CN106150497B - A kind of medium-thickness seam flitting teaching playback automatic cutting control method - Google Patents
A kind of medium-thickness seam flitting teaching playback automatic cutting control method Download PDFInfo
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- CN106150497B CN106150497B CN201610766562.6A CN201610766562A CN106150497B CN 106150497 B CN106150497 B CN 106150497B CN 201610766562 A CN201610766562 A CN 201610766562A CN 106150497 B CN106150497 B CN 106150497B
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- 239000003245 coal Substances 0.000 claims abstract description 741
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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Abstract
The invention discloses a kind of medium-thickness seam flitting teaching playback automatic cutting control method, including step：First, the automatic cut teaching of flitting；2nd, the automatic cut of flitting reproduces：201st, the flitting control system is initialized；202nd, judge whether flitting is in termination；203rd, the automatic cut of flitting left end reproduces；204th, the automatic cut of flitting right end reproduces.Teaching medium-thickness seam flitting cutting course of the present invention, cover medium-thickness seam carry out beveling feed, cut Triangle Coal, clear float coal and advance in coal cutting mine during necessary process, greatly reduce manual intervention, meet that the automation of medium-thickness seam coal winning technology is mined to require, Automatic Control efficiency high.
Description
Technical field
The invention belongs to the automatic cut control technology field of coal-winning machine, and in particular to a kind of medium-thickness seam flitting shows
Religion reproduces automatic cutting control method.
Background technology
Energy revolution is promoted, builds safe, green, efficient energy resource system in order as the " new of China's energy development
Normality ".Automatic technology revolution is applied to colliery energy industry, promotes its development, particularly fully-mechanized mining working, working face
Face is severe as work First Line, working environment；Fully-mechanized mining working high-yield and high-efficiency, environmental protection exploitation, reduce labor strength, carry
The automation of high safety performance, fully-mechanized mining equipment is the objective that coal industry is pursued；Current coal-rock interface Direct Recognition technology is still
Immature, memory cut is more rapid as the development of coal petrography indirect identification technology, turns into the important means of coal-winning machine automation.But
Conventional coal-winning machine automatic cutting control method typically can only carry out automatic Memory cut in working face straightway, can not tackle multiple
Miscellaneous changeable coal cutting technique, in head and tail, then needs frequently manual intervention, and using effect is poor, and function is single.Cause
This, nowadays needs a kind of medium-thickness seam flitting teaching playback automatic cutting control method, can be by thick in teaching
Coal seam cut coal mining process, the changeable state in adaptive underground, the high efficiency Automatic Control of coal-winning machine coal cutting process is realized,
It is automatic to realize middle part coal cutting, coaling under normal circumstances without any intervention, beveling feed is carried out automatically, cuts Triangle Coal, be clear
The overall processes such as float coal.According to real work needs, by menu mode management, operational factor is rationally set, at an arbitrary position infinitely
Any automation coal cutting action of interruption and repetition of system, meets that the automation of medium-thickness seam difference coal winning technology is mined and requires.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of medium-thickness seam
Flitting teaching playback automatic cutting control method, it is novel in design rationally, teaching medium-thickness seam flitting cut
Process, cover medium-thickness seam carry out beveling feed, cut Triangle Coal, clear float coal and advance in coal cutting mine during necessary mistake
Journey, Automatic Control efficiency high, it is easy to promote the use of.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of medium-thickness seam flitting teaching
Reproduce automatic cutting control method, it is characterised in that this method comprises the following steps：
Step 1: the automatic cut teaching of flitting：Along medium-thickness seam mine district length direction, mined using roller
Machine control system control flitting carries out slicing to the coal seam that need to be exploited from the front to the back；Slicing process
In, to the recovery method all same in two coal seams being connected before and after the working face of coal seam that need to exploit；
The flitting control system includes controller and the memory to connect with controller, the input of controller
Data processing unit is connected to, the input of data processing unit is terminated with left rocking arm mining height detection module, right rocking arm mining height detection mould
Block and coal-winning machine pose detection module, the output of controller is terminated with display, left rocking arm heightens valve group, right rocking arm heightens valve
Group, frequency-converting speed-governing control system and standby control interface；
On front and rear two coal seams any to the working face of coal seam that need to exploit the round coal cutting of flitting one carry out from
During dynamic cut teaching, process is as follows：
The preceding coal seam left end beveling feed of step 1001, the working face of coal seam：Determine flitting in medium-thickness seam
Actual mining height on working face, using the flitting control system adjust flitting roll left cylinder and right roller it is equal
The middle position beveling feed coal cutting of actual mining height on the working face of coal seam；
Step 1002, cut the preceding coal seam left end Triangle Coal of the working face of coal seam：Controlled by the flitting and be
It is high-order and right to rise to actual mining height on the working face of coal seam for the cylinder that rolls left of flitting in system while regulating step 1001
Roller drops to actual mining height low level on the working face of coal seam and cuts the preceding coal seam left end Triangle Coal of the working face of coal seam；
Step 1003, cut the preceding coal seam left end ground coal of the working face of coal seam：Pass through the flitting control system
The cylinder that rolls left of flitting drops to actual mining height low level on the working face of coal seam, and right rolling in regulating step 1002 simultaneously
Cylinder rises to the preceding coal seam left end ground coal that actual mining height middle position on the working face of coal seam cuts the working face of coal seam；
Step 1004, the cleaning preceding coal seam left end float coal of working face of coal seam：Controlled by the flitting and be
System sets the preceding coal seam left end float coal number of working face of coal seam described in cleanup step 1003, keeps the cylinder that rolls left of flitting
Actual mining height low level and right roller are in actual mining height middle position on the working face of coal seam on the working face of coal seam, complete
The cleaning of the preceding coal seam left end float coal of working face of coal seam；
Step 1005, flitting are along the coal cutting from left to right of the preceding coal seam of the working face of coal seam：The flitting
The right roller of flitting in regulating step 1003 actual mining height high position on the working face of coal seam cuts top coal, protects simultaneously
The cylinder actual mining height low level on the working face of coal seam that rolls left for holding flitting cuts ground coal, the flitting control system
System control flitting is along the preceding coal seam of the working face of coal seam from left end to right end coal cutting；
Step 1006, cut the preceding coal seam right end ground coal of the working face of coal seam：Pass through the flitting control system
The right roller of flitting, which declines, in rate-determining steps 1005 cuts the preceding coal seam right end ground coal of the working face of coal seam, and controls step
The cylinder that rolls left of flitting is in actual mining height middle position on the working face of coal seam in rapid 1005；
Step 1007, the cleaning preceding coal seam right end float coal of working face of coal seam：Controlled by the flitting and be
System, which is set, clears up the preceding coal seam right end float coal number of working face of coal seam, keeps the cylinder that rolls left of flitting to be in the coal
