CN102943672A - Automatic repaired hard-rock heading machine coal mining machine electric control device - Google Patents

Automatic repaired hard-rock heading machine coal mining machine electric control device Download PDF

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CN102943672A
CN102943672A CN2012104664996A CN201210466499A CN102943672A CN 102943672 A CN102943672 A CN 102943672A CN 2012104664996 A CN2012104664996 A CN 2012104664996A CN 201210466499 A CN201210466499 A CN 201210466499A CN 102943672 A CN102943672 A CN 102943672A
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cutting
control
point
cutterhead
plc
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CN102943672B (en
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李博
崔闯
王铁雷
刘雅臣
廉浩
朱永昌
王斌
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North Heavy Industry Group Co Ltd
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North Heavy Industry Group Co Ltd
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Abstract

The invention relates to an automatic repaired hard-rock heading machine coal mining machine electric control device in the electric control field of heading machine coal mining machinery, and the electric control device comprises an isolation switch and 7 motor control circuits, wherein the 7 motor control circuits comprise a vacuum contactor KM1-7, a resistance-capacitance absorber RC1-7, a current transformer TA1-7, a voltage transformer CSP, a Siemens300 series programmable logical controller (PLC), a signal amplifier module PLVC, a Siemens panel-type industrial personal computer IPC477C and the like, the resistance-capacitance absorber and the current transformer are serially connected onto a control circuit, and the motor is driven through the vacuum contactor. An electrical analog quantity output signal is outputted to an electromagnetic valve through a proportional amplifier and then fed back to the PLC through a displacement sensor signal so as to form closed-loop control, so that when the cross section of a roadway is cut and formed, the system is controlled by adopting an automatic cutting program, and according to the requirements of cutting process, requirements on the mutual cooperation, action speed and precision of six cutting arms are high in the entire cutting process.

Description

Adopt the hard rock mole electrical control device for coal mining machine of automatically repairing type
Technical field
The present invention relates to a kind of hard rock mole electrical control device for coal mining machine of automatically repairing type that adopts in the development machine coal-cutting machinery electric control field.
Background technology
Hard rock mole is a kind of new ideas coal-winning machine, and more traditional development machine is compared, and is that cutting hardness or driving speed or automatic forming aspect have all had essential change.Control technique is also very complicated, and the appearance of this new technology has solved that common development machine coal mining speed is slow, and cutting hardness is low, needs manual correction of the flank shape etc.In our common development machine coal mining process, each technique was also all substantially the same, all was artificial manually control, without the surface trimming correction of the flank shape in the past.So just caused roadway shape irregular, efficient is low, and driving speed is slow.And then our Expand Thinking adopted new control technique, improves coal mining efficient, thereby improves the headwork that performance parameter reaches digging tunnel and coal face.Therefore, develop a kind of hard rock mole electrical control device for coal mining machine of automatically repairing type that adopts is new problem anxious to be resolved always.
Summary of the invention
The object of the present invention is to provide a kind of hard rock mole electrical control device for coal mining machine of automatically repairing type that adopts, this device is that electric analog quantity output signals passing ratio amplifier is exported to electromagnetic valve, feed back to PLC by displacement transducer signal again, thereby form closed-loop control.When carrying out the drift section cutting forming; system need to adopt the surface trimming program to control; requirement according to cutting technique; whole cutting process between 6 cutting arms cooperatively interact and responsiveness and required precision high, in case when breaking down to the interlock protection of whole system also require very comprehensively and strict.
