CN112554879A - Automatic positioning cutting system and method for coal mine heading machine - Google Patents
Automatic positioning cutting system and method for coal mine heading machine Download PDFInfo
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- CN112554879A CN112554879A CN202011554356.1A CN202011554356A CN112554879A CN 112554879 A CN112554879 A CN 112554879A CN 202011554356 A CN202011554356 A CN 202011554356A CN 112554879 A CN112554879 A CN 112554879A
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- 238000005520 cutting process Methods 0.000 title claims abstract description 171
- 239000003245 coal Substances 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 claims description 16
- 230000007704 transition Effects 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 4
- 230000000712 assembly Effects 0.000 abstract 1
- 238000000429 assembly Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 6
- 230000005641 tunneling Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- 238000007493 shaping process Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/08—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for adjusting parts of the machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/10—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for slewing parts of the machines
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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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- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
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- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention relates to an automatic positioning cutting system and method of a coal mine development machine, wherein the system comprises a front frame, a rotary table and a cutting arm, the rotary table is rotatably arranged on the front frame in a fixed shaft mode, one end of the cutting arm is hinged with the rotary table, the cutting arm swings up and down around the hinged part under the telescopic driving of a lifting oil cylinder, a rotary measuring assembly is arranged at a rotating shaft of the rotary table, a lifting measuring assembly is arranged at the hinged part of the cutting arm and the rotary table, and detection signals of the two assemblies are transmitted to a control center of the coal mine development machine; the method comprises the steps that a control center calculates a bow-shaped preset motion track from horizontal forward to vertical upward, horizontal reverse to vertical upward according to preset parameters to a theoretical end point of a roadway working surface in a circulating reciprocating mode, and controls a cutting head to act according to the track, and a control program can be started and stopped at any position in the roadway working surface. The development machine can complete automatic cutting operation according to the set width and height parameters of the roadway working face and the initial position information of the cutting head.
Description
Technical Field
The invention relates to a cutting system of a heading machine and an automatic positioning cutting method realized by adopting the system, which can automatically finish a laneway cutting task according to a set numerical value and is mainly used on the heading machine for a coal mine.
Background
Along with the rapid development of industry and economy, the demand for energy is increasing, and the coal industry is used as the main supporting industry of national economy in China and is the guarantee of national economy and social development. How to rapidly and efficiently excavate the required roadway has important significance for realizing the mechanized process of the coal mine. The construction of the working face of the existing underground tunneling roadway is developed towards the direction of safety, high efficiency and high comfort, and the traditional tunneling machine can realize mechanical construction in the process of the tunneling machine, but needs people to operate and control. Because the entry driving machine is when the actual work, the dust that the cutting coal wall produced and other abominable operational environment can seriously influence the accuracy that the operative handle controlled equipment, consequently leads to easily cutting the section shaping quality poor, takes place casualties accident even easily.
Disclosure of Invention
The invention aims to provide an automatic positioning cutting system and method of a heading machine for a coal mine, which can master and control the position of a cutting head in real time, so that the heading machine can complete automatic cutting operation according to the set width and height parameters of a roadway working face, the initial position of the cutting head and other information.
The main technical scheme of the invention is as follows:
an automatic positioning cutting system of a tunneling machine for coal mines comprises a front frame, a rotary table and a cutting arm, wherein a fixed shaft of the rotary table is rotatably arranged on the front frame, the rotary axis of the rotary table extends along the vertical direction, one end of the cutting arm is hinged with the rotary table, the hinge axis extends horizontally from left to right, a cutting head is arranged on the cutting arm, a lifting oil cylinder is connected and installed between the middle part of the cutting arm and the rotary table, the cutting arm swings up and down around the hinge axis under the telescopic driving of the lifting oil cylinder, a rotary measuring component for measuring the horizontal rotation angle of the rotary table relative to the front frame is arranged at the rotating shaft of the rotary table, a lifting measuring component for measuring the vertical swing angle of the cutting arm relative to the rotary table is arranged at the articulated shaft of the cutting arm and the rotary table, and the detection signal output ends of the rotation measurement assembly and the lifting measurement assembly are connected to a control center of the coal mine heading machine.
The rotary measuring component can comprise a first fixing seat and a first encoder, the first fixing seat is fixedly installed on the front frame, the first encoder is fixedly installed on the first fixing seat, and the rotary table is coaxially connected with an encoder shaft of the first encoder through a connecting shaft.
