CN102943672B - 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 PDFInfo
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- CN102943672B CN102943672B CN201210466499.6A CN201210466499A CN102943672B CN 102943672 B CN102943672 B CN 102943672B CN 201210466499 A CN201210466499 A CN 201210466499A CN 102943672 B CN102943672 B CN 102943672B
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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
Technical field
To the present invention relates in development machine coal-cutting machinery electric control field a kind of adopts the hard rock mole electrical control device for coal mining machine of automatically repairing type.
Background technology
Hard rock mole is a kind of new ideas coal-winning machine, and more traditional development machine is compared, and is cutting hardness or driving speed or all there has been essential change automatic forming aspect.Controlling Technology is also very complicated, and the appearance of this new technology solves common development machine coal mining speed slowly, and cutting hardness is low, needs manual correction of the flank shape etc.In the past in the development machine coal mining process that we are common, each technique was also all substantially the same, was all artificial Non-follow control, without surface trimming correction of the flank shape.So just cause roadway shape irregular, efficiency is low, and driving speed is slow.And then our Expand Thinking have employed new Controlling Technology, improve coal mining efficiency, improve performance parameter thus reach the headwork of 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 and a kind ofly adopt the hard rock mole electrical control device for coal mining machine of automatically repairing type, 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, thus form closed-loop control.When carrying out drift section cutting forming; system needs to adopt surface trimming program to control; according to the requirement of cutting technique; whole cutting process between 6 cutting arms cooperatively interact and responsiveness and required precision high, once break 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 ofly adopt the hard rock mole electrical control device for coal mining machine of automatically repairing type, 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 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 is serially connected on control loop, by vacuum contactor drive motors, all sensor signal input PLC system, are exporting corresponding auxiliary reclay by PLC according to algorithm, are outputting 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 internal cutting arms are 180 ° in elevation, two-arm opens maximum gauge 5000mm, and every externally cutting arm is in the view in 180 °, 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 does both forward and reverse directions rotary motion by fluid motor-driven, cutting arm is by Driven by Hydraulic Cylinder, do stretching motion, obtain different cutting diameters, according to user's requirement, cutting profile is divided into square and the shape of a hoof two kinds, after a transformer power transmission to switch-box, the electric pressure of 3300V is changed into other corresponding electric pressure via transformer in switch-box, in case, electric pressure is primarily of 3300V, 1140V and 380V driving voltage forms, and after switch-box power transmission, first system enters automatic detection, comprises methane concentration and detects, carbonomonoxide concentration detects, drive motors detection of electrical leakage, and whether detect communication normal, whether oil temperature oil level is normal, after switch-box is powered, first oil pump and running motor is started, then according to the comparison of laser orientation system measuring-signal and walking encoder measuring-signal, corresponding analog output is calculated by PLC, through PLVC signal amplifier, signal amplification is driven corresponding hydraulic motor travel motor again, and then adjust horizontal level and the attitude of fuselage, machine is walked according to predetermined route, when machine is walked with a certain distance from antetheca, open the corresponding mechanism such as support, utilize the upright position supporting adjustment fuselage, after action when before completes, cutting mechanism starts to utilize six cutting arms to carry out shape cutting, PLC drives electromagnetic proportional valve and hydraulic motor by the analog signals amplified through PLVC signal amplifier, thus control stretching out or retracting and cutterhead rotating speed of six cutting arm hydraulic jacks, by the linear displacement transducer in hydraulic jack and cutter plate survey corner, the signal that the rotary encoder of rotating speed is measured judge six cutting arms whether action whether meet the demands to predetermined angle and position and cutting speed, repair type process: first a circle first repaiied by six cutterheads, calculate to be calculated by PLC between A point to H point according to rotary encoder and linear displacement transducer and move back and forth, between H point and I point, between I point and K point, also be both reciprocating motion to reach between A point and K point and repair type process, first be cut into circle and then repair type process by one of them cutterhead from moving back and forth to reach between C point and D point between B point and C point, thus formation closed-loop control system, system eventually passes through the section configuration that correction of the flank shape repeatedly reaches predetermined, the control system algorithm of described device is that control system is chain, and Mars Miner fuselage positions coordinate is correct, and hydraulic work system is normal, other necessary interlocking signal, the closed-loop control of cutterhead rotary speed, detects cutterhead rotary speed with encoder, by pid algorithm control ratio reversal valve aperture, reaches the closed-loop control of cutterhead rotary speed, cutting arm position control, detects the cutterhead anglec of rotation with absolute value encoder, thus determines cutting arm position, cutting arm cut radius,