The object of the present invention is achieved like this: a kind of hard rock mole electrical control device for coal mining machine of automatically repairing type that adopts, by isolating switch QS; 7 motor control loops, comprising: vacuum contactor KM1-7, rc absorber RC1-7, current transformer TA1-7, potential transformer CSP, Siemens's 300 series of PLC, signal amplifier module PLVC, Siemens panel type Industrial Personal Computer (IPC) IPC477C, isolation safe grid RW1-11, power transformer TC, pressure sensor YL, oil temperature sensor GWP200, fuel level sensor YW, water flow sensor LK, sensing methane concentration device KG9701, explosion-proof scram button SB, explosion-proof electric bell H0, blasting-proof machine car light HL1-3, explosion-proof proportion magnetic valve YKA1-18, cutterhead rotary angle transmitter angle-fk, laser range finder laser, CD-ROM drive motor, hydraulic gear, its architectural feature is: rc absorber, current transformer are serially connected on the control loop, by the vacuum contactor drive motors; All sensor signal input PLC systems are exporting corresponding auxiliary reclay by PLC according to algorithm, are being outputed to corresponding electromagnetic valve by relay.Laser total station is connected with switch-box by aviation plug; Operating principle and the method for operating of described device are that two interior cutting arms are 180 ° in elevation; Two arms open maximum gauge 5000mm, and every externally cutting arm is 180 ° in view, and two external cutting arm angles are 120 °; Outer cutting arm opens maximum gauge 6400mm, the relative angle of six cutting arms in elevation is fixed value, cutterhead is done both forward and reverse directions by fluid motor-driven and is rotatablely moved, cutting arm is by Driven by Hydraulic Cylinder, do stretching motion, obtain different cutting diameters, according to customer requirements, cutting profile is divided into square and two kinds of the shapes of a hoof; Send electricity behind switch-box by a transformer, change the electric pressure of 3300V into other corresponding electric pressure via transformer in the switch-box, electric pressure is mainly by 3300V in the case, 1140V and 380V driving voltage form, and automatic detection was at first advanced by system after switch-box sent electricity, comprise that methane concentration detects, carbonomonoxide concentration detects, the drive motors detection of electrical leakage, and whether detect communication normal, whether the oil temperature oil level is normal; After the switch-box power supply, at first start oil pump and running motor, then according to the comparison of laser orientation system measuring-signal and walking encoder measuring-signal, calculate corresponding analog output by PLC, through the PLVC signal amplifier signal is amplified to drive corresponding hydraulic motor travel motor again, and then horizontal level and the attitude of adjustment fuselage, make machine according to predetermined route walking, when machine is walked with a certain distance from antetheca, open the corresponding mechanism such as support, utilize and support the upright position of adjusting fuselage; After action is before finished, cutting mechanism begins to utilize six cutting arms to carry out shape cutting, PLC drives electromagnetic proportional valve and hydraulic motor by the analog signals that amplifies through the PLVC signal amplifier, thereby control stretching out or retraction and cutterhead rotating speed of six cutting arm hydraulic jacks, by surveying corner on the linear displacement transducer in the hydraulic jack and the cutter plate, the signal that the rotary encoder of rotating speed is measured judges whether six cutting arms move predetermined angle and position and cutting speed and whether meet the demands, repair the type process: at first six cutterheads are repaiied first a circle, calculating the A point according to rotary encoder and linear displacement transducer is calculated to move back and forth by PLC between the H point, between H point and the I point, between I point and the K point, also be both the type process of repairing that reaches that moves back and forth between A point and the K point, be cut into first circle and then reach the type process of repairing by one of them cutterhead from reciprocating motion between C point between B point and the C point and the D point, thereby formation closed-loop control system, system finally reach predetermined section configuration through correction of the flank shape repeatedly; The control system algorithm of described device is, control system is chain, and Mars Miner fuselage position coordinates is correct, and hydraulic work system is normal, other necessary interlocking signal; The closed-loop control of cutterhead rotary speed detects the cutterhead rotary speed with encoder, by pid algorithm control ratio reversal valve aperture, reaches the closed-loop control of cutterhead rotary speed; The cutting arm Position Control detects the cutterhead anglec of rotation with absolute value encoder, thereby determines the cutting arm position; The cutting arm cut radius;
Can obtain according to the triangle cosine formula:
cos ( θ 0 + θ ) = ( AB ′ ) 2 + ( AC ) 2 - ( BC + l ) 2 2 ( AB ) ′ × ( AC ) = ( AB ) 2 + ( AC ) 2 - ( BC + l ) 2 2 ( AB ) × ( AC ) - - - ( 1 )
Wherein l is the advance distance of hydraulic cylinder, and θ turns over angle, and wherein the length of side all is known parameters, can be obtained 0, the θ that concerns of advance distance and corner by (1) formula 0The initial parameter of hydraulic cylinder when advancing;
cos ( θ 0 ) = ( AB ) 2 + ( AC ) 2 - ( BC ) 2 2 ( AB ) × ( AC ) - - - ( 2 )
Therefore can obtain and turn over angle θ, add known triangle edges long parameter, can calculate the cut radius r and the quantitative relation that turns over angle θ of tool arm, namely set up the quantitative relation between hydraulic cylinder advance distance l and the tool arm cut radius r:
∠CAX=γ 0,∠CAB=θ 0,∠CAB′=θ 0+θ,∠B′AD′=β 0,∠BAB′=θ
r=sin(π-β 000-θ)×AD+offset=sin(β 000+θ)×AD+offset
r=(sin(α 0)cos(θ 0+θ)+cos(α 0)sin(θ 0+θ))×AD+offset(α 0=β 00)(3)
Wherein, Offset is that amount of bias is known;
Can be known by above-mentioned, advance distance l and cut radius r are non-linear relations, can be similar to by successive linearization, obtain the one-to-one relationship of a cut radius sequence and an advance distance sequence, control program is covered whole sequence, namely finishes corresponding excavation section shaping control;
(1) excision forming algorithm; According to actual cutting profile and size, according to the cutting technique process, in the cutterhead rotary course, calculated in real time and the displacement of adjustment cutting arm hydraulic cylinder extension by top algorithm, thus the given cutting section shape of match;
(2) smart-cut algorithm; The cutting technique process optimization, automatic tool wear compensation (need add cutter detects) is repaiied type cutting arm automatic alternate algorithm, cutting feeding adaptive algorithm.
Main points of the present invention are its structure and operating principle.Its operating principle and method of operating are that two interior cutting arms are 180 ° in elevation; Two arms open maximum gauge 5000mm, and every externally cutting arm is 180 ° in view, and two external cutting arm angles are 120 °; Outer cutting arm opens maximum gauge 6400mm, the relative angle of six cutting arms in elevation is fixed value, cutterhead is done both forward and reverse directions by fluid motor-driven and is rotatablely moved, cutting arm is by Driven by Hydraulic Cylinder, do stretching motion, obtain different cutting diameters, according to customer requirements, cutting profile is divided into square and two kinds of the shapes of a hoof; Send electricity behind switch-box by transformer, change the electric pressure of 3300V into other corresponding electric pressure via transformer in the switch-box, electric pressure is mainly by 3300V in the case, and 1140V and 380V driving voltage form.Automatic detection was at first advanced by system after switch-box sent electricity, comprised that methane concentration detects, and carbonomonoxide concentration detects, drive motors detection of electrical leakage, and whether detect communication normal, and whether the oil temperature oil level is normal etc.After the switch-box power supply, at first start oil pump and running motor, then according to the comparison of laser orientation system measuring-signal and walking encoder measuring-signal, calculate corresponding analog output by PLC, through the PLVC signal amplifier signal is amplified to drive corresponding hydraulic motor travel motor again, and then horizontal level and the attitude of adjustment fuselage, make machine according to predetermined route walking.When machine is walked with a certain distance from antetheca, open the corresponding mechanism such as support, utilize and support the upright position of adjusting fuselage.After action is before finished, cutting mechanism begins to utilize six cutting arms to carry out shape cutting, PLC drives electromagnetic proportional valve and hydraulic motor by the analog signals that amplifies through the PLVC signal amplifier, thereby control stretching out or retraction and cutterhead rotating speed of six cutting arm hydraulic jacks, by surveying corner on the linear displacement transducer in the hydraulic jack and the cutter plate, the signal that the rotary encoder of rotating speed is measured judges whether six cutting arms move predetermined angle and position and cutting speed and whether meet the demands, repair the type process: at first six cutterheads are repaiied first a circle, calculating the A point according to rotary encoder and linear displacement transducer is calculated to move back and forth by PLC between the H point, between H point and the I point, between I point and the K point, also be both reciprocating motion between A point and the K point and reach the type process of repairing, be cut into first circle and then reach the type process of repairing by one of them cutterhead from reciprocating motion between C point between B point and the C point and the D point.Thereby formation closed-loop control system.System finally reaches predetermined section configuration through correction of the flank shape repeatedly.
