CN106321097B

CN106321097B - A kind of flitting teaching playback automatic cutting control method

Info

Publication number: CN106321097B
Application number: CN201610777659.7A
Authority: CN
Inventors: 赵亦辉; 孙永锋; 封平安; 党景锋; 刘东航; 刘庚; 田江伟; 刘志明
Original assignee: Xian Coal Mining Machinery Co Ltd
Current assignee: Xian Coal Mining Machinery Co Ltd
Priority date: 2016-08-30
Filing date: 2016-08-30
Publication date: 2018-03-23
Anticipated expiration: 2036-08-30
Also published as: CN106321097A

Abstract

The invention discloses a kind of flitting teaching playback automatic cutting control method, including Step 1: the automatic cut teaching of medium-thickness seam flitting；2nd, the automatic cut teaching of low coal dust girdle flitting；3rd, the automatic cut teaching of high coal dust girdle flitting of direction of ventilation from right to left；4th, the automatic cut teaching of bog-head coal floor height coal dust flitting of direction of ventilation from left to right；5th, the automatic cut of flitting reproduces：501st, working face of coal seam initialization data is obtained；502nd, coal seam type is judged；503rd, the automatic cut of medium-thickness seam flitting reproduces；504th, the automatic cut of low coal dust girdle flitting reproduces；505th, the automatic cut of the high coal dust girdle flitting of direction of ventilation from right to left reproduces；506th, the automatic cut of the high coal dust girdle flitting of direction of ventilation from left to right reproduces.The a variety of coal seam cutting courses of teaching of the present invention, meet that different coal winning technology automations are mined and require, Automatic Control efficiency high.

Description

A kind of flitting teaching playback automatic cutting control method

Technical field

The invention belongs to the automatic cut control technology field of coal-winning machine, and in particular to a kind of flitting teaching playback is certainly Dynamic 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.Especially Its low seam mining machinery loading effect is not generally good enough, generally requires process that increase frame head and tail cleans float coal etc.；In addition, When underground Dust Concentration is higher, coal face sight is bad, and the support bracket that coal-winning machine easily touches fully mechanized coal face by mistake often influences to mine Machine cylinder operation.Therefore, a kind of coal-winning machine teaching playback automatic cutting control method is nowadays needed, can be a variety of by teaching Coal seam cut coal mining process, the changeable state in adaptive underground, the high efficiency Automatic Control of coal-winning machine coal cutting process is realized, It is automatic to realize middle part coal cutting, coaling under normal circumstances without any intervention, beveling feed is carried out automatically, cuts Triangle Coal, be clear The overall processes such as float coal.According to real work needs, by menu mode management, operational factor is rationally set, at an arbitrary position infinitely Any automation coal cutting action of interruption and repetition of system, meets that the automation of various different coal winning technologies is mined and requires.

The content of the invention

Mined in view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of roller Machine teaching playback automatic cutting control method, it is novel in design rationally, by a variety of coal seam cutting courses of teaching, meet it is various not Automate to mine with coal winning technology and require, 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：A kind of flitting teaching playback is automatic Cutting control method, it is characterised in that this method comprises the following steps：

Step 1: the automatic cut teaching of medium-thickness seam flitting：Along medium-thickness seam mine district length direction, utilize Flitting control system control flitting carries out slicing to the medium-thickness seam that need to be exploited from the front to the back；It is layered back During adopting, to the recovery method all same in two coal seams being connected before and after the medium-thickness seam working face that need to exploit；

The flitting control system includes controller and the memory to connect with controller, the input of controller Data processing unit is connected to, the input of data processing unit is terminated with detector for measuring depth of coal bed, Dust Concentration sensor, wind direction Instrument, left rocking arm mining height detection module, right rocking arm mining height detection module and coal-winning machine pose detection module, the output termination of controller There are display, left rocking arm to heighten 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 medium-thickness seam working face 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 medium-thickness seam working face：Determine flitting in middle thick 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 medium-thickness seam working face；

Step 1002, the preceding coal seam left end Triangle Coal for cutting medium-thickness seam working face：Controlled by the flitting The cylinder that rolls left of flitting rises to an actual mining height high position on medium-thickness seam working face in system while regulating step 1001, and Right roller drops to the preceding coal seam left end Triangle Coal that actual mining height low level on medium-thickness seam working face cuts medium-thickness seam working face；

Step 1003, the preceding coal seam left end ground coal for cutting medium-thickness seam working face：Controlled by the flitting and be The cylinder that rolls left of flitting drops to actual mining height low level on medium-thickness seam working face in system while regulating step 1002, and right Roller rises to the preceding coal seam left end ground coal that actual mining height middle position on medium-thickness seam working face cuts medium-thickness seam working face；

Step 1004, the preceding coal seam left end float coal for clearing up medium-thickness seam working face：Controlled by the flitting System sets the preceding coal seam left end float coal number of medium-thickness seam working face in cleanup step 1003, keeps a left side for flitting Roller is in actual mining height low level and right roller on medium-thickness seam working face and is in actual mining height middle position on medium-thickness seam working face, Complete the cleaning of the preceding coal seam left end float coal of medium-thickness seam working face；

The preceding coal seam coal cutting from left to right of step 1005, flitting along medium-thickness seam working face：The roller is mined The right roller of flitting in machine regulating step 1003 actual mining height high position on medium-thickness seam working face cuts top coal, simultaneously The cylinder actual mining height low level on medium-thickness seam working face that rolls left of flitting is kept to cut ground coal, the flitting control System controls preceding coal seam of the flitting along medium-thickness seam working face from left end to right end coal cutting；

Step 1006, the preceding coal seam right end ground coal for cutting medium-thickness seam working face：Controlled by the flitting and be The right roller of flitting declines the preceding coal seam right end ground coal for cutting medium-thickness seam working face in system rate-determining steps 1005, and controls The cylinder that rolls left of flitting is in actual mining height middle position on medium-thickness seam working face in step 1005 processed；

Step 1007, the preceding coal seam right end float coal for clearing up medium-thickness seam working face：Controlled by the flitting System sets the preceding coal seam right end float coal number of cleaning medium-thickness seam working face, keeps during the cylinder that rolls left of flitting is in Actual mining height middle position and right roller are in actual mining height low level on medium-thickness seam working face, thick coal in completion on high seam working face 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 medium-thickness seam working face：Controlled by the flitting The right roller of flitting rises actual mining height middle position on feed to medium-thickness seam working face in system fading margin step 1006, together When flitting the cylinder that rolls left keep actual mining height middle position beveling feed coal cutting on medium-thickness seam working face；

Step 1009, the rear coal seam right end Triangle Coal for cutting medium-thickness seam working face：Controlled by the flitting The cylinder that rolls left of flitting drops to actual mining height low level on medium-thickness seam working face in system while regulating step 1008, and Right roller rises to the rear coal seam right end Triangle Coal that an actual mining height high position on medium-thickness seam working face cuts medium-thickness seam working face；

Step 1010, the rear coal seam right end ground coal for cutting medium-thickness seam working face：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 medium-thickness seam working face in system while regulating step 1009 Roller drops to the rear coal seam right end ground coal that actual mining height low level on medium-thickness seam working face cuts medium-thickness seam working face；

Step 1011, the rear coal seam right end float coal for clearing up medium-thickness seam working face：Controlled by the flitting System sets the rear coal seam right end float coal number of medium-thickness seam working face in cleanup step 1010, keeps a left side for flitting Roller is in actual mining height middle position and right roller on medium-thickness seam working face and is in actual mining height low level on medium-thickness seam working face, Complete the cleaning of the rear coal seam right end float coal of medium-thickness seam working face；

The rear coal seam coal cutting from right to left of step 1012, flitting along medium-thickness seam working face：Pass through the roller The cylinder that rolls left of flitting rises to actual mining height on medium-thickness seam working face in coal-winning machine control system rate-determining steps 1010 A high position, and rear coal seam of the flitting along medium-thickness seam working face is operated from right end to left end coal cutting, keep roller to adopt The cylinder actual mining height high position on medium-thickness seam working face that rolls left of coal machine cuts top coal, while keeps the right roller of flitting to exist Actual mining height low level cuts ground coal on medium-thickness seam working face；

Step 1013, the rear coal seam left end ground coal for cutting medium-thickness seam working face：Controlled by the flitting and be The cylinder that rolls left of flitting declines the rear coal seam left end ground coal for cutting medium-thickness seam working face in system rate-determining steps 1012, and controls The right roller of flitting is in middle position in step 1012 processed；

Step 1014, the rear coal seam left end float coal for clearing up medium-thickness seam working face：Controlled by the flitting System sets the rear coal seam left end float coal number of cleaning medium-thickness seam working face, keeps during the cylinder that rolls left of flitting is in Actual mining height low level and right roller are in actual mining height middle position on medium-thickness seam working face, thick coal in completion on high seam working face The cleaning of the rear coal seam left end float coal of layer working face, complete before and after medium-thickness seam working face flitting one on two coal seams Come and go coal cutting teaching, flitting on two coal seams before and after the flitting control system storage medium-thickness seam working face Come and go coal cutting training data；

Step 2: the low automatic cut teaching of coal dust girdle flitting：Along low coal dust girdle mine district length Direction, the low coal dust girdle that need to be exploited is divided from the front to the back using flitting control system control flitting Layer back production；During slicing, to the recovery method in two coal seams being connected before and after the low coal dust thin seam working surface that need to exploit All same；

One round coal cutting of flitting is entered on front and rear two coal seams any to the low coal dust thin seam working surface that need to exploit During the automatic cut teaching of row, process is as follows：

Step 2001, the beveling feed of the preceding coal seam left end of low coal dust thin seam working surface：Determine flitting low Actual mining height on coal dust thin seam working surface, the cylinder that rolls left of flitting is adjusted using the flitting control system The middle position that actual mining height on low coal dust thin seam working surface is in right roller chamfers feed coal cutting；

Step 2002, the preceding coal seam left end Triangle Coal for cutting low coal dust thin seam working surface：Pass through the flitting The cylinder that rolls left of flitting, which is dropped on low coal dust thin seam working surface, in control system while regulating step 2001 actually adopts High-low-position and right roller are risen on low coal dust thin seam working surface before an actual mining height high position cuts low coal dust thin seam working surface Coal seam left end Triangle Coal；

Step 2003, the preceding coal seam left end top coal for cutting low coal dust thin seam working surface：Pass through the flitting control The cylinder that rolls left of flitting rises to actual mining height on low coal dust thin seam working surface in system processed while regulating step 2002 High-order and right roller drops to the preceding coal that actual mining height middle position on low coal dust thin seam working surface cuts low coal dust thin seam working surface Layer left end top coal；

The preceding coal seam left end float coal of step 2004, the low coal dust thin seam working surface of cleaning：Pass through the flitting The preceding coal seam left end float coal number of low coal dust thin seam working surface in set-up of control system cleanup step 2003, regulation roller are adopted The cylinder that rolls left of coal machine is in actual mining height low level and right roller on low coal dust thin seam working surface and is in the work of low coal dust girdle Actual mining height middle position on face, complete the cleaning of the preceding coal seam left end float coal of low coal dust thin seam working surface；

The preceding coal seam coal cutting from left to right of step 2005, flitting along low coal dust thin seam working surface：The roller The cylinder actual mining height high position on low coal dust thin seam working surface that rolls left of flitting in coal-winning machine regulating step 2004 is cut Top coal, while keep the right roller of the flitting actual mining height low level on low coal dust thin seam working surface to cut ground coal, it is described Flitting control system controls preceding coal seam of the flitting along low coal dust thin seam working surface from left end to right end Coal cutting；

Step 2006, the preceding coal seam right end top coal for cutting low coal dust thin seam working surface：Pass through the flitting control The right roller of flitting rises the preceding coal seam right end for cutting low coal dust thin seam working surface in System controlled step 2005 processed Top coal, and the cylinder that rolls left of flitting is in actual mining height middle position on low coal dust thin seam working surface in rate-determining steps 2005；

The preceding coal seam right end float coal of step 2007, the low coal dust thin seam working surface of cleaning：Pass through the flitting Set-up of control system clears up the preceding coal seam right end float coal number of low coal dust thin seam working surface, adjusts rolling left for flitting Cylinder is on low coal dust thin seam working surface and actually adopted in actual mining height middle position on low coal dust thin seam working surface and right roller High-low-position, complete the cleaning of the preceding coal seam right end float coal of low coal dust thin seam working surface；

Step 2008, the beveling feed of the rear coal seam right end of low coal dust thin seam working surface：Pass through the flitting The right roller of flitting rises and actually adopted on feed to low coal dust thin seam working surface in control system regulating step 2007 High middle position, while the cylinder that rolls left of flitting keeps actual mining height middle position beveling feed on low coal dust thin seam working surface to cut Coal；

Step 2009, the rear coal seam right end Triangle Coal for cutting low coal dust thin seam working surface：Pass through the flitting The cylinder that rolls left of flitting, which is risen on low coal dust thin seam working surface, in control system while regulating step 2008 actually adopts High high-order and right roller is dropped on low coal dust thin seam working surface after actual mining height low level cuts low coal dust thin seam working surface Coal seam right end Triangle Coal；

Step 2010, the rear coal seam right end top coal for cutting low coal dust thin seam working surface：Pass through the flitting control The cylinder that rolls left of flitting drops to actual mining height on low coal dust thin seam working surface in system processed while regulating step 2009 Middle position and right roller rise to the rear coal that an actual mining height high position on low coal dust thin seam working surface cuts low coal dust thin seam working surface Layer right end top coal；

The rear coal seam right end float coal of step 2011, the low coal dust thin seam working surface of cleaning：Pass through the flitting The rear coal seam right end float coal number of low coal dust thin seam working surface in set-up of control system cleanup step 2010, regulation roller are adopted The right roller of coal machine is in actual mining height low level on low coal dust thin seam working surface, and the cylinder that rolls left keeps low coal dust thin seam working surface Upper actual mining height middle position, complete the cleaning of the rear coal seam right end float coal of low coal dust thin seam working surface；

