CN106368700A - Coal cutter teaching and reproduction automatic cutting control method for downhole thin coal seam with wind direction - Google Patents
Coal cutter teaching and reproduction automatic cutting control method for downhole thin coal seam with wind direction Download PDFInfo
- Publication number
- CN106368700A CN106368700A CN201610766561.1A CN201610766561A CN106368700A CN 106368700 A CN106368700 A CN 106368700A CN 201610766561 A CN201610766561 A CN 201610766561A CN 106368700 A CN106368700 A CN 106368700A
- Authority
- CN
- China
- Prior art keywords
- coal
- coal seam
- flitting
- working face
- seam
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000003245 coal Substances 0.000 title claims abstract description 879
- 238000005520 cutting process Methods 0.000 title claims abstract description 140
- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000008569 process Effects 0.000 claims abstract description 22
- 238000005065 mining Methods 0.000 claims description 131
- 238000012546 transfer Methods 0.000 claims description 39
- 239000002817 coal dust Substances 0.000 claims description 37
- 238000004140 cleaning Methods 0.000 claims description 28
- 238000001514 detection method Methods 0.000 claims description 28
- 238000009423 ventilation Methods 0.000 claims description 28
- 230000001105 regulatory effect Effects 0.000 claims description 17
- 238000005096 rolling process Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 13
- 230000004927 fusion Effects 0.000 claims description 9
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 7
- 238000012549 training Methods 0.000 claims description 7
- 238000011084 recovery Methods 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 6
- 230000003321 amplification Effects 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 108091000080 Phosphotransferase Proteins 0.000 claims description 2
- 238000004891 communication Methods 0.000 claims description 2
- 102000020233 phosphotransferase Human genes 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005562 fading Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Solid Fuels And Fuel-Associated Substances (AREA)
- General Factory Administration (AREA)
Abstract
The invention discloses a coal cutter teaching and reproduction automatic cutting control method for a downhole thin coal seam with the wind direction. The method comprises the following steps that firstly, a drum coal cutter automatically cuts the coal seam for teaching; and secondly, the drum coal cutter automatically cuts the coal seam for reproduction, specifically, 201, a control system of the drum coal cutter is initialized, 202, whether the drum coal cutter is located at an end or not is judged; 203, the left end of the drum coal cutter automatically cuts the coal seam for reproduction, and 204, the right end of the drum coal cutter automatically cuts the coal seam for reproduction. The cutting process of the downhole thin coal seam with the wind direction through the drum coal cutter is taught, the necessary processes of beveling cutter inlet, triangular coal cutting, float coal removing and coal cutting and collecting during advancing of the downhole thin coal seam with the wind direction are covered, manual interference is greatly reduced, the automatic coal cutting requirement of the coal cutting technique for the downhole thin coal seam with the wind direction is met, and the full-automatic control efficiency is high.
Description
Technical field
The invention belongs to coal-winning machine automatic cut control technology field is and in particular to a kind of underground thin coal seam with wind direction is adopted
Coal machine teaching playback automatic cutting control method.
Background technology
Propulsion energy revolution, building safe, green, efficient energy resource system in order has become 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 as work First Line, work under bad environment；Fully-mechanized mining working high-yield and high-efficiency, environmental protection are exploited, are reduced labor strength, carry
High safety performance, the automatization of fully-mechanized mining equipment are the objectives 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, becomes the important means of coal-winning machine automatization.But
Conventional coal-winning machine automatic cutting control method typically can only carry out automatic Memory cut in work surface straightway it is impossible to reply is multiple
Miscellaneous changeable coal cutting technique, in head and tail, then needs frequently manual intervention, and using effect is poor, single function.Cause
This, nowadays need the underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction, can be led to by teaching
Wind direction high coal dust girdle cut coal mining process from left to right, the changeable state in self adaptation down-hole, realize coal-winning machine coal cutting
The high efficiency Automatic Control of process, under normal circumstances need not any intervention, be automatically obtained middle part coal cutting, coaling, from
The dynamic feed that carries out cutting sth. askew, cut the overall processes such as Triangle Coal, clear float coal.According to real work needs, managed by menu mode, rationally set
Put operational factor, unconfined at an arbitrary position interrupt and repeat the coal cutting action of any automatization, meet direction of ventilation from left-hand
The automatization of right high coal dust girdle difference coal winning technology mines and requires.
Content of the invention
The technical problem to be solved is for above-mentioned deficiency of the prior art, provide a kind of with wind direction
Underground thin coal seam coal-winning machine teaching playback automatic cutting control method, it is novel in design rationally, and teaching direction of ventilation is from left to right
High coal dust girdle flitting cutting course, cover direction of ventilation high coal dust girdle from left to right and cut sth. askew
Feed, cut Triangle Coal, clear float coal and advance in coal cutting mine during necessary process, Automatic Control efficiency high, be easy to push away
Wide use.
For solving above-mentioned technical problem, the technical solution used in the present invention is: the underground thin coal seam coal-winning machine with wind direction shows
Religion reproduces automatic cutting control method it is characterised in that the method comprises the following steps:
The automatic cut teaching of step one, flitting: along the high coal dust girdle mine district length direction with wind direction,
It is direction of ventilation high coal dust girdle from left to right along the high coal dust girdle with wind direction, using flitting control system
Flitting is controlled to carry out slicing to the described coal seam of need exploitation from the front to the back；During slicing, to need exploit
Described working face of coal seam before and after be connected two coal seams recovery method all same；
Described flitting control system includes controller and the memorizer connecting with controller, the input of controller
It is connected to data processing unit, 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；
One round coal cutting of flitting on any two coal seams in front and back of described working face of coal seam of need exploitation is carried out certainly
During dynamic cut teaching, process is as follows:
Step 1001, the front coal seam left end of described working face of coal seam are cut sth. askew feed: determine flitting in described coal
Actual mining height on layer work surface, adjusts roll left cylinder and the right cylinder of flitting using described flitting control system
The middle position being in actual mining height on described working face of coal seam is cut sth. askew feed coal cutting；
Step 1002, cut the front coal seam left end Triangle Coal of described working face of coal seam: control by described flitting
The cylinder that rolls left of system regulating step 1001 intermediate roll coal-winning machine simultaneously rise to actual mining height on described working face of coal seam high-order and
Right cylinder drops to the front coal seam left end Triangle Coal that actual mining height low level on described working face of coal seam cuts described working face of coal seam；
Step 1003, cut the front coal seam left end ground coal of described working face of coal seam: system is controlled by described flitting
The cylinder that rolls left of system regulating step 1002 intermediate roll coal-winning machine simultaneously drops to actual mining height low level and the right side on described working face of coal seam
Cylinder rises to the front coal seam left end ground coal that actual mining height middle position on described working face of coal seam cuts described working face of coal seam；
Step 1004, the front coal seam left end float coal of the described working face of coal seam of cleaning: controlled by described flitting
System arranges the front coal seam left end float coal number of times of working face of coal seam described in cleanup step 1003, keeps a left side for flitting
Cylinder is on described working face of coal seam actual mining height low level and right cylinder is in actual mining height middle position on described working face of coal seam,
Complete the cleaning of the front coal seam left end float coal of described working face of coal seam；
Step 1005, flitting are along the front coal seam coal cutting from left to right of described working face of coal seam: described cylinder is mined
The cylinder actual mining height high position on described working face of coal seam that rolls left of flitting in machine regulating step 1004 cuts top coal, simultaneously
The right cylinder of regulation flitting actual mining height low level on described working face of coal seam cuts ground coal, and described flitting controls
System controls flitting along the front coal seam of described working face of coal seam from left end to right end coal cutting；
Step 1006, cut the front coal seam right-hand member crown coal of described working face of coal seam: system is controlled by described flitting
The right cylinder of system rate-determining steps 1005 intermediate roll coal-winning machine rises the front coal seam right-hand member crown coal cutting described working face of coal seam, and controls
The cylinder that rolls left of step 1005 intermediate roll coal-winning machine processed is in actual mining height middle position on described working face of coal seam；