Actual mining height middle position and right roller are in actual mining height low level on the working face of coal seam on layer working face, complete the coal seam work
The cleaning of coal seam right end float coal in face of work；
Coal seam right end chamfers feed after step 1008, the working face of coal seam：Controlled by the flitting and be
The right roller of flitting rises actual mining height middle position on feed to the working face of coal seam in system regulating step 1006, simultaneously
The cylinder that rolls left of flitting keeps actual mining height middle position beveling feed coal cutting on the working face of coal seam；
Step 1009, cut coal seam right end Triangle Coal after the working face of coal seam：Controlled by the flitting and be
The cylinder that rolls left of flitting drops to actual mining height low level on the working face of coal seam in system while regulating step 1008, and right
Roller rises to an actual mining height high position on the working face of coal seam and cuts coal seam right end Triangle Coal after the working face of coal seam；
Step 1010, cut coal seam right end ground coal after the working face of coal seam：Pass through the flitting control system
The cylinder that rolls left of flitting rises to actual mining height middle position and right rolling on the working face of coal seam in regulating step 1009 simultaneously
Cylinder drops to actual mining height low level on the working face of coal seam and cuts coal seam right end ground coal after the working face of coal seam；
Coal seam right end float coal after step 1011, the cleaning working face of coal seam：Controlled by the flitting and be
Coal seam right end float coal number after working face of coal seam described in system setting cleanup step 1010, keep the cylinder that rolls left of flitting
Actual mining height middle position and right roller are in actual mining height low level on the working face of coal seam on the working face of coal seam, complete
The cleaning of coal seam right end float coal after the working face of coal seam；
Step 1012, flitting are along coal seam coal cutting from right to left after the working face of coal seam：Adopted by the roller
It is high to rise to actual mining height on the working face of coal seam for the cylinder that rolls left of flitting in coal machine control system rate-determining steps 1010
Position, and flitting is operated along coal seam after the working face of coal seam from right end to left end coal cutting, keep flitting
The cylinder actual mining height high position on the working face of coal seam that rolls left cut top coal, while keep the right roller of flitting described
Actual mining height low level cuts ground coal on working face of coal seam；
Step 1013, cut coal seam left end ground coal after the working face of coal seam：Pass through the flitting control system
The cylinder that rolls left of flitting, which declines, in rate-determining steps 1012 cuts coal seam left end ground coal after the working face of coal seam, and controls step
The right roller of flitting is in middle position in rapid 1012；
Coal seam left end float coal after step 1014, the cleaning working face of coal seam：Controlled by the flitting and be
System sets coal seam left end float coal number after the cleaning working face of coal seam, keeps the cylinder that rolls left of flitting to be in the coal
Actual mining height low level and right roller are in actual mining height middle position on the working face of coal seam on layer working face, complete the coal seam work
Make the cleaning of coal seam left end float coal behind face, complete before and after the working face of coal seam flitting one on two coal seams and come and go to cut
Coal teaching, the flitting control system store before and after the working face of coal seam that the round of flitting is cut on two coal seams
Coal training data；
Step 2: the automatic cut of flitting reproduces：Along mine district length direction, system is controlled using flitting
System control flitting carries out slicing to the coal seam that need to be exploited from the front to the back；During slicing, to that need to open
The recovery method all same in two coal seams being connected before and after the working face of coal seam adopted；
One round coal cutting of flitting is cut automatically on front and rear two coal seams any to the working face of coal seam that need to exploit
When cutting reproduction, process is as follows：
Step 201, the initialization flitting control system：Roller is gathered by coal-winning machine pose detection module to adopt
Coal machine location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller pitching angular dimensions, pass through rolling
A pitching angular dimensions that rolls left for cylinder coal-winning machine can determine that the left rocking arm mining height data of left rocking arm mining height detection module detection, pass through rolling
The right roller pitching angular dimensions of cylinder coal-winning machine can determine that the right rocking arm mining height data of right rocking arm mining height detection module detection；
Step 202, judge whether flitting is in termination：When flitting is in termination, according to step 201
The flitting location parameter of middle acquisition, if flitting is in left end, perform step 203；If flitting
During in right end, step 204 is performed；When flitting is not at termination, mined according to the roller obtained in step 201
Machine direct of travel, if flitting coal cutting from left to right, the step 1005 transferred in memory reproduces flitting coal cutting；
If flitting coal cutting from right to left, the step 1012 transferred in memory reproduces flitting coal cutting；
The automatic cut of step 203, flitting left end reproduces, and process is as follows：
Step 203a, whether coal seam left end float coal clearing times are zero after judging the working face of coal seam：Pass through control
Device sets coal seam left end float coal number after the working face of coal seam, and left end float coal in coal seam is cleared up after the working face of coal seam
When number is zero, the step 1001 transferred in memory reproduces flitting coal cutting；Otherwise, the step in memory is transferred
Step 1014 is performed a plurality of times after 1013 and reproduces flitting coal cutting；
Step 203b, judge whether flitting runs to the left in the preceding coal seam of the working face of coal seam：When roller is mined
When machine is run to the left, the step 1002 transferred in memory reproduces flitting coal cutting；Otherwise, the step in memory is transferred
1003 reproduce flitting coal cutting；
Step 203c, judge whether the preceding coal seam left end float coal clearing times of the working face of coal seam are zero：Pass through control
Device sets coal seam left end float coal number after the working face of coal seam, when the preceding coal seam left end float coal cleaning of the working face of coal seam
When number is zero, the step 1005 transferred in memory reproduces flitting coal cutting；When the preceding coal seam of the working face of coal seam is left
When termination float coal clearing times are not zero, the step 1004 transferred in memory reproduces flitting coal cutting；
The automatic cut of step 204, flitting right end reproduces, and process is as follows：
Whether the preceding coal seam right end float coal clearing times for step 204a, judging the working face of coal seam are zero：Pass through control
Device processed sets the preceding coal seam right end float coal number of working face of coal seam, when the preceding coal seam right end float coal of the working face of coal seam is clear
When reason number is zero, the step 1008 transferred in memory reproduces flitting coal cutting；Otherwise, the step in memory is transferred
Step 1007 is performed a plurality of times after 1006 and reproduces flitting coal cutting；
Step 204b, judge whether flitting coal seam after the working face of coal seam is run to the right：When roller is mined
When machine is run to the right, the step 1009 transferred in memory reproduces flitting coal cutting；Otherwise, the step in memory is transferred
1010 reproduce flitting coal cutting；
Step 204c, whether coal seam right end float coal clearing times are zero after judging the working face of coal seam：Pass through control
Device sets coal seam right end float coal number after the working face of coal seam, when the after coal seam right end float coal of medium-thickness seam working face is clear
When reason number is zero, the step 1012 transferred in memory reproduces flitting coal cutting；The coal seam after working face of coal seam
When right end float coal clearing times are not zero, the step 1011 transferred in memory reproduces flitting coal cutting.