Can obtain according to triangle cosine formula:
Wherein l is the advance distance of hydraulic cylinder, and θ turns over angle, and wherein the length of side is all known parameters, can be obtained the relation 0, θ of advance distance and corner by (1) formula
0it is the initial parameter that hydraulic cylinder does not occur when advancing;
Therefore can obtain and turn over angle θ, add known triangle length of side parameter, the cut radius r of tool arm can be calculated and turn over the quantitative relation of angle θ, namely establishing the quantitative relation between hydraulic cylinder advance distance l and 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
0-γ
0-θ
0-θ)×AD+offset＝sin(β
0+γ
0+θ
0+θ)×AD+offset
r＝(sin(α
0)cos(θ
0+θ)+cos(α
0)sin(θ
0+θ))×AD+offset(α
0＝β
0+γ
0)(3)
Wherein, Offset is amount of bias is known;
Can be known by above-mentioned, advance distance l and cut radius r is a non-linear relation, can be similar to by successive linearization, obtains the one-to-one relationship of a cut radius sequence and an advance distance sequence, control program covers whole sequence, namely completes and excavates sectional formation control accordingly;
(1) excision forming algorithm; According to actual cutting profile and size, according to cutting technique process, in cutterhead rotary course, calculate and adjust the displacement of cutting arm hydraulic cylinder extension in real time by algorithm above, thus the given cutting section shape of matching;
(2) smart-cut algorithm; Cutting technique process optimization, automatic tool wear compensation (need add Tool monitoring), repaiies type cutting arm automatic alternate algorithm, cutting feeding adaptive algorithm.
Main points of the present invention are its structure and working principle.Its operating principle and method of operating are that two internal cutting arms are 180 ° in elevation; Two-arm opens maximum gauge 5000mm, and every externally cutting arm is in the view in 180 °, 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 does both forward and reverse directions rotary motion by fluid motor-driven, cutting arm is by Driven by Hydraulic Cylinder, do stretching motion, obtain different cutting diameters, according to user's requirement, cutting profile is divided into square and the shape of a hoof two kinds; After a transformer power transmission to switch-box, change the electric pressure of 3300V into other corresponding electric pressure via transformer in switch-box, in case, electric pressure forms primarily of 3300V, 1140V and 380V driving voltage.After switch-box power transmission, first system enters automatic detection, and comprise methane concentration and detect, carbonomonoxide concentration detects, drive motors detection of electrical leakage, and whether detect communication normal, and whether oil temperature oil level is normal etc.After switch-box is powered, first oil pump and running motor is started, then according to the comparison of laser orientation system measuring-signal and walking encoder measuring-signal, corresponding analog output is calculated by PLC, through PLVC signal amplifier, signal amplification is driven corresponding hydraulic motor travel motor again, and then adjust horizontal level and the attitude of fuselage, machine is walked according to predetermined route.When machine is walked with a certain distance from antetheca, open the corresponding mechanism such as support, utilize the upright position supporting adjustment fuselage.After action when before completes, cutting mechanism starts to utilize six cutting arms to carry out shape cutting, PLC drives electromagnetic proportional valve and hydraulic motor by the analog signals amplified through PLVC signal amplifier, thus control stretching out or retracting and cutterhead rotating speed of six cutting arm hydraulic jacks, by the linear displacement transducer in hydraulic jack and cutter plate survey corner, the signal that the rotary encoder of rotating speed is measured judge six cutting arms whether action whether meet the demands to predetermined angle and position and cutting speed, repair type process: first a circle first repaiied by six cutterheads, calculate to be calculated by PLC between A point to H point according to rotary encoder and linear displacement transducer and move back and forth, between H point and I point, between I point and K point, also be both reciprocating motion to reach between A point and K point and repair type process, first be cut into circle and then repair type process by one of them cutterhead from moving back and forth to reach between C point and D point between B point and C point.Thus formation closed-loop control system.System eventually passes through the section configuration that correction of the flank shape repeatedly reaches predetermined.
Employing repaiies the novel hard rock mole electrical control device for coal mining machine of type compared with prior art automatically, have and electric analog quantity output signals passing ratio amplifier is exported to electromagnetic valve, PLC is fed back to again by displacement transducer signal, thus formation closed-loop control, when carrying out drift section cutting forming, system needs to adopt surface trimming program to control, according to the requirement of cutting technique, whole cutting process between 6 cutting arms cooperatively interact and responsiveness and required precision high, once break down to the interlock protection of whole system also require very comprehensively and the advantage such as strict, to be widely used in development machine coal-cutting machinery electric control field.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is described in detail.
Fig. 1 is surface trimming correction of the flank shape flow chart of the present invention.
Fig. 2 is electrical schematic diagram Part I of the present invention.
Fig. 3 is electrical schematic diagram Part II of the present invention.