Step 1007, the front coal seam right end float coal of the described working face of coal seam of cleaning: controlled by described flitting
The front coal seam right end float coal number of times of described working face of coal seam is cleared up in system setting, and the cylinder that rolls left adjusting flitting is in institute
State on working face of coal seam actual mining height middle position and right cylinder is in actual mining height low level on described working face of coal seam, complete described coal
The cleaning of the front coal seam right end float coal of layer work surface；
Step 1008, the rear coal seam right end of described working face of coal seam are cut sth. askew feed: controlled by described flitting
The right cylinder of system fading margin step 1007 intermediate roll coal-winning machine rises actual mining height middle position on feed extremely described working face of coal seam, with
When flitting the cylinder that rolls left keep actual mining height middle position on described working face of coal seam to cut sth. askew feed coal cutting；
Step 1009, cut the rear coal seam right end Triangle Coal of described working face of coal seam: control by described flitting
The cylinder that rolls left of system regulating step 1008 intermediate roll coal-winning machine simultaneously drop on described working face of coal seam actual mining height low level and
Right cylinder rises to the rear coal seam right end Triangle Coal that an actual mining height high position on described working face of coal seam cuts described working face of coal seam；
Step 1010, cut the rear coal seam right end ground coal of described working face of coal seam: system is controlled by described flitting
The cylinder that rolls left of system regulating step 1009 intermediate roll coal-winning machine simultaneously rises to actual mining height middle position and the right side on described working face of coal seam
Cylinder drops to the rear coal seam right end ground coal that actual mining height low level on described working face of coal seam cuts described working face of coal seam；
Step 1011, the rear coal seam right end float coal of the described working face of coal seam of cleaning: controlled by described flitting
System arranges the rear coal seam right end float coal number of times of working face of coal seam described in cleanup step 1010, keeps a left side for flitting
Cylinder is in actual mining height middle position on described working face of coal seam, keeps right cylinder to be in actual mining height on described working face of coal seam low
Position, completes the cleaning of the rear coal seam right end float coal of described working face of coal seam；
Step 1012, flitting are along the rear coal seam coal cutting from right to left of described working face of coal seam: by described cylinder
The cylinder that rolls left of coal-winning machine control system rate-determining steps 1011 intermediate roll coal-winning machine drops to actual mining height on described working face of coal seam
Low level, right cylinder rises to an actual mining height high position on described working face of coal seam, and operates flitting to work along described coal seam
The rear coal seam in face is from right end to left end coal cutting；
Step 1013, cut the rear coal seam left end crown coal of described working face of coal seam: system is controlled by described flitting
The cylinder that rolls left of system rate-determining steps 1012 intermediate roll coal-winning machine rises the rear coal seam left end crown coal cutting described working face of coal seam, and controls
The right cylinder of step 1012 intermediate roll coal-winning machine processed drops to actual mining height middle position on described working face of coal seam；
Step 1014, the rear coal seam left end float coal of the described working face of coal seam of cleaning: controlled by described flitting
The rear coal seam left end float coal number of times of described working face of coal seam is cleared up in system setting, and the cylinder that rolls left adjusting flitting is in institute
State on working face of coal seam actual mining height low level and right cylinder is in actual mining height middle position on described working face of coal seam, complete described coal
The cleaning of the rear coal seam left end float coal of layer work surface, completes flitting one on two coal seams before and after described working face of coal seam
Round coal cutting teaching method, on two coal seams before and after the described flitting control system described working face of coal seam of storage, cylinder is mined
The round coal cutting training data of machine；
The automatic cut of step 2, flitting reproduces: along mine district length direction, controls system using flitting
System controls flitting to carry out slicing to the described coal seam of need exploitation from the front to the back；During slicing, need are opened
The recovery method all same in two coal seams being connected before and after the described working face of coal seam adopted；
One round coal cutting of flitting on any two coal seams in front and back of working face of coal seam of need exploitation is cut automatically
When cutting reproduction, process is as follows:
Step 201, the described flitting control system of initialization: described coal is gathered by coal-winning machine pose detection module
Layer flitting location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right cylinder pitching JIAOSHEN
Number, is shaken by the left side that a pitching angular dimensions that rolls left of described coal seam flitting can determine that left rocking arm mining height detection module detection
Arm mining height data, can determine that right rocking arm mining height detection module inspection by the right cylinder pitching angular dimensions of described coal seam flitting
The right rocking arm mining height data surveyed；
Step 202, judge whether described coal seam flitting is in termination: flitting is in end when described coal seam
During head, according to the described coal seam flitting location parameter obtaining in step 201, if described coal seam flitting is in a left side
During termination, execution step 203；If described coal seam flitting is in right end, execution step 204；When the rolling of described coal seam
When cylinder coal-winning machine is not at termination, according to the described coal seam flitting direct of travel obtaining in step 201, if described coal seam
Flitting coal cutting from left to right, transfers the step 1005 in memorizer and reproduces the flitting coal cutting of described coal seam；If institute
State the coal cutting from right to left of coal seam flitting, transfer the step 1012 in memorizer and reproduce described coal seam flitting and cut
Coal；
Step 203, the automatic cut of described coal seam flitting left end reproduce, and process is as follows:
Whether step 203a, the rear coal seam left end float coal clearing times judging described working face of coal seam are zero: by control
Device processed arranges the rear coal seam left end float coal number of times of described working face of coal seam, when the after coal seam left end of described working face of coal seam is floated
When coal clearing times are zero, transfer the step 1001 in memorizer and reproduce the flitting coal cutting of described coal seam；Otherwise, transfer and deposit
Step 1014 is performed a plurality of times after step 1013 in reservoir and reproduces the flitting coal cutting of described coal seam；
Step 203b, judge whether flitting runs to the left in the front coal seam of described working face of coal seam: when described coal
When layer flitting runs to the left, transfer the step 1002 in memorizer and reproduce the flitting coal cutting of described coal seam；Otherwise,
Transfer the step 1003 in memorizer and reproduce the flitting coal cutting of described coal seam；
Whether step 203c, the front coal seam left end float coal clearing times judging described working face of coal seam are zero: by control
Device processed arranges the rear coal seam left end float coal number of times of described working face of coal seam, when the front coal seam left end of described working face of coal seam is floated
When coal clearing times are zero, transfer the step 1005 in memorizer and reproduce the flitting coal cutting of described coal seam；When described coal seam
When the front coal seam left end float coal clearing times of work surface are not zero, transfer the step 1004 in memorizer and reproduce the rolling of described coal seam
Cylinder coal-winning machine coal cutting；
Step 204, the automatic cut of described coal seam flitting right end reproduce, and process is as follows:
Whether step 204a, the front coal seam right end float coal clearing times judging described working face of coal seam are zero: by control
Device processed arranges the front coal seam right end float coal number of times of described working face of coal seam, when the front coal seam right end of described working face of coal seam is floated
When coal clearing times are zero, transfer the step 1008 in memorizer and reproduce the flitting coal cutting of described coal seam；Otherwise, transfer and deposit
Step 1007 is performed a plurality of times after step 1006 in reservoir and reproduces the flitting coal cutting of described coal seam；
Step 204b, judge whether flitting runs to the right in the rear coal seam of described working face of coal seam: when described coal
When layer flitting runs to the right, transfer the step 1009 in memorizer and reproduce the flitting coal cutting of described coal seam；Otherwise,
Transfer the step 1010 in memorizer and reproduce the flitting coal cutting of described coal seam；
Whether step 204c, the rear coal seam right end float coal clearing times judging described working face of coal seam are zero: by control
Device processed arranges the rear coal seam right end float coal number of times of described working face of coal seam, when the after coal seam right end of described working face of coal seam is floated
When coal clearing times are zero, transfer the step 1012 in memorizer and reproduce the flitting coal cutting of described coal seam；When described coal seam
When the rear coal seam right end float coal clearing times of work surface are not zero, transfer the step 1011 in memorizer and reproduce the rolling of described coal seam
Cylinder coal-winning machine coal cutting.