A kind of above-mentioned medium-thickness seam flitting teaching playback automatic cutting control method, it is characterised in that：Step
1001 into step 1014 according to actual condition for any one sampling instant flitting teaching coal cutting data, rolled
Cylinder coal-winning machine is after the actual mining height data of left and right rocking arm and coal-winning machine pose data at the moment, the data processing unit logarithm
Transmitted after being pre-processed according to preliminary data to controller, controller and fusion treatment is carried out to data by least square mode, and will
In memory, by real time data merge renewal obtains flitting certainly to data storage after the sampling instant fusion treatment
Dynamic cut training data storehouse.
A kind of above-mentioned medium-thickness seam flitting teaching playback automatic cutting control method, it is characterised in that：Step
The low level of the actual mining height of the roller of flitting is located at the position at flitting rack rails for the roller of flitting in one
Put；A high position for the actual mining height of the roller of flitting is located at roller coal mining support bracket for the roller of flitting in step 1
Position；The middle position of the actual mining height of the roller of flitting is located at flitting for the roller of flitting in step 1
Variable position between rack rails and roller coal mining support bracket.
A kind of above-mentioned medium-thickness seam flitting teaching playback automatic cutting control method, it is characterised in that：Step
Controller in one to flitting control system described in step 2 is PLC module；Step 1 is rolled to described in step 2
Data processing unit in cylinder coal-winning machine control system is filter and amplification Signal-regulated kinase；Step 1 is rolled to described in step 2
Frequency-converting speed-governing control system in cylinder coal-winning machine control system is explosion-proof variable frequency variable speed device；Step 1 is to roller described in step 2
Standby control interface in coal-winning machine control system includes wired or RFDC interface.
The present invention has advantages below compared with prior art：
1st, the present invention is reasonable in design, method and step is rigorous, and acquisition data are timely, and input cost is low, using flexible, and function is complete
It is standby.
2nd, the automatic cut control device of flitting teaching playback that the present invention uses is easy for installation, easily controllable and intelligence
Degree height can be changed.
3rd, the present invention is directed to the coal cutting in traveling of medium-thickness seam flitting, along coal-winning machine fuselage direct of travel, is located at
The roller of front side is always to maintain a high position and cuts top coal, and being always to maintain low level positioned at the roller of rear side cuts ground coal；By for middle thick coal
Layer carry out beveling feed, cut Triangle Coal, clear float coal and advance in coal cutting, cover coal mining during necessary process, pass through control
Device processed merges to the data in each step, and using effect is good.
4th, the present invention is novel in design rationally, greatly reduces manual intervention, and full-automatic degree is high, it is intended to by people from evil
Freed in bad, dangerous downhole coal mine environment, reduce labor intensity, be easy to promote the use of.
In summary, the present invention is novel in design rationally, teaching medium-thickness seam flitting cutting course, covers middle thickness
Coal seam carry out beveling feed, cut Triangle Coal, clear float coal and advance in coal cutting mine during necessary process, greatly reduce people
Work intervention, meet that the automation of medium-thickness seam coal winning technology is mined and require, Automatic Control efficiency high, be easy to promote the use of.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 is the circuit theory for the automatic cut control device of medium-thickness seam flitting teaching playback that the present invention uses
Block diagram.
Fig. 2 is the FB(flow block) of medium-thickness seam flitting teaching playback automatic cutting control method of the present invention.
Fig. 3 is the FB(flow block) of medium-thickness seam flitting teaching automatic cutting control method of the present invention.
Description of reference numerals:
4-left rocking arm mining height detection module；5-right rocking arm mining height detection module；
6-coal-winning machine pose detection module；7-data processing unit；
8-controller；9-left rocking arm heightens valve group；10-right rocking arm heightens valve group；
11-frequency-converting speed-governing control system；12-standby control interface；
13-display；14-memory.
Embodiment
As depicted in figs. 1 and 2, medium-thickness seam flitting teaching playback automatic cutting control method of the present invention, including
Following steps：
Step 1: the automatic cut teaching of flitting：Along medium-thickness seam mine district length direction, mined using roller
Machine control system control flitting carries out slicing to the coal seam that need to be exploited from the front to the back；Slicing process
In, to the recovery method all same in two coal seams being connected before and after the working face of coal seam that need to exploit；
The flitting control system includes controller 8 and the memory 14 to connect with controller 8, controller 8
Input is terminated with data processing unit 7, and the input of data processing unit 7 is terminated with left rocking arm mining height detection module 4, right rocking arm is adopted
High detection module 5 and coal-winning machine pose detection module 6, the output of controller 8 is terminated with display 13, left rocking arm heightens valve group 9,
Right rocking arm heightens valve group 10, frequency-converting speed-governing control system 11 and standby control interface 12；
On front and rear two coal seams any to the working face of coal seam that need to exploit the round coal cutting of flitting one carry out from
During dynamic cut teaching, process is as follows：
The preceding coal seam left end beveling feed of step 1001, the working face of coal seam：Determine flitting in medium-thickness seam
Actual mining height on working face, using the flitting control system adjust flitting roll left cylinder and right roller it is equal
The middle position beveling feed coal cutting of actual mining height on the working face of coal seam；
It should be noted that in the present embodiment, for flitting in underground coal cutting, bottom is provided with rack rails, and top is adopted
With hydraulic support stand, the low level of the actual mining height of roller of flitting is located at flitting for the roller of flitting
Position at rack rails；A high position for the actual mining height of roller of flitting is located at roller coal mining supporting for the roller of flitting
The position of frame；The middle position of the actual mining height of roller of flitting for flitting roller be located at flitting rack rails and
Variable position between roller coal mining support bracket.
