer and additional cutting discs are located on the same axis in the vertical plane (Fig. 61). Also, the executive body of the mining combine can be made with two two-rotor modules, with two handles with one cutting disc each with internal cutting devices in the form of additional cutting discs. Additional cutting discs are offset forward from the vertical plane of the outer discs (Fig. 62). Also the executive body of the mining The combine can be made with two double-rotor modules, with two handles with one cutting disc each with internal cutting devices in the form of additional cutting discs. Additional cutting discs are offset back from the vertical plane of the outer discs (Fig. 63). Also, the executive body of a mining combine can be made with two double-rotor modules, with three handles with one cutting disc each with internal cutting devices in the form of additional cutting discs. The outer and additional cutting discs are located on the same axis in the vertical plane (Fig. 64). Also, the executive body of a mining combine can be made with two double-rotor modules, with three handles with one cutting disc each with internal cutting devices in the form of additional cutting discs. Additional cutting discs are offset forward from the vertical plane of the outer discs (Fig. 65). Also, the executive body of a mining combine can be made with two double-rotor modules, with three handles with one cutting disc each with internal cutting devices in the form of additional cutting discs. Additional cutting discs are offset back from the vertical plane of the outer discs (Fig. 66). Also, the executive body of the mining combine can be made with two double-rotor modules, with one handle with one cutting disc with internal cutting devices in the form of an inactive rotary bit (Fig. 67). Also, the executive body of the mining combine can be made with two double-rotor modules, with two handles with one cutting disc each with internal cutting devices in the form of an inactive rotary bit (Fig. 68). Also, the executive body of the mining combine can be made with two two-rotor modules, stirrups with one cutting disc each with internal cutting devices in the form an inactive rotary borer (Fig. 69). Also, the executive body of the mining machine can be made with two double-rotor modules, with one handle with one cutting disc with internal cutting devices in the form of an active planetary bit with one disc (Fig. 70). Also, the executive body of the mining machine can be made with two two-rotor modules, with two handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with one disc (Fig. 71). Also, the executive body of the mining combine can be made with two double-rotor modules, with three handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with one disc (Fig. 72). Also, the executive body of the mining machine can be made with two two-rotor modules, with one handle with one cutting disc with internal cutting devices in the form of an active planetary borer with two discs (Fig. 73). Also, the executive body of the mining combine can be made with two double-rotor modules, with two handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with two discs (Fig. 74). Also, the executive body of the mining machine can be made with two double-rotor modules, with two handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with two discs (Fig. 75). Also, the executive body of the mining combine can be made with two two-rotor modules, with one handle with one cutting disc with internal cutting devices in the form of an active planetary borer with three discs (Fig. 76). Also, the executive body of the mining combine can be made with two two-rotor modules, with two handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with three discs (Fig. 77). Also, the executive body of the mining combine can be made with two double-rotor modules, with three handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with three discs (Fig. 78). Also, the executive body of the mining combine can be made with two two-rotor modules, with one handle with one cutting disc with internal cutting devices in the form of an active planetary borer with four discs (Fig. 79). Also, the executive body of the mining combine can be made with two double-rotor modules, with two handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with four discs (Fig. 80). Also, the executive body of the mining combine can be made with two double-rotor modules, with three handles with one cutting disc each with internal cutting devices in the form of an active planetary borer with four discs (Fig. 81). Also, the executive body of the mining combine can be made with two two-rotor modules, with one handle with one cutting disc with internal cutting devices, in the form of brackets mounted on the handle with cutters fixed in them (Fig. 82). Also, the executive body of the mining combine can be made with two two-rotor modules, with two handles with one cutting disc each with internal cutting devices, in the form of brackets mounted on the handles with cutters fixed in them (Fig. 83). Also, the executive body of a mining combine can be made with two double-rotor modules, with three handles with one cutting disc each with internal cutting devices, in the form of mounted on handles brackets with cutters fixed in them (Fig. 84). Also, the executive body of the mining combine can be made with two double-rotor modules, with one handle with one cutting disc, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of additional cutting discs (Fig. 85). Also, the executive body of a mining combine can be made with two double-rotor