The above-mentioned underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction it is characterised in that: step
In rapid 1001 to step 1014 according to actual condition for any one sampling instant flitting teaching coal cutting data, obtain
Flitting after the left and right rocking arm actual mining height data and coal-winning machine pose data in this moment, described data processing unit pair
Transmit after data preliminary data pretreatment to controller, controller carries out fusion treatment by least square mode to data, and
By the data storage after this sampling instant fusion treatment in memory, renewal is merged by real time data and obtain flitting
Automatically cut training data storehouse.
The above-mentioned underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction it is characterised in that: step
The low level of the actual mining height of cylinder of a rapid intermediate roll coal-winning machine is that the cylinder of flitting is located at flitting rack rails
Position；A high position for the actual mining height of cylinder of step one intermediate roll coal-winning machine is that the cylinder of flitting is located at cylinder coal mining supporting
The position of frame；The middle position of the actual mining height of cylinder of step one intermediate roll coal-winning machine is that the cylinder of flitting is located at cylinder coal mining
Variable position between machine rack rails and cylinder coal mining support bracket.
The above-mentioned underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction it is characterised in that: step
Controller in flitting control system described in rapid one to step 2 is plc module；Step one is to described in step 2
Data processing unit in flitting control system is filter and amplification Signal-regulated kinase；Step one is to described in step 2
Frequency-converting speed-governing control system in flitting control system is explosion-proof variable frequency variable speed device；Step one is rolled to described in step 2
Standby control interface in cylinder coal-winning machine control system includes wired or RFDC interface.
The present invention compared with prior art has the advantage that
1st, the present invention is reasonable in design, method and step is rigorous, obtains data in time, input cost is low, and using flexible, function is complete
Standby.
2nd, the present invention adopt flitting teaching playback automatic cut control device easy for installation it is easy to control and intelligence
Degree can be changed high.
3rd, the present invention is directed to direction of ventilation high coal dust girdle flitting coal cutting in traveling from left to right, rolls left
Cylinder is always to maintain a high position and cuts top coal, and right cylinder is always to maintain low level and cuts ground coal, is conducive to observing upper cylinder, effectively prevents and props up
Frame is interfered；By the high coal dust girdle from left to right for direction of ventilation carry out cutting sth. askew feed, cut Triangle Coal, clear float coal and row
Enter middle coal cutting, cover necessary process during coal mining, by controller, the data in each step is merged, use
Effect is good.
4th, the present invention is novel in design rationally greatly reduces manual intervention, full-automatic degree high it is intended to by people from evil
Free in bad, dangerous downhole coal mine environment, reduce labor intensity, be easy to promote the use of.
In sum, the present invention is novel in design rationally, and teaching direction of ventilation high coal dust girdle cylinder from left to right is adopted
Coal machine cutting course, cover direction of ventilation high coal dust girdle from left to right carry out cutting sth. askew feed, cut Triangle Coal, clear float coal
With necessary process during coal cutting coal mining in traveling, greatly reduce manual intervention, meet direction of ventilation height from left to right
Coal dust girdle coal winning technology automatization mines and requires, and Automatic Control efficiency high is easy to promote the use of.
Below by drawings and Examples, technical scheme is described in further detail.
Brief description
The automatic cut control device of underground thin coal seam flitting teaching playback with wind direction that Fig. 1 adopts for the present invention
Schematic block circuit diagram.
Fig. 2 is the flow process with the underground thin coal seam flitting teaching playback automatic cutting control method of wind direction for the present invention
Block diagram.
Fig. 3 is the flow chart element with the underground thin coal seam flitting teaching automatic cutting control method of wind direction for the present invention
Figure.
Description of reference numerals:
4 left rocking arm mining height detection modules；5 right rocking arm mining height detection modules；
6 coal-winning machine pose detection modules；7 data processing units；
8 controllers；9 left rocking arms heighten valve group；10 right rocking arms heighten valve group；
11 frequency-converting speed-governing control systems；12 standby control interfaces；
13 display；14 memorizeies.
Specific embodiment
As shown in figure 1, the underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction for the present invention, including
Following steps:
The automatic cut teaching of step one, flitting: along the high coal dust girdle mine district length direction with wind direction,
It is direction of ventilation high coal dust girdle from left to right along the high coal dust girdle with wind direction, using flitting control system
Flitting is controlled to carry out slicing to the described coal seam of need exploitation from the front to the back；During slicing, to need exploit
Described working face of coal seam before and after be connected two coal seams recovery method all same；
Described flitting control system includes controller 8 and the memorizer 14 connecting 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；
One round coal cutting of flitting on any two coal seams in front and back of described working face of coal seam of need exploitation is carried out certainly
During dynamic cut teaching, process is as follows:
Step 1001, the front coal seam left end of described working face of coal seam are cut sth. askew feed: determine flitting in described coal
Actual mining height on layer work surface, adjusts roll left cylinder and the right cylinder of flitting using described flitting control system
The middle position being in actual mining height on described working face of coal seam is cut sth. askew feed coal cutting；
It should be noted that in the present embodiment, in down-hole coal cutting, bottom is provided with rack rails to flitting, and top is adopted
With hydraulic support stand, the low level of the actual mining height of cylinder of flitting is the cylinder of flitting positioned at flitting
Position at rack rails；A high position for the actual mining height of cylinder of flitting is that the cylinder of flitting is located at cylinder coal mining supporting
The position of frame；The middle position of the actual mining height of cylinder of flitting be flitting cylinder be located at flitting rack rails with
Variable position between cylinder coal mining support bracket.
The distance apart from rack rails for the cylinder of coal-winning machine on described working face of coal seam in practical operation, is set by controller 8
Threshold value and cylinder apart from the distance threshold of support bracket, the front coal seam left end of described working face of coal seam cut sth. askew feed when, it is to avoid
Left and right cylinder is contacted with rack rails or support bracket, damage equipment, adjusts left rocking arm by controller 8 and heightens valve group 9 holding coal-winning machine
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 cylinder be also at middle position.