In practical operation, distance of the roller apart from rack rails of coal-winning machine on medium-thickness seam working face is set by controller 8
Threshold value and roller when the preceding coal seam left end of medium-thickness seam working face chamfers feed, avoid apart from the distance threshold of support bracket
Left and right roller contacts with rack rails or support bracket, damages equipment, and adjusting left rocking arm by controller 8 heightens the holding coal-winning machine of valve group 9
The cylinder that rolls left be in middle position, by controller 8 adjust right rocking arm heighten valve group 10 keep coal-winning machine right roller be also at middle position.
The coal-winning machine pose detection module 6 includes coal winning machine position detection module, fuselage inclination angle detection module, left and right
Roller angle of pitch detection module, the detectable coal-winning machine fuselage of fuselage inclination angle detection module incline with working face extending direction
Oblique angle, also detectable coal-winning machine fuselage and the inclination angle of working face vertical direction, when coal-winning machine fuselage and working face extending direction
Tilt angle varied amplitude it is larger when, illustrate that this section of coal seam waviness is larger, recording the position by memory 14 goes out characteristic
According to fusion training data；It is normal that coal-winning machine fuselage is parallel to each other with working face extending direction when mining, when coal-winning machine fuselage and
When the tilt angle varied amplitude of working face vertical direction is larger, illustrate that coal-winning machine chamfers feed in this section of coal seam.
Step 1002, cut the preceding coal seam left end Triangle Coal of the working face of coal seam：Controlled by the flitting and be
It is high-order and right to rise to actual mining height on the working face of coal seam for the cylinder that rolls left of flitting in system while regulating step 1001
Roller drops to actual mining height low level on the working face of coal seam and cuts the preceding coal seam left end Triangle Coal of the working face of coal seam；
In the present embodiment, after coal-winning machine beveling feed in step 1001, coal-winning machine left end occurs what is be not produced
Triangle Coal, the haulage shearer and before cutting medium-thickness seam working face to the left of frequency-converting speed-governing control system 11 is adjusted by controller 8
Coal seam left end Triangle Coal.
Step 1003, cut the preceding coal seam left end ground coal of the working face of coal seam：Pass through the flitting control system
The cylinder that rolls left of flitting drops to actual mining height low level on the working face of coal seam, and right rolling in regulating step 1002 simultaneously
Cylinder rises to the preceding coal seam left end ground coal that actual mining height middle position on the working face of coal seam cuts the working face of coal seam；
Step 1004, the cleaning preceding coal seam left end float coal of working face of coal seam：Controlled by the flitting and be
System sets the preceding coal seam left end float coal number of working face of coal seam described in cleanup step 1003, keeps the cylinder that rolls left of flitting
Actual mining height low level and right roller are in actual mining height middle position on the working face of coal seam on the working face of coal seam, complete
The cleaning of the preceding coal seam left end float coal of working face of coal seam；
It should be noted that when medium-thickness seam face end clears up float coal, once clear float coal does not reach thoroughly coal-winning machine
For the effect of clear float coal, it is necessary to repeatedly be cleared up, medium-thickness seam face end, which can be set, by controller 8 clears up float coal
Number is general to set the effect that just can reach clear float coal twice or thrice.
Step 1005, flitting are along the coal cutting from left to right of the preceding coal seam of the working face of coal seam：The flitting
The right roller of flitting in regulating step 1003 actual mining height high position on the working face of coal seam cuts top coal, protects simultaneously
The cylinder actual mining height low level on the working face of coal seam that rolls left for holding flitting cuts ground coal, the flitting control system
System control flitting is along the preceding coal seam of the working face of coal seam from left end to right end coal cutting；
In the present embodiment, medium-thickness seam flitting coal cutting in traveling, along coal-winning machine fuselage direct of travel, before being located at
The roller of side is always to maintain a high position and cuts top coal, and being always to maintain low level positioned at the roller of rear side cuts ground coal, and flitting uses
The mode coal cutting of outward turning, when preceding coal seam from left to right coal cutting of the flitting along medium-thickness seam working face, right roller preceding,
Cylinder roll left rear, keeps the right roller of front side to cut top coal in a high position, keeps the cylinder that rolls left of rear side to cut ground coal in low level；Pass through control
Device 8 adjust frequency-converting speed-governing control system 11 to the right haulage shearer from left end to right end coal cutting.
Step 1006, cut the preceding coal seam right end ground coal of the working face of coal seam：Pass through the flitting control system
The right roller of flitting, which declines, in rate-determining steps 1005 cuts the preceding coal seam right end ground coal of the working face of coal seam, and controls step
The cylinder that rolls left of flitting is in actual mining height middle position on the working face of coal seam in rapid 1005；
In the present embodiment, top coal is cut according to the right roller of step 1005 coal-winning machine to right end, right end ground coal is not produced,
The right roller of regulation flitting, which declines, cuts the right end ground coal, and the cylinder that rolls left of flitting is in medium-thickness seam working face
Upper actual mining height middle position, on the one hand cut not by coal more than the residual of cut, on the other hand avoid touching with rack rails, influence is coaling or transported
Coal.
Step 1007, the cleaning preceding coal seam right end float coal of working face of coal seam：Controlled by the flitting and be
System, which is set, clears up the preceding coal seam right end float coal number of working face of coal seam, keeps the cylinder that rolls left of flitting to be in the coal
Actual mining height middle position and right roller are in actual mining height low level on the working face of coal seam on layer working face, complete the coal seam work
The cleaning of coal seam right end float coal in face of work；
In the present embodiment, after the preceding coal seam right end float coal for cleaning out medium-thickness seam working face, double-ended shearer one
The coal cutting process of hilted broadsword to the right terminates, and the hilted broadsword coal cutting process of medium-thickness seam working face one can not comprehensively react medium-thickness seam work
Face coal cutting teaching process, it is comprehensive to react medium-thickness seam work by combining the coal cutting process of the hilted broadsword of double-ended shearer one to the left
Make the surface roller coal-winning machine course of work, and memory storage, reproducing coal cutting for medium-thickness seam working face flitting provides effectively
Data reference.
