CN106194183B - High coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction - Google Patents
High coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction Download PDFInfo
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- CN106194183B CN106194183B CN201610777645.5A CN201610777645A CN106194183B CN 106194183 B CN106194183 B CN 106194183B CN 201610777645 A CN201610777645 A CN 201610777645A CN 106194183 B CN106194183 B CN 106194183B
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- 238000005520 cutting process Methods 0.000 title claims abstract description 151
- 238000005065 mining Methods 0.000 title claims abstract description 145
- 239000002817 coal dust Substances 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 52
- 239000003245 coal Substances 0.000 claims abstract description 841
- 230000008569 process Effects 0.000 claims abstract description 21
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- 238000009423 ventilation Methods 0.000 claims description 27
- 230000001105 regulatory effect Effects 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 13
- 238000005096 rolling process Methods 0.000 claims description 9
- 230000004927 fusion Effects 0.000 claims description 8
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 7
- 238000012549 training Methods 0.000 claims description 7
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 3
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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Abstract
The invention discloses a kind of high coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction, including step：First, the automatic cut teaching of flitting；2nd, the automatic cut of flitting reproduces：201st, the flitting control system is initialized；202nd, judge whether flitting is in termination；203rd, the automatic cut of flitting left end reproduces；204th, the automatic cut of flitting right end reproduces.High coal dust girdle flitting cutting course of the teaching of the present invention with wind direction, cover the high coal dust girdle with wind direction carry out beveling feed, cut Triangle Coal, clear float coal and advance in coal cutting mine during necessary process, greatly reduce manual intervention, meet that the high coal dust girdle coal winning technology automation with wind direction is mined to require, Automatic Control efficiency high.
Description
Technical field
The invention belongs to the automatic cut control technology field of coal-winning machine, and in particular to a kind of high coal dust girdle with wind direction
Coal-winning machine teaching playback automatic cutting control method.
Background technology
Energy revolution is promoted, builds safe, green, efficient energy resource system in order as the " new of China's energy development
Normality ".Automatic technology revolution is applied to colliery energy industry, promotes its development, particularly fully-mechanized mining working, working face
Face is severe as work First Line, working environment；Fully-mechanized mining working high-yield and high-efficiency, environmental protection exploitation, reduce labor strength, carry
The automation of high safety performance, fully-mechanized mining equipment is the objective that coal industry is pursued；Current coal-rock interface Direct Recognition technology is still
Immature, memory cut is more rapid as the development of coal petrography indirect identification technology, turns into the important means of coal-winning machine automation.But
Conventional coal-winning machine automatic cutting control method typically can only carry out automatic Memory cut in working face straightway, can not tackle multiple
Miscellaneous changeable coal cutting technique, in head and tail, then needs frequently manual intervention, and using effect is poor, and function is single.Cause
This, nowadays needs the high coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction, can pass through teaching
The high coal dust girdle cut coal mining process of direction of ventilation from right to left, the changeable state in adaptive underground, realizes coal mining machine cut
The high efficiency Automatic Control of coal process, it is automatic to realize middle part coal cutting, coaling under normal circumstances without any intervention,
Automatically carry out beveling feed, cut the overall processes such as Triangle Coal, clear float coal.According to real work needs, by menu mode management, rationally
Operational factor is set, any automation coal cutting action of interruption and repetition unconfined at an arbitrary position, meets direction of ventilation from the right side
The automation of high coal dust girdle difference coal winning technology to the left, which is mined, to be required.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of with wind direction
High coal dust low seam mining machinery teaching playback automatic cutting control method, it is novel in design rationally, and teaching direction of ventilation is from dextrad
Left high coal dust girdle flitting cutting course, cover the high coal dust girdle of direction of ventilation from right to left and carry out tiltedly
Cutting-in tool, cut Triangle Coal, clear float coal and advance in coal cutting mine during necessary process, Automatic Control efficiency high, be easy to
Promote the use of.
In order to solve the above technical problems, the technical solution adopted by the present invention is：High coal dust low seam mining machinery with wind direction
Teaching playback automatic cutting control method, it is characterised in that this method comprises the following steps：
Step 1: the automatic cut teaching of flitting：High coal dust girdle mine district length direction of the edge with wind direction,
It is the high coal dust girdle of direction of ventilation from right to left along the high coal dust girdle with wind direction, utilizes flitting control system
Control flitting carries out slicing to the coal seam that need to be exploited from the front to the back；During slicing, to needing to exploit
Working face of coal seam before and after be connected two coal seams recovery method all same；
The flitting control system includes controller and the memory to connect with controller, the input of controller
Data processing unit is connected to, the input of data processing unit is terminated with left rocking arm mining height detection module, right rocking arm mining height detection mould
Block and coal-winning machine pose detection module, the output of controller is terminated with display, left rocking arm heightens valve group, right rocking arm heightens valve
Group, frequency-converting speed-governing control system and standby control interface；
On front and rear two coal seams any to the working face of coal seam that need to exploit the round coal cutting of flitting one carry out from
During dynamic cut teaching, process is as follows：
Step 1001, the beveling feed of the preceding coal seam left end of the working face of coal seam：Determine flitting in the coal
Actual mining height on layer working face, roll left cylinder and the right roller of flitting are adjusted using the flitting control system
It is in the middle position beveling feed coal cutting of actual mining height on the working face of coal seam；
Step 1002, the preceding coal seam left end Triangle Coal for cutting the working face of coal seam：Controlled by the flitting
System simultaneously in regulating step 1001 cylinder that rolls left of flitting drop on the working face of coal seam actual mining height low level and
Right roller rises to the preceding coal seam left end Triangle Coal that an actual mining height high position on the working face of coal seam cuts the working face of coal seam；
Step 1003, the preceding coal seam left end top coal for cutting the working face of coal seam：Controlled by the flitting and be
It is high-order and right to rise to actual mining height on the working face of coal seam for the cylinder that rolls left of flitting in system while regulating step 1002
Roller drops to the preceding coal seam left end top coal that actual mining height middle position on the working face of coal seam cuts the working face of coal seam；
The preceding coal seam left end float coal of step 1004, the cleaning working face of coal seam：Controlled by the flitting
System sets the preceding coal seam left end float coal number of working face of coal seam described in cleanup step 1003, adjusts a left side for flitting
Roller is in actual mining height low level on the working face of coal seam and right roller is in actual mining height middle position on the working face of coal seam,
Complete the cleaning of the preceding coal seam left end float coal of the working face of coal seam；
The preceding coal seam coal cutting from left to right of step 1005, flitting along the working face of coal seam：The roller is mined
The cylinder actual mining height low level on the working face of coal seam that rolls left of flitting in machine regulating step 1004 cuts ground coal, simultaneously
The right roller of holding flitting actual mining height high position on the working face of coal seam cuts top coal, the flitting control
System controls preceding coal seam of the flitting along the working face of coal seam from left end to right end coal cutting；
Step 1006, the preceding coal seam right end ground coal for cutting the working face of coal seam：Controlled by the flitting and be
The right roller of flitting declines the preceding coal seam right end ground coal for cutting the working face of coal seam in system rate-determining steps 1005, and controls
The cylinder that rolls left of flitting is in actual mining height middle position on the working face of coal seam in step 1005 processed；
The preceding coal seam right end float coal of step 1007, the cleaning working face of coal seam：Controlled by the flitting
System sets the preceding coal seam right end float coal number for clearing up the working face of coal seam, and the cylinder that rolls left for adjusting flitting is in institute
State actual mining height middle position on working face of coal seam and right roller is in actual mining height low level on the working face of coal seam, complete the coal
The cleaning of the preceding coal seam right end float coal of layer working face；
Step 1008, the beveling feed of the rear coal seam right end of the working face of coal seam：Controlled by the flitting
The right roller of flitting rises actual mining height middle position on feed to the working face of coal seam in system fading margin step 1007, together
When flitting the cylinder that rolls left keep actual mining height middle position beveling feed coal cutting on the working face of coal seam；
Step 1009, the rear coal seam right end Triangle Coal for cutting the working face of coal seam：Controlled by the flitting
System simultaneously in regulating step 1008 cylinder that rolls left of flitting drop on the working face of coal seam actual mining height low level and
Right roller rises to the rear coal seam right end Triangle Coal that an actual mining height high position on the working face of coal seam cuts the working face of coal seam；
Step 1010, the rear coal seam right end ground coal for cutting the working face of coal seam：Controlled by the flitting and be
The cylinder that rolls left of flitting rises to actual mining height middle position and the right side on the working face of coal seam in system while regulating step 1009
Roller drops to the rear coal seam right end ground coal that actual mining height low level on the working face of coal seam cuts the working face of coal seam；
The rear coal seam right end float coal of step 1011, the cleaning working face of coal seam：Controlled by the flitting
System sets the rear coal seam right end float coal number of working face of coal seam described in cleanup step 1010, keeps the right side of flitting
Roller is in actual mining height low level on the working face of coal seam, and the cylinder that rolls left keeps actual mining height middle position on the working face of coal seam,
Complete the cleaning of the rear coal seam right end float coal of the working face of coal seam；
The rear coal seam coal cutting from right to left of step 1012, flitting along the working face of coal seam：Pass through the roller
The cylinder that rolls left of flitting drops to actual mining height on the working face of coal seam in coal-winning machine control system rate-determining steps 1011
Low level, right roller rises to an actual mining height high position on the working face of coal seam, and operates flitting and worked along the coal seam
The rear coal seam in face is from right end to left end coal cutting；
Step 1013, the rear coal seam left end top coal for cutting the working face of coal seam：Controlled by the flitting and be
The cylinder that rolls left of flitting rises the rear coal seam left end top coal for cutting the working face of coal seam in system rate-determining steps 1012, and controls
The right roller of flitting drops to actual mining height middle position on the working face of coal seam in step 1012 processed；
The rear coal seam left end float coal of step 1014, the cleaning working face of coal seam：Controlled by the flitting
System sets the rear coal seam left end float coal number for clearing up the working face of coal seam, and the cylinder that rolls left for adjusting flitting is in institute
State actual mining height low level on working face of coal seam and right roller is in actual mining height middle position on the working face of coal seam, complete the coal
The cleaning of the rear coal seam left end float coal of layer working face, complete before and after the working face of coal seam flitting one on two coal seams
Come and go coal cutting teaching method, the flitting control system stores before and after the working face of coal seam that roller is mined on two coal seams
The round coal cutting training data of machine；
Step 2: the automatic cut of flitting reproduces：Along mine district length direction, system is controlled using flitting
System control flitting carries out slicing to the coal seam that need to be exploited from the front to the back；During slicing, to that need to open
The recovery method all same in two coal seams being connected before and after the working face of coal seam adopted；
One round coal cutting of flitting is cut automatically on front and rear two coal seams any to the working face of coal seam that need to exploit
When cutting reproduction, process is as follows：
Step 201, the initialization flitting control system：The 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 roller angle of pitch ginseng
Number, it can determine that the left side that left rocking arm mining height detection module detects is shaken by a pitching angular dimensions that rolls left for the coal seam flitting
Arm mining height data, it can determine that right rocking arm mining height detection module is examined by the right roller pitching angular dimensions of the coal seam flitting
The right rocking arm mining height data surveyed；
Step 202, judge whether the coal seam flitting is in termination：When the coal seam flitting is in end
During head, according to the coal seam flitting location parameter obtained in step 201, if the coal seam flitting is in a left side
During termination, step 203 is performed；If the coal seam flitting is in right end, step 204 is performed；When the coal seam is rolled
When cylinder coal-winning machine is not at termination, according to the coal seam flitting direct of travel obtained in step 201, if the coal seam
Flitting coal cutting from left to right, transfer the step 1005 in memory and reproduce the coal seam flitting coal cutting；If institute
The coal cutting from right to left of coal seam flitting is stated, the step 1012 in memory is transferred and reproduces the coal seam flitting and cut
Coal；
The automatic cut of step 203, the coal seam flitting left end reproduces, and process is as follows：
Whether the rear coal seam left end float coal clearing times for step 203a, judging the working face of coal seam are zero：Pass through control
Device processed sets the rear coal seam left end float coal number of the working face of coal seam, when the after coal seam left end of the working face of coal seam is floated
When coal clearing times are zero, transfer the step 1001 in memory and reproduce the coal seam flitting coal cutting；Otherwise, transfer and deposit
Step 1014 is performed a plurality of times after step 1013 in reservoir and reproduces the coal seam flitting coal cutting；
Step 203b, judge whether flitting runs to the left in the preceding coal seam of the working face of coal seam：When the coal
When layer flitting is run to the left, transfer the step 1002 in memory and reproduce the coal seam flitting coal cutting；Otherwise,
Transfer the step 1003 in memory and reproduce the coal seam flitting coal cutting；
Whether the preceding coal seam left end float coal clearing times for step 203c, judging the working face of coal seam are zero：Pass through control
Device processed sets the rear coal seam left end float coal number of the working face of coal seam, when the preceding coal seam left end of the working face of coal seam is floated
When coal clearing times are zero, transfer the step 1005 in memory and reproduce the coal seam flitting coal cutting；When the coal seam
When the preceding coal seam left end float coal clearing times of working face are not zero, transfer the step 1004 in memory and reproduce the coal seam rolling
Cylinder coal-winning machine coal cutting；
The automatic cut of step 204, the coal seam flitting right end reproduces, and process is as follows：
Whether the preceding coal seam right end float coal clearing times for step 204a, judging the working face of coal seam are zero：Pass through control
Device processed sets the preceding coal seam right end float coal number of the working face of coal seam, when the preceding coal seam right end of the working face of coal seam is floated
When coal clearing times are zero, transfer the step 1008 in memory and reproduce the coal seam flitting coal cutting；Otherwise, transfer and deposit
Step 1007 is performed a plurality of times after step 1006 in reservoir and reproduces the coal seam flitting coal cutting；
Step 204b, judge whether flitting runs to the right in the rear coal seam of the working face of coal seam：When the coal
When layer flitting is run to the right, transfer the step 1009 in memory and reproduce the coal seam flitting coal cutting；Otherwise,
Transfer the step 1010 in memory and reproduce the coal seam flitting coal cutting；
Whether the rear coal seam right end float coal clearing times for step 204c, judging the working face of coal seam are zero：Pass through control
Device processed sets the rear coal seam right end float coal number of the working face of coal seam, when the after coal seam right end of the working face of coal seam is floated
When coal clearing times are zero, transfer the step 1012 in memory and reproduce the coal seam flitting coal cutting；When the coal seam
When the rear coal seam right end float coal clearing times of working face are not zero, transfer the step 1011 in memory and reproduce the coal seam rolling
Cylinder coal-winning machine coal cutting.
The above-mentioned high coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction, it is characterised in that：
Obtained in step 1001 to step 1014 according to actual condition for any one sampling instant flitting teaching coal cutting data
Flitting is obtained after the actual mining height data of left and right rocking arm and coal-winning machine pose data at the moment, the data processing unit
Transmitted after being pre-processed to data preliminary data to controller, controller and fusion treatment carried out to data by least square mode,
And by the data storage after the sampling instant fusion treatment in memory, renewal is merged by real time data and obtains roller coal mining
The automatic cut training data storehouse of machine.
The above-mentioned high coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction, it is characterised in that：
The low level of the actual mining height of the roller of flitting is located at flitting rack rails for the roller of flitting in step 1
Position；A high position for the actual mining height of the roller of flitting is located at roller coal mining branch for the roller of flitting in step 1
The position of retaining frame；The middle position of the actual mining height of the roller of flitting is adopted for the roller of flitting positioned at roller in step 1
Variable position between coal machine rack rails and roller coal mining support bracket.
The above-mentioned high coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction, it is characterised in that：
Controller in step 1 to flitting control system described in step 2 is PLC module；Step 1 institute into step 2
It is filter and amplification Signal-regulated kinase to state the data processing unit in flitting control system；Step 1 institute into step 2
It is explosion-proof variable frequency variable speed device to state the frequency-converting speed-governing control system in flitting control system；Step 1 is to described in step 2
Standby control interface in flitting control system includes wired or RFDC interface.
The present invention has advantages below compared with prior art：
1st, the present invention is reasonable in design, method and step is rigorous, and acquisition data are timely, and input cost is low, using flexible, and function is complete
It is standby.
2nd, the automatic cut control device of flitting teaching playback that the present invention uses is easy for installation, easily controllable and intelligence
Degree height can be changed.
3rd, the present invention is directed to the high coal dust girdle flitting coal cutting in traveling of direction of ventilation from right to left, rolls left
Cylinder is always to maintain low level and cuts ground coal, and right roller is always to maintain a high position and cuts top coal, is advantageous to observe upper cylinder, effectively prevents and prop up
Frame is interfered；By carrying out beveling feed for the high coal dust girdle of direction of ventilation from right to left, cutting Triangle Coal, clear float coal and row
Enter middle coal cutting, cover necessary process during coal mining, the data in each step are merged by controller, use
Effect is good.
4th, the present invention is novel in design rationally, greatly reduces manual intervention, and full-automatic degree is high, it is intended to by people from evil
Freed in bad, dangerous downhole coal mine environment, reduce labor intensity, be easy to promote the use of.
In summary, the present invention is novel in design rationally, high coal dust girdle flitting cut mistake of the teaching with wind direction
Journey, cover the high coal dust girdle with wind direction carry out beveling feed, cut Triangle Coal, clear float coal and advance in coal cutting coal mining process
In necessary process, greatly reduce manual intervention, meet with wind direction high coal dust girdle coal winning technology automation mine will
Ask, Automatic Control efficiency high, be easy to promote the use of.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Fig. 1 is that the automatic cut control of the high coal dust girdle flitting teaching playback with wind direction that the present invention uses is set
Standby schematic block circuit diagram.
Fig. 2 is the stream of the high coal dust girdle flitting teaching playback automatic cutting control method of the invention with wind direction
Journey block diagram.
Fig. 3 is the flow chart element of the high coal dust girdle flitting teaching automatic cutting control method of the invention with wind direction
Figure.
Description of reference numerals:
4-left rocking arm mining height detection module；5-right rocking arm mining height detection module；
6-coal-winning machine pose detection module；7-data processing unit；
8-controller；9-left rocking arm heightens valve group；10-right rocking arm heightens valve group；
11-frequency-converting speed-governing control system；12-standby control interface；
13-display；14-memory.
Embodiment
As shown in figure 1, the high coal dust low seam mining machinery teaching playback automatic cutting control method of the invention with wind direction, bag
Include following steps：
Step 1: the automatic cut teaching of flitting：High coal dust girdle mine district length direction of the edge with wind direction,
It is the high coal dust girdle of direction of ventilation from right to left along the high coal dust girdle with wind direction, utilizes flitting control system
Control flitting carries out slicing to the coal seam that need to be exploited from the front to the back；During slicing, to needing to exploit
Working face of coal seam before and after be connected two coal seams recovery method all same；
The flitting control system includes controller 8 and the memory 14 to connect with controller 8, controller 8
Input is terminated with data processing unit 7, and the input of data processing unit 7 is terminated with left rocking arm mining height detection module 4, right rocking arm is adopted
High detection module 5 and coal-winning machine pose detection module 6, the output of controller 8 is terminated with display 13, left rocking arm heightens valve group 9,
Right rocking arm heightens valve group 10, frequency-converting speed-governing control system 11 and standby control interface 12；
On front and rear two coal seams any to the working face of coal seam that need to exploit the round coal cutting of flitting one carry out from
During dynamic cut teaching, process is as follows：
Step 1001, the beveling feed of the preceding coal seam left end of the working face of coal seam：Determine flitting in the coal
Actual mining height on layer working face, roll left cylinder and the right roller of flitting are adjusted using the flitting control system
It is in the middle position beveling feed coal cutting of actual mining height on the working face of coal seam；
It should be noted that in the present embodiment, for flitting in underground coal cutting, bottom is provided with rack rails, and top is adopted
With hydraulic support stand, the low level of the actual mining height of roller of flitting is located at flitting for the roller of flitting
Position at rack rails；A high position for the actual mining height of roller of flitting is located at roller coal mining supporting for the roller of flitting
The position of frame；The middle position of the actual mining height of roller of flitting for flitting roller be located at flitting rack rails and
Variable position between roller coal mining support bracket.
In practical operation, set by controller 8 and mined on the high coal dust thin seam working surface of direction of ventilation from right to left
The roller of machine apart from rack rails distance threshold and roller apart from the distance threshold of support bracket, the high coal of direction of ventilation from right to left
During the preceding coal seam left end beveling feed of dirt thin seam working surface, left and right roller is avoided to be contacted with rack rails or support bracket, damage is set
It is standby, by controller 8 adjust left rocking arm heighten valve group 9 keep coal-winning machine the cylinder that rolls left be in middle position, the right side is adjusted by controller 8
Rocking arm heightens valve group 10 and keeps the right roller of coal-winning machine to be also at middle position.
The coal-winning machine pose detection module 6 includes coal winning machine position detection module, fuselage inclination angle detection module, left and right
Roller angle of pitch detection module, the detectable coal-winning machine fuselage of fuselage inclination angle detection module incline with working face extending direction
Oblique angle, also detectable coal-winning machine fuselage and the inclination angle of working face vertical direction, when coal-winning machine fuselage and working face extending direction
Tilt angle varied amplitude it is larger when, illustrate that this section of coal seam waviness is larger, recording the position by memory 14 goes out characteristic
According to fusion training data；It is normal that coal-winning machine fuselage is parallel to each other with working face extending direction when mining, when coal-winning machine fuselage and
When the tilt angle varied amplitude of working face vertical direction is larger, illustrate that coal-winning machine chamfers feed in this section of coal seam.
Step 1002, the preceding coal seam left end Triangle Coal for cutting the working face of coal seam：Controlled by the flitting
System simultaneously in regulating step 1001 cylinder that rolls left of flitting drop on the working face of coal seam actual mining height low level and
Right roller rises to the preceding coal seam left end Triangle Coal that an actual mining height high position on the working face of coal seam cuts the working face of coal seam；
In the present embodiment, after coal-winning machine beveling feed in step 1001, coal-winning machine left end occurs what is be not produced
Triangle Coal, frequency-converting speed-governing control system 11 is adjusted by controller 8 and haulage shearer and cuts direction of ventilation from right to left to the left
The preceding coal seam left end Triangle Coal of high coal dust thin seam working surface.
Step 1003, the preceding coal seam left end top coal for cutting the working face of coal seam：Controlled by the flitting and be
It is high-order and right to rise to actual mining height on the working face of coal seam for the cylinder that rolls left of flitting in system while regulating step 1002
Roller drops to the preceding coal seam left end top coal that actual mining height middle position on the working face of coal seam cuts the working face of coal seam；
The preceding coal seam left end float coal of step 1004, the cleaning working face of coal seam：Controlled by the flitting
System sets the preceding coal seam left end float coal number of working face of coal seam described in cleanup step 1003, adjusts a left side for flitting
Roller is in actual mining height low level on the working face of coal seam and right roller is in actual mining height middle position on the working face of coal seam,
Complete the cleaning of the preceding coal seam left end float coal of the working face of coal seam；
It should be noted that float coal is cleared up in high coal dust thin seam working surface termination of the coal-winning machine in direction of ventilation from right to left
The clear float coal of Shi Yici does not reach the effect of thoroughly clear float coal, it is necessary to repeatedly be cleared up, and direction of ventilation can be set by controller 8
High coal dust thin seam working surface termination cleaning float coal number from right to left, general set just can reach clear float coal twice or thrice
Effect.
The preceding coal seam coal cutting from left to right of step 1005, flitting along the working face of coal seam：The roller is mined
The cylinder actual mining height low level on the working face of coal seam that rolls left of flitting in machine regulating step 1004 cuts ground coal, simultaneously
The right roller of holding flitting actual mining height high position on the working face of coal seam cuts top coal, the flitting control
System controls preceding coal seam of the flitting along the 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 underground can only use draft type from right to left
When, because girdle coal dust is larger, observation roller height is difficult, and using rolling left, cylinder is cut in low level, right roller in the mode of a high position
Coal is advantageous to the high-order right roller of observation, can also prevent the interference with supporting man.
When preceding coal seam from left to right coal cutting of the flitting along the working face of coal seam, the cylinder that rolls left cuts bottom in low level
Coal, right roller cut top coal in a high position；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, the preceding coal seam right end ground coal for cutting the working face of coal seam：Controlled by the flitting and be
The right roller of flitting declines the preceding coal seam right end ground coal for cutting the working face of coal seam in system rate-determining steps 1005, and controls
The cylinder that rolls left of flitting is in actual mining height middle position on the working face of coal seam in step 1005 processed；
In the present embodiment, top coal is cut according to the right roller of step 1005 coal-winning machine to right end, right end ground coal is not produced,
The right roller of regulation flitting, which declines, cuts the right end ground coal, and the cylinder that rolls left of flitting is in direction of ventilation from dextrad
Actual mining height middle position on left high coal dust thin seam working surface, on the one hand cut not by coal more than the residual of cut, on the other hand avoid
Touched with rack rails, influence is coaling or transporting coal.
The preceding coal seam right end float coal of step 1007, the cleaning working face of coal seam：Controlled by the flitting
System sets the preceding coal seam right end float coal number for clearing up the working face of coal seam, and the cylinder that rolls left for adjusting flitting is in institute
State actual mining height middle position on working face of coal seam and right roller is in actual mining height low level on the working face of coal seam, complete the coal
The cleaning of the preceding coal seam right end float coal of layer working face；
In the present embodiment, after the preceding coal seam right end float coal for cleaning out the working face of coal seam, double-ended shearer one
The coal cutting process of hilted broadsword to the right terminates, and the hilted broadsword coal cutting process of working face of coal seam one can not comprehensively react the coal seam work
Face coal cutting teaching process, by combining the coal cutting process of the hilted broadsword of double-ended shearer one to the left, comprehensively react the coal seam work
Make the surface roller coal-winning machine course of work, and memory storage, reproducing coal cutting for the working face of coal seam flitting provides effectively
Data reference.
Step 1008, the beveling feed of the rear coal seam right end of the working face of coal seam：Controlled by the flitting
The right roller of flitting rises actual mining height middle position on feed to the working face of coal seam in system fading margin step 1007, together
When flitting the cylinder that rolls left keep actual mining height middle position beveling feed coal cutting on the working face of coal seam；
In the present embodiment, when the rear coal seam right end of the working face of coal seam chamfers feed, left and right roller and rack rails are avoided
Or support bracket contact, equipment is damaged, left rocking arm is adjusted by controller 8 heightens valve group 9 and keep the cylinder that rolls left of coal-winning machine to be in
Position, adjusts right rocking arm by controller 8 and heightens valve group 10 and keep the right roller of coal-winning machine to be also at middle position, while passes through controller
8 control frequency-converting speed-governing control system 11 left haulage shearer beveling coal seam feeds, controller 8 preset feed distance, automatically
Whether identification feed distance meets to require.
Step 1009, the rear coal seam right end Triangle Coal for cutting the working face of coal seam：Controlled by the flitting
System simultaneously in regulating step 1008 cylinder that rolls left of flitting drop on the working face of coal seam actual mining height low level and
Right roller rises to the rear coal seam right end Triangle Coal that an actual mining height high position on the working face of coal seam cuts the working face of coal seam；
Step 1010, the rear coal seam right end ground coal for cutting the working face of coal seam：Controlled by the flitting and be
The cylinder that rolls left of flitting rises to actual mining height middle position and the right side on the working face of coal seam in system while regulating step 1009
Roller drops to the rear coal seam right end ground coal that actual mining height low level on the working face of coal seam cuts the working face of coal seam；
The rear coal seam right end float coal of step 1011, the cleaning working face of coal seam：Controlled by the flitting
System sets the rear coal seam right end float coal number of working face of coal seam described in cleanup step 1010, keeps the right side of flitting
Roller is in actual mining height low level on the working face of coal seam, and the cylinder that rolls left keeps actual mining height middle position on the working face of coal seam,
Complete the cleaning of the rear coal seam right end float coal of the working face of coal seam；
The rear coal seam coal cutting from right to left of step 1012, flitting along the working face of coal seam：Pass through the roller
The cylinder that rolls left of flitting drops to actual mining height on the working face of coal seam in coal-winning machine control system rate-determining steps 1011
Low level, right roller rises to an actual mining height high position on the working face of coal seam, and operates flitting and worked along the coal seam
The rear coal seam in face is from right end to left end coal cutting；
In the present embodiment, coal seam flitting coal cutting in traveling, when flitting works along the coal seam
During the rear coal seam coal cutting from right to left in face, the cylinder that rolls left cuts ground coal in low level, and right roller cuts top coal in a high position；Adjusted by controller 8
Save frequency-converting speed-governing control system 11 to the left haulage shearer from right end to left end coal cutting.
Step 1013, the rear coal seam left end top coal for cutting the working face of coal seam：Controlled by the flitting and be
The cylinder that rolls left of flitting rises the rear coal seam left end top coal for cutting the working face of coal seam in system rate-determining steps 1012, and controls
The right roller of flitting drops to actual mining height middle position on the working face of coal seam in step 1012 processed；
In the present embodiment, march to left end according to the step 1012 coal-winning machine cylinder that rolls left and cut ground coal, left end top coal not by
The left end top coal is cut in exploitation, the cylinder rising of rolling left for adjusting flitting, and the right roller of flitting is in direction of ventilation
Actual mining height middle position on high coal dust thin seam working surface from right to left, on the one hand cut not by coal more than the residual of cut, the opposing party
Face avoids touching with rack rails, and influence is coaling or transporting coal.
The rear coal seam left end float coal of step 1014, the cleaning working face of coal seam：Controlled by the flitting
System sets the rear coal seam left end float coal number for clearing up the working face of coal seam, and the cylinder that rolls left for adjusting flitting is in institute
State actual mining height low level on working face of coal seam and right roller is in actual mining height middle position on the working face of coal seam, complete the coal
The cleaning of the rear coal seam left end float coal of layer working face, complete before and after the working face of coal seam flitting one on two coal seams
Come and go coal cutting teaching method, the flitting control system stores before and after the working face of coal seam that roller is mined on two coal seams
The round coal cutting training data of machine；
According to actual condition to any one sampling instant flitting teaching coal cutting number in step 1001 to step 1014
For, flitting is obtained after the actual mining height data of left and right rocking arm and coal-winning machine pose data at the moment, the number
Transmitted after being pre-processed according to processing unit 7 to data preliminary data to controller 8, controller 8 is by least square mode to data
Fusion treatment is carried out, and by the data storage after the sampling instant fusion treatment in memory 14, is merged by real time data
Renewal obtains the automatic cut training data storehouse of the coal seam flitting.
Step 2: the automatic cut of flitting reproduces：Along mine district length direction, system is controlled using flitting
System control flitting carries out slicing to the coal seam that need to be exploited from the front to the back；During slicing, to that need to open
The recovery method all same in two coal seams being connected before and after the working face of coal seam adopted；
One round coal cutting of flitting is cut automatically on front and rear two coal seams any to the working face of coal seam that need to exploit
When cutting reproduction, process is as follows：
Step 201, the initialization flitting control system：Gathered by coal-winning machine pose detection module 6 described
Coal seam flitting location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller angle of pitch ginseng
Number, a left side for the left detection of rocking arm mining height detection module 4 is can determine that by a pitching angular dimensions that rolls left for the coal seam flitting
Rocking arm mining height data, right rocking arm mining height detection module can determine that by the right roller pitching angular dimensions of the coal seam flitting
The right rocking arm mining height data of 5 detections；
Step 202, judge whether the coal seam flitting is in termination：When the coal seam flitting is in end
During head, according to the coal seam flitting location parameter obtained in step 201, if the coal seam flitting is in a left side
During termination, step 203 is performed；If the coal seam flitting is in right end, step 204 is performed；When the coal seam is rolled
When cylinder coal-winning machine is not at termination, according to the coal seam flitting direct of travel obtained in step 201, if the coal seam
Flitting coal cutting from left to right, transfer the step 1005 in memory 14 and reproduce the coal seam flitting coal cutting；If
The coal seam flitting coal cutting from right to left, transfer the step 1012 in memory 14 and reproduce the coal seam flitting
Coal cutting；
It should be noted that when the high coal dust girdle flitting when direction of ventilation from right to left is not at termination,
According to the high coal dust girdle flitting direct of travel of the direction of ventilation obtained in step 201 from right to left, if ventilation side
To high coal dust girdle flitting coal cutting from left to right from right to left, transfer the step 1005 in memory 14 and reproduce and lead to
The high coal dust girdle flitting coal cutting of wind direction from right to left；Determine that coal-winning machine is in working face position and determines to adopt
Coal machine direct of travel can transfer the high automatic cut of coal dust girdle flitting of direction of ventilation from right to left in reservoir 14
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 perform circulation, and it is thin to reproduce the high coal dust of direction of ventilation from right to left
The automatic cut control of coal seam flitting；
When the high coal dust girdle flitting of direction of ventilation from right to left is not at termination, according in step 201
The high coal dust girdle flitting direct of travel of the direction of ventilation of acquisition from right to left, if the height of direction of ventilation from right to left
The coal cutting from right to left of coal dust girdle flitting, the step 1012 transferred in memory 14 reproduce direction of ventilation from right to left
High coal dust girdle flitting coal cutting；Determine that coal-winning machine is in working face 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 of direction of ventilation from right to left in reservoir 14
1012, according to step 1012, step 1013, step 1014, step 1001 ..., the order of step 1011, step 1012 performs
Circulation, reproduce the automatic cut control of the high coal dust girdle flitting of direction of ventilation from right to left；Coal seam rolling reproduced below
Cylinder coal-winning machine coal cutting, by that analogy, is repeated no more.
The automatic cut of step 203, the coal seam flitting left end reproduces, and process is as follows：
Whether the rear coal seam left end float coal clearing times for step 203a, judging the working face of coal seam are zero：Pass through control
Device 8 processed sets the rear coal seam left end float coal number of the working face of coal seam, when the after coal seam left end of the working face of coal seam
When float coal clearing times are zero, transfer the step 1001 in memory 14 and reproduce the coal seam flitting coal cutting；Otherwise, adjust
Step 1014 is performed a plurality of times after step 1013 in access to memory 14 and reproduces the coal seam flitting coal cutting；
It should be noted that the opening position in termination, it is the upper of left end that controller 8 is gone out herein by feed Distance Judgment
One rear coal seam circulated or the preceding coal seam of this circulation, coal seam left end float coal has been cleared up after this, performs the coal seam work
The preceding coal seam left end beveling feed in face；Cleaning of coal seam left end float coal is not complete after this, in practical operation, in fuselage
Coal-winning machine travels to and fro between the rear coal seam left end in the range of distance and the opening position of the distance of a fuselage cuts the coal seam work
The rear coal seam left end ground coal in face and the rear coal seam left end float coal for clearing up the working face of coal seam, until the rear coal seam left end
The rear coal seam left end float coal for clearing up the working face of coal seam finishes.
Step 203b, judge whether flitting runs to the left in the preceding coal seam of the working face of coal seam：When the coal
When layer flitting is run to the left, transfer the step 1002 in memory 14 and reproduce the coal seam flitting coal cutting；It is no
Then, transfer the step 1003 in memory 14 and reproduce the coal seam flitting coal cutting；
The flitting draws the Triangle Coal for representing coal mining machine cut left end, the rolling in the preceding coal seam of the left end to the left
Cylinder coal-winning machine draws to the right the ground coal for representing coal mining machine cut left end in the preceding coal seam of the left end.
Whether the preceding coal seam left end float coal clearing times for step 203c, judging the working face of coal seam are zero：Pass through control
Device 8 processed sets the rear coal seam left end float coal number of the working face of coal seam, when the preceding coal seam left end of the working face of coal seam
When float coal clearing times are zero, transfer the step 1005 in memory 14 and reproduce the coal seam flitting coal cutting；When described
When the preceding coal seam left end float coal clearing times of working face of coal seam are not zero, transfer the step 1004 in memory 14 reproduce it is described
Coal seam flitting coal cutting；
The automatic cut of step 204, the coal seam flitting right end reproduces, and process is as follows：
Whether the preceding coal seam right end float coal clearing times for step 204a, judging the working face of coal seam are zero：Pass through control
Device 8 processed sets the preceding coal seam right end float coal number of the working face of coal seam, when the preceding coal seam right end of the working face of coal seam
When float coal clearing times are zero, transfer the step 1008 in memory 14 and reproduce the coal seam flitting coal cutting；Otherwise, adjust
Step 1007 is performed a plurality of times after step 1006 in access to memory 14 and reproduces the coal seam flitting coal cutting；
It should be noted that the opening position in termination, it is the upper of right end that controller 8 is gone out herein by feed Distance Judgment
The rear coal seam of one circulation or the preceding coal seam of this circulation, when the preceding coal seam right end float coal has been cleared up, perform the coal seam and work
The rear coal seam right end beveling feed in face；When preceding coal seam right end float coal cleaning is not complete, in practical operation, in fuselage
Coal-winning machine travels to and fro between the preceding coal seam right end in the range of distance and the opening position of the distance of a fuselage cuts the coal seam work
The preceding coal seam right end ground coal in face and the preceding coal seam right end float coal for clearing up the working face of coal seam, until the preceding coal seam right end
The preceding coal seam right end float coal for clearing up the working face of coal seam finishes.
Step 204b, judge whether flitting runs to the right in the rear coal seam of the working face of coal seam：When the coal
When layer flitting is run to the right, transfer the step 1009 in memory 14 and reproduce the coal seam flitting coal cutting；It is no
Then, transfer the step 1010 in memory 14 and reproduce the coal seam flitting coal cutting；
The Triangle Coal for representing coal mining machine cut right-hand member, the rolling are drawn to the right in flitting coal seam after the right end
The ground coal for representing coal mining machine cut right-hand member is drawn to the left in cylinder coal-winning machine coal seam after the right end.
Whether the rear coal seam right end float coal clearing times for step 204c, judging the working face of coal seam are zero：Pass through control
Device 8 processed sets the rear coal seam right end float coal number of the working face of coal seam, when the after coal seam right end of the working face of coal seam
When float coal clearing times are zero, transfer the step 1012 in memory 14 and reproduce the coal seam flitting coal cutting；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 memory 14 reproduce it is described
Coal seam flitting coal cutting.
In the present embodiment, the controller 8 in step 1 to flitting control system described in step 2 is PLC moulds
Block；Data processing unit 7 in step 1 to flitting control system described in step 2 is filter and amplification signal condition
Module；Frequency-converting speed-governing control system 11 in step 1 to flitting control system described in step 2 is adjusted for flame-proof converter
Fast device；Standby control interface 12 in step 1 to flitting control system described in step 2 includes wired or wireless number
According to communication interface.
It is described above, only it is presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to the present invention
Any simple modification, change and the equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (4)
1. the high coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction, it is characterised in that this method includes
Following steps：
Step 1: the automatic cut teaching of flitting：Along the high coal dust girdle mine district length direction with wind direction, along band
The high coal dust girdle of wind direction is the high coal dust girdle of direction of ventilation from right to left, is controlled using flitting control system
Flitting carries out slicing to the coal seam that need to be exploited from the front to the back；During slicing, to the coal that need to be exploited
The recovery method all same in two coal seams being connected before and after layer working face；
The flitting control system includes controller (8) and the memory (14) to connect with controller (8), controller
(8) input is terminated with data processing unit (7), and the input of data processing unit (7) is terminated with left rocking arm mining height detection module
(4), right rocking arm mining height detection module (5) and coal-winning machine pose detection module (6), the output of controller (8) are terminated with display
(13), left rocking arm heightens valve group (9), right rocking arm heightens valve group (10), frequency-converting speed-governing control system (11) and standby control interface
(12)；
One round coal cutting of flitting is cut automatically on front and rear two coal seams any to the working face of coal seam that need to exploit
When cutting teaching, process is as follows：
Step 1001, the beveling feed of the preceding coal seam left end of the working face of coal seam：Determine flitting in the coal seam work
Make the actual mining height on face, using the flitting control system adjust flitting roll left cylinder and right roller is located
Feed coal cutting is chamfer in the middle position of actual mining height on the working face of coal seam；
Step 1002, the preceding coal seam left end Triangle Coal for cutting the working face of coal seam：Pass through the flitting control system
The cylinder that rolls left of flitting drops to actual mining height low level and right rolling on the working face of coal seam in regulating step 1001 simultaneously
Cylinder rises to the preceding coal seam left end Triangle Coal that an actual mining height high position on the working face of coal seam cuts the working face of coal seam；
Step 1003, the preceding coal seam left end top coal for cutting the working face of coal seam：It is same by the flitting control system
When regulating step 1002 in the cylinder that rolls left of flitting rise to that actual mining height on the working face of coal seam is high-order and right roller
Drop to the preceding coal seam left end top coal that actual mining height middle position on the working face of coal seam cuts the working face of coal seam；
The preceding coal seam left end float coal of step 1004, the cleaning working face of coal seam：Pass through the flitting control system
The preceding coal seam left end float coal number of working face of coal seam described in cleanup step 1003 is set, adjusts the cylinder that rolls left of flitting
Actual mining height low level and right roller are in actual mining height middle position on the working face of coal seam on the working face of coal seam, complete
The cleaning of the preceding coal seam left end float coal of the working face of coal seam；
The preceding coal seam coal cutting from left to right of step 1005, flitting along the working face of coal seam：The flitting is adjusted
The cylinder actual mining height low level on the working face of coal seam that rolls left of flitting in section step 1004 cuts ground coal, keeps simultaneously
The right roller of flitting actual mining height high position on the working face of coal seam cuts top coal, the flitting control system
Preceding coal seam of the flitting along the working face of coal seam is controlled from left end to right end coal cutting；
Step 1006, the preceding coal seam right end ground coal for cutting the working face of coal seam：Pass through the flitting control system control
The right roller of flitting declines the preceding coal seam right end ground coal for cutting the working face of coal seam in step 1005 processed, and controls step
The cylinder that rolls left of flitting is in actual mining height middle position on the working face of coal seam in rapid 1005；
The preceding coal seam right end float coal of step 1007, the cleaning working face of coal seam：Pass through the flitting control system
The preceding coal seam right end float coal number for clearing up the working face of coal seam is set, and the cylinder that rolls left for adjusting flitting is in the coal
Actual mining height middle position and right roller are in actual mining height low level on the working face of coal seam on layer working face, complete the coal seam work
Make the cleaning of the preceding coal seam right end float coal in face；
Step 1008, the beveling feed of the rear coal seam right end of the working face of coal seam：Pass through the flitting control system
The right roller of flitting rises actual mining height middle position on feed to the working face of coal seam in regulating step 1007, rolls simultaneously
The cylinder that rolls left of cylinder coal-winning machine keeps actual mining height middle position beveling feed coal cutting on the working face of coal seam；
Step 1009, the rear coal seam right end Triangle Coal for cutting the working face of coal seam：Pass through the flitting control system
The cylinder that rolls left of flitting drops to actual mining height low level and right rolling on the working face of coal seam in regulating step 1008 simultaneously
Cylinder rises to the rear coal seam right end Triangle Coal that an actual mining height high position on the working face of coal seam cuts the working face of coal seam；
Step 1010, the rear coal seam right end ground coal for cutting the working face of coal seam：It is same by the flitting control system
When regulating step 1009 in the cylinder that rolls left of flitting rise to actual mining height middle position and right roller on the working face of coal seam
Drop to the rear coal seam right end ground coal that actual mining height low level on the working face of coal seam cuts the working face of coal seam；
The rear coal seam right end float coal of step 1011, the cleaning working face of coal seam：Pass through the flitting control system
The rear coal seam right end float coal number of working face of coal seam described in cleanup step 1010 is set, keeps the right roller of flitting
The actual mining height low level on the working face of coal seam, the cylinder that rolls left keep actual mining height middle position on the working face of coal seam, complete
The cleaning of the rear coal seam right end float coal of the working face of coal seam；
The rear coal seam coal cutting from right to left of step 1012, flitting along the working face of coal seam：Mined by the roller
The cylinder that rolls left of flitting drops to actual mining height low level on the working face of coal seam in machine control system rate-determining steps 1011,
It is high-order that right roller rises to actual mining height on the working face of coal seam, and operates flitting along after the working face of coal seam
Coal seam is from right end to left end coal cutting；
Step 1013, the rear coal seam left end top coal for cutting the working face of coal seam：Pass through the flitting control system control
The cylinder that rolls left of flitting rises the rear coal seam left end top coal for cutting the working face of coal seam in step 1012 processed, and controls step
The right roller of flitting drops to actual mining height middle position on the working face of coal seam in rapid 1012；
The rear coal seam left end float coal of step 1014, the cleaning working face of coal seam：Pass through the flitting control system
The rear coal seam left end float coal number for clearing up the working face of coal seam is set, and the cylinder that rolls left for adjusting flitting is in the coal
Actual mining height low level and right roller are in actual mining height middle position on the working face of coal seam on layer working face, complete the coal seam work
Make the cleaning of the rear coal seam left end float coal in face, complete before and after the working face of coal seam that flitting one comes and goes on two coal seams
Coal cutting teaching method, the flitting control system store before and after the working face of coal seam flitting on two coal seams
Come and go coal cutting training data；
Step 2: the automatic cut of flitting reproduces：Along mine district length direction, flitting control system control is utilized
Flitting processed carries out slicing to the coal seam that need to be exploited from the front to the back；During slicing, to what need to be exploited
The recovery method all same in two coal seams being connected before and after the working face of coal seam；
The round coal cutting of flitting one carries out automatic cut again on front and rear two coal seams any to the working face of coal seam that need to exploit
Now, process is as follows：
Step 201, the initialization flitting control system：The 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 roller angle of pitch ginseng
Number, it can determine that what left rocking arm mining height detection module (4) was detected by a pitching angular dimensions that rolls left for the coal seam flitting
Left rocking arm mining height data, it can determine that right rocking arm mining height detects mould by the right roller pitching angular dimensions of the coal seam flitting
The right rocking arm mining height data of block (5) detection；
Step 202, judge whether the coal seam flitting is in termination：When the coal seam flitting is in termination
When, according to the coal seam flitting location parameter obtained in step 201, if the coal seam flitting is in left end
During head, step 203 is performed；If the coal seam flitting is in right end, step 204 is performed；When the coal seam roller
When coal-winning machine is not at termination, according to the coal seam flitting direct of travel obtained in step 201, if the coal seam is rolled
Cylinder coal-winning machine coal cutting from left to right, transfers the step 1005 in memory (14) and reproduces the coal seam flitting coal cutting；If
The coal seam flitting coal cutting from right to left, transfer the step 1012 in memory (14) and reproduce the coal seam roller coal mining
Machine cut coal；
The automatic cut of step 203, the coal seam flitting left end reproduces, and process is as follows：
Whether the rear coal seam left end float coal clearing times for step 203a, judging the working face of coal seam are zero：Pass through controller
(8) the rear coal seam left end float coal number of the working face of coal seam is set, when the after coal seam left end of the working face of coal seam is floated
When coal clearing times are zero, transfer the step 1001 in memory (14) and reproduce the coal seam flitting coal cutting；Otherwise, adjust
Step 1014 is performed a plurality of times after step 1013 in access to memory (14) and reproduces the coal seam flitting coal cutting；
Step 203b, judge whether flitting runs to the left in the preceding coal seam of the working face of coal seam：When the coal seam is rolled
When cylinder coal-winning machine is run to the left, transfer the step 1002 in memory (14) and reproduce the coal seam flitting coal cutting；Otherwise,
Transfer the step 1003 in memory (14) and reproduce the coal seam flitting coal cutting；
Whether the preceding coal seam left end float coal clearing times for step 203c, judging the working face of coal seam are zero：Pass through controller
(8) the rear coal seam left end float coal number of the working face of coal seam is set, when the preceding coal seam left end of the working face of coal seam is floated
When coal clearing times are zero, transfer the step 1005 in memory (14) and reproduce the coal seam flitting coal cutting；When described
When the preceding coal seam left end float coal clearing times of working face of coal seam are not zero, the step 1004 transferred in memory (14) reproduces institute
State coal seam flitting coal cutting；
The automatic cut of step 204, the coal seam flitting right end reproduces, and process is as follows：
Whether the preceding coal seam right end float coal clearing times for step 204a, judging the working face of coal seam are zero：Pass through controller
(8) the preceding coal seam right end float coal number of the working face of coal seam is set, when the preceding coal seam right end of the working face of coal seam is floated
When coal clearing times are zero, transfer the step 1008 in memory (14) and reproduce the coal seam flitting coal cutting；Otherwise, adjust
Step 1007 is performed a plurality of times after step 1006 in access to memory (14) and reproduces the coal seam flitting coal cutting；
Step 204b, judge whether flitting runs to the right in the rear coal seam of the working face of coal seam：When the coal seam is rolled
When cylinder coal-winning machine is run to the right, transfer the step 1009 in memory (14) and reproduce the coal seam flitting coal cutting；Otherwise,
Transfer the step 1010 in memory (14) and reproduce the coal seam flitting coal cutting；
Whether the rear coal seam right end float coal clearing times for step 204c, judging the working face of coal seam are zero：Pass through controller
(8) the rear coal seam right end float coal number of the working face of coal seam is set, when the after coal seam right end of the working face of coal seam is floated
When coal clearing times are zero, transfer the step 1012 in memory (14) and reproduce the coal seam flitting coal cutting；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 memory (14) reproduces institute
State coal seam flitting coal cutting.
2. according to the high coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction described in claim 1,
It is characterized in that：According to actual condition to any one sampling instant flitting teaching coal cutting in step 1001 to step 1014
For data, flitting is obtained after the actual mining height data of left and right rocking arm and coal-winning machine pose data at the moment, it is described
Data processing unit (7) is transmitted to controller (8), controller (8) after being pre-processed to data preliminary data passes through least square
Formula carries out fusion treatment to data, and the data storage after the sampling instant fusion treatment is passed through into reality in memory (14)
When data fusion update to obtain the automatic cut training data storehouse of flitting.
3. according to the high coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction described in claim 1,
It is characterized in that：The low level of the actual mining height of the roller of flitting is adopted for the roller of flitting positioned at roller in step 1
Position at coal machine rack rails；A high position for the actual mining height of the roller of flitting is located at for the roller of flitting in step 1
The position of roller coal mining support bracket；The middle position of the actual mining height of the roller of flitting is the roller of flitting in step 1
Variable position between flitting rack rails and roller coal mining support bracket.
4. according to the high coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction described in claim 2,
It is characterized in that：Controller (8) in step 1 to flitting control system described in step 2 is PLC module；Step
Data processing unit (7) in one to flitting control system described in step 2 is filter and amplification Signal-regulated kinase；
Frequency-converting speed-governing control system (11) in step 1 to flitting control system described in step 2 is explosion-proof variable frequency variable speed
Device；Standby control interface (12) in step 1 to flitting control system described in step 2 includes wired or wireless number
According to communication interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610777645.5A CN106194183B (en) | 2016-08-30 | 2016-08-30 | High coal dust low seam mining machinery teaching playback automatic cutting control method with wind direction |
Applications Claiming Priority (1)
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| US4968098A (en) * | 1989-09-11 | 1990-11-06 | Atlantic Richfield Company | Coal seam discontinuity sensor and method for coal mining apparatus |
| SU1645506A1 (en) * | 1989-05-06 | 1991-04-30 | Институт горного дела им.А.А.Скочинского | Method of locating a cutter-loader in coal seam |
| CN2088166U (en) * | 1990-12-31 | 1991-11-06 | 邵阳煤矿机械厂 | Coal-stopping device for explosive mining and mechanical loading |
| CN1093140A (en) * | 1992-04-04 | 1994-10-05 | 赫姆塞德特机器制造厂有限及两合公司 | The rotating coal-mining method of work plane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SU1645506A1 (en) * | 1989-05-06 | 1991-04-30 | Институт горного дела им.А.А.Скочинского | Method of locating a cutter-loader in coal seam |
| US4968098A (en) * | 1989-09-11 | 1990-11-06 | Atlantic Richfield Company | Coal seam discontinuity sensor and method for coal mining apparatus |
| CN2088166U (en) * | 1990-12-31 | 1991-11-06 | 邵阳煤矿机械厂 | Coal-stopping device for explosive mining and mechanical loading |
| CN1093140A (en) * | 1992-04-04 | 1994-10-05 | 赫姆塞德特机器制造厂有限及两合公司 | The rotating coal-mining method of work plane |
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