Adopt automatically repair type novel hard rock mole electrical control device for coal mining machine compared with prior art; have electric analog quantity output signals passing ratio amplifier is exported to electromagnetic valve; feed back to PLC by displacement transducer signal again; thereby formation closed-loop control; when carrying out the drift section cutting forming; system need to adopt the surface trimming program to control; requirement according to cutting technique; whole cutting process is high with responsiveness and required precision to cooperatively interacting between 6 cutting arms; in case when breaking down to the interlock protection of whole system also require very comprehensively and the advantage such as strict, will be widely used in the development machine coal-cutting machinery electric control field.
Description of drawings
The present invention is described in detail below in conjunction with drawings and Examples.
Fig. 1 is surface trimming correction of the flank shape flow chart of the present invention.
Fig. 2 is electrical schematic diagram of the present invention first.
Fig. 3 is electrical schematic diagram second portion of the present invention.
Fig. 4 is electrical schematic diagram third part of the present invention.
Fig. 5 is electrical schematic diagram the 4th part of the present invention.
Fig. 6 is electrical schematic diagram the 5th part of the present invention.
Fig. 7 is electrical schematic diagram the 6th part of the present invention.
Fig. 8 is electrical schematic diagram the 7th part of the present invention.
Fig. 9 is electrical schematic diagram the 8th part of the present invention.
With reference to accompanying drawing, a kind of hard rock mole electrical control device for coal mining machine of automatically repairing type that adopts is by isolating switch QS; 7 motor control loops, comprising: vacuum contactor KM1-7, rc absorber RC1-7, current transformer TA1-7, potential transformer CSP, Siemens's 300 series of PLC, signal amplifier module PLVC, Siemens panel type Industrial Personal Computer (IPC) IPC477C, isolation safe grid RW1-11, power transformer TC, pressure sensor YL, oil temperature sensor GWP200, fuel level sensor YW, water flow sensor LK, sensing methane concentration device KG9701, explosion-proof scram button SB, explosion-proof electric bell H0, blasting-proof machine car light HL1-3, explosion-proof proportion magnetic valve YKA1-18, cutterhead rotary angle transmitter angle-fk, laser range finder laser, CD-ROM drive motor, hydraulic gear, its architectural feature is: rc absorber, current transformer are serially connected on the control loop, by the vacuum contactor drive motors; All sensor signal input PLC systems are exporting corresponding auxiliary reclay by PLC according to algorithm, are being outputed to corresponding electromagnetic valve by relay.Laser total station is connected with switch-box by aviation plug; Operating principle and the method for operating of described device are that two interior cutting arms are 180 ° in elevation; Two arms open maximum gauge 5000mm, and every externally cutting arm is 180 ° in view, and two external cutting arm angles are 120 °; Outer cutting arm opens maximum gauge 6400mm, the relative angle of six cutting arms in elevation is fixed value, cutterhead is done both forward and reverse directions by fluid motor-driven and is rotatablely moved, cutting arm is by Driven by Hydraulic Cylinder, do stretching motion, obtain different cutting diameters, according to customer requirements, cutting profile is divided into square and two kinds of the shapes of a hoof; Send electricity behind switch-box by a transformer, change the electric pressure of 3300V into other corresponding electric pressure via transformer in the switch-box, electric pressure is mainly by 3300V in the case, 1140V and 380V driving voltage form, and automatic detection was at first advanced by system after switch-box sent electricity, comprise that methane concentration detects, carbonomonoxide concentration detects, the drive motors detection of electrical leakage, and whether detect communication normal, whether the oil temperature oil level is normal; After the switch-box power supply, at first start oil pump and running motor, then according to the comparison of laser orientation system measuring-signal and walking encoder