The rear coal seam coal cutting from right to left of step 2012, flitting along low coal dust thin seam working surface：By described The cylinder that rolls left of flitting is dropped on low coal dust thin seam working surface in flitting control system rate-determining steps 2011 Actual mining height low level, right roller rises to an actual mining height high position on low coal dust thin seam working surface, and operates flitting edge The rear coal seam of low coal dust thin seam working surface is from right end to left end coal cutting；

Step 2013, the rear coal seam left end top coal for cutting low coal dust thin seam working surface：Pass through the flitting control The cylinder that rolls left of flitting rises the rear coal seam left end for cutting low coal dust thin seam working surface in System controlled step 2012 processed Top coal, and the right roller of flitting is dropped on low coal dust thin seam working surface in actual mining height in rate-determining steps 2012 Position；

The rear coal seam left end float coal of step 2014, the low coal dust thin seam working surface of cleaning：Pass through the flitting Set-up of control system clears up the rear coal seam left end float coal number of low coal dust thin seam working surface, adjusts rolling left for flitting Cylinder is on low coal dust thin seam working surface and actually adopted in actual mining height low level on low coal dust thin seam working surface and right roller High middle position, the cleaning of the rear coal seam left end float coal of low coal dust thin seam working surface is completed, completes low coal dust thin seam working surface The round coal cutting teaching method of flitting one on front and rear two coal seam, it is thin that the flitting control system stores low coal dust Before and after working face of coal seam on two coal seams flitting round coal cutting training data；

Step 3: the automatic cut teaching of high coal dust girdle flitting of direction of ventilation from right to left：The ventilation The high coal dust girdle of direction from right to left is No.1 coal seam, along No.1 coal seam mine district length direction, utilizes roller Coal-winning machine control system control flitting carries out slicing to the No.1 coal seam that need to be exploited from the front to the back；It is layered back During adopting, to the recovery method all same in two coal seams being connected before and after the No.1 working face of coal seam that need to exploit；Described one Number automatic cut teaching of coal seam flitting：

One round coal cutting of flitting is entered on front and rear two coal seams any to the No.1 working face of coal seam that need to exploit During the automatic cut teaching of row, process is as follows：

Step 3001, the beveling feed of the preceding coal seam left end of the No.1 working face of coal seam：Determine flitting in institute The actual mining height on No.1 working face of coal seam is stated, the cylinder that rolls left of flitting is adjusted using the flitting control system The middle position that actual mining height on the No.1 working face of coal seam is in right roller chamfers feed coal cutting；

Step 3002, the preceding coal seam left end Triangle Coal for cutting the No.1 working face of coal seam：Pass through the flitting The cylinder that rolls left of flitting, which is dropped on the No.1 working face of coal seam, in control system while regulating step 3001 actually adopts High-low-position and right roller are risen on the No.1 working face of coal seam before an actual mining height high position cuts the No.1 working face of coal seam Coal seam left end Triangle Coal；

Step 3003, the preceding coal seam left end top coal for cutting the No.1 working face of coal seam：Pass through the flitting control The cylinder that rolls left of flitting rises to actual mining height on the No.1 working face of coal seam in system processed while regulating step 3002 High-order and right roller drops to the preceding coal that actual mining height middle position on the No.1 working face of coal seam cuts the No.1 working face of coal seam Layer left end top coal；

The preceding coal seam left end float coal of step 3004, the cleaning No.1 working face of coal seam：Pass through the flitting The preceding coal seam left end float coal number of No.1 working face of coal seam described in set-up of control system cleanup step 3003, regulation roller are adopted The cylinder that rolls left of coal machine is in actual mining height low level and right roller on the No.1 working face of coal seam and is in No.1 coal seam work Actual mining height middle position on face, complete the cleaning of the preceding coal seam left end float coal of the No.1 working face of coal seam；

The preceding coal seam coal cutting from left to right of step 3005, flitting along the No.1 working face of coal seam：The roller The cylinder actual mining height low level on the No.1 working face of coal seam that rolls left of flitting in coal-winning machine regulating step 3004 is cut Ground coal, while keep the right roller of a flitting actual mining height high position on the No.1 working face of coal seam to cut top coal, it is described Flitting control system controls preceding coal seam of the flitting along the No.1 working face of coal seam from left end to right end Coal cutting；

Step 3006, the preceding coal seam right end ground coal for cutting the No.1 working face of coal seam：Pass through the flitting control The right roller of flitting declines the preceding coal seam right end for cutting the No.1 working face of coal seam in System controlled step 3005 processed Ground coal, and the cylinder that rolls left of flitting is in actual mining height middle position on the No.1 working face of coal seam in rate-determining steps 3005；

The preceding coal seam right end float coal of step 3007, the cleaning No.1 working face of coal seam：Pass through the flitting Set-up of control system clears up the preceding coal seam right end float coal number of the No.1 working face of coal seam, adjusts rolling left for flitting Cylinder is on the No.1 working face of coal seam and actually adopted in actual mining height middle position on the No.1 working face of coal seam and right roller High-low-position, complete the cleaning of the preceding coal seam right end float coal of the No.1 working face of coal seam；

Step 3008, the beveling feed of the rear coal seam right end of the No.1 working face of coal seam：Pass through the flitting The right roller of flitting rises and actually adopted on feed to the No.1 working face of coal seam in control system regulating step 3007 High middle position, while the cylinder that rolls left of flitting keeps actual mining height middle position beveling feed on the No.1 working face of coal seam to cut Coal；

Step 3009, the rear coal seam right end Triangle Coal for cutting the No.1 working face of coal seam：Pass through the flitting The cylinder that rolls left of flitting, which is dropped on the No.1 working face of coal seam, in control system while regulating step 3008 actually adopts High-low-position and right roller are risen on the No.1 working face of coal seam after an actual mining height high position cuts the No.1 working face of coal seam Coal seam right end Triangle Coal；

Step 3010, the rear coal seam right end ground coal for cutting the No.1 working face of coal seam：Pass through the flitting control The cylinder that rolls left of flitting rises to actual mining height on the No.1 working face of coal seam in system processed while regulating step 3009 Middle position and right roller drop to the rear coal that actual mining height low level on the No.1 working face of coal seam cuts the No.1 working face of coal seam Layer right end ground coal；

The rear coal seam right end float coal of step 3011, the cleaning No.1 working face of coal seam：Pass through the flitting The rear coal seam right end float coal number of No.1 working face of coal seam described in set-up of control system cleanup step 3010, roller is kept to adopt The right roller of coal machine is in actual mining height low level on the No.1 working face of coal seam, and the cylinder that rolls left keeps the No.1 working face of coal seam Upper actual mining height middle position, complete the cleaning of the rear coal seam right end float coal of the No.1 working face of coal seam；

The rear coal seam coal cutting from right to left of step 3012, flitting along the No.1 working face of coal seam：By described The cylinder that rolls left of flitting is dropped on the No.1 working face of coal seam in flitting control system rate-determining steps 3011 Actual mining height low level, right roller rises to an actual mining height high position on the No.1 working face of coal seam, and operates flitting edge The rear coal seam of the No.1 working face of coal seam is from right end to left end coal cutting；

Step 3013, the rear coal seam left end top coal for cutting the No.1 working face of coal seam：Pass through the flitting control The cylinder that rolls left of flitting rises the rear coal seam left end for cutting the No.1 working face of coal seam in System controlled step 3012 processed Top coal, and the right roller of flitting is dropped on the No.1 working face of coal seam in actual mining height in rate-determining steps 3012 Position；

The rear coal seam left end float coal of step 3014, the cleaning No.1 working face of coal seam：Pass through the flitting Set-up of control system clears up the rear coal seam left end float coal number of the No.1 working face of coal seam, adjusts rolling left for flitting Cylinder is on the No.1 working face of coal seam and actually adopted in actual mining height low level on the No.1 working face of coal seam and right roller High middle position, the cleaning of the rear coal seam left end float coal of the No.1 working face of coal seam is completed, completes the No.1 working face of coal seam The round coal cutting teaching method of flitting one on front and rear two coal seam, the flitting control system store the No.1 Before and after working face of coal seam on two coal seams flitting round coal cutting training data；

Step 4: the automatic cut teaching of bog-head coal floor height coal dust flitting of direction of ventilation from left to right：The ventilation The high coal dust girdle of direction from left to right is No. two coal seams, along No. two coal seams mine district length direction, utilizes roller Coal-winning machine control system control flitting carries out slicing to No. two coal seams that need to be exploited from the front to the back；It is layered back During adopting, to the recovery method all same in two coal seams being connected before and after No. two working face of coal seam that need to exploit；

One round coal cutting of flitting is entered on front and rear two coal seams any to No. two working face of coal seam that need to exploit During the automatic cut teaching of row, process is as follows：

Step 4001, the beveling feed of the preceding coal seam left end of No. two working face of coal seam：Determine flitting in institute The actual mining height on No. two working face of coal seam is stated, the cylinder that rolls left of flitting is adjusted using the flitting control system The middle position that actual mining height on No. two working face of coal seam is in right roller chamfers feed coal cutting；

Step 4002, the preceding coal seam left end Triangle Coal for cutting No. two working face of coal seam：Pass through the flitting The cylinder that rolls left of flitting, which is risen on No. two working face of coal seam, in control system while regulating step 4001 actually adopts High high-order and right roller is dropped on No. two working face of coal seam before actual mining height low level cuts No. two working face of coal seam Coal seam left end Triangle Coal；

Step 4003, the preceding coal seam left end ground coal for cutting No. two working face of coal seam：Pass through the flitting control The cylinder that rolls left of flitting drops to actual mining height on No. two working face of coal seam in system processed while regulating step 4002 Low level and right roller rise to the preceding coal that actual mining height middle position on No. two working face of coal seam cuts No. two working face of coal seam Layer left end ground coal；

The preceding coal seam left end float coal of step 4004, cleaning No. two working face of coal seam：Pass through the flitting The preceding coal seam left end float coal number of No. two working face of coal seam described in set-up of control system cleanup step 4003, roller is kept to adopt The cylinder that rolls left of coal machine is in actual mining height low level and right roller on No. two working face of coal seam and is in No. two coal seams work Actual mining height middle position on face, complete the cleaning of the preceding coal seam left end float coal of No. two working face of coal seam；

The preceding coal seam coal cutting from left to right of step 4005, flitting along No. two working face of coal seam：The roller The cylinder actual mining height high position on No. two working face of coal seam that rolls left of flitting in coal-winning machine regulating step 4004 is cut Top coal, while adjust the right roller of the flitting actual mining height low level on No. two working face of coal seam and cut ground coal, it is described Flitting control system controls preceding coal seam of the flitting along No. two working face of coal seam from left end to right end Coal cutting；

Step 4006, the preceding coal seam right end top coal for cutting No. two working face of coal seam：Pass through the flitting control The right roller of flitting rises the preceding coal seam right end for cutting No. two working face of coal seam in System controlled step 4005 processed Top coal, and the cylinder that rolls left of flitting is in actual mining height middle position on No. two working face of coal seam in rate-determining steps 4005；

The preceding coal seam right end float coal of step 4007, cleaning No. two working face of coal seam：Pass through the flitting Set-up of control system clears up the preceding coal seam right end float coal number of No. two working face of coal seam, adjusts rolling left for flitting Cylinder is on No. two working face of coal seam and actually adopted in actual mining height middle position on No. two working face of coal seam and right roller High-low-position, complete the cleaning of the preceding coal seam right end float coal of No. two working face of coal seam；

Step 4008, the beveling feed of the rear coal seam right end of No. two working face of coal seam：Pass through the flitting The right roller of flitting rises and actually adopted on feed to No. two working face of coal seam in control system regulating step 4007 High middle position, while the cylinder that rolls left of flitting keeps actual mining height middle position beveling feed on No. two working face of coal seam to cut Coal；

Step 4009, the rear coal seam right end Triangle Coal for cutting No. two working face of coal seam：Pass through the flitting The cylinder that rolls left of flitting, which is dropped on No. two working face of coal seam, in control system while regulating step 4008 actually adopts High-low-position and right roller are risen on No. two working face of coal seam after an actual mining height high position cuts No. two working face of coal seam Coal seam right end Triangle Coal；

Step 4010, the rear coal seam right end ground coal for cutting No. two working face of coal seam：Pass through the flitting control The cylinder that rolls left of flitting rises to actual mining height on No. two working face of coal seam in system processed while regulating step 4009 Middle position and right roller drop to the rear coal that actual mining height low level on No. two working face of coal seam cuts No. two working face of coal seam Layer right end ground coal；

The rear coal seam right end float coal of step 4011, cleaning No. two working face of coal seam：Pass through the flitting The rear coal seam right end float coal number of No. two working face of coal seam described in set-up of control system cleanup step 4010, roller is kept to adopt The cylinder that rolls left of coal machine is in actual mining height middle position on No. two working face of coal seam, keeps right roller to be in No. two coal seam works Make actual mining height low level on face, complete the cleaning of the rear coal seam right end float coal of No. two working face of coal seam；

The rear coal seam coal cutting from right to left of step 4012, flitting along No. two working face of coal seam：By described The cylinder that rolls left of flitting is dropped on No. two working face of coal seam in flitting control system rate-determining steps 4011 Actual mining height low level, right roller rises to an actual mining height high position on No. two working face of coal seam, and operates flitting edge The rear coal seam of No. two working face of coal seam is from right end to left end coal cutting；

Step 4013, the rear coal seam left end top coal for cutting No. two working face of coal seam：Pass through the flitting control The cylinder that rolls left of flitting rises the rear coal seam left end for cutting No. two working face of coal seam in System controlled step 4012 processed Top coal, and the right roller of flitting is dropped on No. two working face of coal seam in actual mining height in rate-determining steps 4012 Position；

The rear coal seam left end float coal of step 4014, cleaning No. two working face of coal seam：Pass through the flitting Set-up of control system clears up the rear coal seam left end float coal number of No. two working face of coal seam, adjusts rolling left for flitting Cylinder is on No. two working face of coal seam and actually adopted in actual mining height low level on No. two working face of coal seam and right roller High middle position, the cleaning of the rear coal seam left end float coal of No. two working face of coal seam is completed, complete No. two working face of coal seam The round coal cutting teaching method of flitting one on front and rear two coal seam, described No. two of the flitting control system storage Before and after working face of coal seam on two coal seams flitting round coal cutting training data；