modules, with two handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of additional cutting discs (Fig. 86). Also, the executive body of the mining combine can be made with two double-rotor modules, with three handles with one cutting disc each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of additional cutting discs (Fig. 87). Also, the executive body of the mining combine can be made with two double-rotor modules, with one handle with one cutting disc, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an inactive rotary bit (Fig. 88). Also, the executive body of the mining combine can be made with two double-rotor modules, with two handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an inactive rotary bit (Fig. 89). Also, the executive body of the mining machine can be made with two double-rotor modules, with three handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an inactive rotary bit (Fig. 90). Also, the executive body of the mining combine can be made with two two-rotor modules, with one handle with one cutting disc, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with one disc (Fig. 91). Also, the executive body of the mining combine can be made with two double-rotor modules, with two handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with one disc (Fig. 92). Also, the executive body of the mining machine can be made with two double-rotor modules, with three handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with one disc (Fig. 93). Also, the executive body of the mining combine can be made with two double-rotor modules, with one handle with one cutting disc, the plane of which is perpendicular to the axis of the combine and with internal cutting devices in the form of an active planetary borer with two discs (Fig. 94). Also, the executive body of the mining machine can be made with two double-rotor modules, with two handles with one cutting disc each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with two discs (Fig. 95). Also, the executive body of the mining combine can be made with two double-rotor modules, with three handles with one cutting disc on each perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary borer with two discs (Fig. 96). Also, the executive body of the mining combine can be made with two two-rotor modules, with one a handle with one cutting disc, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary borer with three discs (Fig. 97). Also, the executive body of the mining machine can be made with two double-rotor modules, with two handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with three discs (Fig. 98). Also, the executive body of the mining combine can be made with two double-rotor modules, with three handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with three discs (Fig. 99). Also, the executive body of the mining harvester can be made with two double-rotor modules, with one handle with one cutting disc, the plane of which is perpendicular to the axis of movement of the harvester and with internal cutting devices in the form of an active planetary borer with four discs (Fig. 100). Also, the executive body of the mining machine can be made with two double-rotor modules, with two handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with four discs (Fig. 101). Also, the executive body of the mining combine can be made with two double-rotor modules, with three handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices in the form of an active planetary bit with four discs (Fig. 102). Also, the executive body of the mining combine can be made with two two-rotor modules, with one handle with one a cutting disc with internal cutting devices in the form of an additional cutting disc and brackets mounted on the handle with cutters fixed in them (Fig. 103). Also, the executive body of the mining combine can be made with two double-rotor modules, with two handles with one cutting disc each with internal cutting devices in the form of an additional cutting disc and brackets mounted on the handles with cutters fixed in them (Fig. 104). Also, the executive body of the mining combine can be made with two double-rotor modules, with three handles with one cutting disc each with internal cutting devices in the form of an additional cutting disc and brackets mounted on the handles with cutters fixed in them (Fig. 105). Also, the executive body of the mining combine can be made with two double-rotor modules, with one handle with one cutting disc, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices, in the form of brackets mounted on the handle with cutters fixed in them (Fig. 106). Also, the executive body of the mining combine can be made with two double-rotor modules, with two handles with one cutting disc on each, the plane of which is perpendicular to the axis of movement of the combine and with internal cutting devices, in the form of brackets mounted on the handle with cutters fixed in them (Fig. 107 ). Also, the claims do not limit the use of internal cutting devices of various designs in the construction of a mining machine, including additional cutting discs, an active planetary-disk bit, a rotary bit, a bracket with cutters attached to it, etc. In this case, the borer can be inactive rotary or active planetary disk. The active planetary disk, in turn, can contain one (Fig. 18 - 20, Fig. 70 - 72, Fig. 91 - 93), two (Fig. 21 - 23, Fig. 73 - 75, Fig. 94 - 96), three (Fig. 24 - 26 , Fig. 76 - 78, Fig. 97 - 99), four (Fig. 27 - 29, Fig. 79 - 81, Fig. 100 - 102) and more disks. In addition, different types of additional cutting devices can be used together.