Described coal-winning machine pose detection module 6 includes coal winning machine position detection module, fuselage inclination angle detection module, left and right
Cylinder angle of pitch detection module, described fuselage inclination angle detection module can detect inclining of coal-winning machine fuselage and work surface extending direction
Oblique angle, also can detect the inclination angle of coal-winning machine fuselage and work surface vertical direction, when coal-winning machine fuselage and work surface extending direction
Tilt angle varied amplitude larger when, illustrate that this section of coal seam waviness is larger, this position recorded by memorizer 14 and goes out characteristic number
According to fusion training data；It is normal that coal-winning machine fuselage is parallel to each other with work surface extending direction when mining, when coal-winning machine fuselage and
When the tilt angle varied amplitude of work surface vertical direction is larger, illustrate that coal-winning machine is cut sth. askew feed in this section of coal seam.
Step 1002, cut the front coal seam left end Triangle Coal of described working face of coal seam: control by described flitting
The cylinder that rolls left of system regulating step 1001 intermediate roll coal-winning machine simultaneously rise to actual mining height on described working face of coal seam high-order and
Right cylinder drops to the front coal seam left end Triangle Coal that actual mining height low level on described working face of coal seam cuts described working face of coal seam；
In the present embodiment, cut sth. askew after feed according to coal-winning machine in step 1001, coal-winning machine left end occurs and is not produced
Triangle Coal, adjusts frequency-converting speed-governing control system 11 haulage shearer cut direction of ventilation from left to right to the left by controller 8
The front coal seam left end Triangle Coal of high coal dust thin seam working surface.
Step 1003, cut the front coal seam left end ground coal of described working face of coal seam: system is controlled by described flitting
The cylinder that rolls left of system regulating step 1002 intermediate roll coal-winning machine simultaneously drops to actual mining height low level and the right side on described working face of coal seam
Cylinder rises to the front coal seam left end ground coal that actual mining height middle position on described working face of coal seam cuts described working face of coal seam；
Step 1004, the front coal seam left end float coal of the described working face of coal seam of cleaning: controlled by described flitting
System arranges the front coal seam left end float coal number of times of working face of coal seam described in cleanup step 1003, keeps a left side for flitting
Cylinder is on described working face of coal seam actual mining height low level and right cylinder is in actual mining height middle position on described working face of coal seam,
Complete the cleaning of the front coal seam left end float coal of described working face of coal seam；
It should be noted that coal-winning machine is in direction of ventilation, and float coal is cleared up in high coal dust thin seam working surface termination from left to right
The clear float coal of Shi Yici does not reach the effect of thoroughly clear float coal, needs repeatedly to be cleared up, can arrange direction of ventilation by controller 8
High coal dust thin seam working surface termination cleaning float coal number of times from left to right, general setting just can reach clear float coal twice or thrice
Effect.
Step 1005, flitting are along the front coal seam coal cutting from left to right of described working face of coal seam: described cylinder is mined
The cylinder actual mining height high position on described working face of coal seam that rolls left of flitting in machine regulating step 1004 cuts top coal, simultaneously
The right cylinder of regulation flitting actual mining height low level on described working face of coal seam cuts ground coal, and described flitting controls
System controls flitting along the front coal seam of described working face of coal seam from left end to right end coal cutting；
It should be noted that underground ventilating is limited by terrain environment, when down-hole can only be using draft type from left to right
When, because girdle coal dust is larger, observation roller height is difficult, and using the cylinder that rolls left in a high position, right cylinder cuts in the mode of low level
Coal is conducive to observing a high position and rolls left cylinder, still prevents the interference with supporting man.
When flitting is along the front coal seam coal cutting from left to right of described working face of coal seam, the cylinder that rolls left cuts top in a high position
Coal, right cylinder cuts ground coal in low level；By controller 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 front coal seam right-hand member crown coal of described working face of coal seam: system is controlled by described flitting
The right cylinder of system rate-determining steps 1005 intermediate roll coal-winning machine rises the front coal seam right-hand member crown coal cutting described working face of coal seam, and controls
The cylinder that rolls left of step 1005 intermediate roll coal-winning machine processed is in actual mining height middle position on described working face of coal seam；
In the present embodiment, ground coal is cut according to the right cylinder of step 4005 coal-winning machine to right end, right-hand member crown coal is not produced,
This right-hand member crown coal is cut in the right cylinder rising adjusting flitting, and the cylinder that rolls left of flitting is in direction of ventilation from left-hand
Actual mining height middle position on right high coal dust thin seam working surface, on the one hand cuts not by coal more than the residual of cut, on the other hand avoids
Touch with rack rails, impact is coaling or transported coal.
Step 1007, the front coal seam right end float coal of the described working face of coal seam of cleaning: controlled by described flitting
The front coal seam right end float coal number of times of described working face of coal seam is cleared up in system setting, and the cylinder that rolls left adjusting flitting is in institute
State on working face of coal seam actual mining height middle position and right cylinder is in actual mining height low level on described working face of coal seam, complete described coal
The cleaning of the front coal seam right end float coal of layer work surface；
In the present embodiment, after cleaning out the front coal seam right end float coal of described working face of coal seam, double-ended shearer one
Hilted broadsword coal cutting process to the right terminates, and described working face of coal seam one hilted broadsword coal cutting process can not comprehensively react the work of described coal seam
Face coal cutting teaching process, by the coal cutting process to the left with reference to double-ended shearer one hilted broadsword, comprehensively reacts described coal seam work
Make surface roller coal-winning machine work process, and memory storage, reproducing coal cutting for described working face of coal seam flitting provides effectively
Data refer.
Step 1008, the rear coal seam right end of described working face of coal seam are cut sth. askew feed: controlled by described flitting
The right cylinder of system fading margin step 1007 intermediate roll coal-winning machine rises actual mining height middle position on feed extremely described working face of coal seam, with
When flitting the cylinder that rolls left keep actual mining height middle position on described working face of coal seam to cut sth. askew feed coal cutting；
In the present embodiment, the rear coal seam right end of described working face of coal seam cut sth. askew feed when, it is to avoid left and right cylinder and rack rails
Or support bracket contact, damage equipment, left rocking arm is adjusted by controller 8 heighten valve group 9 and keep the cylinder that rolls left of coal-winning machine to be in
Position, by controller 8 adjust right rocking arm heighten valve group 10 keep coal-winning machine right cylinder be also at middle position, simultaneously pass through controller
The 8 control left haulage shearers of frequency-converting speed-governing control system 11 are cut sth. askew coal seam feed, and controller 8 presets feed distance, automatically
Whether identification feed distance meets requirement.
Step 1009, cut the rear coal seam right end Triangle Coal of described working face of coal seam: control by described flitting
The cylinder that rolls left of system regulating step 1008 intermediate roll coal-winning machine simultaneously drop on described working face of coal seam actual mining height low level and
Right cylinder rises to the rear coal seam right end Triangle Coal that an actual mining height high position on described working face of coal seam cuts described working face of coal seam；
In the present embodiment, cut sth. askew after feed according to coal-winning machine in step 1008, coal-winning machine right-hand member occurs and is not produced
Triangle Coal, adjusts frequency-converting speed-governing control system 11 haulage shearer cut direction of ventilation from left to right to the right by controller 8
The rear coal seam right end Triangle Coal of high coal dust thin seam working surface.