Step 5: 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 what need to be exploited The recovery method all same in two coal seams being connected before and after working face of coal seam；

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 501, obtain working face of coal seam initialization data：Set coal seam thickness threshold value pre- by detector for measuring depth of coal bed First detection of coal seam actual (real) thickness, Dust Concentration threshold value is set and underground Dust Concentration is obtained by Dust Concentration sensor, is passed through Anemoscope obtains underground ventilating direction；

Step 502, judge coal seam type：The working face of coal seam data that controller obtains according to step 501 judge coal seam class Type：When the coal seam actual (real) thickness of the detector for measuring depth of coal bed detection in step 501 exceedes coal seam thickness threshold value, during the coal seam is High seam, perform step 503；When the coal seam actual (real) thickness of the detector for measuring depth of coal bed detection in step 501 is less than the coal set Thickness degree threshold value, and Dust Concentration sensor obtain underground Dust Concentration less than set Dust Concentration threshold value when, the coal seam is Low coal dust girdle, perform step 504；Set when the coal seam actual (real) thickness of the detector for measuring depth of coal bed detection in step 501 is less than The coal seam thickness threshold value put, Dust Concentration sensor obtain underground Dust Concentration and led to higher than the Dust Concentration threshold value and underground set Wind direction from right to left when, the coal seam is the No.1 coal seam, perform step 505；When the detector for measuring depth of coal bed in step 501 The coal seam actual (real) thickness of detection obtains underground Dust Concentration higher than setting less than the coal seam thickness threshold value that sets, Dust Concentration sensor The Dust Concentration threshold value put and when underground ventilating direction is from left to right, the coal seam is No. two coal seams, performs step 506；

The automatic cut of step 503, medium-thickness seam flitting reproduces, and process is as follows：

Step 50301, the initialization flitting control system：It is thick in being gathered by coal-winning machine pose detection module 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, 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 medium-thickness 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 medium-thickness seam flitting The right rocking arm mining height data surveyed；

Step 50302, judge whether medium-thickness seam flitting is in termination：When medium-thickness seam flitting is in During termination, according to the medium-thickness seam flitting location parameter obtained in step 50301, if at medium-thickness seam flitting When left end, step 50303 is performed；If medium-thickness seam flitting is in right end, step 50304 is performed；It is central When high seam flitting is not at termination, according to the medium-thickness seam flitting direct of travel obtained in step 50301, If the coal cutting from left to right of medium-thickness seam flitting, the step 1005 transferred in memory reproduces medium-thickness seam flitting Coal cutting；If the coal cutting from right to left of medium-thickness seam flitting, the step 1012 transferred in memory reproduces medium-thickness seam roller Coal-winning machine coal cutting；

The automatic cut of step 50303, medium-thickness seam flitting left end reproduces, and process is as follows：

Whether the rear coal seam left end float coal clearing times for step 50303a, judging medium-thickness seam working face are zero：Pass through Controller sets the rear coal seam left end float coal number of medium-thickness seam working face, when the after coal seam left end of medium-thickness seam working face When float coal clearing times are zero, the step 1001 transferred in memory reproduces medium-thickness seam flitting coal cutting；Otherwise, transfer Step 1014 is performed a plurality of times after step 1013 in memory and reproduces medium-thickness seam flitting coal cutting；

Step 50303b, judge whether flitting runs to the left in the preceding coal seam of medium-thickness seam working face：Central thickness When coal seam flitting is run to the left, the step 1002 transferred in memory reproduces medium-thickness seam flitting coal cutting；It is no Then, the step 1003 transferred in memory reproduces medium-thickness seam flitting coal cutting；

Whether the preceding coal seam left end float coal clearing times for step 50303c, judging medium-thickness seam working face are zero：Pass through Controller sets the rear coal seam left end float coal number of medium-thickness seam working face, when the preceding coal seam left end of medium-thickness seam working face When float coal clearing times are zero, the step 1005 transferred in memory reproduces medium-thickness seam flitting coal cutting；Central thick coal When the preceding coal seam left end float coal clearing times of layer working face are not zero, the step 1004 transferred in memory reproduces medium-thickness seam Flitting coal cutting；

The automatic cut of step 50304, medium-thickness seam flitting right end reproduces, and process is as follows：

Whether the preceding coal seam right end float coal clearing times for step 50304a, judging medium-thickness seam working face are zero：Pass through Controller sets the preceding coal seam right end float coal number of medium-thickness seam working face, when the preceding coal seam right end of medium-thickness seam working face When float coal clearing times are zero, the step 1008 transferred in memory reproduces medium-thickness seam flitting coal cutting；Otherwise, transfer Step 1007 is performed a plurality of times after step 1006 in memory and reproduces medium-thickness seam flitting coal cutting；

Step 50304b, judge whether flitting runs to the right in the rear coal seam of medium-thickness seam working face：Central thickness When coal seam flitting is run to the right, the step 1009 transferred in memory reproduces medium-thickness seam flitting coal cutting；It is no Then, the step 1010 transferred in memory reproduces medium-thickness seam flitting coal cutting；

Whether the rear coal seam right end float coal clearing times for step 50304c, judging medium-thickness seam working face are zero：Pass through Controller sets the rear coal seam right end float coal number of medium-thickness seam working face, when the after coal seam right end of medium-thickness seam working face When float coal clearing times are zero, the step 1012 transferred in memory reproduces medium-thickness seam flitting coal cutting；Central thick coal When the rear coal seam right end float coal clearing times of layer working face are not zero, the step 1011 transferred in memory reproduces medium-thickness seam Flitting coal cutting；

The automatic cut of step 504, low coal dust girdle flitting reproduces, and process is as follows：

Step 50401, the initialization flitting control system：Low coal is gathered by coal-winning machine pose detection module Dirt girdle flitting location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller pitching Angular dimensions, it can determine that left rocking arm mining height detection module is examined by a pitching angular dimensions that rolls left for low coal dust girdle flitting The left rocking arm mining height data surveyed, can determine that right rocking arm is adopted by the right roller pitching angular dimensions of low coal dust girdle flitting The right rocking arm mining height data of high detection module detection；

Step 50402, judge whether low coal dust girdle flitting is in termination：When low coal dust girdle roller is adopted When coal machine is in termination, according to the low coal dust girdle flitting location parameter obtained in step 50401, if low coal dust is thin When coal seam flitting is in left end, step 50403 is performed；If low coal dust girdle flitting is in right end When, perform step 50404；It is low according to what is obtained in step 50401 when low coal dust girdle flitting is not at termination Coal dust girdle flitting direct of travel, if low coal dust girdle flitting coal cutting from left to right, transfers memory In step 2005 reproduce low coal dust girdle flitting coal cutting；If low coal dust girdle flitting is cut from right to left Coal, transfer the step 2012 in memory and reproduce low coal dust girdle flitting coal cutting；

The automatic cut of step 50403, low coal dust girdle flitting left end reproduces, and process is as follows：

Whether the rear coal seam left end float coal clearing times for step 50403a, judging low coal dust thin seam working surface are zero： The rear coal seam left end float coal number of low coal dust thin seam working surface is set by controller, when low coal dust thin seam working surface When coal seam left end float coal clearing times are zero afterwards, transfer the step 2001 in memory and reproduce low coal dust girdle roller coal mining Machine cut coal；Otherwise, transfer step 2014 is performed a plurality of times after the step 2013 in memory to reproduce low coal dust girdle roller and mine Machine cut coal；

Step 50403b, judge whether flitting runs to the left in the preceding coal seam of low coal dust thin seam working surface：When When low coal dust girdle flitting is run to the left, transfer the step 2002 in memory and reproduce low coal dust girdle roller and adopt Coal machine cut coal；Otherwise, transfer the step 2003 in memory and reproduce low coal dust girdle flitting coal cutting；

Whether the preceding coal seam left end float coal clearing times for step 50403c, judging low coal dust thin seam working surface are zero： The rear coal seam left end float coal number of low coal dust thin seam working surface is set by controller, when low coal dust thin seam working surface When preceding coal seam left end float coal clearing times are zero, transfer the step 2005 in memory and reproduce low coal dust girdle roller coal mining Machine cut coal；When the preceding coal seam left end float coal clearing times of low coal dust thin seam working surface are not zero, transfer in memory Step 2004 reproduces low coal dust girdle flitting coal cutting；

The automatic cut of step 50404, low coal dust girdle flitting right end reproduces, and process is as follows：

Whether the preceding coal seam right end float coal clearing times for step 50404a, judging low coal dust thin seam working surface are zero： The preceding coal seam right end float coal number of low coal dust thin seam working surface is set by controller, when low coal dust thin seam working surface When preceding coal seam right end float coal clearing times are zero, transfer the step 2008 in memory and reproduce low coal dust girdle roller coal mining Machine cut coal；Otherwise, transfer step 2007 is performed a plurality of times after the step 2006 in memory to reproduce low coal dust girdle roller and mine Machine cut coal；

Step 50404b, judge whether flitting runs to the right in the rear coal seam of low coal dust thin seam working surface：When When low coal dust girdle flitting is run to the right, transfer the step 2009 in memory and reproduce low coal dust girdle roller and adopt Coal machine cut coal；Otherwise, transfer the step 2010 in memory and reproduce low coal dust girdle flitting coal cutting；

Whether the rear coal seam right end float coal clearing times for step 50404c, judging low coal dust thin seam working surface are zero： The rear coal seam right end float coal number of low coal dust thin seam working surface is set by controller, when low coal dust thin seam working surface When coal seam right end float coal clearing times are zero afterwards, transfer the step 2012 in memory and reproduce low coal dust girdle roller coal mining Machine cut coal；When the rear coal seam right end float coal clearing times of low coal dust thin seam working surface are not zero, transfer in memory Step 2011 reproduces low coal dust girdle flitting coal cutting；

The automatic cut of step 505, No.1 coal seam flitting reproduces, and process is as follows：

Step 50501, the initialization flitting control system：By described in the collection of coal-winning machine pose detection module No.1 coal seam flitting location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller pitching Angular dimensions, it can determine that left rocking arm mining height detection module is examined by a pitching angular dimensions that rolls left for No.1 coal seam flitting The left rocking arm mining height data surveyed, can determine that right rocking arm is adopted by the right roller pitching angular dimensions of No.1 coal seam flitting The right rocking arm mining height data of high detection module detection；

Step 50502, judge whether No.1 coal seam flitting is in termination：When the No.1 coal seam, roller is adopted When coal machine is in termination, according to the No.1 coal seam flitting location parameter obtained in step 50501, if the No.1 When coal seam flitting is in left end, step 50503 is performed；If No.1 coal seam flitting is in right end When, perform step 50504；When the No.1 coal seam, flitting is not at termination, according to the institute obtained in step 50501 No.1 coal seam flitting direct of travel is stated, if the coal cutting from left to right of No.1 coal seam flitting, transfers memory In step 3005 reproduce the No.1 coal seam flitting coal cutting；If No.1 coal seam flitting is cut from right to left Coal, transfer the step 3012 in memory and reproduce the No.1 coal seam flitting coal cutting；

The automatic cut of step 50503, the No.1 coal seam flitting left end reproduces, and process is as follows：

Whether the rear coal seam left end float coal clearing times for step 50503a, judging the No.1 working face of coal seam are zero： The rear coal seam left end float coal number of the No.1 working face of coal seam is set by controller, when the No.1 working face of coal seam When coal seam left end float coal clearing times are zero afterwards, transfer the step 3001 in memory and reproduce No.1 coal seam roller coal mining Machine cut coal；Otherwise, transfer step 3014 is performed a plurality of times after the step 3013 in memory to reproduce No.1 coal seam roller and mine Machine cut coal；

Step 50503b, judge whether flitting runs to the left in the preceding coal seam of the No.1 working face of coal seam：When When No.1 coal seam flitting is run to the left, transfer the step 3002 in memory and reproduce No.1 coal seam roller and adopt Coal machine cut coal；Otherwise, transfer the step 3003 in memory and reproduce the No.1 coal seam flitting coal cutting；

Whether the preceding coal seam left end float coal clearing times for step 50503c, judging the No.1 working face of coal seam are zero： The rear coal seam left end float coal number of the No.1 working face of coal seam is set by controller, when the No.1 working face of coal seam When preceding coal seam left end float coal clearing times are zero, transfer the step 3005 in memory and reproduce No.1 coal seam roller coal mining Machine cut coal；When the preceding coal seam left end float coal clearing times of the No.1 working face of coal seam are not zero, transfer in memory Step 3004 reproduces the No.1 coal seam flitting coal cutting；

The automatic cut of step 50504, the No.1 coal seam flitting right end reproduces, and process is as follows：

Whether the preceding coal seam right end float coal clearing times for step 50504a, judging the No.1 working face of coal seam are zero： The preceding coal seam right end float coal number of the No.1 working face of coal seam is set by controller, when the No.1 working face of coal seam When preceding coal seam right end float coal clearing times are zero, transfer the step 3008 in memory and reproduce No.1 coal seam roller coal mining Machine cut coal；Otherwise, transfer step 3007 is performed a plurality of times after the step 3006 in memory to reproduce No.1 coal seam roller and mine Machine cut coal；

Step 50504b, judge whether flitting runs to the right in the rear coal seam of the No.1 working face of coal seam：When When No.1 coal seam flitting is run to the right, transfer the step 3009 in memory and reproduce No.1 coal seam roller and adopt Coal machine cut coal；Otherwise, transfer the step 3010 in memory and reproduce the No.1 coal seam flitting coal cutting；

Whether the rear coal seam right end float coal clearing times for step 50504c, judging the No.1 working face of coal seam are zero： The rear coal seam right end float coal number of the No.1 working face of coal seam is set by controller, when the No.1 working face of coal seam When coal seam right end float coal clearing times are zero afterwards, transfer the step 3012 in memory and reproduce No.1 coal seam roller coal mining Machine cut coal；When the rear coal seam right end float coal clearing times of the No.1 working face of coal seam are not zero, transfer in memory Step 3011 reproduces the No.1 coal seam flitting coal cutting；