Coal seam right end chamfers feed after step 1008, the working face of coal seam：Controlled by the flitting and be
The right roller of flitting rises actual mining height middle position on feed to the working face of coal seam in system regulating step 1006, simultaneously
The cylinder that rolls left of flitting keeps actual mining height middle position beveling feed coal cutting on the working face of coal seam；
In the present embodiment, when the rear coal seam right end of medium-thickness seam working face chamfers feed, left and right roller and rack rails are avoided
Or support bracket contact, equipment is damaged, left rocking arm is adjusted by controller 8 heightens valve group 9 and keep the cylinder that rolls left of coal-winning machine to be in
Position, adjusts right rocking arm by controller 8 and heightens valve group 10 and keep the right roller of coal-winning machine to be also at middle position, while passes through controller
8 control frequency-converting speed-governing control system 11 left haulage shearer beveling coal seam feeds, controller 8 preset feed distance, automatically
Whether identification feed distance meets to require.
Step 1009, cut coal seam right end Triangle Coal after the working face of coal seam：Controlled by the flitting and be
The cylinder that rolls left of flitting drops to actual mining height low level on the working face of coal seam in system while regulating step 1008, and right
Roller rises to an actual mining height high position on the working face of coal seam and cuts coal seam right end Triangle Coal after the working face of coal seam；
In the present embodiment, after coal-winning machine beveling feed in step 1008, coal-winning machine right-hand member occurs what is be not produced
Triangle Coal, the haulage shearer and after cutting medium-thickness seam working face to the right of frequency-converting speed-governing control system 11 is adjusted by controller 8
Coal seam right end Triangle Coal.
Step 1010, cut coal seam right end ground coal after the working face of coal seam：Pass through the flitting control system
The cylinder that rolls left of flitting rises to actual mining height middle position and right rolling on the working face of coal seam in regulating step 1009 simultaneously
Cylinder drops to actual mining height low level on the working face of coal seam and cuts coal seam right end ground coal after the working face of coal seam；
Coal seam right end float coal after step 1011, the cleaning working face of coal seam：Controlled by the flitting and be
Coal seam right end float coal number after working face of coal seam described in system setting cleanup step 1010, keep the cylinder that rolls left of flitting
Actual mining height middle position and right roller are in actual mining height low level on the working face of coal seam on the working face of coal seam, complete
The cleaning of coal seam right end float coal after the working face of coal seam；
Step 1012, flitting are along coal seam coal cutting from right to left after the working face of coal seam：Adopted by the roller
It is high to rise to actual mining height on the working face of coal seam for the cylinder that rolls left of flitting in coal machine control system rate-determining steps 1010
Position, and flitting is operated along coal seam after the working face of coal seam from right end to left end coal cutting, keep flitting
The cylinder actual mining height high position on the working face of coal seam that rolls left cut top coal, while keep the right roller of flitting described
Actual mining height low level cuts ground coal on working face of coal seam；
In the present embodiment, medium-thickness seam flitting coal cutting in traveling, when flitting works along medium-thickness seam
During the rear coal seam coal cutting from right to left in face, for the cylinder that rolls left preceding, right roller keeps the cylinder that rolls left of front side to cut top coal in a high position rear,
The right roller of rear side is kept to cut ground coal in low level；The haulage shearer to the left of frequency-converting speed-governing control system 11 is adjusted by controller 8
From right end to left end coal cutting.
Step 1013, cut coal seam left end ground coal after the working face of coal seam：Pass through the flitting control system
The cylinder that rolls left of flitting, which declines, in rate-determining steps 1012 cuts coal seam left end ground coal after the working face of coal seam, and controls step
The right roller of flitting is in middle position in rapid 1012；
In the present embodiment, march to left end according to the step 1012 coal-winning machine cylinder that rolls left and cut top coal, left end ground coal not by
The left end ground coal is cut in exploitation, the cylinder decline of rolling left for adjusting flitting, and the right roller of flitting is in medium-thickness seam
Actual mining height middle position on working face, on the one hand cut not by coal more than the residual of cut, on the other hand avoid touching with rack rails, influence to fill
Coal or transporting coal.
Coal seam left end float coal after step 1014, the cleaning working face of coal seam：Controlled by the flitting and be
System sets coal seam left end float coal number after the cleaning working face of coal seam, keeps the cylinder that rolls left of flitting to be in the coal
Actual mining height low level and right roller are in actual mining height middle position on the working face of coal seam on layer working face, complete the coal seam work
Make the cleaning of coal seam left end float coal behind face, complete before and after the working face of coal seam flitting one on two coal seams and come and go to cut
Coal teaching, the flitting control system store before and after the working face of coal seam that the round of flitting is cut on two coal seams
Coal training data；
In the present embodiment, according to actual condition to any one sampling instant flitting in step 1001 to step 1014
For teaching coal cutting data, left and right rocking arm actual mining height data and coal-winning machine pose data of the flitting at the moment are obtained
Afterwards, the data processing unit 7 is transmitted to controller 8, controller 8 after being pre-processed to data preliminary data passes through least square
Formula carries out fusion treatment to data, and by the data storage after the sampling instant fusion treatment in memory 14, by real-time
Data fusion updates to obtain the automatic cut training data storehouse of medium-thickness seam flitting.