Step 1010, cut the rear coal seam right end ground coal of described working face of coal seam: system is controlled by described flitting
The cylinder that rolls left of system regulating step 1009 intermediate roll coal-winning machine simultaneously rises to actual mining height middle position and the right side on described working face of coal seam
Cylinder drops to the rear coal seam right end ground coal that actual mining height low level on described working face of coal seam cuts described working face of coal seam；
Step 1011, the rear coal seam right end float coal of the described working face of coal seam of cleaning: controlled by described flitting
System arranges the rear coal seam right end float coal number of times of working face of coal seam described in cleanup step 1010, keeps a left side for flitting
Cylinder is in actual mining height middle position on described working face of coal seam, keeps right cylinder to be in actual mining height on described working face of coal seam low
Position, completes the cleaning of the rear coal seam right end float coal of described working face of coal seam；
Step 1012, flitting are along the rear coal seam coal cutting from right to left of described working face of coal seam: by described cylinder
The cylinder that rolls left of coal-winning machine control system rate-determining steps 1011 intermediate roll coal-winning machine drops to actual mining height on described working face of coal seam
Low level, right cylinder rises to an actual mining height high position on described working face of coal seam, and operates flitting to work along described coal seam
The rear coal seam in face is from right end to left end coal cutting；
In the present embodiment, the flitting coal cutting in traveling of described coal seam, when flitting works along described coal seam
During the rear coal seam coal cutting from right to left in face, the cylinder that rolls left cuts top coal in a high position, and right cylinder cuts ground coal in low level；Adjusted by controller 8
Section frequency-converting speed-governing control system 11 to the left haulage shearer from right end to left end coal cutting.
Step 1013, cut the rear coal seam left end crown coal of described working face of coal seam: system is controlled by described flitting
The cylinder that rolls left of system rate-determining steps 1012 intermediate roll coal-winning machine rises the rear coal seam left end crown coal cutting described working face of coal seam, and controls
The right cylinder of step 1012 intermediate roll coal-winning machine processed drops to actual mining height middle position on described working face of coal seam；
In the present embodiment, march to left end and cut ground coal according to the step 4012 coal-winning machine cylinder that rolls left, left end crown coal not by
Exploitation, this left end crown coal is cut in the cylinder rising of rolling left adjusting flitting, and the right cylinder of flitting is in direction of ventilation
Actual mining height middle position on high coal dust thin seam working surface from left to right, on the one hand cuts not by coal more than the residual of cut, the opposing party
Face avoids touching with rack rails, and impact is coaling or transported coal.
Step 1014, the rear coal seam left end float coal of the described working face of coal seam of cleaning: controlled by described flitting
The rear coal seam left end float coal number of times of described working face of coal seam is cleared up in system setting, and the cylinder that rolls left adjusting flitting is in institute
State on working face of coal seam actual mining height low level and right cylinder is in actual mining height middle position on described working face of coal seam, complete described coal
The cleaning of the rear coal seam left end float coal of layer work surface, completes flitting one on two coal seams before and after described working face of coal seam
Round coal cutting teaching method, on two coal seams before and after the described flitting control system described working face of coal seam of storage, cylinder is mined
The round coal cutting training data of machine；
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, obtain flitting in the left and right rocking arm actual mining height data in this moment and coal-winning machine pose data
Afterwards, to transmitting after data preliminary data pretreatment to controller 8, controller 8 passes through least square to described data processing unit 7
Formula carries out fusion treatment to data, and by the data storage after this sampling instant fusion treatment in memory 14, by real-time
Data fusion updates and obtains flitting automatic cut training data storehouse.
The automatic cut of step 2, flitting reproduces: along mine district length direction, controls system using flitting
System controls flitting to carry out slicing to the described coal seam of need exploitation from the front to the back；During slicing, need are opened
The recovery method all same in two coal seams being connected before and after the described working face of coal seam adopted；
One round coal cutting of flitting on any two coal seams in front and back of working face of coal seam of need exploitation is cut automatically
When cutting reproduction, process is as follows:
Step 201, the described flitting control system of initialization: gathered described by coal-winning machine pose detection module 6
Coal seam flitting location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right cylinder pitching JIAOSHEN
Number, can determine that a left side for left rocking arm mining height detection module 4 detection by a pitching angular dimensions that rolls left of described coal seam flitting
Rocking arm mining height data, can determine that right rocking arm mining height detection module by the right cylinder pitching angular dimensions of described coal seam flitting
The right rocking arm mining height data of 5 detections；
Step 202, judge whether described coal seam flitting is in termination: flitting is in end when described coal seam
During head, according to the described coal seam flitting location parameter obtaining in step 201, if described coal seam flitting is in a left side
During termination, execution step 203；If described coal seam flitting is in right end, execution step 204；When the rolling of described coal seam
When cylinder coal-winning machine is not at termination, according to the described coal seam flitting direct of travel obtaining in step 201, if described coal seam
Flitting coal cutting from left to right, transfers the step 1005 in memorizer 14 and reproduces the flitting coal cutting of described coal seam；If
The flitting coal cutting from right to left of described coal seam, transfers the step 1012 in memorizer 14 and reproduces described coal seam flitting
Coal cutting；
It should be noted that when when direction of ventilation, high coal dust girdle flitting from left to right is not at termination,
According to the direction of ventilation obtaining in step 201 high coal dust girdle flitting direct of travel from left to right, if ventilation side
To high coal dust girdle flitting coal cutting from left to right from left to right, transfer the step 1005 in memorizer 14 and reproduce and lead to
The high coal dust girdle flitting coal cutting from left to right of wind direction；Determine that coal-winning machine is in work surface position and determination is adopted
Coal machine direct of travel can transfer direction of ventilation in the reservoir 14 automatic cut of high coal dust girdle flitting from left to right
Step 1005 in teaching, according to step 1005, step 1006, step 1007 ..., step 1014, step 1001, step
1002nd, step 1003, step 1004, the order of step 1005 execute circulation, reproduce direction of ventilation high coal dust from left to right thin
Flitting automatic cut in coal seam controls；
When direction of ventilation high coal dust girdle flitting from left to right is not at termination, according in step 201
The direction of ventilation obtaining high coal dust girdle flitting direct of travel from left to right, if direction of ventilation height from left to right
Coal dust girdle flitting coal cutting from right to left, the step 1012 transferred in memorizer 14 reproduces direction of ventilation from left to right
High coal dust girdle flitting coal cutting；Determine that coal-winning machine is in work surface position and determines that coal-winning machine direct of travel can
Transfer the step in the automatic cut teaching of high coal dust girdle flitting from left to right of direction of ventilation in reservoir 14
1012, according to step 1012, step 1013, step 1014, step 1001 ..., the execution of the order of step 1011, step 1012
Circulation, reproduces the direction of ventilation automatic cut of high coal dust girdle flitting from left to right and controls；Coal seam reproduced below rolling
Cylinder coal-winning machine coal cutting, by that analogy, repeats no more.