The automatic cut of step 506, No. two coal seam flittings reproduces, and process is as follows：

Step 50601, the initialization flitting control system：By described in the collection of coal-winning machine pose detection module No. two coal seam flitting location parameters, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller pitching Angular dimensions, it can determine that left rocking arm mining height detection module is examined by a pitching angular dimensions that rolls left for No. two coal seam flittings The left rocking arm mining height data surveyed, can determine that right rocking arm is adopted by the right roller pitching angular dimensions of No. two coal seam flittings The right rocking arm mining height data of high detection module detection；

Step 50602, judge whether No. two coal seam flittings are in termination：When No. two coal seam rollers are adopted When coal machine is in termination, according to No. two coal seams flitting location parameter obtained in step 50601, if described No. two When coal seam flitting is in left end, step 50603 is performed；If No. two coal seam flittings are in right end When, perform step 50604；When No. two coal seam flittings are not at termination, according to the institute obtained in step 50601 No. two coal seam flitting direct of travels are stated, if No. two coal seam flittings coal cutting from left to right, transfers memory In step 4005 reproduce No. two coal seams flitting coal cutting；If No. two coal seam flittings are cut from right to left Coal, transfer the step 4012 in memory and reproduce No. two coal seams flitting coal cutting；

The automatic cut of step 50603, No. two coal seams flitting left end reproduces, and process is as follows：

Whether the rear coal seam left end float coal clearing times for step 50603a, judging No. two working face of coal seam are zero： The rear coal seam left end float coal number of No. two working face of coal seam is set by controller, when No. two working face of coal seam When coal seam left end float coal clearing times are zero afterwards, transfer the step 4001 in memory and reproduce No. two coal seams roller coal mining Machine cut coal；Otherwise, transfer step 4014 is performed a plurality of times after the step 4013 in memory to reproduce No. two coal seams roller and mine Machine cut coal；

Step 50603b, judge whether flitting runs to the left in the preceding coal seam of No. two working face of coal seam：When When No. two coal seam flittings are run to the left, transfer the step 4002 in memory and reproduce No. two coal seam rollers and adopt Coal machine cut coal；Otherwise, transfer the step 4003 in memory and reproduce No. two coal seams flitting coal cutting；

Whether the preceding coal seam left end float coal clearing times for step 50603c, judging No. two working face of coal seam are zero： The rear coal seam left end float coal number of No. two working face of coal seam is set by controller, when No. two working face of coal seam When preceding coal seam left end float coal clearing times are zero, transfer the step 4005 in memory and reproduce No. two coal seams roller coal mining Machine cut coal；When the preceding coal seam left end float coal clearing times of No. two working face of coal seam are not zero, transfer in memory Step 4004 reproduces No. two coal seams flitting coal cutting；

The automatic cut of step 50604, No. two coal seams flitting right end reproduces, and process is as follows：

Whether the preceding coal seam right end float coal clearing times for step 50604a, judging No. two working face of coal seam are zero： The preceding coal seam right end float coal number of No. two working face of coal seam is set by controller, when No. two working face of coal seam When preceding coal seam right end float coal clearing times are zero, transfer the step 4008 in memory and reproduce No. two coal seams roller coal mining Machine cut coal；Otherwise, transfer step 4007 is performed a plurality of times after the step 4006 in memory to reproduce No. two coal seams roller and mine Machine cut coal；

Step 50604b, judge whether flitting runs to the right in the rear coal seam of No. two working face of coal seam：When When No. two coal seam flittings are run to the right, transfer the step 4009 in memory and reproduce No. two coal seam rollers and adopt Coal machine cut coal；Otherwise, transfer the step 4010 in memory and reproduce No. two coal seams flitting coal cutting；

Whether the rear coal seam right end float coal clearing times for step 50604c, judging No. two working face of coal seam are zero： The rear coal seam right end float coal number of No. two working face of coal seam is set by controller, when No. two working face of coal seam When coal seam right end float coal clearing times are zero afterwards, transfer the step 4012 in memory and reproduce No. two coal seams roller coal mining Machine cut coal；When the rear coal seam right end float coal clearing times of No. two working face of coal seam are not zero, transfer in memory Step 4011 reproduces No. two coal seams flitting coal cutting.

A kind of above-mentioned flitting teaching playback automatic cutting control method, it is characterised in that：Step 1001 is to step In rapid 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 is to the preliminary number of data When being transmitted after Data preprocess to controller, controller and carry out fusion treatment to data by least square mode, and this being sampled Carve the data storage after fusion treatment in memory, merging renewal by real time data obtains medium-thickness seam flitting certainly Dynamic cut training data storehouse；

According to actual condition to any one sampling instant flitting teaching coal cutting number in step 2001 to step 2014 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 Transmit after being pre-processed according to processing unit to data preliminary data to controller, controller and data are carried out by least square mode Fusion treatment, and by the data storage after the sampling instant fusion treatment in memory, updated by real time data fusion To the automatic cut training data storehouse of low coal dust girdle flitting；

According to actual condition to any one sampling instant flitting teaching coal cutting number in step 3001 to step 3014 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 Transmit after being pre-processed according to processing unit to data preliminary data to controller, controller and data are carried out by least square mode Fusion treatment, and by the data storage after the sampling instant fusion treatment in memory, updated by real time data fusion To the automatic cut training data storehouse of No.1 coal seam flitting；

According to actual condition to any one sampling instant flitting teaching coal cutting number in step 4001 to step 4014 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 Transmit after being pre-processed according to processing unit to data preliminary data to controller, controller and data are carried out by least square mode Fusion treatment, and by the data storage after the sampling instant fusion treatment in memory, updated by real time data fusion To the automatic cut training data storehouse of No. two coal seam flittings.

A kind of above-mentioned flitting teaching playback automatic cutting control method, it is characterised in that：Step 1 is to step The low level of the actual mining height of the roller of flitting is located at the position at flitting rack rails for the roller of flitting in four Put；A high position for step 1 actual mining height of the roller of flitting into step 4 is adopted for the roller of flitting positioned at roller The position of coal support bracket；The middle position of step 1 actual mining height of the roller of flitting into step 4 is the rolling of flitting Variable position of the cylinder between flitting rack rails and roller coal mining support bracket.

A kind of above-mentioned flitting teaching playback automatic cutting control method, it is characterised in that：Step 1 is to step Controller in flitting control system described in five is PLC module；Step 1 is to flitting described in step 5 Data processing unit in control system is filter and amplification Signal-regulated kinase；Step 1 is to flitting described in step 5 Frequency-converting speed-governing control system in control system is explosion-proof variable frequency variable speed device；Step 1 is to flitting control described in step 5 Standby control interface in system processed 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 passes through Dust Concentration on detection of coal seam thickness, working face by setting flitting control system And direction of ventilation identifies coal seam type on working face, for the no coal cutting technique of every kind of coal seam type selecting, to it is various not Same coal seam type carries out teaching and memory storage coal cutting process respectively, when flitting is in working face in the pit work, Identify position, direct of travel, fuselage heeling condition and left and right rolling on the type working face of coal seam residing for coal seam type and judgement The cylinder angle of pitch adjusts left and right rocking arm height in real time, determines mining height, carries out the automatic cut of flitting and reproduces, Automatic Control effect Rate is high, it is easy to promote the use of.

4th, the present invention is directed to the coal cutting in traveling of medium-thickness seam flitting, along coal-winning machine fuselage direct of travel, is located at The roller of front side is always to maintain a high position and cuts top coal, and being always to maintain low level positioned at the roller of rear side cuts ground coal；For low coal dust bog-head coal Layer flitting coal cutting in traveling, along coal-winning machine fuselage direct of travel, the roller positioned at front side is always to maintain low level and cuts bottom Coal, always it is to maintain a high position positioned at the roller of rear side and cuts top coal；Adopted for the high coal dust girdle roller of direction of ventilation from right to left The coal cutting in traveling of coal machine, the cylinder that rolls left always are to maintain low level and cut ground coal, and right roller is always to maintain a high position and cuts top coal, is advantageous to observe Upper cylinder, effectively prevent from interfering with support；It is expert at for the high coal dust girdle flitting of direction of ventilation from left to right Enter middle coal cutting, the cylinder that rolls left always is to maintain a high position and cuts top coal, and right roller is always to maintain low level and cuts ground coal, is advantageous to observe top rolling Cylinder, effectively prevent from interfering with support；By carrying out beveling feed for every kind of coal seam, cutting in Triangle Coal, clear float coal and traveling and cut Coal, necessary process during coal mining is covered, the data in each step are merged by controller, using effect It is good.

5th, 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, by a variety of coal seam cutting courses of teaching, meets various different coal minings Automation technolo, which is mined, to be required, Automatic Control efficiency high, is easy to promote the use of.

Below by drawings and examples, technical scheme is described in further detail.

Brief description of the drawings

Fig. 1 is the schematic block circuit diagram for the automatic cut control device of flitting teaching playback that the present invention uses.

Fig. 2 is the FB(flow block) of coal-winning machine teaching playback automatic cutting control method of the present invention.

Fig. 3 is the FB(flow block) that coal-winning machine of the present invention reproduces automatic cutting control method.

Fig. 4 is the FB(flow block) of medium-thickness seam flitting teaching automatic cutting control method of the present invention.

Fig. 5 is the FB(flow block) of the low coal dust girdle flitting teaching automatic cutting control method of the present invention.

Fig. 6 is the high automatic cut controlling party of coal dust girdle flitting teaching of direction of ventilation of the present invention from right to left The FB(flow block) of method.

Fig. 7 is the high automatic cut controlling party of coal dust girdle flitting teaching of direction of ventilation of the present invention from left to right The FB(flow block) of method.

Description of reference numerals:

1-detector for measuring depth of coal bed；2-Dust Concentration sensor；3-anemoscope；

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 Figures 1 to 7, coal-winning machine teaching playback automatic cutting control method of the present invention, comprises the following steps：

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 detector for measuring depth of coal bed 1, Dust Concentration sensing Device 2, anemoscope 3, left rocking arm mining height detection module 4, right rocking arm mining height detection module 5 and coal-winning machine pose detection module 6, control The output of device 8 is terminated with display 13, left rocking arm heightens valve group 9, right rocking arm heightens valve group 10, the and of frequency-converting speed-governing control system 11 Standby control interface 12；

It should be noted that in the present embodiment, for flitting in underground coal cutting, bottom is provided with rack rails, and top is adopted With hydraulic support stand, the low level of the actual mining height of roller of flitting is located at flitting for the roller of flitting Position at rack rails；A high position for the actual mining height of roller of flitting is located at roller coal mining supporting for the roller of flitting The position of frame；The middle position of the actual mining height of roller of flitting for flitting roller be located at flitting rack rails and Variable position between roller coal mining support bracket.

In practical operation, distance of the roller apart from rack rails of coal-winning machine on medium-thickness seam working face is set by controller 8 Threshold value and roller when the preceding coal seam left end of medium-thickness seam working face chamfers feed, avoid apart from the distance threshold of support bracket Left and right roller contacts with rack rails or support bracket, damages equipment, and adjusting left rocking arm by controller 8 heightens the holding coal-winning machine of valve group 9 The cylinder that rolls left be in middle position, by controller 8 adjust right rocking arm heighten valve group 10 keep coal-winning machine right roller be also at middle position.

The coal-winning machine pose detection module 6 includes coal winning machine position detection module, fuselage inclination angle detection module, left and right Roller angle of pitch detection module, the detectable coal-winning machine fuselage of fuselage inclination angle detection module incline with working face extending direction Oblique angle, also detectable coal-winning machine fuselage and the inclination angle of working face vertical direction, when coal-winning machine fuselage and working face extending direction Tilt angle varied amplitude it is larger when, illustrate that this section of coal seam waviness is larger, recording the position by memory 14 goes out characteristic According to fusion training data；It is normal that coal-winning machine fuselage is parallel to each other with working face extending direction when mining, when coal-winning machine fuselage and When the tilt angle varied amplitude of working face vertical direction is larger, illustrate that coal-winning machine chamfers feed in this section of coal seam.

In the present embodiment, after coal-winning machine beveling feed in step 1001, coal-winning machine left end occurs what is be not produced Triangle Coal, the haulage shearer and before cutting medium-thickness seam working face to the left of frequency-converting speed-governing control system 11 is adjusted by controller 8 Coal seam left end Triangle Coal.

It should be noted that when medium-thickness seam face end clears up float coal, once clear float coal does not reach thoroughly coal-winning machine For the effect of clear float coal, it is necessary to repeatedly be cleared up, medium-thickness seam face end, which can be set, by controller 8 clears up float coal Number is general to set the effect that just can reach clear float coal twice or thrice.

In the present embodiment, medium-thickness seam flitting coal cutting in traveling, along coal-winning machine fuselage direct of travel, before being located at The roller of side is always to maintain a high position and cuts top coal, and being always to maintain low level positioned at the roller of rear side cuts ground coal, and flitting uses The mode coal cutting of outward turning, when preceding coal seam from left to right coal cutting of the flitting along medium-thickness seam working face, right roller preceding, Cylinder roll left rear, keeps the right roller of front side to cut top coal in a high position, keeps the cylinder that rolls left of rear side to cut ground coal in low level；Pass through control Device 8 adjust frequency-converting speed-governing control system 11 to the right haulage shearer from left end to right end coal cutting.

In the present embodiment, top coal is cut according to the right roller of step 1005 coal-winning machine to right end, right end ground coal is not produced, The right roller of regulation flitting, which declines, cuts the right end ground coal, and the cylinder that rolls left of flitting is in medium-thickness seam working face Upper actual mining height middle position, on the one hand cut not by coal more than the residual of cut, on the other hand avoid touching with rack rails, influence is coaling or transported Coal.