Fig. 4 is electrical schematic diagram Part III of the present invention.
Fig. 5 is electrical schematic diagram Part IV of the present invention.
Fig. 6 is electrical schematic diagram Part V of the present invention.
Fig. 7 is electrical schematic diagram Part VI of the present invention.
Fig. 8 is electrical schematic diagram Part VII of the present invention.
Fig. 9 is electrical schematic diagram Part VIII of the present invention.
With reference to accompanying drawing, a kind ofly adopt the hard rock mole electrical control device for coal mining machine of automatically repairing type, 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 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 is serially connected on control loop, by vacuum contactor drive motors, all sensor signal input PLC system, are exporting corresponding auxiliary reclay by PLC according to algorithm, are outputting 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 internal cutting arms are 180 ° in elevation, two-arm opens maximum gauge 5000mm, and every externally cutting arm is in the view in 180 °, 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 does both forward and reverse directions rotary motion by fluid motor-driven, cutting arm is by Driven by Hydraulic Cylinder, do stretching motion, obtain different cutting diameters, according to user's requirement, cutting profile is divided into square and the shape of a hoof two kinds, after a transformer power transmission to switch-box, the electric pressure of 3300V is changed into other corresponding electric pressure via transformer in switch-box, in case, electric pressure is primarily of 3300V, 1140V and 380V driving voltage forms, and after switch-box power transmission, first system enters automatic detection, comprises methane concentration and detects, carbonomonoxide concentration detects, drive motors detection of electrical leakage, and whether detect communication normal, whether oil temperature oil level is normal, after switch-box is powered, first oil pump and running motor is started, then according to the comparison of laser orientation system measuring-signal and walking encoder measuring-signal, corresponding analog output is calculated by PLC, through PLVC signal amplifier, signal amplification is driven corresponding hydraulic motor travel motor again, and then adjust horizontal level and the attitude of fuselage, machine is walked according to predetermined route, when machine is walked with a certain distance from antetheca, open the corresponding mechanism such as support, utilize the upright position supporting adjustment fuselage, after action when before completes, cutting mechanism starts to utilize six cutting arms to carry out shape cutting, PLC drives electromagnetic proportional valve and hydraulic motor by the analog signals amplified through PLVC signal amplifier, thus control stretching out or retracting and cutterhead rotating speed of six cutting arm hydraulic jacks, by the linear displacement transducer in hydraulic jack and cutter plate survey corner, the signal that the rotary encoder of rotating speed is measured judge six cutting arms whether action whether meet the demands to predetermined angle and position and cutting speed, repair type process: first a circle first repaiied by six cutterheads, calculate to be calculated by PLC between A point to H point according to rotary encoder and linear displacement transducer and move back and forth, between H point and I point, between I point and K point, also be both reciprocating motion to reach between A point and K point and repair type process, first be cut into circle and then repair type process by one of them cutterhead from moving back and forth to reach between C point and D point between B point and C point, thus formation closed-loop control system, system eventually passes through the section configuration that correction of the flank shape repeatedly reaches predetermined, the control system algorithm of described device is that control system is chain, and Mars Miner fuselage positions coordinate is correct, and hydraulic work system is normal, other necessary interlocking signal, the closed-loop control of cutterhead rotary speed, detects cutterhead rotary speed with encoder, by pid algorithm control ratio reversal valve aperture, reaches the closed-loop control of cutterhead rotary speed, cutting arm position control, detects the cutterhead anglec of rotation with absolute value encoder, thus determines cutting arm position, cutting arm cut radius,
Can obtain according to triangle cosine formula:
Wherein l is the advance distance of hydraulic cylinder, and θ turns over angle, and wherein the length of side is all known parameters, can be obtained the relation 0, θ of advance distance and corner by (1) formula
0it is the initial parameter that hydraulic cylinder does not occur when advancing;
Therefore can obtain and turn over angle θ, add known triangle length of side parameter, the cut radius r of tool arm can be calculated and turn over the quantitative relation of angle θ, namely establishing the quantitative relation between hydraulic cylinder advance distance l and 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
0-γ
0-θ
0-θ)×AD+offset＝sin(β
0+γ
0+θ
0+θ)×AD+offset
r＝(sin(α
0)cos(θ
0+θ)+cos(α
0)sin(θ
0+θ))×AD+offset(α
0＝β
0+γ
0)(3)
Wherein, Offset is amount of bias is known;
Can be known by above-mentioned, advance distance l and cut radius r is a non-linear relation, can be similar to by successive linearization, obtains the one-to-one relationship of a cut radius sequence and an advance distance sequence, control program covers whole sequence, namely completes and excavates sectional formation control accordingly;
(1) excision forming algorithm; According to actual cutting profile and size, according to cutting technique process, in cutterhead rotary course, calculate and adjust the displacement of cutting arm hydraulic cylinder extension in real time by algorithm above, thus the given cutting section shape of matching;
(2) smart-cut algorithm; Cutting technique process optimization, automatic tool wear compensation (need add Tool monitoring), repaiies type cutting arm automatic alternate algorithm, cutting feeding adaptive algorithm.