The connecting shaft is preferably made of a steel flexible shaft.
The connecting shaft can further adopt a steel wire braided flexible shaft.
The lift measuring subassembly can include second fixing base, second encoder, pendulum rod and transitional coupling piece, second fixing base fixed mounting be in on the revolving platform, second encoder fixed mounting is on the second fixing base, and the second encoder with the articulated shaft is coaxial, the encoder axle fixed connection of the relative second encoder of transitional coupling piece, transitional coupling piece includes the transitional coupling piece main part and is located the linking arm at transitional coupling piece main part edge, under the mounted state the linking arm is along the radial outside extension of second encoder, an end fixing of pendulum rod is in on the cutting arm, another tip is along the radial direction and the linking arm fixed connection of second encoder.
And one end of the connecting arm connected with the transition connecting sheet main body is provided with an S-shaped bending structure, and the height direction of the S shape is consistent with the axial direction of the second encoder.
The first encoder and the second encoder preferably employ single-turn absolute value encoders.
The automatic positioning and cutting method of the coal mine heading machine is characterized in that the automatic positioning and cutting system of the coal mine heading machine is adopted to control a cutting head to act according to a preset motion track, the preset motion track is a bow-shaped path formed by taking the actual initial position of the cutting head before cutting as a starting point, circularly reciprocating the cutting head to the theoretical end point of a roadway working face according to the sequence of horizontal forward direction, vertical upward, horizontal reverse direction and vertical upward, the horizontal forward direction and the horizontal reverse direction respectively refer to the horizontal direction gradually approaching to and far away from the theoretical end point of the roadway working face, the theoretical end point of the roadway working face is an angular point of the roadway working face, the point diagonal to the theoretical end point of the roadway working face is the theoretical starting point of the roadway working face, and the theoretical starting point of the roadway working face is lower than the theoretical end point.
Further, the control center calculates the preset motion track of the cutting head according to preset parameters, the preset parameters comprise the position of a theoretical starting point or an end point of the roadway working surface, the height and the width of the roadway working surface, a cutting step distance value, the height value of the cutting head and an actual initial position of the cutting head before cutting, a vertical upward stroke is equal to the cutting step distance value, the horizontal distance between the theoretical starting point and the theoretical end point of the roadway working surface is equal to the width of the roadway working surface, the vertical distance is equal to the height of the roadway working surface, a horizontal forward end point is aligned with the theoretical end point of the roadway working surface in the vertical direction, a horizontal reverse end point is aligned with the theoretical starting point of the roadway working surface in the vertical direction, and the cutting head stops after moving to the theoretical end point of the roadway working surface.
Furthermore, in the cutting process, the control center monitors the load of a cutting motor on the cutting head in real time, when the actual measurement load of the cutting motor exceeds a set upper limit, the control center reduces the rotating speed of the rotary table and the telescopic speed of the lifting oil cylinder, and when the actual measurement load of the cutting motor is lower than a set lower limit, the control center increases the rotating speed of the rotary table and the telescopic speed of the lifting oil cylinder.
The invention has the beneficial effects that:
the positioning cutting method has strong adaptability, can freely set the tunnel parameters, can automatically complete the operation task according to the set numerical value by the tunneling machine, adopts the automatic tunneling machine to cut the section, improves the cutting efficiency and ensures the safety and stability of the construction process. And the roadway forming quality is good, the labor cost is saved, workers can operate in a long distance, and the working environment of the workers is greatly improved.
By arranging the rotation measuring assembly and the lifting measuring assembly, the one-to-one corresponding relation between the combination of the rotation angle of the rotary table and the length of the lifting oil cylinder and the spatial position of the cutting head is accurately quantized, and the quantized corresponding relation can be conveniently called by a control center of the heading machine and used as a basis for controlling the cutting arm to move. The positioning cutting system provides basic equipment conditions for implementing the positioning cutting method.
The connecting shaft is preferably made of steel, and due to the flexible characteristic of the flexible shaft, even if the heading machine generates slight deformation in operation or the butt joint installation of related part structures is not very accurate, the connecting shaft is slightly bent to a certain degree, but the connecting shaft is not broken and damaged, the excessive abrasion of a bearing at the rotary position and the generation of unnecessary gaps due to abrasion can be prevented, so that the reliability and the service life of the rotary measuring assembly are improved.
In the process of positioning cutting, the load of the cutting motor is monitored in real time, when the load is large, the movement speed of the cutting head is reduced, the cutting motor is protected, otherwise, the movement speed of the cutting head is improved, and the cutting efficiency is improved.