Also, for the claimed mining machine in the form as it is described in the claims, there is a possibility of its manufacture and application using means and methods known before the filing date of the application.

The claimed invention can find wide application in the mining industry for carrying out mine workings, in particular, continuous roadheaders used in mining by underground method.

Claims

Claim 1. A mining harvester containing a running gear, a lower baffle device, at least one executive body including a two-rotor module, a control means for said executive body, said two-rotor module is equipped with at least one handle with a cutting device, - said cutting device has a cutting radius R _p , and the axis of rotation of said cutting device by means of said handle makes a portable circular rotation with a radius R _n ; - the frequency of rotation of the said cutting device is determined by the formula:

where the coefficient K is the ratio of the cutting radius R _p to the radius Rn _, m; Edge - cutting speed of the cutting device, m / s; Нvyr - working height, m; in this case, the value of the coefficient K is at least 0.35, and the said control means is configured to adjust the rotational speed of the cutting device and / or the frequency of the portable rotation n _{p of the} handle so that the ratio of pd to p _{p is} in the range from 7 to 12 ... 2. The mining harvester according to claim 1, characterized in that the rotating cutting device is made in the form of a cutting disc. 3. Mining machine according to claims 1 and 2, characterized in that at K <0.85, additional cutting devices are installed on said casing of the two-rotor module or said handle. 4. The mining harvester according to claim 3, characterized in that the additional cutting devices are made in the form of cutting discs attached to the handle. 5. Mining machine according to PP.3 and 4, characterized in that the additional cutting devices are made in the form of an inactive rotary borer attached to the body of the two-rotor module. 6. Mining harvester according to PP.3 and 4, characterized in that the additional cutting devices are made in the form of an active planetary-disk bit, fixed on the body of the two-rotor module, said bit contains at least one cutting disc. 7. Mining harvester according to PP.3 and 4, characterized in that additional cutting devices are made in the form of brackets mounted on the handle with cutters fixed in them. 8. Mining machine according to claims 1-7, characterized in that two sticks with cutting rotating devices on each are fixed on the body of the two-rotor module, and the sticks are installed at an angle of 180 ° to each other. 9. Mining machine according to claims 1-7, characterized in that three sticks with cutting rotating devices, for example discs on each, are fixed on the casing of the two-rotor module, and the sticks are installed at an angle of 120 ° to each other. 10. A mining harvester according to claims 1-9, characterized in that the plane of the rotating cutting devices is perpendicular to the axis of movement of the harvester. 11. Mining machine according to claims 1 to 3 and 10, characterized in that it contains an upper baffle device and two two-rotor modules integrated into a single block. 12. A mining harvester according to claim 11, characterized in that said two-rotor modules are installed at a distance L between the central axes, which is determined by the ratio:

where В _В ур - working width. 13. Mining harvester according to i.12, characterized in that the cutting devices are made in the form of cutting discs attached to the handles. 14. Mining machine according to claims 12 and 13, characterized in that the cutting devices are made in the form of an inactive rotary borer fixed to the body of the two-rotor module. 15. Mining harvester according to claims 12 and 13, characterized in that the cutting devices are made in the form of active planetary-disk pullers fixed on the bodies of two-rotor modules, the said bit contains at least one cutting disk. 16. A mining harvester according to claims 12 and 13, characterized in that the cutting devices are made in the form of brackets mounted on the handles with cutters fixed in them. 17. Mining machine according to claims 12, 13, characterized in that two handles with a cutting disc on each are fixed on the body of the two-rotor module, and the handles are installed at an angle of 180 ° to each other. 18. Mining machine according to claims 10-15, characterized in that three sticks with a cutting disc on each are fixed on the casing of the two-rotor module, and the sticks are installed at an angle of 120 ° to each other.