Claims (1)
1. adopt a hard rock mole electrical control device for coal mining machine of automatically repairing type, 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 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 RC1-7, current transformer TA1-7 is serially connected on control loop, by vacuum contactor KM1-7 drive motors, all sensor signal input PLC system, then export corresponding auxiliary reclay by PLC according to algorithm, then output 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 internal cutting arms are 180 °, two-arm opens maximum gauge 5000mm, and every externally cutting arm is 180 °, and two external cutting arm angles are 120 °, outer cutting arm opens maximum gauge 6400mm, the relative angle of six cutting arms is fixed values, cutterhead does both forward and reverse directions rotary motion by fluid motor-driven, cutting arm is by Driven by Hydraulic Cylinder, do stretching motion, obtain different cutting diameters, according to user's requirement, cutting profile is divided into square and the shape of a hoof two kinds, after a transformer power transmission to switch-box, the electric pressure of 3300V is changed into other corresponding electric pressure via transformer in switch-box, in case, electric pressure is primarily of 3300V, 1140V and 380V driving voltage forms, and after switch-box power transmission, first system enters automatic detection, comprises methane concentration and detects, carbonomonoxide concentration detects, drive motors detection of electrical leakage, and whether detect communication normal, whether oil temperature oil level is normal, after switch-box is powered, first oil pump and running motor is started, then according to the comparison of laser orientation system measuring-signal and walking encoder measuring-signal, calculate corresponding analog output by PLC, then through PLVC signal amplifier, signal amplification is driven corresponding hydraulic motor travel motor, and then adjust horizontal level and the attitude of fuselage, machine is walked according to predetermined route, when machine is walked with a certain distance from antetheca, open support, utilize the upright position supporting adjustment fuselage, after action when before completes, cutting mechanism starts to utilize six cutting arms to carry out shape cutting, PLC drives electromagnetic proportional valve and hydraulic motor by the analog signals amplified through PLVC signal amplifier, thus control stretching out or retracting and cutterhead rotating speed of six cutting arm hydraulic jacks, by the linear displacement transducer in hydraulic jack and cutter plate survey corner, the signal that the rotary encoder of rotating speed is measured judge six cutting arms whether action whether meet the demands to predetermined angle and position and cutting speed, repair type process: first a circle first repaiied by six cutterheads, calculate to be calculated by PLC between A point to H point according to rotary encoder and linear displacement transducer and move back and forth, between H point and I point, between I point and K point, also be both reciprocating motion to reach between A point and K point and repair type process, first be cut into circle and then repair type process by one of them cutterhead from moving back and forth to reach between C point and D point between B point and C point, thus formation closed-loop control system, system eventually passes through the section configuration that correction of the flank shape repeatedly reaches predetermined.
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|---|---|---|---|
| CN201210466499.6A CN102943672B (en) | 2012-11-19 | 2012-11-19 | Automatic repaired hard-rock heading machine coal mining machine electric control device |
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|---|---|---|---|
| CN201210466499.6A CN102943672B (en) | 2012-11-19 | 2012-11-19 | Automatic repaired hard-rock heading machine coal mining machine electric control device |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103147756B (en) * | 2013-03-20 | 2017-03-29 | 中国矿业大学(北京) | A kind of heading machine memory cutting control system and method thereof |
| 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 |
| CN112731930A (en) * | 2020-12-23 | 2021-04-30 | 重庆华渝电气集团有限公司 | Cantilever type excavator control system based on inertial navigation unit |
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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 |
| CN202276305U (en) * | 2011-11-03 | 2012-06-13 | 武汉泰诚电气有限公司 | Automatic control device of mining electric haulage shearer |
| 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 |
| CN202520307U (en) * | 2012-03-26 | 2012-11-07 | 安徽山河矿业装备股份有限公司 | Automatic electric traction device of coal mining machine |
-
2012
- 2012-11-19 CN CN201210466499.6A patent/CN102943672B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN202276305U (en) * | 2011-11-03 | 2012-06-13 | 武汉泰诚电气有限公司 | Automatic control device of mining electric haulage shearer |
| CN202520307U (en) * | 2012-03-26 | 2012-11-07 | 安徽山河矿业装备股份有限公司 | Automatic electric traction device of coal mining machine |
| 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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