Step 2: the automatic cut of flitting reproduces：Along mine district length direction, system is controlled using flitting
System control flitting carries out slicing to the coal seam that need to be exploited from the front to the back；During slicing, to that need to open
The recovery method all same in two coal seams being connected before and after the working face of coal seam adopted；
One round coal cutting of flitting is cut automatically on front and rear two coal seams any to the working face of coal seam that need to exploit
When cutting reproduction, process is as follows：
Step 201, the initialization flitting control system：Roller is gathered by coal-winning machine pose detection module 6
Coal winning machine position parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller pitching angular dimensions, pass through
A pitching angular dimensions that rolls left for flitting can determine that the left rocking arm mining height data that left rocking arm mining height detection module 4 detects, and lead to
The right roller pitching angular dimensions for crossing flitting can determine that the right rocking arm mining height data that right rocking arm mining height detection module 5 detects；
Step 202, judge whether flitting is in termination：When flitting is in termination, according to step 201
The flitting location parameter of middle acquisition, if flitting is in left end, perform step 203；If flitting
During in right end, step 204 is performed；When flitting is not at termination, mined according to the roller obtained in step 201
Machine direct of travel, if flitting coal cutting from left to right, transfer the reproduction flitting of the step 1005 in memory 14 and cut
Coal；If flitting coal cutting from right to left, the step 1012 transferred in memory 14 reproduces flitting coal cutting；
It should be noted that when medium-thickness seam flitting is not at termination, according to the middle thickness obtained in step 201
Coal seam flitting direct of travel, if the coal cutting from left to right of medium-thickness seam flitting, transfers the step in memory 14
1005 reproduce medium-thickness seam flitting coal cutting；Determine that coal-winning machine is in working face position and determines coal-winning machine direct of travel
The step 1005 in the automatic cut teaching of medium-thickness seam flitting in reservoir 14 can be transferred, according to step 1005, step
1006th, step 1007 ..., step 1014, step 1001, step 1002, step 1003, step 1004, step 1005 it is suitable
Sequence performs circulation, reproduces the automatic cut control of medium-thickness seam flitting；
When medium-thickness seam flitting is not at termination, mined according to the medium-thickness seam roller obtained in step 201
Machine direct of travel, if the coal cutting from right to left of medium-thickness seam flitting, transfer thick during the step 1012 in memory 14 reproduces
Coal seam flitting coal cutting；Determine that coal-winning machine is in working face position and determines that coal-winning machine direct of travel can transfer reservoir 14
In the automatic cut teaching of medium-thickness seam flitting in step 1012, according to step 1012, step 1013, step
1014th, step 1001 ..., the order of step 1011, step 1012 perform circulation, it is automatic to reproduce medium-thickness seam flitting
Cut controls；Flitting coal cutting in coal seam reproduced below, by that analogy, is repeated no more.
The automatic cut of step 203, flitting left end reproduces, and process is as follows：
Step 203a, whether coal seam left end float coal clearing times are zero after judging the working face of coal seam：Pass through control
Device 8 sets coal seam left end float coal number after the working face of coal seam, and coal seam left end float coal is clear after the working face of coal seam
When reason number is zero, the step 1001 transferred in memory 14 reproduces flitting coal cutting；Otherwise, transfer in memory 14
Step 1014 is performed a plurality of times after step 1013 and reproduces flitting coal cutting；
It should be noted that the opening position of termination, it is upper the one of left end that controller 8 is gone out herein by feed Distance Judgment
The rear coal seam of individual circulation or the preceding coal seam of this circulation；Coal seam left end float coal has been cleared up after this, performs medium-thickness seam working face
Preceding coal seam left end beveling feed；Cleaning of coal seam left end float coal is not complete after this, in practical operation, fuselage away from
Coal-winning machine travels to and fro between the rear coal seam left end and cuts medium-thickness seam working face with the opening position with a distance from a fuselage from the range of
Rear coal seam left end ground coal and cleaning medium-thickness seam working face rear coal seam left end float coal, until the rear coal seam left end is clear
The rear coal seam left end float coal of reason medium-thickness seam working face finishes.
Step 203b, judge whether flitting runs to the left in the preceding coal seam of the working face of coal seam：When roller is mined
When machine is run to the left, the step 1002 transferred in memory 14 reproduces flitting coal cutting；Otherwise, transfer in memory 14
Step 1003 reproduces flitting coal cutting；
The flitting draws the Triangle Coal for representing coal mining machine cut left end, the rolling in the preceding coal seam of the left end to the left
Cylinder coal-winning machine draws to the right the ground coal for representing coal mining machine cut left end in the preceding coal seam of the left end.
Step 203c, judge whether the preceding coal seam left end float coal clearing times of the working face of coal seam are zero：Pass through control
Device 8 sets coal seam left end float coal number after the working face of coal seam, when the preceding coal seam left end float coal of the working face of coal seam is clear
When reason number is zero, the step 1005 transferred in memory 14 reproduces flitting coal cutting；The coal before the working face of coal seam
When layer left end float coal clearing times are not zero, the step 1004 transferred in memory 14 reproduces flitting coal cutting；
The automatic cut of step 204, flitting right end reproduces, and process is as follows：
Whether the preceding coal seam right end float coal clearing times for step 204a, judging the working face of coal seam are zero：Pass through control
Device 8 processed sets the preceding coal seam right end float coal number of the working face of coal seam, when the preceding coal seam right end float coal of the working face of coal seam
When clearing times are zero, the step 1008 transferred in memory 14 reproduces flitting coal cutting；Otherwise, transfer in memory 14
Step 1006 after be performed a plurality of times step 1007 reproduce flitting coal cutting；
It should be noted that the opening position in termination, it is the upper of right end that controller 8 is gone out herein by feed Distance Judgment
One rear coal seam circulated or the preceding coal seam of this circulation, when the preceding coal seam right end float coal has been cleared up, execution medium-thickness seam works
The rear coal seam right end beveling feed in face；When preceding coal seam right end float coal cleaning is not complete, in practical operation, in fuselage
Coal-winning machine travels to and fro between the preceding coal seam right end in the range of distance and the opening position of the distance of a fuselage cuts medium-thickness seam work
The preceding coal seam right end ground coal in face and the preceding coal seam right end float coal of cleaning medium-thickness seam working face, until the preceding coal seam right end
The preceding coal seam right end float coal of cleaning medium-thickness seam working face finishes.
Step 204b, judge whether flitting coal seam after the working face of coal seam is run to the right：When roller is mined
When machine is run to the right, the step 1009 transferred in memory 14 reproduces flitting coal cutting；Otherwise, transfer in memory 14
Step 1010 reproduces flitting coal cutting；
The Triangle Coal for representing coal mining machine cut right-hand member, the rolling are drawn to the right in flitting coal seam after the right end
The ground coal for representing coal mining machine cut right-hand member is drawn to the left in cylinder coal-winning machine coal seam after the right end.
Step 204c, whether coal seam right end float coal clearing times are zero after judging the working face of coal seam：Pass through control
Device 8 sets coal seam right end float coal number after the working face of coal seam, when the after coal seam right end float coal of medium-thickness seam working face
When clearing times are zero, the step 1012 transferred in memory 14 reproduces flitting coal cutting；After the working face of coal seam
When coal seam right end float coal clearing times are not zero, the step 1011 transferred in memory 14 reproduces flitting coal cutting.