Step 203, the automatic cut of described coal seam flitting left end reproduce, and process is as follows:
Whether step 203a, the rear coal seam left end float coal clearing times judging described working face of coal seam are zero: by control
Device 8 processed arranges the rear coal seam left end float coal number of times of described working face of coal seam, when the after coal seam left end of described working face of coal seam
When float coal clearing times are zero, transfer the step 1001 in memorizer 14 and reproduce the flitting coal cutting of described coal seam；Otherwise, adjust
Step 1014 is performed a plurality of times after step 1013 in access to memory 14 and reproduces the flitting coal cutting of described coal seam；
It should be noted that at the position of termination, it is the upper of left end that controller 8 goes out herein by feed Distance Judgment
The rear coal seam of one circulation or the front coal seam of this circulation, after this, coal seam left end float coal has been cleared up, the work of execution described coal seam
The front coal seam left end in face is cut sth. askew feed；After this, the cleaning of coal seam left end float coal is not complete, in practical operation, in a fuselage
In the range of distance, coal-winning machine is travelled to and fro between and is cut the work of described coal seam at this rear coal seam left end and the position of distance of a fuselage
The rear coal seam left end ground coal in face and the rear coal seam left end float coal clearing up described working face of coal seam, until this rear coal seam left end
The rear coal seam left end float coal clearing up described working face of coal seam finishes.
Step 203b, judge whether flitting runs to the left in the front coal seam of described working face of coal seam: when described coal
When layer flitting runs to the left, transfer the step 1002 in memorizer 14 and reproduce the flitting coal cutting of described coal seam；No
Then, transfer the step 1003 in memorizer 14 and reproduce the flitting coal cutting of described coal seam；
Described flitting draws the Triangle Coal representing coal mining machine cut left end, described rolling to the left in the front coal seam of this left end
Cylinder coal-winning machine draws to the right, in the front coal seam of this left end, the ground coal representing coal mining machine cut left end.
Whether step 203c, the front coal seam left end float coal clearing times judging described working face of coal seam are zero: by control
Device 8 processed arranges the rear coal seam left end float coal number of times of described working face of coal seam, when the front coal seam left end of described working face of coal seam
When float coal clearing times are zero, transfer the step 1005 in memorizer 14 and reproduce the flitting coal cutting of described coal seam；When described
When the front coal seam left end float coal clearing times of working face of coal seam are not zero, transfer the step 1004 in memorizer 14 reproduce described
Coal seam flitting coal cutting；
Step 204, the automatic cut of described coal seam flitting right end reproduce, and process is as follows:
Whether step 204a, the front coal seam right end float coal clearing times judging described working face of coal seam are zero: by control
Device 8 processed arranges the front coal seam right end float coal number of times of described working face of coal seam, when the front coal seam right end of described working face of coal seam
When float coal clearing times are zero, transfer the step 1008 in memorizer 14 and reproduce the flitting coal cutting of described coal seam；Otherwise, adjust
Step 1007 is performed a plurality of times after step 1006 in access to memory 14 and reproduces the flitting coal cutting of described coal seam；
It should be noted that at the position of termination, it is the upper of right end that controller 8 goes out herein by feed Distance Judgment
The rear coal seam of one circulation or the front coal seam of this circulation, when this front coal seam right end float coal has been cleared up, the work of execution described coal seam
The rear coal seam right end in face is cut sth. askew feed；When this front coal seam right end float coal cleaning is not complete, in practical operation, in a fuselage
In the range of distance, coal-winning machine is travelled to and fro between and is cut the work of described coal seam at this front coal seam right end and the position of distance of a fuselage
The front coal seam right end ground coal in face and the front coal seam right end float coal clearing up described working face of coal seam, until this front coal seam right end
The front coal seam right end float coal clearing up described working face of coal seam finishes.
Step 204b, judge whether flitting runs to the right in the rear coal seam of described working face of coal seam: when described coal
When layer flitting runs to the right, transfer the step 1009 in memorizer 14 and reproduce the flitting coal cutting of described coal seam；No
Then, transfer the step 1010 in memorizer 14 and reproduce the flitting coal cutting of described coal seam；
The Triangle Coal representing coal mining machine cut right-hand member, described rolling are drawn to the right in described flitting coal seam after this right end
The ground coal representing coal mining machine cut right-hand member is drawn in cylinder coal-winning machine coal seam after this right end to the left.
Whether step 204c, the rear coal seam right end float coal clearing times judging described working face of coal seam are zero: by control
Device 8 processed arranges the rear coal seam right end float coal number of times of described working face of coal seam, when the after coal seam right end of described working face of coal seam
When float coal clearing times are zero, transfer the step 1012 in memorizer 14 and reproduce the flitting coal cutting of described coal seam；When described
When the rear coal seam right end float coal clearing times of working face of coal seam are not zero, transfer the step 1011 in memorizer 14 reproduce described
Coal seam flitting coal cutting.
In the present embodiment, the controller 8 in step one to flitting control system described in step 2 is plc mould
Block；The data processing unit 7 to flitting control system described in step 2 for the step one is filter and amplification signal condition
Module；The frequency-converting speed-governing control system 11 to flitting control system described in step 2 for the step one is adjusted for flame-proof converter
Fast device；The standby control interface 12 to flitting control system described in step 2 for the step one includes wired or wireless number
According to communication interface.
The above, be only presently preferred embodiments of the present invention, not the present invention imposed any restrictions, every according to the present invention
Any simple modification, change and equivalent structure change that technical spirit is made to above example, all still fall within skill of the present invention
In the protection domain of art scheme.
Claims (4)
1. the underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction it is characterised in that the method include with
Lower step:
Step one, flitting automatic cut teaching: along the high coal dust girdle mine district length direction with wind direction, along band
The high coal dust girdle of wind direction is direction of ventilation high coal dust girdle from left to right, is controlled using flitting control system
Flitting carries out slicing to the described coal seam of need exploitation from the front to the back；Institute during slicing, to need exploitation
The recovery method all same in two coal seams being connected before and after stating working face of coal seam；
Described flitting control system includes controller (8) and the memorizer (14) connecting 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) 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)；
One round coal cutting of flitting on any two coal seams in front and back of described working face of coal seam of need exploitation is cut automatically
When cutting teaching, process is as follows:
Step 1001, the front coal seam left end of described working face of coal seam are cut sth. askew feed: determine flitting in described coal seam work
Make the actual mining height on face, using described flitting control system adjust flitting roll left cylinder and right cylinder is all located
On described working face of coal seam, the middle position of actual mining height is cut sth. askew feed coal cutting；
Step 1002, cut the front coal seam left end Triangle Coal of described working face of coal seam: by described flitting control system
The cylinder that rolls left of regulating step 1001 intermediate roll coal-winning machine rises to that actual mining height on described working face of coal seam is high-order and right rolling simultaneously
Cylinder drops to the front coal seam left end Triangle Coal that actual mining height low level on described working face of coal seam cuts described working face of coal seam；
Step 1003, cut the front coal seam left end ground coal of described working face of coal seam: by described flitting control system with
When regulating step 1002 intermediate roll coal-winning machine the cylinder that rolls left drop to actual mining height low level and right cylinder on described working face of coal seam
Rise to the front coal seam left end ground coal that actual mining height middle position on described working face of coal seam cuts described working face of coal seam；
Step 1004, the front coal seam left end float coal of the described working face of coal seam of cleaning: by described flitting control system
Described in setting cleanup step 1003, the front coal seam left end float coal number of times of working face of coal seam, keeps the cylinder that rolls left of flitting
It is on described working face of coal seam actual mining height low level and right cylinder is in actual mining height middle position on described working face of coal seam, complete
The cleaning of the front coal seam left end float coal of described working face of coal seam；
Step 1005, flitting are along the front coal seam coal cutting from left to right of described working face of coal seam: described flitting is adjusted
The cylinder actual mining height high position on described working face of coal seam that rolls left of flitting in section step 1004 cuts top coal, adjusts simultaneously
The right cylinder of flitting actual mining height low level on described working face of coal seam cuts ground coal, described flitting control system
Control flitting along the front coal seam of described working face of coal seam from left end to right end coal cutting；
Step 1006, cut the front coal seam right-hand member crown coal of described working face of coal seam: by described flitting control system control