measuring-signal, calculate corresponding analog output by PLC, through the PLVC signal amplifier signal is amplified to drive corresponding hydraulic motor travel motor again, and then horizontal level and the attitude of adjustment fuselage, make machine according to predetermined route walking, when machine is walked with a certain distance from antetheca, open the corresponding mechanism such as support, utilize and support the upright position of adjusting fuselage; After action is before finished, cutting mechanism begins to utilize six cutting arms to carry out shape cutting, PLC drives electromagnetic proportional valve and hydraulic motor by the analog signals that amplifies through the PLVC signal amplifier, thereby control stretching out or retraction and cutterhead rotating speed of six cutting arm hydraulic jacks, by surveying corner on the linear displacement transducer in the hydraulic jack and the cutter plate, the signal that the rotary encoder of rotating speed is measured judges whether six cutting arms move predetermined angle and position and cutting speed and whether meet the demands, repair the type process: at first six cutterheads are repaiied first a circle, calculating the A point according to rotary encoder and linear displacement transducer is calculated to move back and forth by PLC between the H point, between H point and the I point, between I point and the K point, also be both the type process of repairing that reaches that moves back and forth between A point and the K point, be cut into first circle and then reach the type process of repairing by one of them cutterhead from reciprocating motion between C point between B point and the C point and the D point, thereby formation closed-loop control system, system finally reach predetermined section configuration through correction of the flank shape repeatedly; The control system algorithm of described device is, control system is chain, and Mars Miner fuselage position coordinates is correct, and hydraulic work system is normal, other necessary interlocking signal; The closed-loop control of cutterhead rotary speed detects the cutterhead rotary speed with encoder, by pid algorithm control ratio reversal valve aperture, reaches the closed-loop control of cutterhead rotary speed; The cutting arm Position Control detects the cutterhead anglec of rotation with absolute value encoder, thereby determines the cutting arm position; The cutting arm cut radius;
Can obtain according to the triangle cosine formula:
cos ( θ 0 + θ ) = ( AB ′ ) 2 + ( AC ) 2 - ( BC + l ) 2 2 ( AB ) ′ × ( AC ) = ( AB ) 2 + ( AC ) 2 - ( BC + l ) 2 2 ( AB ) × ( AC ) - - - ( 1 )
Wherein l is the advance distance of hydraulic cylinder, and θ turns over angle, and wherein the length of side all is known parameters, can be obtained 0, the θ that concerns of advance distance and corner by (1) formula 0The initial parameter of hydraulic cylinder when advancing;
cos ( θ 0 ) = ( AB ) 2 + ( AC ) 2 - ( BC ) 2 2 ( AB ) × ( AC ) - - - ( 2 )
Therefore can obtain and turn over angle θ, add known triangle edges long parameter, can calculate the cut radius r and the quantitative relation that turns over angle θ of tool arm, namely set up the quantitative relation between hydraulic cylinder advance distance l and the tool arm cut radius r:
∠CAX=γ 0,∠CAB=θ 0,∠CAB′=θ 0+θ,∠B′AD′=β 0,∠BAB′=θ
r=sin(π-β 000-θ)×AD+offset=sin(β 000+θ)×AD+offset
r=(sin(α 0)cos(θ 0+θ)+cos(α 0)sin(θ 0+θ))×AD+offset(α 0=β 00)(3)
Wherein, Offset is that amount of bias is known;
Can be known by above-mentioned, advance distance l and cut radius r are non-linear relations, can be similar to by successive linearization, obtain the one-to-one relationship of a cut radius sequence and an advance distance sequence, control program is covered whole sequence, namely finishes corresponding excavation section shaping control;
(1) excision forming algorithm; According to actual cutting profile and size, according to the cutting technique process, in the cutterhead rotary course, calculated in real time and the displacement of adjustment cutting arm hydraulic cylinder extension by top algorithm, thus the given cutting section shape of match;
(2) smart-cut algorithm; The cutting technique process optimization, automatic tool wear compensation (need add cutter detects) is repaiied type cutting arm automatic alternate algorithm, cutting feeding adaptive algorithm.