The invention can complete the cutting of a certain section of the roadway under the condition that the machine body of the heading machine is fixed, and if the invention can be matched with the mature automatic advancing and positioning technology of the heading machine, unmanned cutting can be carried out according to the preset section, azimuth angle and the like of the roadway.
Drawings
FIG. 1 is a schematic structural view of a coal mine heading machine;
FIG. 2 is a schematic structural view of one embodiment of the gyration measurement assembly;
FIG. 3 is a schematic structural view of one embodiment of the lift measurement assembly;
fig. 4 is a schematic diagram of the automatic positioning cutting track.
Reference numerals:
1. a front frame; 2. a turntable; 3. a cutting arm; 4. a lift cylinder; 5. a cutting head; 6. a gyration measurement assembly; 61. a first fixed seat; 62. a first encoder; 63. a connecting shaft; 7. a lift measurement assembly; 71. a second fixed seat; 72. a second encoder; 73. a swing rod; 74. a transition connecting piece.
Detailed Description
The invention discloses an automatic positioning cutting system (which can be called as cutting system for short) of a heading machine for coal mines, which comprises a front frame 1, a rotary table 2 and a cutting arm 3, wherein the rotary table is rotatably arranged on the front frame in a fixed shaft mode, and the rotary axis of the rotary table extends in the vertical direction. One end of the cutting arm is hinged with the rotary table, and the hinge axis extends horizontally from left to right. And the cutting arm is provided with a cutting head 5. And a lifting oil cylinder 4 is connected and installed between the middle part of the cutting arm and the rotary table, and the cutting arm swings up and down around the hinge axis under the telescopic driving of the lifting oil cylinder. The lifting oil cylinder stretches and retracts to change the heights of the cutting arm and the cutting head, and the rotary table horizontally rotates to change the horizontal positions of the cutting arm and the cutting head. The rotary measuring device is characterized in that a rotary measuring assembly 6 used for measuring the horizontal rotation angle of the rotary table relative to a front frame is arranged at a rotating shaft of the rotary table, a lifting measuring assembly 7 used for measuring the vertical swing angle of the cutting arm relative to the rotary table is arranged at a hinged shaft of the cutting arm and the rotary table, and the detection signal output ends of the rotary measuring assembly and the lifting measuring assembly are connected to a control center of the coal mine heading machine. The combination of the rotation angle of the rotary table and the length of the lifting oil cylinder has one-to-one correspondence with the spatial position of the cutting head. The stroke control center can calculate the height (taking the track surface B of the heading machine, namely the joint surface of the track and the ground as the reference) and the horizontal distance (taking the axis of the rotary table of the heading machine as the reference) of the cutting arm according to the detection results of the rotation measuring assembly and the lifting measuring assembly, and the height is also equal to the spatial position of the cutting head, which is the basis for realizing the positioning control of the cutting arm. The control center sends a control command to control the rotary table to rotate by a certain angle in a certain direction and control the lifting oil cylinder to stretch by a certain distance, so that the cutting head can be moved to any space position within a stroke allowable range, and therefore, the automatic control of the motion track of the cutting head can be realized, and the 'automatic positioning cutting' is realized. The rotary measuring assembly and the lifting measuring assembly feed back the horizontal rotation angle of the rotary table and the vertical swing angle of the lifting oil cylinder to the control center, which is equivalent to feeding back the actual position of the cutting head to the control center, so that the control center can finely adjust and correct the position of the cutting head, and the positioning precision of 'automatic positioning cutting' is improved.
Furthermore, the detection signal output ends of the rotation measurement assembly and the lifting measurement assembly are connected with the sensing data input end of a sensing center, and the sensing center is connected with the control center of the coal mine heading machine through a bus. The sensing center integrates all sensor data and then sends the data to the outside, and the gathering and transferring functions are achieved.
In this embodiment, the rotation measuring assembly 6 includes a first fixing seat 61 and a first encoder 62, the first fixing seat is fixedly mounted on the front frame, the first encoder is fixedly mounted on the first fixing seat, and the rotary table and an encoder shaft of the first encoder are coaxially connected through a connecting shaft 63. The coded disc of the first encoder and the first fixed seat are fixed relative to the front frame, and the connecting shaft synchronously rotates along with the rotary table. The connecting shaft and the first encoder are matched to measure the horizontal rotation angle of the rotary table, namely the horizontal included angle of the cutting arm and the cutting head in the running state is measured.