In the present embodiment, the controller 8 in step 1 to flitting control system described in step 2 is PLC moulds
Block；Data processing unit 7 in step 1 to flitting control system described in step 2 is filter and amplification signal condition
Module；Frequency-converting speed-governing control system 11 in step 1 to flitting control system described in step 2 is adjusted for flame-proof converter
Fast device；Standby control interface 12 in step 1 to flitting control system described in step 2 includes wired or wireless number
According to communication interface.
It is described above, only it is presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to the present invention
Any simple modification, change and the equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (4)
1. a kind of medium-thickness seam flitting teaching playback automatic cutting control method, it is characterised in that this method includes following
Step：
Step 1: the automatic cut teaching of flitting：Along medium-thickness seam mine district length direction, flitting control is utilized
System control flitting processed carries out slicing to the coal seam that need to be exploited from the front to the back；It is right during slicing
The recovery method all same in two coal seams being connected before and after the working face of coal seam that need to be exploited；
The flitting control system includes controller (8) and the memory (14) to connect with controller (8), controller
(8) input is terminated with data processing unit (7), and the input of data processing unit (7) is terminated with left rocking arm mining height detection module
(4), right rocking arm mining height detection module (5) and coal-winning machine pose detection module (6), the output of controller (8) are terminated with display
(13), left rocking arm heightens valve group (9), right rocking arm heightens valve group (10), frequency-converting speed-governing control system (11) and standby control interface
(12)；
One round coal cutting of flitting is cut automatically on front and rear two coal seams any to the working face of coal seam that need to exploit
When cutting teaching, process is as follows：
The preceding coal seam left end beveling feed of step 1001, the working face of coal seam：Determine that flitting works in medium-thickness seam
Actual mining height on face, using the flitting control system adjust flitting roll left cylinder and right roller is in
The middle position beveling feed coal cutting of actual mining height on the working face of coal seam；
Step 1002, cut the preceding coal seam left end Triangle Coal of the working face of coal seam：It is same by the flitting control system
When regulating step 1001 in the cylinder that rolls left of flitting to rise to actual mining height on the working face of coal seam high-order, and right roller
Drop to actual mining height low level on the working face of coal seam and cut the preceding coal seam left end Triangle Coal of the working face of coal seam；
Step 1003, cut the preceding coal seam left end ground coal of the working face of coal seam：By the flitting control system simultaneously
The cylinder that rolls left of flitting drops to actual mining height low level on the working face of coal seam in regulating step 1002, and on right roller
Rise to the preceding coal seam left end ground coal that actual mining height middle position on the working face of coal seam cuts the working face of coal seam；
Step 1004, the cleaning preceding coal seam left end float coal of working face of coal seam：Set by the flitting control system
The preceding coal seam left end float coal number of working face of coal seam described in cleanup step 1003 is put, keeps the cylinder that rolls left of flitting to be in
Actual mining height low level and right roller are in actual mining height middle position on the working face of coal seam on the working face of coal seam, described in completion
The cleaning of the preceding coal seam left end float coal of working face of coal seam；
Step 1005, flitting are along the coal cutting from left to right of the preceding coal seam of the working face of coal seam：The flitting regulation
The right roller of flitting in step 1003 actual mining height high position on the working face of coal seam cuts top coal, while keeps rolling
The cylinder actual mining height low level on the working face of coal seam that rolls left of cylinder coal-winning machine cuts ground coal, the flitting control system control
Flitting processed is along the preceding coal seam of the working face of coal seam from left end to right end coal cutting；
Step 1006, cut the preceding coal seam right end ground coal of the working face of coal seam：Controlled by the flitting control system
The right roller of flitting, which declines, in step 1005 cuts the preceding coal seam right end ground coal of the working face of coal seam, and rate-determining steps
The cylinder that rolls left of flitting is in actual mining height middle position on the working face of coal seam in 1005；
Step 1007, the cleaning preceding coal seam right end float coal of working face of coal seam：Set by the flitting control system
The cleaning preceding coal seam right end float coal number of working face of coal seam is put, keeps the cylinder that rolls left of flitting to be in the coal seam work
Make actual mining height middle position on face and right roller is in actual mining height low level on the working face of coal seam, complete the working face of coal seam
The cleaning of preceding coal seam right end float coal；
Coal seam right end chamfers feed after step 1008, the working face of coal seam：Adjusted by the flitting control system
The right roller for saving flitting in step 1006 rises actual mining height middle position on feed to the working face of coal seam, while roller
The cylinder that rolls left of coal-winning machine keeps actual mining height middle position beveling feed coal cutting on the working face of coal seam；
Step 1009, cut coal seam right end Triangle Coal after the working face of coal seam：It is same by the flitting control system
When regulating step 1008 in the cylinder that rolls left of flitting drop to actual mining height low level on the working face of coal seam, and right roller
Rise to an actual mining height high position on the working face of coal seam and cut coal seam right end Triangle Coal after the working face of coal seam；
Step 1010, cut coal seam right end ground coal after the working face of coal seam：By the flitting control system simultaneously
The cylinder that rolls left of flitting is risen on the working face of coal seam under actual mining height middle position and right roller in regulating step 1009
It is down to actual mining height low level on the working face of coal seam and cuts coal seam right end ground coal after the working face of coal seam；
Coal seam right end float coal after step 1011, the cleaning working face of coal seam：Set by the flitting control system
Right end float coal number in coal seam after working face of coal seam is put described in cleanup step 1010, keeps the cylinder that rolls left of flitting to be in
Actual mining height middle position and right roller are in actual mining height low level on the working face of coal seam on the working face of coal seam, described in completion
The cleaning of coal seam right end float coal after working face of coal seam；
Step 1012, flitting are along coal seam coal cutting from right to left after the working face of coal seam：Pass through the flitting
The cylinder that rolls left of flitting rises to an actual mining height high position on the working face of coal seam in control system rate-determining steps 1010, and
Flitting is operated along coal seam after the working face of coal seam from right end to left end coal cutting, keeps rolling left for flitting
Cylinder actual mining height high position on the working face of coal seam cuts top coal, while keeps the right roller of flitting in the coal seam work
Make actual mining height low level on face and cut ground coal；
Step 1013, cut coal seam left end ground coal after the working face of coal seam：Controlled by the flitting control system