Claims (3)

1. hard rock mole electrical control device for coal mining machine that type is repaiied in employing automatically is by isolating switch QS; 7 motor control loops, comprising: vacuum contactor KM1-7, rc absorber RC1-7, current transformer TA1-7, potential transformer CSP, Siemens's 300 series of PLC, signal amplifier module PLVC, Siemens panel type Industrial Personal Computer (IPC) IPC477C, isolation safe grid RW1-11, power transformer TC, pressure sensor YL, oil temperature sensor GWP200, fuel level sensor YW, water flow sensor LK, sensing methane concentration device KG9701, explosion-proof scram button SB, explosion-proof electric bell H0, blasting-proof machine car light HL1-3, explosion-proof proportion magnetic valve YKA1-18, cutterhead rotary angle transmitter angle-fk, laser range finder laser, CD-ROM drive motor, hydraulic gear, its architectural feature is: rc absorber, current transformer are serially connected on the control loop, by the vacuum contactor drive motors; All sensor signal input PLC systems are exporting corresponding auxiliary reclay by PLC according to algorithm, are being outputed to corresponding electromagnetic valve by relay.Laser total station is connected with switch-box by aviation plug.
2. the hard rock mole electrical control device for coal mining machine of type is repaiied in employing according to claim 1 automatically, it is characterized in that: operating principle and the method for operating of described device are that two interior cutting arms are 180 ° in elevation; Two arms open maximum gauge 5000mm, and every externally cutting arm is 180 ° in view, and two external cutting arm angles are 120 °; Outer cutting arm opens maximum gauge 6400mm, the relative angle of six cutting arms in elevation is fixed value, cutterhead is done both forward and reverse directions by fluid motor-driven and is rotatablely moved, cutting arm is by Driven by Hydraulic Cylinder, do stretching motion, obtain different cutting diameters, according to customer requirements, cutting profile is divided into square and two kinds of the shapes of a hoof; Send electricity behind switch-box by a transformer, change the electric pressure of 3300V into other corresponding electric pressure via transformer in the switch-box, electric pressure is mainly by 3300V in the case, 1140V and 380V driving voltage form, and automatic detection was at first advanced by system after switch-box sent electricity, comprise that methane concentration detects, carbonomonoxide concentration detects, the drive motors detection of electrical leakage, and whether detect communication normal, whether the oil temperature oil level is normal; After the switch-box power supply, at first start oil pump and running motor, then according to the comparison of laser orientation system measuring-signal and walking encoder measuring-signal, calculate corresponding analog output by PLC, through the PLVC signal amplifier signal is amplified to drive corresponding hydraulic motor travel motor again, and then horizontal level and the attitude of adjustment fuselage, make machine according to predetermined route walking, when machine is walked with a certain distance from antetheca, open the corresponding mechanism such as support, utilize and support the upright position of adjusting fuselage; After action is before finished, cutting mechanism begins to utilize six cutting arms to carry out shape cutting, PLC drives electromagnetic proportional valve and hydraulic motor by the analog signals that amplifies through the PLVC signal amplifier, thereby control stretching out or retraction and cutterhead rotating speed of six cutting arm hydraulic jacks, by surveying corner on the linear displacement transducer in the hydraulic jack and the cutter plate, the signal that the rotary encoder of rotating speed is measured judges whether six cutting arms move predetermined angle and position and cutting speed and whether meet the demands, repair the type process: at first six cutterheads are repaiied first a circle, calculating the A point according to rotary encoder and linear displacement transducer is calculated to move back and forth by PLC between the H point, between H point and the I point, between I point and the K point, also be both the type process of repairing that reaches that moves back and forth between A point and the K point, be cut into first circle and then reach the type process of repairing by one of them cutterhead from reciprocating motion between C point between B point and the C point and the D point, thereby formation closed-loop control system, system finally reach predetermined section configuration through correction of the flank shape repeatedly.
