Machine and Method of Cutting Material

Abstract

A machine includes an undercarriage having propulsions devices such as continuous tracks and a cutter head disposed on a cutter boom that is slidably supported over the undercarriage. During operation, the cutter head is positioned proximate to the cutting surface and may be maneuvered through a predetermined set of operations to make a plurality of horizontal or vertical cuts while feeding the cutter head into the surface. Once the cutter boom is fully extended, the machine must be trammed to a new position using the continuous tracks to conduct the next predetermined set of operations. The machine may be configured to retract the cutter boom prior to tramming the machine to avoid damage to the cutter boom and/or cutting surface.

1 . A machine for removing material from a cutting surface, the machine comprising:
 an undercarriage supported on a plurality of propulsion devices to position the machine proximate to a cutting surface;   a cutter head disposed on a tool support and positioning assembly including a cutter boom that is slidably moveable with respect to the undercarriage between an extended position and a retracted position;   an electronic control system configured to perform a predetermined set of operations where, when performing the predetermined set of operations, the electronic controller is configured to: cause the cutter head to move toward the cutting surface by extending the cutter boom, cause the cutter head to move with respect to the cutting surface to remove material, and cause the cutter head to retract from the cutting surface by retracting the cutter boom upon completion of the predetermined set of operations.   
     
     
         2 . The machine of  claim 1 , wherein the tool support and positioning assembly includes:
 a swing platform rotatably supported on the cutter boom to move the cutter head horizontally with respect to the cutting surface; and   a cantilevered lift arm pivotally disposed on the swing platform to tilt the cutter head vertically with respect to the cutting surface.   
     
     
         3 . The machine of  claim 2 , wherein, when performing the predetermined set of operations, the electronic control system is further configured to:
 cause a horizontal cutting pass by rotating the swing platform with respect to the cutter boom; and   cause a vertical cutting pass by tilting the cantilevered lift arm with respect to the swing platform.   
     
     
         4 . The machine of  claim 3 , wherein the predetermined set of operations further includes feeding the cutter head into the cutting surface by extending the cutter boom a preset feed depth. 
     
     
         5 . The machine of  claim 4 , wherein the preset feed depth is less than a travel distance of the cutter boom between the extended position and the retracted position. 
     
     
         6 . The machine of  claim 1 , further comprising a boom position sensor operatively configured to sense a position of the cutter boom. 
     
     
         7 . The machine of  claim 6 , wherein the boom position sensor is selected from the group comprising a limit switch, an optical sensor, a radio frequency sensor, and an electrical sensor. 
     
     
         8 . The machine of  claim 7 , wherein the electronic control system deactivates the plurality of propulsion devices if the cutter boom is not the retracted position. 
     
     
         9 . The machine of  claim 1 , wherein the electronic control system issues a retract command associated with a preset time duration to retract the cutter boom. 
     
     
         10 . The machine of  claim 9 , wherein the electronic control system deactivates operation of the machine if the cutter boom is not retracted within the preset time duration. 
     
     
         11 . The machine of  claim 1 , further comprising a vibration sensor operatively associated with the cutter head. 
     
     
         12 . The machine of  claim 11 , wherein the electronic control system deactivates operation of the machine if vibrations, measured by the vibration sensor, are excessive. 
     
     
         13 . The machine of  claim 1 , wherein the electronic control system receives a tram command and in response issues a retract command to retract the cutter boom. 
     
     
         14 . A method for removing material from a cutting surface, the method comprising:
 positioning a machine supported on a plurality of propulsion device proximate to a cutting surface;   performing a predetermined set of operations to remove material from the cutting surface by feeding a cutter head disposed on a cutter boom toward the cutting surface and moving the cutter head with respect to the cutting surface; and   automatically retracting the cutter head from the cutting surface upon completion of the predetermined set of operations.   
     
     
         15 . The method of  claim 14 , wherein the predetermined set of operations further includes:
 performing a horizontal cutting pass by rotating a swing platform with respect to the cutter boom; and   performing a vertical cutting pass by tilting a cantilevered lift arm with respect to the swing platform.   
     
     
         16 . The method of  claim 15 , wherein the predetermined set of operations further includes feeding the cutter head into the cutting surface by extending the cutter boom a preset feed depth. 
     
     
         17 . The method of  claim 14 , further comprising tramming the machine to a new position proximate to the cutting surface upon completion of the predetermined set of operations. 
     
     
         18 . A machine comprising:
 an undercarriage supported on a plurality of propulsion devices to position the machine proximate to a cutting surface;   a cutter head disposed on a tool support and positioning assembly including a cutter boom that is slidably moveable with respect to the undercarriage between an extended position and a retracted position;   an electronic control system configured to communicate with the tool support and positioning assembly to maneuver the cutter head, the electronic control system further configured to selectively operate between an automatic mode utilizing a predetermined set of operations and a manual mode to perform manual operations, the electronic control system further configured to retract the cutter boom prior to enabling operation of the plurality of propulsion devices.   
     
     
         19 . The machine of  claim 18 , wherein the electronic control system receives a tram command and in response issues a retract command to retract the cutter boom. 
     
     
         20 . The machine of  claim 19 , wherein the machine further comprises a vibration sensor operatively associated with the cutter head, and the electronic control system is further configured to retract the cutter boom if vibrations, measured by the vibration sensor, are excessive