In the present embodiment, after the preceding coal seam right end float coal for cleaning out medium-thickness seam working face, double-ended shearer one The coal cutting process of hilted broadsword to the right terminates, and the hilted broadsword coal cutting process of medium-thickness seam working face one can not comprehensively react medium-thickness seam work Face coal cutting teaching process, it is comprehensive to react medium-thickness seam work by combining the coal cutting process of the hilted broadsword of double-ended shearer one to the left Make the surface roller coal-winning machine course of work, and memory storage, reproducing coal cutting for medium-thickness seam working face flitting provides effectively Data reference.

In the present embodiment, when the rear coal seam right end of medium-thickness seam working face chamfers feed, left and right roller and rack rails are avoided Or support bracket contact, equipment is damaged, left rocking arm is adjusted by controller 8 heightens valve group 9 and keep the cylinder that rolls left of coal-winning machine to be in Position, adjusts right rocking arm by controller 8 and heightens valve group 10 and keep the right roller of coal-winning machine to be also at middle position, while passes through controller 8 control frequency-converting speed-governing control system 11 left haulage shearer beveling coal seam feeds, controller 8 preset feed distance, automatically Whether identification feed distance meets to require.

In the present embodiment, after coal-winning machine beveling feed in step 1008, coal-winning machine right-hand member occurs what is be not produced Triangle Coal, the haulage shearer and after cutting medium-thickness seam working face to the right of frequency-converting speed-governing control system 11 is adjusted by controller 8 Coal seam right end Triangle Coal.

In the present embodiment, medium-thickness seam flitting coal cutting in traveling, when flitting works along medium-thickness seam During the rear coal seam coal cutting from right to left in face, for the cylinder that rolls left preceding, right roller keeps the cylinder that rolls left of front side to cut top coal in a high position rear, The right roller of rear side is kept to cut ground coal in low level；The haulage shearer to the left of frequency-converting speed-governing control system 11 is adjusted by controller 8 From right end to left end coal cutting.

In the present embodiment, march to left end according to the step 1012 coal-winning machine cylinder that rolls left and cut top coal, left end ground coal not by The left end ground coal is cut in exploitation, the cylinder decline of rolling left for adjusting flitting, and the right roller of flitting is in medium-thickness seam Actual mining height middle position on working face, on the one hand cut not by coal more than the residual of cut, on the other hand avoid touching with rack rails, influence to fill Coal or transporting coal.

In the present embodiment, according to actual condition to any one sampling instant flitting in step 1001 to step 1014 For teaching coal cutting data, left and right rocking arm actual mining height data and coal-winning machine pose data of the flitting at the moment are obtained Afterwards, the data processing unit 7 is transmitted to controller 8, controller 8 after being pre-processed to data preliminary data passes through least square Formula carries out fusion treatment to data, and by the data storage after the sampling instant fusion treatment in memory 14, by real-time Data fusion updates to obtain the automatic cut training data storehouse of medium-thickness seam flitting.

In practical operation, the roller of coal-winning machine on low coal dust thin seam working surface is set apart from rack rails by controller 8 Distance threshold and roller are apart from the distance threshold of support bracket, the preceding coal seam left end beveling feed of low coal dust thin seam working surface When, avoid left and right roller from being contacted with rack rails or support bracket, damage equipment, left rocking arm is adjusted by controller 8 heighten valve group 9 and keep The cylinder that rolls left of coal-winning machine is in middle position, by controller 8 adjust right rocking arm heighten valve group 10 keep coal-winning machine right roller also locate In middle position.

In the present embodiment, according to the preceding coal seam left end triangle of the low coal dust thin seam working surface of coal mining machine cut in step 2002 After coal, the top coal not being produced occurs in coal-winning machine left end, and adjust frequency-converting speed-governing control system 11 by controller 8 draws to the left Coal-winning machine and the preceding coal seam left end top coal for cutting medium-thickness seam working face.

In the present embodiment, low coal dust girdle flitting coal cutting in traveling, along coal-winning machine fuselage direct of travel, position Roller in front side is always to maintain low level and cuts ground coal, and being always to maintain a high position positioned at the roller of rear side cuts top coal, and flitting The coal cutting by the way of inward turning, coal mining machine vibration is reduced, coal dust is effectively reduced, when flitting works along low coal dust girdle During the preceding coal seam coal cutting from left to right in face, for right roller preceding, the cylinder that rolls left keeps the right roller of front side to cut ground coal in low level rear, The cylinder that rolls left of rear side is kept to cut top coal in a high position；The haulage shearer to the right of frequency-converting speed-governing control system 11 is adjusted by controller 8 From left end to right end coal cutting.

In the present embodiment, the roller for cutting ground coal and rear side with the roller low level of front side according to the coal-winning machine in step 2005 is high The state that top coal is cut in position is moved to the preceding coal seam right end of low coal dust thin seam working surface, the top coal of the preceding coal seam right end not by Cut, controller 8, which adjusts right rocking arm, to be heightened valve group 10 and adjusts right roller and rise and cut the preceding coal seam right end top coal.

In the present embodiment, after the preceding coal seam right end float coal for cleaning out low coal dust thin seam working surface, twin-roll is mined The coal cutting process of the hilted broadsword of machine one to the right terminates, and the low hilted broadsword coal cutting process of coal dust thin seam working surface one can not comprehensively react low coal Dirt thin seam working surface coal cutting teaching process, it is comprehensive anti-by combining the coal cutting process of the hilted broadsword of double-ended shearer one to the left The low coal dust thin seam working surface flitting course of work, and memory storage are answered, is adopted for low coal dust thin seam working surface roller Coal machine reproduces coal cutting and provides effective data reference.

In the present embodiment, during the beveling feed of the rear coal seam right end of low coal dust thin seam working surface, avoid left and right roller with Rack rails or support bracket contact, damage equipment, and adjusting left rocking arm by controller 8 heightens at the cylinder that rolls left of the holding coal-winning machine of valve group 9 In middle position, right rocking arm is adjusted by controller 8 heighten valve group 10 and keep the right roller of coal-winning machine to be also at middle position, while pass through control Device 8 processed controls the beveling coal seam feed of 11 left haulage shearer of frequency-converting speed-governing control system, and controller 8 presets feed distance, Whether automatic identification feed distance meets to require.

In the present embodiment, after coal-winning machine beveling feed in step 2008, coal-winning machine right-hand member 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 low coal dust thin seam working surface to the right Rear coal seam right end Triangle Coal.

In the present embodiment, low coal dust girdle flitting coal cutting in traveling, when flitting is thin along low coal dust During the rear coal seam coal cutting from right to left of working face of coal seam, for the cylinder that rolls left rear, right roller keeps the cylinder that rolls left of front side in low level preceding Ground coal is cut, keeps the right roller of rear side to cut top coal in a high position；Frequency-converting speed-governing control system 11 is adjusted by controller 8 to draw to the left Coal-winning machine is from right end to left end coal cutting.

In the present embodiment, march to left end according to the step 2012 coal-winning machine cylinder that rolls left and cut ground coal, left end ground coal not by Exploitation, the cylinder that rolls left for adjusting flitting rise and cut the left end top coal, and it is thin that the right roller of flitting is in low coal dust Actual mining height middle position on working face of coal seam, on the one hand cut not by coal more than the residual of cut, on the other hand avoid touching with rack rails, shadow Sound is coaling or transporting coal.

According to actual condition to any one sampling instant flitting teaching coal cutting number in step 2001 to step 2014 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 low automatic cut training data storehouse of coal dust girdle flitting.

In practical operation, the roller of coal-winning machine on the No.1 working face of coal seam is set apart from rack rails by controller 8 Distance threshold and roller are apart from the distance threshold of support bracket, the preceding coal seam left end beveling feed of the No.1 working face of coal seam When, avoid left and right roller from being contacted with rack rails or support bracket, damage equipment, left rocking arm is adjusted by controller 8 heighten valve group 9 and keep The cylinder that rolls left of coal-winning machine is in middle position, by controller 8 adjust right rocking arm heighten valve group 10 keep coal-winning machine right roller also locate In middle position.

In the present embodiment, after coal-winning machine beveling feed in step 3001, coal-winning machine left end occurs what is be not produced Triangle Coal, the haulage shearer and before cutting medium-thickness seam working face to the left of frequency-converting speed-governing control system 11 is adjusted by controller 8 Coal seam left end Triangle Coal.

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 No.1 working face of coal seam, the cylinder that rolls left is cut in low level Ground 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 Head is to right end coal cutting.

In the present embodiment, top coal is cut according to the right roller of step 3005 coal-winning machine to right end, right end ground coal is not produced, The right roller of regulation flitting, which declines, cuts the right end ground coal, and the cylinder that rolls left of flitting is in medium-thickness seam working face Upper actual mining height middle position, on the one hand cut not by coal more than the residual of cut, on the other hand avoid touching with rack rails, influence is coaling or transported Coal.

In the present embodiment, after the preceding coal seam right end float coal for cleaning out the No.1 working face of coal seam, twin-roll is mined The coal cutting process of the hilted broadsword of machine one to the right terminates, and the hilted broadsword coal cutting process of No.1 working face of coal seam one can not comprehensively react described No.1 working face of coal seam coal cutting teaching process, it is comprehensive anti-by combining the coal cutting process of the hilted broadsword of double-ended shearer one to the left The No.1 working face of coal seam flitting course of work, and memory storage are answered, is adopted for the No.1 working face of coal seam roller Coal machine reproduces coal cutting and provides effective data reference.

In the present embodiment, during the beveling feed of the rear coal seam right end of the No.1 working face of coal seam, avoid left and right roller with Rack rails or support bracket contact, damage equipment, and adjusting left rocking arm by controller 8 heightens at the cylinder that rolls left of the holding coal-winning machine of valve group 9 In middle position, right rocking arm is adjusted by controller 8 heighten valve group 10 and keep the right roller of coal-winning machine to be also at middle position, while pass through control Device 8 processed controls the beveling coal seam feed of 11 left haulage shearer of frequency-converting speed-governing control system, and controller 8 presets feed distance, Whether automatic identification feed distance meets to require.

In the present embodiment, No.1 coal seam flitting coal cutting in traveling, when flitting is along the No.1 During the rear coal seam coal cutting from right to left of working face of coal seam, the cylinder that rolls left cuts ground coal in low level, and right roller cuts top coal in a high position；Pass through control Device 8 processed adjust frequency-converting speed-governing control system 11 to the left haulage shearer from right end to left end coal cutting.

In the present embodiment, march to left end according to the step 3012 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 medium-thickness seam Actual mining height middle position on working face, on the one hand cut not by coal more than the residual of cut, on the other hand avoid touching with rack rails, influence to fill Coal or transporting coal.

According to actual condition to any one sampling instant flitting teaching coal cutting number in step 3001 to step 3014 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 No.1 coal seam flitting.

In practical operation, the roller of coal-winning machine on No. two working face of coal seam is set apart from rack rails by controller 8 Distance threshold and roller are apart from the distance threshold of support bracket, the preceding coal seam left end beveling feed of No. two working face of coal seam When, avoid left and right roller from being contacted with rack rails or support bracket, damage equipment, left rocking arm is adjusted by controller 8 heighten valve group 9 and keep The cylinder that rolls left of coal-winning machine is in middle position, by controller 8 adjust right rocking arm heighten valve group 10 keep coal-winning machine right roller also locate In middle position.

It should be noted that underground ventilating is limited by terrain environment, when underground can only use draft type from left to right When, because girdle coal dust is larger, observation roller height is difficult, and using rolling left, cylinder is cut in a high position, right roller in the mode of low level Coal, which is advantageous to observe a high position, to roll left cylinder, can also prevent the interference with supporting man.

When preceding coal seam from left to right coal cutting of the flitting along No. two working face of coal seam, the cylinder that rolls left is cut in a high position Top coal, right roller cut ground coal in low level；By controller 8 adjust frequency-converting speed-governing control system 11 to the right haulage shearer from left end Head is to right end coal cutting.

In the present embodiment, ground coal is cut according to the right roller of step 4005 coal-winning machine to right end, right end top coal is not produced, The right roller of regulation flitting, which rises, cuts the right end top coal, and the cylinder that rolls left of flitting is in medium-thickness seam working face Upper actual mining height middle position, on the one hand cut not by coal more than the residual of cut, on the other hand avoid touching with rack rails, influence is coaling or transported Coal.

In the present embodiment, after the preceding coal seam right end float coal for cleaning out No. two working face of coal seam, twin-roll is mined The coal cutting process of the hilted broadsword of machine one to the right terminates, and the hilted broadsword coal cutting process of No. two working face of coal seam one can not comprehensively react described No. two working face of coal seam coal cutting teaching processes, it is comprehensive anti-by combining the coal cutting process of the hilted broadsword of double-ended shearer one to the left No. two working face of coal seam flitting course of work, and memory storage are answered, is adopted for No. two working face of coal seam rollers Coal machine reproduces coal cutting and provides effective data reference.

In the present embodiment, during the beveling feed of the rear coal seam right ends of No. two working face of coal seam, avoid left and right roller with Rack rails or support bracket contact, damage equipment, and adjusting left rocking arm by controller 8 heightens at the cylinder that rolls left of the holding coal-winning machine of valve group 9 In middle position, right rocking arm is adjusted by controller 8 heighten valve group 10 and keep the right roller of coal-winning machine to be also at middle position, while pass through control Device 8 processed controls the beveling coal seam feed of 11 left haulage shearer of frequency-converting speed-governing control system, and controller 8 presets feed distance, Whether automatic identification feed distance meets to require.

In the present embodiment, No. two coal seam flittings coal cutting in traveling, when flitting is along described No. two During the rear coal seam coal cutting from right to left of working face of coal seam, the cylinder that rolls left cuts top coal in a high position, and right roller cuts ground coal in low level；Pass through control Device 8 processed adjust frequency-converting speed-governing control system 11 to the left haulage shearer from right end to left end coal cutting.

In the present embodiment, march to left end according to the step 4012 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 medium-thickness seam Actual mining height middle position on working face, on the one hand cut not by coal more than the residual of cut, on the other hand avoid touching with rack rails, influence to fill Coal or transporting coal.

According to actual condition to any one sampling instant flitting teaching coal cutting number in step 4001 to step 4014 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 No. two coal seam flittings.

Step 501, obtain working face of coal seam initialization data：Coal seam thickness threshold value is set to pass through detector for measuring depth of coal bed 1 Advance detection of coal seam actual (real) thickness, Dust Concentration threshold value is set and underground Dust Concentration is obtained by Dust Concentration sensor 2, is led to Cross anemoscope 3 and obtain underground ventilating direction；

Step 502, judge coal seam type：The working face of coal seam data that controller 8 obtains according to step 501 judge coal seam class Type：When the coal seam actual (real) thickness that the detector for measuring depth of coal bed 1 in step 501 detects exceedes coal seam thickness threshold value, the coal seam is Medium-thickness seam, perform step 503；When the coal seam actual (real) thickness that the detector for measuring depth of coal bed 1 in step 501 detects is less than setting Coal seam thickness threshold value, and Dust Concentration sensor 2 obtain underground Dust Concentration less than set Dust Concentration threshold value when, the coal seam For low coal dust girdle, step 504 is performed；When the coal seam actual (real) thickness that the detector for measuring depth of coal bed 1 in step 501 detects is less than The coal seam thickness threshold value of setting, Dust Concentration sensor 2 obtain underground Dust Concentration higher than the Dust Concentration threshold value and well set Lower direction of ventilation from right to left when, the coal seam is the No.1 coal seam, perform step 505；When the coal seam thickness in step 501 is visited Survey coal seam thickness threshold value of the coal seam actual (real) thickness less than setting, the acquisition underground Dust Concentration of Dust Concentration sensor 2 that instrument 1 detects During higher than the Dust Concentration threshold value of setting and underground ventilating direction from left to right, the coal seam is No. two coal seams, performs step 506；

Step 50301, the initialization flitting control system：In being gathered by coal-winning machine pose detection module 6 High seam flitting location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and the right roller angle of pitch Parameter, it can determine that what left rocking arm mining height detection module 4 detected by a pitching angular dimensions that rolls left for medium-thickness 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 medium-thickness seam flitting The right rocking arm mining height data that block 5 detects；

Step 50302, judge whether medium-thickness seam flitting is in termination：When medium-thickness seam flitting is in During termination, according to the medium-thickness seam flitting location parameter obtained in step 50301, if at medium-thickness seam flitting When left end, step 50303 is performed；If medium-thickness seam flitting is in right end, step 50304 is performed；It is central When high seam flitting is not at termination, according to the medium-thickness seam flitting direct of travel obtained in step 50301, If the coal cutting from left to right of medium-thickness seam flitting, transfer the step 1005 in memory 14 and reproduce the coal mining of medium-thickness seam roller Machine cut coal；If the coal cutting from right to left of medium-thickness seam flitting, the step 1012 transferred in memory 14 reproduces medium-thickness seam Flitting coal cutting；

It should be noted that when medium-thickness seam flitting is not at termination, in being obtained in step 50301 High seam flitting direct of travel, if the coal cutting from left to right of medium-thickness seam flitting, transfers the step in memory 14 Rapid 1005 reproduce medium-thickness seam flitting coal cutting；Determine coal seam type, determine coal-winning machine be in working face position and really Step 1005 in the automatic cut teaching of medium-thickness seam flitting in reservoir 14 can be transferred by determining coal-winning machine direct of travel, be pressed According to step 1005, step 1006, step 1007 ..., step 1014, step 1001, step 1002, step 1003, step 1004th, the order of step 1005 performs circulation, reproduces the automatic cut control of medium-thickness seam flitting；

When medium-thickness seam flitting is not at termination, adopted according to the medium-thickness seam roller obtained in step 50301 Coal machine direct of travel, if the coal cutting from right to left of medium-thickness seam flitting, transfer in step 1012 reproduction in memory 14 High seam flitting coal cutting；Determine coal seam type, determine that coal-winning machine is in working face position and determines that coal-winning machine is advanced Direction can transfer the step 1012 in the automatic cut teaching of medium-thickness seam flitting in reservoir 14, according to step 1012, Step 1013, step 1014, step 1001 ..., the order of step 1011, step 1012 perform circulation, reproduce medium-thickness seam The automatic cut control of flitting；Flitting coal cutting in coal seam reproduced below, by that analogy, is repeated no more.

Whether the rear coal seam left end float coal clearing times for step 50303a, judging medium-thickness seam working face are zero：Pass through Controller 8 sets the rear coal seam left end float coal number of medium-thickness seam working face, when the after coal seam left end of medium-thickness seam working face When head float coal clearing times are zero, the step 1001 transferred in memory 14 reproduces medium-thickness seam flitting coal cutting；Otherwise, Step 1014 reproduction medium-thickness seam flitting coal cutting is performed a plurality of times after transferring the step 1013 in memory 14；

It should be noted that the opening position of termination, it is upper the one of left end that controller 8 is gone out herein by feed Distance Judgment The rear coal seam of individual circulation or the preceding coal seam of this circulation；Coal seam left end float coal has been cleared up after this, performs medium-thickness seam working face Preceding coal seam left end beveling feed；Cleaning of coal seam left end float coal is not complete after this, in practical operation, fuselage away from Coal-winning machine travels to and fro between the rear coal seam left end and cuts medium-thickness seam working face with the opening position with a distance from a fuselage from the range of Rear coal seam left end ground coal and cleaning medium-thickness seam working face rear coal seam left end float coal, until the rear coal seam left end is clear The rear coal seam left end float coal of reason medium-thickness seam working face finishes.

Step 50303b, judge whether flitting runs to the left in the preceding coal seam of medium-thickness seam working face：Central thickness When coal seam flitting is run to the left, the step 1002 transferred in memory 14 reproduces medium-thickness seam flitting coal cutting； Otherwise, the step 1003 transferred in memory 14 reproduces medium-thickness 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 50303c, judging medium-thickness seam working face are zero：Pass through Controller 8 sets the rear coal seam left end float coal number of medium-thickness seam working face, when the preceding coal seam left end of medium-thickness seam working face When head float coal clearing times are zero, the step 1005 transferred in memory 14 reproduces medium-thickness seam flitting coal cutting；It is central When the preceding coal seam left end float coal clearing times of high seam working face are not zero, transfer in step 1004 reproduction in memory 14 High seam flitting coal cutting；

Whether the preceding coal seam right end float coal clearing times for step 50304a, judging medium-thickness seam working face are zero：Pass through Controller 8 sets the preceding coal seam right end float coal number of medium-thickness seam working face, when the preceding coal seam right-hand member of medium-thickness seam working face When head float coal clearing times are zero, the step 1008 transferred in memory 14 reproduces medium-thickness seam flitting coal cutting；Otherwise, Step 1007 reproduction medium-thickness seam flitting coal cutting is performed a plurality of times after transferring the step 1006 in memory 14；

It should be noted that the opening position in termination, it is the upper of right end that controller 8 is gone out herein by feed Distance Judgment One rear coal seam circulated or the preceding coal seam of this circulation, when the preceding coal seam right end float coal has been cleared up, execution medium-thickness seam works The rear coal seam right end beveling feed in face；When preceding coal seam right end float coal cleaning is not complete, in practical operation, in fuselage Coal-winning machine travels to and fro between the preceding coal seam right end in the range of distance and the opening position of the distance of a fuselage cuts medium-thickness seam work The preceding coal seam right end ground coal in face and the preceding coal seam right end float coal of cleaning medium-thickness seam working face, until the preceding coal seam right end The preceding coal seam right end float coal of cleaning medium-thickness seam working face finishes.

Step 50304b, judge whether flitting runs to the right in the rear coal seam of medium-thickness seam working face：Central thickness When coal seam flitting is run to the right, the step 1009 transferred in memory 14 reproduces medium-thickness seam flitting coal cutting； Otherwise, the step 1010 transferred in memory 14 reproduces medium-thickness 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 50304c, judging medium-thickness seam working face are zero：Pass through Controller 8 sets the rear coal seam right end float coal number of medium-thickness seam working face, when the after coal seam right-hand member of medium-thickness seam working face When head float coal clearing times are zero, the step 1012 transferred in memory 14 reproduces medium-thickness seam flitting coal cutting；It is central When the rear coal seam right end float coal clearing times of high seam working face are not zero, transfer in step 1011 reproduction in memory 14 High seam flitting coal cutting；

Step 50401, the initialization flitting control system：Gathered by coal-winning machine pose detection module 6 low Coal dust girdle flitting location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller are bowed Elevation parameter, left rocking arm mining height detection module can determine that by a pitching angular dimensions that rolls left for low coal dust girdle flitting The left rocking arm mining height data of 4 detections, can determine that the right side is shaken by the right roller pitching angular dimensions of low coal dust girdle flitting The right rocking arm mining height data that arm mining height detection module 5 detects；

Step 50402, judge whether low coal dust girdle flitting is in termination：When low coal dust girdle roller is adopted When coal machine is in termination, according to the low coal dust girdle flitting location parameter obtained in step 50401, if low coal dust is thin When coal seam flitting is in left end, step 50403 is performed；If low coal dust girdle flitting is in right end When, perform step 50404；It is low according to what is obtained in step 50401 when low coal dust girdle flitting is not at termination Coal dust girdle flitting direct of travel, if low coal dust girdle flitting coal cutting from left to right, transfers memory Step 2005 in 14 reproduces low coal dust girdle flitting coal cutting；If low coal dust girdle flitting is from right to left Coal cutting, transfer the step 2012 in memory 14 and reproduce low coal dust girdle flitting coal cutting；

Whether the rear coal seam left end float coal clearing times for step 50403a, judging low coal dust thin seam working surface are zero： The rear coal seam left end float coal number of low coal dust thin seam working surface is set by controller 8, when low coal dust thin seam working surface Rear coal seam left end float coal clearing times when being zero, transfer the step 2001 in memory 14 and reproduce low coal dust girdle roller Coal-winning machine coal cutting；Otherwise, transfer and step 2014 is performed a plurality of times after the step 2013 in memory 14 reproduces low coal dust girdle rolling Cylinder coal-winning machine 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 low coal dust girdle The preceding coal seam left end beveling feed of working face；Cleaning of coal seam left end float coal is not complete after this, in practical operation, in a machine Coal-winning machine travels to and fro between the opening position of the rear coal seam left end and the distance of a fuselage to cut low coal dust thin in the range of the distance of body The rear coal seam left end ground coal of working face of coal seam and the rear coal seam left end float coal for clearing up low coal dust thin seam working surface, until should The rear coal seam left end float coal of the low coal dust thin seam working surface of coal seam left end cleaning finishes afterwards.

Step 50403b, judge whether flitting runs to the left in the preceding coal seam of low coal dust thin seam working surface：When When low coal dust girdle flitting is run to the left, transfer the step 2002 in memory 14 and reproduce low coal dust girdle roller Coal-winning machine coal cutting；Otherwise, transfer the step 2003 in memory 14 and reproduce low coal dust girdle flitting coal cutting；

Whether the preceding coal seam left end float coal clearing times for step 50403c, judging low coal dust thin seam working surface are zero： The rear coal seam left end float coal number of low coal dust thin seam working surface is set by controller 8, when low coal dust thin seam working surface Preceding coal seam left end float coal clearing times when being zero, transfer the step 2005 in memory 14 and reproduce low coal dust girdle roller Coal-winning machine coal cutting；When the preceding coal seam left end float coal clearing times of low coal dust thin seam working surface are not zero, memory is transferred Step 2004 in 14 reproduces low coal dust girdle flitting coal cutting；

Whether the preceding coal seam right end float coal clearing times for step 50404a, judging low coal dust thin seam working surface are zero： The preceding coal seam right end float coal number of low coal dust thin seam working surface is set by controller 8, when low coal dust thin seam working surface Preceding coal seam right end float coal clearing times when being zero, transfer the step 2008 in memory 14 and reproduce low coal dust girdle roller Coal-winning machine coal cutting；Otherwise, transfer and step 2007 is performed a plurality of times after the step 2006 in memory 14 reproduces low coal dust girdle rolling Cylinder coal-winning machine 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 low coal dust girdle The rear coal seam right end beveling feed of working face；When preceding coal seam right end float coal cleaning is not complete, in practical operation, in a machine Coal-winning machine travels to and fro between the opening position of the preceding coal seam right end and the distance of a fuselage to cut low coal dust thin in the range of the distance of body The preceding coal seam right end ground coal of working face of coal seam and the preceding coal seam right end float coal for clearing up low coal dust thin seam working surface, until should The preceding coal seam right end float coal that preceding coal seam right end clears up low coal dust thin seam working surface finishes.

Step 50404b, judge whether flitting runs to the right in the rear coal seam of low coal dust thin seam working surface：When When low coal dust girdle flitting is run to the right, transfer the step 2009 in memory 14 and reproduce low coal dust girdle roller Coal-winning machine coal cutting；Otherwise, transfer the step 2010 in memory 14 and reproduce low coal dust girdle flitting coal cutting；

Whether the rear coal seam right end float coal clearing times for step 50404c, judging low coal dust thin seam working surface are zero： The rear coal seam right end float coal number of low coal dust thin seam working surface is set by controller 8, when low coal dust thin seam working surface Rear coal seam right end float coal clearing times when being zero, transfer the step 2012 in memory 14 and reproduce low coal dust girdle roller Coal-winning machine coal cutting；When the rear coal seam right end float coal clearing times of low coal dust thin seam working surface are not zero, memory is transferred Step 2011 in 14 reproduces low coal dust girdle flitting coal cutting；

Step 50501, the initialization flitting control system：Institute is gathered by coal-winning machine pose detection module 6 No.1 coal seam flitting location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller is stated to bow Elevation parameter, left rocking arm mining height detection module can determine that by a pitching angular dimensions that rolls left for No.1 coal seam flitting The left rocking arm mining height data of 4 detections, can determine that the right side is shaken by the right roller pitching angular dimensions of No.1 coal seam flitting The right rocking arm mining height data that arm mining height detection module 5 detects；

Step 50502, judge whether No.1 coal seam flitting is in termination：When the No.1 coal seam, roller is adopted When coal machine is in termination, according to the No.1 coal seam flitting location parameter obtained in step 50501, if the No.1 When coal seam flitting is in left end, step 50503 is performed；If No.1 coal seam flitting is in right end When, perform step 50504；When the No.1 coal seam, flitting is not at termination, according to the institute obtained in step 50501 No.1 coal seam flitting direct of travel is stated, if the coal cutting from left to right of No.1 coal seam flitting, transfers memory Step 3005 in 14 reproduces the No.1 coal seam flitting coal cutting；If No.1 coal seam flitting is from right to left Coal cutting, transfer the step 3012 in memory 14 and reproduce the No.1 coal seam flitting coal cutting；

Whether the rear coal seam left end float coal clearing times for step 50503a, judging the No.1 working face of coal seam are zero： The rear coal seam left end float coal number of the No.1 working face of coal seam is set by controller 8, when the No.1 working face of coal seam Rear coal seam left end float coal clearing times when being zero, transfer the step 3001 in memory 14 and reproduce No.1 coal seam roller Coal-winning machine coal cutting；Otherwise, transfer and step 3014 is performed a plurality of times after the step 3013 in memory 14 reproduces the No.1 coal seam rolling Cylinder coal-winning machine 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 No.1 coal seam The preceding coal seam left end beveling feed of working face；Cleaning of coal seam left end float coal is not complete after this, in practical operation, in a machine Coal-winning machine travels to and fro between the rear coal seam left end in the range of the distance of body and the opening position of the distance of a fuselage cuts the No.1 The rear coal seam left end ground coal of working face of coal seam and the rear coal seam left end float coal for clearing up the No.1 working face of coal seam, until should The rear coal seam left end float coal of the coal seam left end cleaning No.1 working face of coal seam finishes afterwards.

Step 50503b, judge whether flitting runs to the left in the preceding coal seam of the No.1 working face of coal seam：When When No.1 coal seam flitting is run to the left, transfer the step 3002 in memory 14 and reproduce No.1 coal seam roller Coal-winning machine coal cutting；Otherwise, transfer the step 3003 in memory 14 and reproduce the No.1 coal seam flitting coal cutting；

Whether the preceding coal seam left end float coal clearing times for step 50503c, judging the No.1 working face of coal seam are zero： The rear coal seam left end float coal number of the No.1 working face of coal seam is set by controller 8, when the No.1 working face of coal seam Preceding coal seam left end float coal clearing times when being zero, transfer the step 3005 in memory 14 and reproduce No.1 coal seam roller Coal-winning machine coal cutting；When the preceding coal seam left end float coal clearing times of the No.1 working face of coal seam are not zero, memory is transferred Step 3004 in 14 reproduces the No.1 coal seam flitting coal cutting；

Whether the preceding coal seam right end float coal clearing times for step 50504a, judging the No.1 working face of coal seam are zero： The preceding coal seam right end float coal number of the No.1 working face of coal seam is set by controller 8, when the No.1 working face of coal seam Preceding coal seam right end float coal clearing times when being zero, transfer the step 3008 in memory 14 and reproduce No.1 coal seam roller Coal-winning machine coal cutting；Otherwise, transfer and step 3007 is performed a plurality of times after the step 3006 in memory 14 reproduces the No.1 coal seam rolling Cylinder coal-winning machine 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 No.1 coal seam The rear coal seam right end beveling feed of working face；When preceding coal seam right end float coal cleaning is not complete, in practical operation, in a machine Coal-winning machine travels to and fro between the preceding coal seam right end in the range of the distance of body and the opening position of the distance of a fuselage cuts the No.1 The preceding coal seam right end ground coal of working face of coal seam and the preceding coal seam right end float coal for clearing up the No.1 working face of coal seam, until should The preceding coal seam right end float coal that preceding coal seam right end clears up the No.1 working face of coal seam finishes.

Step 50504b, judge whether flitting runs to the right in the rear coal seam of the No.1 working face of coal seam：When When No.1 coal seam flitting is run to the right, transfer the step 3009 in memory 14 and reproduce No.1 coal seam roller Coal-winning machine coal cutting；Otherwise, transfer the step 3010 in memory 14 and reproduce the No.1 coal seam flitting coal cutting；

Whether the rear coal seam right end float coal clearing times for step 50504c, judging the No.1 working face of coal seam are zero： The rear coal seam right end float coal number of the No.1 working face of coal seam is set by controller 8, when the No.1 working face of coal seam Rear coal seam right end float coal clearing times when being zero, transfer the step 3012 in memory 14 and reproduce No.1 coal seam roller Coal-winning machine coal cutting；When the rear coal seam right end float coal clearing times of the No.1 working face of coal seam are not zero, memory is transferred Step 3011 in 14 reproduces the No.1 coal seam flitting coal cutting；

Step 50601, the initialization flitting control system：Institute is gathered by coal-winning machine pose detection module 6 No. two coal seam flitting location parameters, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller is stated to bow Elevation parameter, left rocking arm mining height detection module can determine that by a pitching angular dimensions that rolls left for No. two coal seam flittings The left rocking arm mining height data of 4 detections, can determine that the right side is shaken by the right roller pitching angular dimensions of No. two coal seam flittings The right rocking arm mining height data that arm mining height detection module 5 detects；

Step 50602, judge whether No. two coal seam flittings are in termination：When No. two coal seam rollers are adopted When coal machine is in termination, according to No. two coal seams flitting location parameter obtained in step 50601, if described No. two When coal seam flitting is in left end, step 50603 is performed；If No. two coal seam flittings are in right end When, perform step 50604；When No. two coal seam flittings are not at termination, according to the institute obtained in step 50601 No. two coal seam flitting direct of travels are stated, if No. two coal seam flittings coal cutting from left to right, transfers memory Step 4005 in 14 reproduces No. two coal seams flitting coal cutting；If No. two coal seam flittings are from right to left Coal cutting, transfer the step 4012 in memory 14 and reproduce No. two coal seams flitting coal cutting；

Whether the rear coal seam left end float coal clearing times for step 50603a, judging No. two working face of coal seam are zero： The rear coal seam left end float coal number of No. two working face of coal seam is set by controller 8, when No. two working face of coal seam Rear coal seam left end float coal clearing times when being zero, transfer the step 4001 in memory 14 and reproduce No. two coal seam rollers Coal-winning machine coal cutting；Otherwise, transfer and step 4014 is performed a plurality of times after the step 4013 in memory 14 reproduces No. two coal seams rolling Cylinder coal-winning machine 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 No. two coal seams The preceding coal seam left end beveling feed of working face；Cleaning of coal seam left end float coal is not complete after this, in practical operation, in a machine Coal-winning machine travels to and fro between the rear coal seam left end in the range of the distance of body and the opening position of the distance of a fuselage cuts described No. two The rear coal seam left end ground coal of working face of coal seam and the rear coal seam left end float coal for clearing up No. two working face of coal seam, until should The rear coal seam left end float coal of coal seam left end cleaning No. two working face of coal seam finishes afterwards.

Step 50603b, judge whether flitting runs to the left in the preceding coal seam of No. two working face of coal seam：When When No. two coal seam flittings are run to the left, transfer the step 4002 in memory 14 and reproduce No. two coal seam rollers Coal-winning machine coal cutting；Otherwise, transfer the step 4003 in memory 14 and reproduce No. two coal seams flitting coal cutting；

Whether the preceding coal seam left end float coal clearing times for step 50603c, judging No. two working face of coal seam are zero： The rear coal seam left end float coal number of No. two working face of coal seam is set by controller 8, when No. two working face of coal seam Preceding coal seam left end float coal clearing times when being zero, transfer the step 4005 in memory 14 and reproduce No. two coal seam rollers Coal-winning machine coal cutting；When the preceding coal seam left end float coal clearing times of No. two working face of coal seam are not zero, memory is transferred Step 4004 in 14 reproduces No. two coal seams flitting coal cutting；

Whether the preceding coal seam right end float coal clearing times for step 50604a, judging No. two working face of coal seam are zero： The preceding coal seam right end float coal number of No. two working face of coal seam is set by controller 8, when No. two working face of coal seam Preceding coal seam right end float coal clearing times when being zero, transfer the step 4008 in memory 14 and reproduce No. two coal seam rollers Coal-winning machine coal cutting；Otherwise, transfer and step 4007 is performed a plurality of times after the step 4006 in memory 14 reproduces No. two coal seams rolling Cylinder coal-winning machine 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, execution No. two coal seams The rear coal seam right end beveling feed of working face；When preceding coal seam right end float coal cleaning is not complete, in practical operation, in a machine Coal-winning machine travels to and fro between the preceding coal seam right end in the range of the distance of body and the opening position of the distance of a fuselage cuts described No. two The preceding coal seam right end ground coal of working face of coal seam and the preceding coal seam right end float coal for clearing up No. two working face of coal seam, until should The preceding coal seam right end float coal that preceding coal seam right end clears up No. two working face of coal seam finishes.

Step 50604b, judge whether flitting runs to the right in the rear coal seam of No. two working face of coal seam：When When No. two coal seam flittings are run to the right, transfer the step 4009 in memory 14 and reproduce No. two coal seam rollers Coal-winning machine coal cutting；Otherwise, transfer the step 4010 in memory 14 and reproduce No. two coal seams flitting coal cutting；

Whether the rear coal seam right end float coal clearing times for step 50604c, judging No. two working face of coal seam are zero： The rear coal seam right end float coal number of No. two working face of coal seam is set by controller 8, when No. two working face of coal seam Rear coal seam right end float coal clearing times when being zero, transfer the step 4012 in memory 14 and reproduce No. two coal seam rollers Coal-winning machine coal cutting；When the rear coal seam right end float coal clearing times of No. two working face of coal seam are not zero, memory is transferred Step 4011 in 14 reproduces No. two coal seams flitting coal cutting.

In the present embodiment, the low level of step 1 actual mining height of the roller of flitting into step 4 is flitting Roller be located at position at flitting rack rails；The height of step 1 actual mining height of the roller of flitting into step 4 Position is located at the position of roller coal mining support bracket for the roller of flitting；The roller of step 1 flitting into step 4 The middle position of actual mining height is located at variable between flitting rack rails and roller coal mining support bracket for the roller of flitting Position.

In the present embodiment, the controller 8 in step 1 to flitting control system described in step 5 is PLC moulds Block；Data processing unit 7 in step 1 to flitting control system described in step 5 is filter and amplification signal condition Module；Frequency-converting speed-governing control system 11 in step 1 to flitting control system described in step 5 is adjusted for flame-proof converter Fast device；Standby control interface 12 in step 1 to flitting control system described in step 5 includes wired or wireless number According to communication interface, the real-time display coal-winning machine of display 13 in step 1 to flitting control system described in step 5 is adopted Coaly state.

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

1. a kind of flitting teaching playback automatic cutting control method, it is characterised in that this method comprises the following steps：

Step 1: the automatic cut teaching of medium-thickness seam flitting：Along medium-thickness seam mine district length direction, roller is utilized Coal-winning machine control system control flitting carries out slicing to the medium-thickness seam that need to be exploited from the front to the back；Slicing mistake Cheng Zhong, to the recovery method all same in two coal seams being connected before and after the medium-thickness seam working face that need to exploit；

The flitting control system includes controller (8) and the memory (14) to connect with controller (8), controller (8) input is terminated with data processing unit (7), the input of data processing unit (7) be terminated with detector for measuring depth of coal bed (1), Dust Concentration sensor (2), anemoscope (3), left rocking arm mining height detection module (4), right rocking arm mining height detection module (5) and coal mining Seat in the plane appearance detection module (6), the output of controller (8) is terminated with display (13), left rocking arm heightens valve group (9), right rocking arm is adjusted High 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 medium-thickness seam working face that need to exploit When cutting teaching, process is as follows：

Step 1001, the beveling feed of the preceding coal seam left end of medium-thickness seam working face：Determine flitting in medium-thickness 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 medium-thickness seam working face；

Step 1002, the preceding coal seam left end Triangle Coal for cutting medium-thickness seam working face：Pass through the flitting control system The cylinder that rolls left of flitting rises to an actual mining height high position on medium-thickness seam working face, and right rolling in regulating step 1001 simultaneously Cylinder drops to the preceding coal seam left end Triangle Coal that actual mining height low level on medium-thickness seam working face cuts medium-thickness seam working face；

Step 1003, the preceding coal seam left end ground coal for cutting medium-thickness seam working face：It is same by the flitting control system When regulating step 1002 in the cylinder that rolls left of flitting drop to actual mining height low level on medium-thickness seam working face, and right roller Rise to the preceding coal seam left end ground coal that actual mining height middle position on medium-thickness seam working face cuts medium-thickness seam working face；

Step 1004, the preceding coal seam left end float coal for clearing up medium-thickness seam working face：Pass through the flitting control system The preceding coal seam left end float coal number of medium-thickness seam working face in cleanup step 1003 is set, keeps the cylinder that rolls left of flitting Actual mining height low level and right roller are in actual mining height middle position on medium-thickness seam working face on medium-thickness seam working face, complete The cleaning of the preceding coal seam left end float coal of medium-thickness seam working face；

The preceding coal seam coal cutting from left to right of step 1005, flitting along medium-thickness seam working face：The flitting is adjusted The right roller of flitting in section step 1003 actual mining height high position on medium-thickness seam working face cuts top coal, keeps simultaneously The cylinder actual mining height low level on medium-thickness seam working face that rolls left of flitting cuts ground coal, the flitting control system Preceding coal seam of the flitting along medium-thickness seam working face is controlled from left end to right end coal cutting；

Step 1006, the preceding coal seam right end ground coal for cutting medium-thickness seam working face：Pass through the flitting control system control The right roller of flitting declines the preceding coal seam right end ground coal for cutting medium-thickness seam working face in step 1005 processed, and controls step The cylinder that rolls left of flitting is in actual mining height middle position on medium-thickness seam working face in rapid 1005；