The right cylinder of step 1005 intermediate roll coal-winning machine processed rises the front coal seam right-hand member crown coal cutting described working face of coal seam, and controls step
The cylinder that rolls left of rapid 1005 intermediate roll coal-winning machines is in actual mining height middle position on described working face of coal seam；
Step 1007, the front coal seam right end float coal of the described working face of coal seam of cleaning: by described flitting control system
The front coal seam right end float coal number of times of described working face of coal seam is cleared up in setting, and the cylinder that rolls left adjusting flitting is in described coal
Actual mining height middle position and right cylinder is in actual mining height low level on described working face of coal seam on layer work surface, completes described coal seam work
Make the cleaning of the front coal seam right end float coal in face；
Step 1008, the rear coal seam right end of described working face of coal seam are cut sth. askew feed: by described flitting control system
The right cylinder of regulating step 1007 intermediate roll coal-winning machine rises actual mining height middle position on feed extremely described working face of coal seam, rolls simultaneously
The cylinder that rolls left of cylinder coal-winning machine keeps actual mining height middle position on described working face of coal seam to cut sth. askew feed coal cutting；
Step 1009, cut the rear coal seam right end Triangle Coal of described working face of coal seam: by described flitting control system
The cylinder that rolls left of regulating step 1008 intermediate roll coal-winning machine drops to actual mining height low level and right rolling on described working face of coal seam simultaneously
Cylinder rises to the rear coal seam right end Triangle Coal that an actual mining height high position on described working face of coal seam cuts described working face of coal seam；
Step 1010, cut the rear coal seam right end ground coal of described working face of coal seam: by described flitting control system with
When regulating step 1009 intermediate roll coal-winning machine the cylinder that rolls left rise to actual mining height middle position and right cylinder on described working face of coal seam
Drop to the rear coal seam right end ground coal that actual mining height low level on described working face of coal seam cuts described working face of coal seam；
Step 1011, the rear coal seam right end float coal of the described working face of coal seam of cleaning: by described flitting control system
Described in setting cleanup step 1010, the rear coal seam right end float coal number of times of working face of coal seam, keeps the cylinder that rolls left of flitting
It is in actual mining height middle position on described working face of coal seam, keep right cylinder to be in actual mining height low level on described working face of coal seam,
Complete the cleaning of the rear coal seam right end float coal of described working face of coal seam；
Step 1012, flitting are along the rear coal seam coal cutting from right to left of described working face of coal seam: mined by described cylinder
The cylinder that rolls left of machine control system rate-determining steps 1011 intermediate roll coal-winning machine drops to actual mining height low level on described working face of coal seam,
Right cylinder rises to an actual mining height high position on described working face of coal seam, and operates flitting along after described working face of coal seam
Coal seam is from right end to left end coal cutting；
Step 1013, cut the rear coal seam left end crown coal of described working face of coal seam: by described flitting control system control
The cylinder that rolls left of step 1012 intermediate roll coal-winning machine processed rises the rear coal seam left end crown coal cutting described working face of coal seam, and controls step
The right cylinder of rapid 1012 intermediate roll coal-winning machines drops to actual mining height middle position on described working face of coal seam；
Step 1014, the rear coal seam left end float coal of the described working face of coal seam of cleaning: by described flitting control system
The rear coal seam left end float coal number of times of described working face of coal seam is cleared up in setting, and the cylinder that rolls left adjusting flitting is in described coal
Actual mining height low level and right cylinder is in actual mining height middle position on described working face of coal seam on layer work surface, completes described coal seam work
Make the cleaning of the rear coal seam left end float coal in face, complete flitting one on two coal seams before and after described working face of coal seam and come and go
Coal cutting teaching method, flitting on two coal seams before and after the described flitting control system described working face of coal seam of storage
Round coal cutting training data；
The automatic cut of step 2, flitting reproduces: along mine district length direction, using flitting control system control
Flitting processed carries out slicing to the described coal seam of need exploitation from the front to the back；During slicing, to need exploitation
The recovery method all same in two coal seams being connected before and after described working face of coal seam；
Automatic cut is carried out again to one round coal cutting of flitting on any two coal seams in front and back of working face of coal seam of need exploitation
Now, process is as follows:
Step 201, the described flitting control system of initialization: described coal is gathered by coal-winning machine pose detection module (6)
Layer flitting location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right cylinder pitching JIAOSHEN
Number, can determine that what left rocking arm mining height detection module (4) was detected by a pitching angular dimensions that rolls left of described coal seam flitting
By the right cylinder pitching angular dimensions of described coal seam flitting, left rocking arm mining height data, can determine that right rocking arm mining height detects mould
The right rocking arm mining height data that block (5) detects；
Step 202, judge whether described coal seam flitting is in termination: flitting is in termination when described coal seam
When, according to the described coal seam flitting location parameter obtaining in step 201, if described coal seam flitting is in left end
During head, execution step 203；If described coal seam flitting is in right end, execution step 204；When described coal seam cylinder
When coal-winning machine is not at termination, according to the described coal seam flitting direct of travel obtaining in step 201, if the rolling of described coal seam
Cylinder coal-winning machine coal cutting from left to right, transfers the step 1005 in memorizer (14) and reproduces the flitting coal cutting of described coal seam；If
The flitting coal cutting from right to left of described coal seam, transfers the step 1012 in memorizer (14) and reproduces the cylinder coal mining of described coal seam
Machine cut coal；
Step 203, the automatic cut of described coal seam flitting left end reproduce, and process is as follows:
Whether step 203a, the rear coal seam left end float coal clearing times judging described working face of coal seam are zero: by controller
(8) the rear coal seam left end float coal number of times of described working face of coal seam is set, when the after coal seam left end of described working face of coal seam is floated
When coal clearing times are zero, transfer the step 1001 in memorizer (14) and reproduce the flitting coal cutting of described coal seam；Otherwise, adjust
Step 1014 is performed a plurality of times after step 1013 in access to memory (14) and reproduces the flitting coal cutting of described coal seam；
Step 203b, judge whether flitting runs to the left in the front coal seam of described working face of coal seam: when the rolling of described coal seam
When cylinder coal-winning machine runs to the left, transfer the step 1002 in memorizer (14) and reproduce the flitting coal cutting of described coal seam；Otherwise,
Transfer the step 1003 in memorizer (14) and reproduce the flitting coal cutting of described coal seam；
Whether step 203c, the front coal seam left end float coal clearing times judging described working face of coal seam are zero: by controller
(8) the rear coal seam left end float coal number of times of described working face of coal seam is set, when the front coal seam left end of described working face of coal seam is floated
When coal clearing times are zero, transfer the step 1005 in memorizer (14) and reproduce the flitting coal cutting of described coal seam；When described
When the front coal seam left end float coal clearing times of working face of coal seam are not zero, the step 1004 transferred in memorizer (14) reproduces institute
State coal seam flitting coal cutting；
Step 204, the automatic cut of described coal seam flitting right end reproduce, and process is as follows:
Whether step 204a, the front coal seam right end float coal clearing times judging described working face of coal seam are zero: by controller
(8) the front coal seam right end float coal number of times of described working face of coal seam is set, when the front coal seam right end of described working face of coal seam is floated
When coal clearing times are zero, transfer the step 1008 in memorizer (14) and reproduce the flitting coal cutting of described coal seam；Otherwise, adjust
Step 1007 is performed a plurality of times after step 1006 in access to memory (14) and reproduces the flitting coal cutting of described coal seam；
Step 204b, judge whether flitting runs to the right in the rear coal seam of described working face of coal seam: when the rolling of described coal seam
When cylinder coal-winning machine runs to the right, transfer the step 1009 in memorizer (14) and reproduce the flitting coal cutting of described coal seam；Otherwise,
Transfer the step 1010 in memorizer (14) and reproduce the flitting coal cutting of described coal seam；
Whether step 204c, the rear coal seam right end float coal clearing times judging described working face of coal seam are zero: by controller
(8) the rear coal seam right end float coal number of times of described working face of coal seam is set, when the after coal seam right end of described working face of coal seam is floated
When coal clearing times are zero, transfer the step 1012 in memorizer (14) and reproduce the flitting coal cutting of described coal seam；When described
When the rear coal seam right end float coal clearing times of working face of coal seam are not zero, the step 1011 transferred in memorizer (14) reproduces institute
State coal seam flitting coal cutting.