The cylinder that rolls left of flitting, which declines, in step 1012 cuts coal seam left end ground coal after the working face of coal seam, and rate-determining steps
The right roller of flitting is in middle position in 1012；
Coal seam left end float coal after step 1014, the cleaning working face of coal seam：Set by the flitting control system
Coal seam left end float coal number after the cleaning working face of coal seam is put, keeps the cylinder that rolls left of flitting to be in the coal seam work
Make actual mining height low level on face and right roller is in actual mining height middle position on the working face of coal seam, complete the working face of coal seam
The cleaning of coal seam left end float coal afterwards, completes before and after the working face of coal seam that one round coal cutting of flitting is shown on two coal seams
Teach, the round coal cutting of flitting is shown on two coal seams before and after the flitting control system storage working face of coal seam
Teach data；
Step 2: the automatic cut of flitting reproduces：Along mine district length direction, flitting control system control is utilized
Flitting processed carries out slicing to the coal seam that need to be exploited from the front to the back；During slicing, to what need to be exploited
The recovery method all same in two coal seams being connected before and after the working face of coal seam；
The round coal cutting of flitting one carries out automatic cut again on front and rear two coal seams any to the working face of coal seam that need to exploit
Now, process is as follows：
Step 201, the initialization flitting control system：Roller is gathered by coal-winning machine pose detection module (6) to adopt
Coal machine location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller pitching angular dimensions, pass through rolling
A pitching angular dimensions that rolls left for cylinder coal-winning machine can determine that the left rocking arm mining height data of left rocking arm mining height detection module (4) detection, lead to
The right roller pitching angular dimensions for crossing flitting can determine that the right rocking arm mining height number of right rocking arm mining height detection module (5) detection
According to；
Step 202, judge whether flitting is in termination：When flitting is in termination, obtained according in step 201
The flitting location parameter taken, if flitting is in left end, perform step 203；If flitting is in
During right end, step 204 is performed；When flitting is not at termination, according to the flitting row obtained in step 201
Enter direction, if flitting coal cutting from left to right, the step 1005 transferred in memory (14) reproduces flitting coal cutting；
If flitting coal cutting from right to left, the step 1012 transferred in memory (14) reproduces flitting coal cutting；
The automatic cut of step 203, flitting left end reproduces, and process is as follows：
Step 203a, whether coal seam left end float coal clearing times are zero after judging the working face of coal seam：Pass through controller (8)
Coal seam left end float coal number after the working face of coal seam is set, the coal seam left end float coal cleaning time after the working face of coal seam
When number is zero, the step 1001 transferred in memory (14) reproduces flitting coal cutting；Otherwise, transfer in memory (14)
Step 1014 is performed a plurality of times after step 1013 and reproduces flitting coal cutting；
Step 203b, judge whether flitting runs to the left in the preceding coal seam of the working face of coal seam：When flitting to
During left operation, the step 1002 transferred in memory (14) reproduces flitting coal cutting；Otherwise, transfer in memory (14)
Step 1003 reproduces flitting coal cutting；
Step 203c, judge whether the preceding coal seam left end float coal clearing times of the working face of coal seam are zero：Pass through controller (8)
Coal seam left end float coal number after the working face of coal seam is set, when the preceding coal seam left end float coal cleaning time of the working face of coal seam
When number is zero, the step 1005 transferred in memory (14) reproduces flitting coal cutting；When the preceding coal seam of the working face of coal seam
When left end float coal clearing times are not zero, the step 1004 transferred in memory (14) reproduces flitting coal cutting；
The automatic cut of step 204, flitting right end reproduces, and process is as follows：
Whether the preceding coal seam right end float coal clearing times for step 204a, judging the working face of coal seam are zero：Pass through controller
(8) the preceding coal seam right end float coal number of working face of coal seam is set, when the preceding coal seam right end float coal of the working face of coal seam is clear
When reason number is zero, the step 1008 transferred in memory (14) reproduces flitting coal cutting；Otherwise, memory (14) is transferred
In step 1006 after be performed a plurality of times step 1007 reproduce flitting coal cutting；
Step 204b, judge whether flitting coal seam after the working face of coal seam is run to the right：When flitting to
During right operation, the step 1009 transferred in memory (14) reproduces flitting coal cutting；Otherwise, transfer in memory (14)
Step 1010 reproduces flitting coal cutting；
Step 204c, whether coal seam right end float coal clearing times are zero after judging the working face of coal seam：Pass through controller (8)
Coal seam right end float coal number after the working face of coal seam is set, when the after coal seam right end float coal cleaning of medium-thickness seam working face
When number is zero, the step 1012 transferred in memory (14) reproduces flitting coal cutting；The coal after working face of coal seam
When layer right end float coal clearing times are not zero, the step 1011 transferred in memory (14) reproduces flitting coal cutting.
2. according to a kind of medium-thickness seam flitting teaching playback automatic cutting control method described in claim 1, it is special
Sign is：According to actual condition to any one sampling instant flitting teaching coal cutting data in step 1001 to step 1014
For, flitting is obtained after the actual mining height data of left and right rocking arm and coal-winning machine pose data at the moment, the data
Processing unit (7) is transmitted to controller (8), controller (8) after being pre-processed to data preliminary data passes through least square mode pair
Data carry out fusion treatment, and by the data storage after the sampling instant fusion treatment in memory (14), by counting in real time
The automatic cut training data storehouse of flitting is obtained according to fusion renewal.
3. according to a kind of medium-thickness seam flitting teaching playback automatic cutting control method described in claim 1, it is special
Sign is：The low level of the actual mining height of the roller of flitting is located at flitting for the roller of flitting in step 1
Position at rack rails；A high position for the actual mining height of the roller of flitting is located at roller for the roller of flitting in step 1
The position of coal mining support bracket；The middle position of the actual mining height of the roller of flitting is located at for the roller of flitting in step 1
Variable position between flitting rack rails and roller coal mining support bracket.
4. according to a kind of medium-thickness seam flitting teaching playback automatic cutting control method described in claim 2, it is special
Sign is：Controller (8) in step 1 to flitting control system described in step 2 is PLC module；Step 1 is extremely
Data processing unit (7) in flitting control system described in step 2 is filter and amplification Signal-regulated kinase；Step
Frequency-converting speed-governing control system (11) in one to flitting control system described in step 2 is explosion-proof variable frequency variable speed device；Step
Standby control interface (12) in rapid one to flitting control system described in step 2 leads to including wired or wireless data
Believe interface.
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