3. a kind of hard rock mole electrical control device for coal mining machine of automatically repairing type that adopts according to claim 1, it is characterized in that: the control system algorithm of described device is, control system is chain, and Mars Miner fuselage position coordinates is correct, hydraulic work system is normal, other necessary interlocking signal; The closed-loop control of cutterhead rotary speed detects the cutterhead rotary speed with encoder, by pid algorithm control ratio reversal valve aperture, reaches the closed-loop control of cutterhead rotary speed; The cutting arm Position Control detects the cutterhead anglec of rotation with absolute value encoder, thereby determines the cutting arm position; The cutting arm cut radius;
Can obtain according to the triangle cosine formula:
cos ( θ 0 + θ ) = ( AB ′ ) 2 + ( AC ) 2 - ( BC + l ) 2 2 ( AB ) ′ × ( AC ) = ( AB ) 2 + ( AC ) 2 - ( BC + l ) 2 2 ( AB ) × ( AC ) - - - ( 1 )
Wherein l is the advance distance of hydraulic cylinder, and θ turns over angle, and wherein the length of side all is known parameters, can be obtained 0, the θ that concerns of advance distance and corner by (1) formula 0The initial parameter of hydraulic cylinder when advancing;
cos ( θ 0 ) = ( AB ) 2 + ( AC ) 2 - ( BC ) 2 2 ( AB ) × ( AC ) - - - ( 2 )
Therefore can obtain and turn over angle θ, add known triangle edges long parameter, can calculate the cut radius r and the quantitative relation that turns over angle θ of tool arm, namely set up the quantitative relation between hydraulic cylinder advance distance l and the tool arm cut radius r:
∠CAX=γ 0,∠CAB=θ 0,∠CAB′=θ 0+θ,∠B′AD′=β 0,∠BAB′=θ
r=sin(π-β 000-θ)×AD+offset=sin(β 000+θ)×AD+offset
r=(sin(α 0)cos(θ 0+θ)+cos(α 0)sin(θ 0+θ))×AD+offset(α 0=β 00)(3)
Wherein, Offset is that amount of bias is known;
Can be known by above-mentioned, advance distance l and cut radius r are non-linear relations, can be similar to by successive linearization, obtain the one-to-one relationship of a cut radius sequence and an advance distance sequence, control program is covered whole sequence, namely finishes corresponding excavation section shaping control;
(1) excision forming algorithm; According to actual cutting profile and size, according to the cutting technique process, in the cutterhead rotary course, calculated in real time and the displacement of adjustment cutting arm hydraulic cylinder extension by top algorithm, thus the given cutting section shape of match;
(2) smart-cut algorithm; The cutting technique process optimization, automatic tool wear compensation (need add cutter detects) is repaiied type cutting arm automatic alternate algorithm, cutting feeding adaptive algorithm.
CN201210466499.6A 2012-11-19 2012-11-19 Automatic repaired hard-rock heading machine coal mining machine electric control device Active CN102943672B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103147756A (en) * 2013-03-20 2013-06-12 中国矿业大学(北京) Heading machine memory cutting control system and method thereof
CN103558852A (en) * 2013-10-31 2014-02-05 北方重工集团有限公司 Electronic control system for automatic walking and deviation rectification of hard-rock roadway mining machine

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CN202510120U (en) * 2012-04-18 2012-10-31 中国煤矿机械装备有限责任公司 Automatic integrated control system for thin coal seam shearer working surface
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US3633081A (en) * 1969-06-20 1972-01-04 Eickhoff Geb Apparatus for controlling and regulating a cutter hoist
RU2130546C1 (en) * 1995-08-28 1999-05-20 Долинский Аркадий Маркович Method and device for automatic orientation of coal cutter-loader combine
CN102337891A (en) * 2011-09-14 2012-02-01 天地科技股份有限公司 Thin coal seam unmanned automated mining mode
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Publication number Priority date Publication date Assignee Title
CN103147756A (en) * 2013-03-20 2013-06-12 中国矿业大学(北京) Heading machine memory cutting control system and method thereof
CN103558852A (en) * 2013-10-31 2014-02-05 北方重工集团有限公司 Electronic control system for automatic walking and deviation rectification of hard-rock roadway mining machine
CN103558852B (en) * 2013-10-31 2016-03-23 北方重工集团有限公司 A kind of electric-control system of automatically walking for hard-rock tunnel Mars Miner and rectifying a deviation

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