The connecting shaft is preferably a steel flexible shaft. The connecting shaft may be directly connected to the encoder shaft. Due to the flexible characteristic of the flexible shaft, even if the heading machine generates slight deformation in operation or the butt joint installation of related part structures is not very accurate, the connecting shaft is slightly bent to a certain degree, the connecting shaft is not broken or damaged, and the bearing at the rotary position can be prevented from being excessively worn and generating unnecessary gaps due to wear.
Furthermore, the connecting shaft preferably adopts a steel wire braided flexible shaft, and the material can be carbon steel.
The lifting measuring assembly 7 may include a second fixing seat 71, a second encoder 72, a swing rod 73 and a transition connecting piece 74, the second fixing seat is fixedly mounted on the rotary table, the second encoder is fixedly mounted on the second fixing seat, and the second encoder is coaxial with the hinge shaft. The transition connecting piece is fixedly connected with the encoder shaft of the second encoder. The transition connecting piece comprises a transition connecting piece main body and a connecting arm positioned at the edge of the transition connecting piece main body, and the connecting arm extends outwards along the radial direction of the second encoder in the mounting state. One end part of the swing rod is fixed on the cutting arm, and the other end part of the swing rod is fixedly connected with the connecting arm along the radial direction of the second encoder. The coded disc and the second fixing seat of the second encoder are fixed relative to the rotary table, the oscillating bar and the transition connecting sheet synchronously swing along with the cutting arm, and the oscillating bar, the transition connecting sheet and the second encoder are matched to measure the vertical included angle of the cutting arm, namely the height of the cutting head in the running state is measured.
The transition connecting sheet is made of metal sheets. Furthermore, one end of the connecting arm connected with the transition connecting sheet main body is provided with an S-shaped bending structure, and the height direction of the S shape is consistent with the axial direction of the second encoder. The S-shaped bending structure enables the connection structure of the swing rod, the transition connecting sheet and the second encoder to have certain elasticity, and the transition connecting sheet can be protected from being easily broken. The connecting arm may be provided with a plurality of elongated holes, and a length direction of the elongated holes is arranged along a radial direction of the second encoder. The swing rod and the connecting arm can be fixed through screws. The connecting point of the swing rod and the connecting arm can be adjusted within the range of the elongated hole in a small amplitude.
In this embodiment, a pair of hinged ear seats for mounting the cutting arm is vertically arranged on the revolving platform, and the second fixing seat is mounted on one of the hinged ear seats and located on the inner side of the hinged ear seat.
According to specific installation requirements, the first encoder and the second encoder can be solid shaft encoders or hollow shaft encoders.
In this embodiment, the first encoder and the second encoder preferably employ a single-turn absolute value 14-bit encoder, and the encoder converts the angular displacement data into SSI format data. The single-turn absolute value encoder is adopted, interference resistance is realized, memory is not needed, a reference point is not needed to be found, and counting is not needed all the time, so that the method is simple and reliable.
The invention also discloses an automatic positioning cutting method of the coal mine development machine, the automatic positioning cutting system of the coal mine development machine is adopted to control the cutting head to move according to the preset motion track after being started, and the cutting head stops after the preset motion track is completed. As shown in fig. 4, the preset motion trajectory is a zigzag path formed by taking an actual initial position D of the cutting head before cutting as a starting point and circularly reciprocating in the sequence of horizontal forward direction, vertical upward, horizontal reverse direction and vertical upward until the theoretical end point C of the roadway working surface. The horizontal forward direction and the horizontal backward direction refer to horizontal directions gradually approaching and departing from a theoretical end point of a roadway working surface, respectively, and in the view angle of fig. 4, the horizontal forward direction is a rightward direction and the horizontal backward direction is a leftward direction. The process of horizontal forward and horizontal reverse can be called horizontal cutting a, and the process of vertical upward can be called upward cutting b. The theoretical end point C of the roadway working face is an angular point of the roadway working face, and a point which is diagonal to the theoretical end point of the roadway working face is a theoretical starting point A of the roadway working face. The theoretical starting point of the roadway working surface is lower than the theoretical end point.
The actual initial position D of the cutting head can be any position in the whole section area of the roadway working surface, and when D is superposed with A, the cutting head acts according to a preset motion track to cut the whole section of the roadway. The method of the invention allows the cutting head to start positioning cutting from any position in the whole section area of the roadway working face, so that the method can adapt to the conditions of complex underground conditions, inconsistent geological conditions, faults or irregular rocks possibly appearing on one working face and the like, when an area which is not needed or is not suitable for cutting is met, the current positioning cutting program is only needed to be stopped firstly, the cutting head is moved to a new starting point which can start the positioning cutting program through manual remote operation, the position information of the point is used for redefining the position of a D point, the positioning cutting program is started again, and the cutting arm is controlled to act according to the preset motion track recalculated by the new position of the D point under the condition that the machine body is not moved, so as to continue to finish subsequent cutting operation.
The control center calculates the preset motion track of the cutting head according to preset parameters. The preset parameters comprise the position of a theoretical starting point (or a terminal point) of the roadway working surface, the height and the width of the roadway working surface, an upper cutting step distance value, a height value of the cutting head and an actual initial position of the cutting head before cutting. The horizontal distance between the theoretical starting point and the theoretical end point of the roadway working surface is equal to the width of the roadway working surface, and the vertical distance is equal to the height of the roadway working surface, so that the position of the theoretical starting point of the roadway working surface can be calculated according to the height and the width of the roadway working surface and knowing the position of the theoretical starting point of the roadway working surface, and vice versa, and therefore, one of the positions of the theoretical starting point and the theoretical end point of the roadway working surface can be set.
The vertical upward travel is equal to the upper cutting step distance value. The horizontal forward end point is aligned with the theoretical end point of the roadway working surface in the vertical direction, and the horizontal reverse end point is aligned with the theoretical starting point of the roadway working surface in the vertical direction, so that the end points of each section of horizontal cutting a and upper cutting b can be obtained by calculation after the positions of the theoretical starting point and the end point of the roadway working surface are known. And the cutting head stops after moving to the theoretical end point of the roadway working surface, and cutting of one section of the roadway working surface is completed. And the control center also records the actual running track of the cutting head according to the information obtained by actual measurement.
The lifting oil cylinder is fixed, and the rotary table horizontally rotates a certain angle towards one direction to realize horizontal cutting; the rotary table is fixed, and the lifting oil cylinder extends for a certain distance to lift the cutting arm for a certain height, so that the upward cutting is realized.
Furthermore, in the cutting process, the control center preferably monitors the load of the cutting motor on the cutting head in real time, and when the actually measured load of the cutting motor exceeds a set upper limit, the control center moderately reduces the rotating speed of the turntable and the telescopic speed of the lifting oil cylinder, for example, when the cutting motor is overloaded due to hard geology or other reasons, the moving speed of the cutting head is reduced, so that the cutting motor can be protected to a certain extent; when the actual measurement load of the cutting motor is lower than the set lower limit, the control center moderately increases the rotating speed of the rotary table and the telescopic speed of the lifting oil cylinder, for example, when the geology is soft, and the load of the cutting motor is light, the cutting efficiency can be improved by improving the moving speed of the cutting head.
The terms front-back, left-right, and left-right herein refer to the left-right direction from the perspective of fig. 1 and the outward and inward directions, respectively, perpendicular to the plane of the paper.
Claims (10)
1. The utility model provides a tunneller automatic positioning cutting system for coal mine which characterized in that: comprises a front frame, a rotary table and a cutting arm, wherein the fixed shaft of the rotary table is rotatably arranged on the front frame, the rotary axis of the rotary table extends along the vertical direction, one end of the cutting arm is hinged with the rotary table, the hinge axis extends horizontally from left to right, a cutting head is arranged on the cutting arm, a lifting oil cylinder is connected and installed between the middle part of the cutting arm and the rotary table, the cutting arm swings up and down around the hinge axis under the telescopic driving of the lifting oil cylinder, a rotary measuring component for measuring the horizontal rotation angle of the rotary table relative to the front frame is arranged at the rotating shaft of the rotary table, a lifting measuring component for measuring the vertical swing angle of the cutting arm relative to the rotary table is arranged at the articulated shaft of the cutting arm and the rotary table, and the detection signal output ends of the rotation measurement assembly and the lifting measurement assembly are connected to a control center of the coal mine heading machine.
2. The automatic positioning and cutting system of the coal mine heading machine according to claim 1, wherein: the rotary measuring assembly comprises a first fixing seat and a first encoder, the first fixing seat is fixedly installed on the front frame, the first encoder is fixedly installed on the first fixing seat, and the rotary table is coaxially connected with an encoder shaft of the first encoder through a connecting shaft.
3. The automatic positioning and cutting system of the coal mine heading machine according to claim 2, wherein: the connecting shaft is a steel flexible shaft.
4. A coal mine entry driving machine automatic positioning cutting system according to claim 3, characterized in that: the connecting shaft adopts a steel wire woven flexible shaft.
5. An automatic positioning and cutting system for a coal mine heading machine according to claim 1, 2, 3 or 4 and characterized in that: the lift measuring subassembly includes second fixing base, second encoder, pendulum rod and transitional coupling piece, second fixing base fixed mounting be in on the revolving platform, second encoder fixed mounting is on the second fixing base, and the second encoder with the articulated shaft is coaxial, the encoder axle fixed connection of the relative second encoder of transitional coupling piece, transitional coupling piece includes the transitional coupling piece main part and is located the linking arm at transitional coupling piece main part edge, under the mounted state the linking arm is along the radial outside extension of second encoder, an end fixing of pendulum rod is in on the cutting arm, another tip is along the radial direction and the linking arm fixed connection of second encoder.
6. An automatic positioning and cutting system of a coal mine heading machine according to claim 5, wherein: and one end of the connecting arm connected with the transition connecting sheet main body is provided with an S-shaped bending structure, and the height direction of the S shape is consistent with the axial direction of the second encoder.
7. An automatic positioning and cutting system of a coal mine heading machine according to claim 5, wherein: the first encoder and the second encoder adopt single-turn absolute value encoders.
8. An automatic positioning cutting method of a coal mine heading machine is characterized by comprising the following steps: the automatic positioning cutting system of the coal mine heading machine according to claim 1, 2, 3, 4, 5, 6 or 7 is adopted to control the cutting head to act according to a preset motion track, the preset motion track is a bow-shaped path formed by circularly reciprocating the actual initial position of the cutting head before cutting to the position of the theoretical endpoint of the roadway working face according to the sequence of horizontal forward direction, vertical upward, horizontal reverse direction and vertical upward, the horizontal forward direction and the horizontal reverse direction respectively refer to the horizontal direction gradually approaching to and departing from the theoretical endpoint of the roadway working face, the theoretical endpoint of the roadway working face is an angular point of the roadway working face, a point diagonal to the theoretical endpoint of the roadway working face is the theoretical starting point of the roadway working face, and the theoretical starting point of the roadway working face is lower than the theoretical endpoint.
9. The automatic positioning and cutting method of the coal mine heading machine according to claim 8, characterized in that: the control center calculates the preset motion track of the cutting head according to preset parameters, the preset parameters comprise the position of a theoretical starting point or an end point of a roadway working surface, the height and the width of the roadway working surface, a cutting step pitch value, the height value of the cutting head and an actual initial position of the cutting head before cutting, the vertical upward stroke is equal to the cutting step pitch value, the horizontal distance between the theoretical starting point and the theoretical end point of the roadway working surface is equal to the width of the roadway working surface, the vertical distance is equal to the height of the roadway working surface, the horizontal forward end point is aligned with the theoretical end point of the roadway working surface in the vertical direction, the horizontal reverse end point is aligned with the theoretical starting point of the roadway working surface in the vertical direction, and the cutting head stops after moving to the theoretical end point of the roadway working surface.
10. An automatic positioning and cutting method for a coal mine heading machine according to claim 9, wherein: in the cutting process, the control center monitors the load of a cutting motor on the cutting head in real time, when the actual measurement load of the cutting motor exceeds a set upper limit, the control center reduces the rotating speed of the rotary table and the telescopic speed of the lifting oil cylinder, and when the actual measurement load of the cutting motor is lower than a set lower limit, the control center increases the rotating speed of the rotary table and the telescopic speed of the lifting oil cylinder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011554356.1A CN112554879A (en) | 2020-12-24 | 2020-12-24 | Automatic positioning cutting system and method for coal mine heading machine |
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| CN202011554356.1A CN112554879A (en) | 2020-12-24 | 2020-12-24 | Automatic positioning cutting system and method for coal mine heading machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113282053A (en) * | 2021-06-04 | 2021-08-20 | 山东拓新电气有限公司 | Automatic cutting control system of boom-type heading machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113282053A (en) * | 2021-06-04 | 2021-08-20 | 山东拓新电气有限公司 | Automatic cutting control system of boom-type heading machine |
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