2. according to the underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction described in claim 1, its
It is characterised by: according to actual condition to any one sampling instant flitting teaching coal cutting number in step 1001 to step 1014
According to for, obtain flitting after the left and right rocking arm actual mining height data and coal-winning machine pose data in this moment, described number
According to processing unit (7) to transmitting after data preliminary data pretreatment to controller (8), controller (8) is by least square mode
Data is carried out with fusion treatment, and by the data storage after this sampling instant fusion treatment in memorizer (14), by real-time
Data fusion updates and obtains flitting automatic cut training data storehouse.
3. according to the underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction described in claim 1, its
It is characterised by: the low level of the actual mining height of cylinder of step one intermediate roll coal-winning machine is that the cylinder of flitting is located at cylinder coal mining
Position at machine rack rails；A high position for the actual mining height of cylinder of step one intermediate roll coal-winning machine is that the cylinder of flitting is located at rolling
The position of cylinder coal mining support bracket；The middle position of the actual mining height of cylinder of step one intermediate roll coal-winning machine is the cylinder position of flitting
Variable position between flitting rack rails and cylinder coal mining support bracket.
4. according to the underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction described in claim 2, its
It is characterised by: the controller (8) in step one to flitting control system described in step 2 is plc module；Step one
Data processing unit (7) to flitting control system described in step 2 is filter and amplification Signal-regulated kinase；Step
Frequency-converting speed-governing control system (11) in flitting control system described in rapid one to step 2 is explosion-proof variable frequency variable speed device；
The standby control interface (12) to flitting control system described in step 2 for the step one includes wired or wireless data
Communication interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610766561.1A CN106368700B (en) | 2016-08-30 | 2016-08-30 | Underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610766561.1A CN106368700B (en) | 2016-08-30 | 2016-08-30 | Underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106368700A true CN106368700A (en) | 2017-02-01 |
| CN106368700B CN106368700B (en) | 2018-03-09 |
Family
ID=57901357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610766561.1A Active CN106368700B (en) | 2016-08-30 | 2016-08-30 | Underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106368700B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020144631A1 (en) * | 1998-07-20 | 2002-10-10 | The University Of Wyoming Research Corporation D/B/A Western Research Institute | Method of producing a coal combustion ash composition |
| CN201812181U (en) * | 2010-08-11 | 2011-04-27 | 西安煤矿机械有限公司 | Electric braking control device for large-inclination angle coal cutter |
| CN202001015U (en) * | 2011-03-25 | 2011-10-05 | 西安煤矿机械有限公司 | Coal mining height monitoring system of coal mining machine |
| CN102926770A (en) * | 2012-11-08 | 2013-02-13 | 中国神华能源股份有限公司 | Underground draining and grouting process in thin bedrock and thick loose sand layer rich water areas |
-
2016
- 2016-08-30 CN CN201610766561.1A patent/CN106368700B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020144631A1 (en) * | 1998-07-20 | 2002-10-10 | The University Of Wyoming Research Corporation D/B/A Western Research Institute | Method of producing a coal combustion ash composition |
| US20030188668A1 (en) * | 1998-07-20 | 2003-10-09 | The University Of Wyoming Research Corporation | Stable consolidated combustion ash material |
| CN201812181U (en) * | 2010-08-11 | 2011-04-27 | 西安煤矿机械有限公司 | Electric braking control device for large-inclination angle coal cutter |
| CN202001015U (en) * | 2011-03-25 | 2011-10-05 | 西安煤矿机械有限公司 | Coal mining height monitoring system of coal mining machine |
| CN102926770A (en) * | 2012-11-08 | 2013-02-13 | 中国神华能源股份有限公司 | Underground draining and grouting process in thin bedrock and thick loose sand layer rich water areas |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106368700B (en) | 2018-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103216233B (en) | Method for identifying coal-rock interface of thin coal seam and automatically heightening roller | |
| CN108150172A (en) | A kind of single method of mining coal from heavy pitch thick coal seam | |
| CN109113741A (en) | Automatic coal discharge control system based on video monitor image recognition | |
| CN111364993B (en) | Coal caving method based on coal seam geographic information system | |
| CN105525939A (en) | Dry type filtration dust removal system for roadway driving working face | |
| WO2023116103A1 (en) | Automatic cutting method with reduced sensors and no teaching for shearer in intelligent fully-mechanized mining face | |
| CN103256064A (en) | Top coal caving hydraulic support intelligent control coal caving method | |
| CN104265291A (en) | Comprehensive mechanized coal mining method of steeply inclined and extremely thick coal seam planing conveyor | |
| CN108490812A (en) | Coalcutter intelligence control system and method | |
| CN102031972B (en) | L-shaped mining method under open-underground mining | |
| CN106194183B (en) | High coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction | |
| CN116736809A (en) | Linkage control system of working face equipment based on ambient pressure sensing | |
| CN116927780A (en) | Three-machine cooperative control method for fully mechanized mining face | |
| CN106150498B (en) | Low coal dust girdle flitting teaching playback automatic cutting control method | |
| CN106150497B (en) | A kind of medium-thickness seam flitting teaching playback automatic cutting control method | |
| CN109209504B (en) | Programmable automatic machine following method for upper computer | |
| CN105201508A (en) | Backstoping method for continuous miner under hard roof condition of thick coal seam | |
| CN106368700B (en) | Underground thin coal seam coal-winning machine teaching playback automatic cutting control method with wind direction | |
| CN206888979U (en) | One kind pick coal machine and its automatic dustfall device | |
| CN106321097B (en) | A kind of flitting teaching playback automatic cutting control method | |
| CN104612690A (en) | Strip-shaped drilling type coal mining method for steep inclined thin coal seam | |
| CN201857996U (en) | Coal face advance rate monitoring device | |
| CN206329337U (en) | The coal mining system of half-edge coal seam | |
| CN102828763B (en) | Hydraulic support automatic control system with memory function on fully mechanized coal face | |
| CN204827445U (en) | Tail system gathers at large mining height fully -mechanized working face end |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |