SU1523661A1 - Method of controlling a stoping set - Google Patents

Abstract

The invention relates to mining and is intended to automate the management of purification complexes by controlling and controlling the position of the elements of the complex. The purpose of the invention is to increase the reliability of control by predicting and parrying collisions of the executive bodies of the combine with the upper / B / lining sections. A fixed three-dimensional coordinate system is used to determine the position in space. In the lining sections and the upper actuator of the combine. With the help of sensors, the angles of inclination of the hydraulic jacks are taken to advance the lining sections, hydraulic posts, B, and the bases of the lining sections, the conveyor pans. By knowing the structural dimensions and angles of the elements of the complex and measuring the extension of the rods of hydraulic rails, the coordinates of the curvature of the cutting body of the executive body and the corresponding point B close to the face are determined by the entire length of the lava. According to these coordinates, the executive body collides with B. the lining section is moved away from the bottom. After passing by the executive body of the combine, this section is supported in its original position. The complex is controlled by a main and drift control unit consisting of sensors for measuring the angles and movements of the microcomputer and the electrohydraulic valves of the hydraulic legs and shifters of hydraulic jacks. The microcomputers, using a well-known program, determine the coordinates of the cut-down points for cutting the roof and the downhole points B, and issue control signals to the electro-valves for shifting the lining. 5 il.

Description

The invention relates to the automation of the management of the sewage treatment complexes in the mining industry, and especially to methods for the automated control of the mutual spatial position of the elements of the sewage treatment complex and the automated control of the movement of the complex in the plane of the coal seam.

The aim of the invention is to increase reliability by predicting and countering collisions of the executive bodies of the combine with the top of the lining sections.

Control of the shearer is throttled by monitoring the position of the elements of the complex in the strike direction of the formation and in the profile plane

reservoir. But this applies a three-dimensional coordinate system, which allows to compare the location of the rides relative to each other of the top supports and the executive bodies of the combine. At the same time, due to changes in the mining and geological and mining conditions of the sewage treatment plants, as they move, angular deviations occur, different on each excavation cycle and different gp of the base of the lining section, upper section, and lining, hydraulic rails and hydraulic jacks of the advancement, reshtak conveyor belt Measurement of these angular parameters, as well as the magnitude of the winds of the rods of the jack of the advancing and hydroresistance of the lining sections, allows accurate measurement both along the length of the lava and on advancing the position of the top of each section of the lining closest to the floor -: to the cleaning bodies of the shearer. Simultaneously with the control of the angular parameters, the cutting path of the reservoir is determined by the executive bodies of the combine as it passes along the lava along each pan. This takes into account the fact that the hydraulic system for controlling the parallel-parallel displacement of the executive (cutting) organs of the combine, due to its inertia, cannot work out quite quickly sudden spatial changes of the position of the combine. This justifies the measurement of known methods and linear parameters of the combine and its parts only when the support of the combine moves from one pan to another. Thus, the coordinates of the cutting path of the coal seam are determined at the moments of transition of the combine supports from the pan to the pan, taking into account the nature of the laying of the bottomhole conveyor, i.e. angles are in space of the conveyor pans. Since each point of the cutting path can be related to the corresponding pan and crest section in the three-dimensional coordinate system, this system considers the passage of the cutting path and the location of the top of the support sections. Wherein

for simplicity, the mutual position of the top and bottom edge edges of the cutting path is evaluated, taking into account that they are the closest elements of the arrangement of lining and executive bodies of the combine

Q g Q 5 Q. „

five

50

relative to a friend. Comparison of the advancement (ordinate) and height (appliqué) of the top edge and the cutting path at the same position along the length of the lava (abscissa) identifies the presence or absence of this top with a specific section of the cutting path, i.e. with the executive body of the combine. The difference of the ordinates for them determines the magnitude of the necessary deviation for parrying this failure. Due to the greater unification of control operations. For various geological, mining, technical and technological conditions, it is more preferable to forecast the failure and parry it by moving the corresponding support sections back to the previously determined value of the ordinate difference. The accomplishment of the control goal is completed by pushing the cross section into its original position, which corresponds to the condition of maintaining the coal mining process.

Figure 1 shows the lining, the conveyor and the combine in the plane of the stretch, - neither coal seam when the harvester is in an inclined position relative to the lining and when tilted (dash-dotted curve); figure 2 is part of the lining section with the corresponding rack of the conveyor, in three-dimensional space; in FIG. 3, a lattice stand and a combine with an executive body cutting the roof in the plane of the profile of the formation; 4 shows a conveyor and a combine in the strike direction of the formation in a position without inclination and with inclination; on fig.Z - functional

a control system diagram that implements the proposed method for controlling the purification complex.

The cleansing complex is located in the developed space of the coal seam and consists of the following elements (Figures 1–4): section 1 of the lining, the tilting stand (pan) 2 of the face conveyor, the body 3 of the shearer, the roof of the fourth layer, the soil 5.plast, top to 6 sections of the lining, base 7 of section 1 of the lining, hydrorack 8 section 1 of the lining, hydraulic jack 9 shifters, execu-. The body of the combine 10, which works the roof, is driven by the point 11 of the cutting of the roof by the executive body 10 of the combine. Figure 2 shows: point 12 of attachment of a hydraulic jack 10 to the pan 2 of the conveyor, point 13 of attachment of a hydraulic jack 9 to the base 7 of the support section 1, point 14 of the attachment of a hydraulic post 8 to the base 7 of the installation section 1 of the support, point 15 of attachment of a hydraulic post 8 to the top 6 of the section 1 lining, corner points 16 and 17 of the downhole side of the top 6 of section 1 of the lining, corner points 18 and 19 of the dam side of the pan 2, corner points of 20 Q and 21 of the bottomhole side of the pan 2, point 22 of the top 6, obtained by intersecting the bottom of the upper side with a plane passing through point 11 turnips flippers without inclination, Y, are the actual coordinates of the cutting downturn point 1 1 in the strike direction of the formation (taking into account the tilt), Yj and Z are the coordinates of the angular points 18 and 19 of the dam side of the pan.

The control system of the cleaning complex (Fig. 5) consists of the laval blocks 23 and the drift block 24. The laval blocks 23 are the same for all the support sections on which they are installed. Laval block 23. contains a sensor 25 of the magnitude of an extension of the hydraulic joint rod relative to the axis of applicate in the plane of the profile of the layer and in the plane of the strike of the layer, the sensor 27 is the size of the extension of the rod of hydroresistance, the sensor

underside of the roof, angle L of the base inclination | 5 ta, sensor 26 of the angle of inclination of the hydraulic section of the lining section relative to the axis of applicate (regardless of the planes of the profile and the direction of the formation), angle / inclination of the shifter jack

relative to the axis of applicate (without regard to the 2828 angle of inclination of the hydraulic against the profile planes and prostatic axis of the applicate in the plane of the formation rim), angle 0 of the hydraulic angle relative to the applicate axis (regardless of the profile planes and stretch of the formation), angle 6 inclination the top of the lining section relative to the axis of the applicate (regardless of the planes of the profile and the formation strike), the angle and inclination of the pan of the formation conveyor and in the plane of the formation strike, the sensor 29 of the angle of inclination of the base of the support section relative to the axis 25 pshykat in the plane of the profile of the reservoir and in the plane of the strike of the reservoir, the sensor 30 of the angle of inclination of the top section of the lining relative to the axis of applicate in the plane of the profile of the reservoir and in the planar zone without taking into account the inclination, Y, are the actual coordinates of the damming point 1 1 of the cutting slope), Yj and Z are the coordinates of the corner points 18 and 19 of the dam side of the pan.

The control system of the cleaning complex (Fig. 5) consists of the laval blocks 23 and the drift block 24. The laval blocks 23 are the same for all the support sections on which they are installed. Laval block 23. contains a sensor 25 of the magnitude of an extension of the hydraulic joint rod relative to the axis of applicate in the plane of the profile of the layer and in the plane of the strike of the layer, the sensor 27 is the size of the extension of the rod of hydroresistance, the sensor

one sensor 26 of the angle of inclination of the hydraulic lock

28 the angle of inclination of the hydrostatic system with respect to the axis of applic

28 the angle of inclination of the hydrostatic relative to the axis of the applicat in the plane of the pro-

l reservoir and in the strike direction of the reservoir, sensor 29 of the angle of inclination of the base of the support section relative to the axis of the upgrade in the plane of the profile of the reservoir and in the plane of the strike of the reservoir, sensor 30 of the angle of inclination of the top section of the support relative to the axis of the applicator in the plane of the profile of the formation and in the plane

pa relative to the axis of the applicate in the planar strike of the reservoir, the sensor 31 of the angle of the bone strike of the reservoir,. In FIG. 3, there are: (P and f are the inclination angles relative to the axis of the applicate in the plane of the reservoir profile of the current and previous pancakes. H: - the calculated angle of the longitudinal the slope of the combine, i is the angle of inclination of the rotary reducer of the actuator relative to the axis of applicate, cQ is the calculated angle between the grids in the plane of the profile of the reservoir, c is the calculated angle between the straight line connecting the combine supports, and the pan that rests on the rear time of the combine, in the plane of the profile of the reservoir, X and - coordinates of the junction point of the current and subsequent pan in the plane of the profile of the reservoir, X; -i coordinates of the junction point of the current and previous

40

inclination of the pan with respect to the axis of applicate in the strikes of the formation and also in the plane of the profile of the plate, microcomputer 32, performing the necessary calculations and issuing control signals to other nodes of the block: through the buffer amplifier 33 to electro-hydraulic valves 34 and 35 hydraulically secured and reel-mounted hydraulic jacks, respectively, by means of which actuators 36 and 37 of the hydraulically operated jack and hydraulic jack are controlled, respectively, track 24 and main 23. blocks contain telemechanical communication modules 38 to maintain ormatsionnogo exchange between micro. COMPUTER.

Stretcher unit 24 contains the same as willow unit 23, microshield pan in the profile plane of computer 39 and control and control panel 40.

l reservoir, X, or X. ,, and the calculated coordinates of the damning point 11 of the cutting of the roof in the plane of the profile of the reservoir. Figure 4 shows: - the angle of inclination of the combine on the jth pan with respect to the axis of applicate in the plane of the strike of the formation, Y, Z, - the coordinates (calculated) of the cutting dawn 11 in the strike plane

55

baseline data on the spatial position of the complex.

The method is implemented as follows.

Before starting work in an arbitrary location, for example, on the dam side at the outer end of the haulage drift of the lining section, set through the control panel 40 (FIG. 5) of the beginning of the formation strike, the angle sensor 31

inclination of the pan with respect to the axis of applicate in the strikes of the formation and also in the plane of the profile of the plate, microcomputer 32, performing the necessary calculations and issuing control signals to other nodes of the block: through the buffer amplifier 33 to electro-hydraulic valves 34 and 35 the hydraulic jacks of the shifters and the hydraulic jacks, respectively, by means of which the actuators 36 and 37 of the hydraulic jacks and the hydraulic jack are controlled, respectively, Track 24 and main 23. The blocks contain telemechanical communication modules 38 to maintain information mation exchange between micro-. COMPUTER.

Block 24 contains the same willow block 23, micro5

baseline data on the spatial position of the complex.

The method is implemented as follows.

Before starting work in an arbitrary location, for example, on the dam side at the outer end of the haulage roadway of the lining section, set the reference point 40 of the control unit (FIG. 5) to the fixed three-dimensional coordinate system. Through the same control panel 40, initial data about the step of shifting, the lining of the support sections, constructive constant complexes and the angle of rotation of the rotary gearbox of the combine's actuator relative to the axis of the applicator for each conveyor tackle are inserted into the gateway 39 and lateral 32 micro-computers. (this angle is known from the condition of the program control of the combine by the model cycle). and also for the first lava microcomputer 32, abscissa and applicative values for the near side of the first pan are introduced. In the same way, for the first excavation cycle, the ordinates of the dam side of the conveyor are set (it is assumed that the condition of maintaining the linearity of the lattice position along the length of the lava is satisfied, therefore all points of the dam side of each pan will have the same ordinate value).

For each lining section, a sensor 26,28,29 and 30, respectively, of the angle of /-tilt of the ram, angle Q. tilt of the hydraulic leg, angle I of tilt of the base of the lining section and tilt angle of the upper lining section measure the values of these angles relative to the axis of the applicta in the profile plane and the strike plane. Then the sensors 25 and 27 advances the stock of the hydraulic cylinder and hydraulic racks measure the magnitude of these dvidvizhek. The measurement results are recorded in the microcomputer 32 of the corresponding lining section. Then, manually or by means of a measuring carriage running along the lava along the conveyor, the angles ω of the aklon of the conveyor racks are measured relative to the axis of the applicat in the plane of the strike of the formation and the angles r of inclination of the pantowers in the profile of the formation. Through the data entry node, information is entered (With the help of the micro-EHF 39 tunnel and communication modules 38 in accordance with

Laval microcomputers 32.

, one

Each computer microcomputer 32 calculates the coordinates of its corresponding charging point 11 of the roof cutting by the executive bodies 10 of the combine and the coordinates of the bottom side 22 of the top 6 of the lining section 1. The calculations are performed, for example, in the following sequence. Find the applicate and abscissa of the connection node of this pan, followed by the formulas

  G Xj X ,, + sin "n.lp

(one)

five

0

five

0

five

0

five

0

where is x.f

and Z.

abscissa and applicate of the junction of the given pan and the previous one (for the first pan are defined earlier), j 1,2, ..., m, (m is the number of panes); pan angle of inclination relative to the applicate axis in the plane of the formation profile; pan length Then the abscissa of the abutment point for cutting the roof I is found.

X „; X ,,. X: + 1.. COS 1 /; +

G; . ")

 AND

sin 4 +

7

 sin J-, (2)

. p OJ1.4 II, l. - OJ.lt 1,

. where Ij.- is a constructive constant value between the perpendiculars from the front along the combine support and the geometric center of the support of the rotary transducer of the upper actuator;

The diameter of the projection on an axis parallel to the body of the combine is not between the front support and the geometric center of the support of the rotary gearbox of the upper (and at the same time front) executive organ;

1y is the length of the straight line connecting the geometric centers of the executive body and the support of the rtoso rotary reducer; the angle of inclination of the rotary gearbox relative to the axis of applicate (determined previously from the reference cycle); I

H - angle of the longitudinal inclination of the combine, determined from the expression

(3)

“L; P.

where fj-f is the angle of inclination of the previous pan over the axis of applicate in the plane of the formation profile;

 the design angle between the straight connecting leg of the combine and the previous pan, which is supported backwards

movement support combine (in the plane of the profile of the reservoir),

arcs in (-E- S in J;),

Si

where is the distance between the supports of the combine (constructively constant);

cG, S (/. -) is the angle between the pan in the plane of the profile of the reservoir.

In formula (2), a plus or minus sign is placed before the second term, depending on whether the angle is 90 or less.

The applicant of the damning point 11 of cutting the roof is found, for example, from expression 1.

U

z.

+ 1,

sin

1, .cosV 1 + 0.5d, (5)

de is the diameter of the executive body (for example, the auger is taken), the design value is 25.

The above formulas are derived without taking into account the slope of the combine (i.e., based on the plane of FIG. 3). Therefore, only expression (2) determines the actual coordinate of the cutting point, and expression (5) needs to be corrected to take into account the lateral tilt of the combine. For this purpose, a number of assumptions are introduced, namely: from the unhindered movement of the supports of the combine in a pan-mounted position, we can assume that the angles of inclination of the neighboring

reshtak in the plane of the strike-40 cutting. This is possible to implement.

This (Fig. 4) changes relative to each other by a small amount, hence the inclination of the body 3 of the combine and the executive bodies 10 in

since, according to the initial conditions, all sections of the lining along the lava are defined.

Lp of determining the point 22 of the downhole side of the top 6 lying in the plane of the plane is determined by the inclination 45 of the bone passing through the burial.

point 11 of cutting, and parallel to the plane of the strike of the reservoir, first find the coordinates of the point 12 of attachment (Fig. 2) of the hydraulic jack 9 to the pan 2 of the conveyor:

 + 0.5. 1p sini;

2 ,, - 0,5. 1p-cos n. (9)

} Z

Izi

pan on which the front support is located (i.e., the support closest to the upper actuator). In addition, proceeding from the condition of maintaining the straightness of the conveyor along the length of the lava, it is considered that the step of shifting is a constant value, although not equal for each shift cycle to the value of the extension of the hydraulic jack rod on each lining section. (1) with the assumption that

The I-hydro-jack is attached to the middle of the Neglecting the inclination of the ordinate of the point of the side of the pan. 11 cuts equals: According to the known angles of rotation of Hydropan) vr, - / - ip-cos g; Y, Y Formula (9) is defined similarly.

Y.

 P

Yi + 123661

where y is;

:

where 1 10

pan width; the ordinate of the scoop side of the pan, determined from the expression Y, + i. . ". , (7)

ten

O - PR

move cycle number; i 1,2, ...,

LnF constant shifting step; YO is the initial ordinate of the dummy side of the pan for the first cycle.

The expression for the actual values (including inclination) of the applicants and ordinates of the cutting point is defined as follows:

-nj

Zj 1 + 1.

cos j sin (ju

(eight)

0

five

1 CI -OJ-lllAXi,

where tfj is the angle of inclination of the pan with respect to the axis of applicat in the plane of the strike of the formation; 1 is the distance between thin cutting and the bottom of the pan.

1 / (- Y) 4 (z;, i - zp.

When considering the above expressions, it is assumed that the combine has rigidly fixed and unregulated supports, and also that the design of the combine does not allow its bending and twisting (meaning the position of its own parts).

Thus, expressions (2) and (8). The coordinates of point 11 of the cut are determined for each pan in a fixed three-dimensional coordinate system. By knowing the abscissa of the cutting point, it is determined which of the top of the support sections is a specific point

0

since, according to the initial conditions, all sections of the support along the lava are defined.

Lp of determining the point 22 of the downhole side of the top 6, which lies in the cutting plane 11, and parallel to the plane of the formation strike, first find the coordinates of the attachment point 12 (Fig. 2) of the hydraulic jack 9 to the conveyor belt 2 of the conveyor:

 + 0.5. 1p sini;

2 ,, - 0,5. 1p-cos n. (9)

} Z

Izi

(1) with the assumption that

O) vr, - / - ip- cos, Y, Y Formula (9) is defined similarly.

(6)

Jacking on the axis of applicat

in the plane of the profile and the formation strike, measured by the sensor 26, and the amount of extension of the hydraulic cylinder rod determined by sensor 25, the coordinates of the attachment point (point 13) of the hydraulic cylinder 9 to the base of the support section are obtained:

X,.: Hc + k. sinjujx

Y, ij- k. cos. (10) 10

(3i

I 3;

 Z / 3 Zl2j ± kj SUBD,

  rj / L + cosVj, tgVi, is the coefficient (is the length of the entire hydraulic jack of the advancement with regard to the cylinder and the rod on a given cycle);

 angle of inclination of the hydrojack relative to the axis of applicat in the plane of the profile of the reservoir; jU.j, y is the angle of inclination of the hydrojack 20 relative to the axis of applicate in the plane of the strike of the formation. For the known angles of inclination of the base of the support section relative to the axis of applicati c. plane profile and forgive-. 25 formation wounds, measured by sensor 29, receive the coordinates of the attachment point (point 1A) of the hydraulic post to the base of the support section:

X, X, s ± k. . sin 2;

thirty

% j i) g - co8D, b8l ,; 3 ± kt. SoLgl,

(eleven)

Z, /; Z, ii t ki. cos L

where kj Irr- / Vl + cos Л2, .iJ -coeffaderate (ltr is constructive. constant, is equal to the distance35 between the attachment points to the base of the jack section and the hydraulic rack); I tilt the base of the section

lining relative to the axis of the appli- cation 40 in the plane of the profile of the plate ;:

 UG ol tilt the base of the support section relative to the axis of the applicat in the strike direction 45 of the formation.

From the known angles of inclination of the hydraulic post with respect to the axis of the applicate in the profile plane and the formation strike, measured by sensor 28, and the extension of the hydraulic rod stem determined by sensor 27, the coordinates of the fixing unit (point 15) of the hydraulic post to the top lining section are obtained;

55 G X, 5i XMjt kj .sinS ,;

  Y ,,, ± k, .cos0,, tg6) ,; (12) (. Z / ri ZMJ + k) cosPax, where k lr-cj / 1 +, .J koef0

0 5

0

five

0

five

0

five

ficient (Irci - the length of the entire hydraulic post);

 the angle of inclination of the hydrostatic relative to the axis of applicati in the plane of the profile of the reservoir; 02U is the angle of inclination of the hydraulic post with respect to the axis of applicat in the direction of the strike of the formation. According to the known angles of inclination of the top section of the support, relative to the axis of the applicator in the plane of the profile of the reservoir and the strike of the formation measured by sensor 30. Obtain the coordinates of the corner points 16 and 17 of the bottom side of the top:

f m / l ± k.sin ,,; ) Y, / Y, i + k. Cos..tgf ,,; (13) 7j 2 ,,, t k,.

X / 6i si Y / .j Y, jj + k.cos6 ,,. Tg ,; (14) Z / 6 Z, fjt., Where k 1 / VI + cos, tgie., Is the coefficient (1 is the distance from point 15 to 17, is constructive constant);

k 1 // 1 + cos, tg 62-factor (l5 distance from point 15 to point 16, constructive constant); fff is the angle of inclination of the top section of the support in relation to the axis of the applicat in the plane of the profile of the formation;

jry is the angle of inclination of the top section of the support in relation to the axis of the applicate in the plane of the strike of the formation.

Thus, the downhole side of the top sections of the lining is defined as straight with points 16 and 17. A plane parallel to the plane of the strike of the formation intersects this straight line, and the intersection point 22 has the previously defined abscissa coinciding with the abutting cutting point roof executive body and calculated by the expression (2).

The ordinate and abscissa of the top 22 point are equal (Х22) Х „):

Y: ShliI2 Ig J (.J + y

 X ,, i-X,

Z (XjiL J- (Zjti. 1 + Zn; .- Zi Y -V .tyy

16 irt, s)

Thus, according to formulas (2) and

(8) determine the coordinates of the cutting cutting point 11 for each pan, and by formulas (2) and (15) determine the coordinates

i31523661

corresponding to the point 22 of the top ka on the downhole side of the lining section.

Then, for each pair of points, the top point 22 will be larger than the cutting point 11, the applicates will be compared, and if the upper point 22 application is less than what the cutting point 11 is, then a collider is detected with respect to the axis.

news If these conditions are not fulfilled, then a complex that is not technologically specified is not controlled. If a collision is identified, then using formulas (8) and (IS), find the difference between the ordinates of point 22 of the top and point 11 of the cut. After that, under the control of microcomputer 32, the profile of the reservoir profile is affected, characterized in that, in order to improve reliability by predicting and parrying collisions, 5 executive bodies of the combine with

the top of the lining sections, define a three-dimensional coordinate system, measure the angles of the hydraulic jacks, and move the projectile relative to the axis

ly 33-37 (impact according to the techno-20 bones of the formation profile and in the plane

25

thirty

35

moving the lining section), pushing the lining section 1 in the direction of the dam by the obtained difference value and thereby removing the section from the collision zone with the cutting bodies 10. After the combine 10 bodies pass the lining section, the latter is moved to its original position -: in space.

Claims (1)

Compensatory capacitance meters for the angle of inclination from the vertical can be used as sensors of the angle of inclination of the hydraulic jack, hydraulic rack, base of the support section and the top of the support section relative to the axis of applicate in the plane of the profile of the formation and the plane of the strike of the formation. The sensor of the crank of the hydraulic cylinder and hydraulic column can be a sensor on the basis of an ultrasonic transducer. The pan-head tilt angle sensor with respect to the axis of the applicator can be either a capacitive sensor or a measuring carriage can be used. Buffer amplifiers and electrohydraulic valves can be known devices used in mine conditions. Distribution systems can be used as telemechanical communication modules; divisional election of the main blocks., and temporary separation of the channels of information transfer. Any devices with intrinsically safe circuits can be used as microcomputers and control panels. Invention Formula The method of controlling the purification complex, based on the measurement of the PATH, 45 50 55 the formation projections measure the angles of inclination of the bases of the securing sections relative to the axis of the applicate in the plane of the formation profile and in the plane of the plain formation wounds, the angles of inclination of the top sections of the support are measured relative to the axis of the applicatio in the plane of the profile of the plate and the angles the slope of the hydraulic rails relative to the axis of the applicate in the plane of the profile of the reservoir and in the plane of the plain of the reservoir, the values of the extrusion of the rods of the hydraulic rams are measured, the angles of inclination of the pantowers are measured relative to the axis of the applicate in the plane of the strike of the reservoir, and Using the measured values for each pan, determine the coordinates of the roll cutting point of the roof of the executive organ and the coordinates of the point located on the downhole side of the top support lying in the plane passing through the cutting edge parallel to the strike plane of the reservoir, while , if the ordinate of the top point is greater than that of the cutting point, then their applicates are compared, and if the upper point application has less than that of the cutting point, then a collision is identified, find the difference between I wait for the ordinates of the bottom side of the top and the cutting point of the roof, then push the lining section towards the dam by the resulting amount and as it passes through the combine, the support bodies push it back to its original position. 14 a combine harvester, specifying the position of the executive bodies of the combine relative to its hull in a non-movable rectangular coordinate system in which the abscissa axis is directed along the soil of the stratum along the length of the lava and the axis of applicat is in the thickness of the stratum, measuring the angle of inclination of the pantops of the profile of the reservoir profile, characterized by , in order to increase reliability by predicting and parrying collisions of the executive bodies of the combine with the top of the lining sections, set the three-dimensional coordinate system, measure the angles of inclination of the hydraulic jacks relative to the axis of applicati thirty 35 . P 45 0 five the formation strike, measure the angles of inclination of the bases of the support sections relative to the axis of applicate in the plane of the formation profile and in the plane of the formation strike, measure the inclination angles of the upper sections of the support in relation to the axis of applicate in the plane of the formation profile and in the plane of the extension of the formation, measure the angles of the -slide slopes relative to the axis of the applicate in the plane of the profile of the reservoir and in the plane of the strike of the reservoir, the magnitudes of the pull-out of the rods of hydraulic racks are measured, the angles of inclination of the slits relative to the axis of the applicate in the direction of the strike The asta, using the measured values for each pan, determines the coordinates of the cutting point on the roof of the executive-f organ of the combine and the coordinates of the point located on the downhole side of the top of the support and lying in a plane passing through the strike point and parallel to the strike plane of the formation. , in this case, if the ordinate of the top point turns out to be larger than the cutting point, then their applicates are compared, and if the upper point application is smaller than the cutting point, then a collision is identified, find connectivity between the ordinates of the point of the downhole side of the upper cutting point ka and roof lining section and then push the side dam on the obtained value and used for the passage Dolpo; enforcement authorities support frame harvester in its push yoe initial position. , ABOUT g fPue.f HUU XX XXXXX. Huuhhuu --Ч-- laj r; /) - JA-T y, f j (K.j) - Phi. Fi.5 Compiled by Yu.Elkin Editor O. Yurkovetska Tehred L. Serdyukova Proofreader M.Samborska Order 7015/31 Circulation 449 VNIIPI State Committee for Inventions and Discoveries at the State Committee on Science and Technology of the USSR 113035, Moscow, Zh-35, Raushsk nab. 4/5 Production and Publishing Combine Patent, Uzhgorod, ul, Gagarin, 101 Subscription