Step 1007, the preceding coal seam right end float coal for clearing up medium-thickness seam working face：Pass through the flitting control system The preceding coal seam right end float coal number of cleaning medium-thickness seam working face is set, keeps the cylinder that rolls left of flitting to be in middle thick coal Actual mining height middle position and right roller are in actual mining height low level on medium-thickness seam working face, completion medium-thickness seam work on layer working face 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 medium-thickness seam working face：Pass through the flitting control system The right roller of flitting rises actual mining height middle position on feed to medium-thickness seam working face in regulating step 1006, rolls simultaneously The cylinder that rolls left of cylinder coal-winning machine keeps actual mining height middle position beveling feed coal cutting on medium-thickness seam working face；

Step 1009, the rear coal seam right end Triangle Coal for cutting medium-thickness seam working face：Pass through the flitting control system The cylinder that rolls left of flitting drops to actual mining height low level on medium-thickness seam working face, and right rolling in regulating step 1008 simultaneously Cylinder rises to the rear coal seam right end Triangle Coal that an actual mining height high position on medium-thickness seam working face cuts medium-thickness seam working face；

Step 1010, the rear coal seam right end ground coal for cutting medium-thickness seam working face：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 medium-thickness seam working face Drop to the rear coal seam right end ground coal that actual mining height low level on medium-thickness seam working face cuts medium-thickness seam working face；

Step 1011, the rear coal seam right end float coal for clearing up medium-thickness seam working face：Pass through the flitting control system The rear coal seam right end float coal number of medium-thickness seam working face in cleanup step 1010 is set, keeps the cylinder that rolls left of flitting Actual mining height middle position and right roller are in actual mining height low level on medium-thickness seam working face on medium-thickness seam working face, complete The cleaning of the rear coal seam right end float coal of medium-thickness seam working face；

The rear coal seam coal cutting from right to left of step 1012, flitting along medium-thickness seam working face：Mined by the roller The cylinder that rolls left of flitting rises to an actual mining height high position on medium-thickness seam working face in machine control system rate-determining steps 1010, And rear coal seam of the flitting along medium-thickness seam working face is operated from right end to left end coal cutting, keep flitting The cylinder actual mining height high position on medium-thickness seam working face that rolls left cuts top coal, while keeps the right roller of flitting in middle thick coal Actual mining height low level cuts ground coal on layer working face；

Step 1013, the rear coal seam left end ground coal for cutting medium-thickness seam working face：Pass through the flitting control system control The cylinder that rolls left of flitting declines the rear coal seam left end ground coal for cutting medium-thickness seam working face in step 1012 processed, and controls step The right roller of flitting is in middle position in rapid 1012；

Step 1014, the rear coal seam left end float coal for clearing up medium-thickness seam working face：Pass through the flitting control system The rear coal seam left end float coal number of cleaning medium-thickness seam working face is set, keeps the cylinder that rolls left of flitting to be in middle thick coal Actual mining height low level and right roller are in actual mining height middle position on medium-thickness seam working face, completion medium-thickness seam work on layer working face Make the cleaning of the rear coal seam left end float coal in face, complete before and after medium-thickness seam working face that flitting one comes and goes on two coal seams Coal cutting teaching, flitting comes and goes on two coal seams before and after flitting control system storage medium-thickness seam working face Coal cutting training data；

Step 2: the low automatic cut teaching of coal dust girdle flitting：Along low coal dust girdle mine district length direction, The low coal dust girdle that need to be exploited is layered back from the front to the back using flitting control system control flitting Adopt；During slicing, the recovery method in two coal seams to being connected before and after the low coal dust thin seam working surface that need to exploit is homogeneous Together；

On front and rear two coal seams any to the low coal dust thin seam working surface that need to exploit the round coal cutting of flitting one carry out from During dynamic cut teaching, process is as follows：

Step 2001, the beveling feed of the preceding coal seam left end of low coal dust thin seam working surface：Determine flitting in low coal dust Actual mining height on thin seam working surface, roll left cylinder and the right side of flitting are adjusted using the flitting control system Roller is in the middle position beveling feed coal cutting of actual mining height on low coal dust thin seam working surface；

Step 2002, the preceding coal seam left end Triangle Coal for cutting low coal dust thin seam working surface：Controlled by the flitting It is low to drop to actual mining height on low coal dust thin seam working surface for the cylinder that rolls left of flitting in system while regulating step 2001 Position and right roller rise to the preceding coal seam that an actual mining height high position on low coal dust thin seam working surface cuts low coal dust thin seam working surface Left end Triangle Coal；

Step 2003, the preceding coal seam left end top coal for cutting low coal dust thin seam working surface：Controlled by the flitting and be It is high-order to rise to actual mining height on low coal dust thin seam working surface for the cylinder that rolls left of flitting in system while regulating step 2002 And right roller drops to the preceding coal seam left side that actual mining height middle position on low coal dust thin seam working surface cuts low coal dust thin seam working surface Termination top coal；

The preceding coal seam left end float coal of step 2004, the low coal dust thin seam working surface of cleaning：Controlled by the flitting System sets the preceding coal seam left end float coal number of low coal dust thin seam working surface in cleanup step 2003, adjusts flitting The cylinder that rolls left be in actual mining height low level on low coal dust thin seam working surface and right roller is on low coal dust thin seam working surface Actual mining height middle position, complete the cleaning of the preceding coal seam left end float coal of low coal dust thin seam working surface；

The preceding coal seam coal cutting from left to right of step 2005, flitting along low coal dust thin seam working surface：The roller is mined The cylinder actual mining height high position on low coal dust thin seam working surface that rolls left of flitting in machine regulating step 2004 cuts top coal, The right roller of the flitting actual mining height low level on low coal dust thin seam working surface is kept to cut ground coal simultaneously, the roller is adopted Coal machine control system controls preceding coal seam of the flitting along low coal dust thin seam working surface from left end to right end coal cutting；

Step 2006, the preceding coal seam right end top coal for cutting low coal dust thin seam working surface：Controlled by the flitting and be The right roller of flitting rises the preceding coal seam right end top coal for cutting low coal dust thin seam working surface in system rate-determining steps 2005, And the cylinder that rolls left of flitting is in actual mining height middle position on low coal dust thin seam working surface in rate-determining steps 2005；

The preceding coal seam right end float coal of step 2007, the low coal dust thin seam working surface of cleaning：Controlled by the flitting System sets the preceding coal seam right end float coal number for clearing up low coal dust thin seam working surface, adjusts at the cylinder that rolls left of flitting It is low that actual mining height on low coal dust thin seam working surface is in actual mining height middle position on low coal dust thin seam working surface and right roller Position, completes the cleaning of the preceding coal seam right end float coal of low coal dust thin seam working surface；

Step 2008, the beveling feed of the rear coal seam right end of low coal dust thin seam working surface：Controlled by the flitting The right roller of flitting rises on feed to low coal dust thin seam working surface in actual mining height in system fading margin step 2007 Position, while the cylinder that rolls left of flitting keeps actual mining height middle position beveling feed coal cutting on low coal dust thin seam working surface；

Step 2009, the rear coal seam right end Triangle Coal for cutting low coal dust thin seam working surface：Controlled by the flitting It is high to rise to actual mining height on low coal dust thin seam working surface for the cylinder that rolls left of flitting in system while regulating step 2008 Position and right roller drop to the rear coal seam that actual mining height low level on low coal dust thin seam working surface cuts low coal dust thin seam working surface Right end Triangle Coal；

Step 2010, the rear coal seam right end top coal for cutting low coal dust thin seam working surface：Controlled by the flitting and be The cylinder that rolls left of flitting drops to actual mining height middle position on low coal dust thin seam working surface in system while regulating step 2009 And right roller rises to the rear coal seam right side that an actual mining height high position on low coal dust thin seam working surface cuts low coal dust thin seam working surface Termination top coal；

The rear coal seam right end float coal of step 2011, the low coal dust thin seam working surface of cleaning：Controlled by the flitting System sets the rear coal seam right end float coal number of low coal dust thin seam working surface in cleanup step 2010, adjusts flitting Right roller be in actual mining height low level on low coal dust thin seam working surface, the cylinder that rolls left keeps real on low coal dust thin seam working surface Border mining height middle position, complete the cleaning of the rear coal seam right end float coal of low coal dust thin seam working surface；

The rear coal seam coal cutting from right to left of step 2012, flitting along low coal dust thin seam working surface：Pass through the roller The cylinder that rolls left of flitting drops to actual on low coal dust thin seam working surface in coal-winning machine control system rate-determining steps 2011 Mining height low level, right roller rises to an actual mining height high position on low coal dust thin seam working surface, and operates flitting along low coal The rear coal seam of dirt thin seam working surface is from right end to left end coal cutting；

Step 2013, the rear coal seam left end top coal for cutting low coal dust thin seam working surface：Controlled by the flitting and be The cylinder that rolls left of flitting rises the rear coal seam left end top coal for cutting low coal dust thin seam working surface in system rate-determining steps 2012, And the right roller of flitting drops to actual mining height middle position on low coal dust thin seam working surface in rate-determining steps 2012；

The rear coal seam left end float coal of step 2014, the low coal dust thin seam working surface of cleaning：Controlled by the flitting System sets the rear coal seam left end float coal number for clearing up low coal dust thin seam working surface, adjusts at the cylinder that rolls left of flitting It is in actual mining height low level on low coal dust thin seam working surface and right roller on low coal dust thin seam working surface in actual mining height Position, completes the cleaning of the rear coal seam left end float coal of low coal dust thin seam working surface, before and after completing low coal dust thin seam working surface The round coal cutting teaching method of flitting one on two coal seams, the flitting control system store low coal dust girdle Before and after working face on two coal seams flitting round coal cutting training data；

Step 3: the automatic cut teaching of high coal dust girdle flitting of direction of ventilation from right to left：The direction of ventilation High coal dust girdle from right to left is No.1 coal seam, along No.1 coal seam mine district length direction, is mined using roller Machine control system control flitting carries out slicing to the No.1 coal seam that need to be exploited from the front to the back；Slicing mistake Cheng Zhong, to the recovery method all same in two coal seams being connected before and after the No.1 working face of coal seam that need to exploit；The No.1 coal seam rolling The cylinder automatic cut teaching of coal-winning machine：

On front and rear two coal seams any to the No.1 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 3001, the beveling feed of the preceding coal seam left end of the No.1 working face of coal seam：Determine flitting described one Actual mining height on number working face of coal seam, roll left cylinder and the right side of flitting are adjusted using the flitting control system Roller is in the middle position beveling feed coal cutting of actual mining height on the No.1 working face of coal seam；

Step 3002, the preceding coal seam left end Triangle Coal for cutting the No.1 working face of coal seam：Controlled by the flitting It is low to drop to actual mining height on the No.1 working face of coal seam for the cylinder that rolls left of flitting in system while regulating step 3001 Position and right roller rise to the preceding coal seam that an actual mining height high position on the No.1 working face of coal seam cuts the No.1 working face of coal seam Left end Triangle Coal；

Step 3003, the preceding coal seam left end top coal for cutting the No.1 working face of coal seam：Controlled by the flitting and be It is high-order to rise to actual mining height on the No.1 working face of coal seam for the cylinder that rolls left of flitting in system while regulating step 3002 And right roller drops to the preceding coal seam left side that actual mining height middle position on the No.1 working face of coal seam cuts the No.1 working face of coal seam Termination top coal；

The preceding coal seam left end float coal of step 3004, the cleaning No.1 working face of coal seam：Controlled by the flitting System sets the preceding coal seam left end float coal number of No.1 working face of coal seam described in cleanup step 3003, adjusts flitting The cylinder that rolls left be in actual mining height low level on the No.1 working face of coal seam and right roller is on the No.1 working face of coal seam Actual mining height middle position, complete the cleaning of the preceding coal seam left end float coal of the No.1 working face of coal seam；

The preceding coal seam coal cutting from left to right of step 3005, flitting along the No.1 working face of coal seam：The roller is mined The cylinder actual mining height low level on the No.1 working face of coal seam that rolls left of flitting in machine regulating step 3004 cuts ground coal, The right roller of a flitting actual mining height high position on the No.1 working face of coal seam is kept to cut top coal simultaneously, the roller is adopted Coal machine control system controls preceding coal seam of the flitting along the No.1 working face of coal seam from left end to right end coal cutting；

Step 3006, the preceding coal seam right end ground coal for cutting the No.1 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 No.1 working face of coal seam in system rate-determining steps 3005, And the cylinder that rolls left of flitting is in actual mining height middle position on the No.1 working face of coal seam in rate-determining steps 3005；

The preceding coal seam right end float coal of step 3007, the cleaning No.1 working face of coal seam：Controlled by the flitting System sets the preceding coal seam right end float coal number for clearing up the No.1 working face of coal seam, adjusts at the cylinder that rolls left of flitting It is low that actual mining height on the No.1 working face of coal seam is in actual mining height middle position on the No.1 working face of coal seam and right roller Position, completes the cleaning of the preceding coal seam right end float coal of the No.1 working face of coal seam；

Step 3008, the beveling feed of the rear coal seam right end of the No.1 working face of coal seam：Controlled by the flitting The right roller of flitting rises on feed to the No.1 working face of coal seam in actual mining height in system fading margin step 3007 Position, while the cylinder that rolls left of flitting keeps actual mining height middle position beveling feed coal cutting on the No.1 working face of coal seam；

Step 3009, the rear coal seam right end Triangle Coal for cutting the No.1 working face of coal seam：Controlled by the flitting It is low to drop to actual mining height on the No.1 working face of coal seam for the cylinder that rolls left of flitting in system while regulating step 3008 Position and right roller rise to the rear coal seam that an actual mining height high position on the No.1 working face of coal seam cuts the No.1 working face of coal seam Right end Triangle Coal；

Step 3010, the rear coal seam right end ground coal for cutting the No.1 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 on the No.1 working face of coal seam in system while regulating step 3009 And right roller drops to the rear coal seam right side that actual mining height low level on the No.1 working face of coal seam cuts the No.1 working face of coal seam Termination ground coal；

The rear coal seam right end float coal of step 3011, the cleaning No.1 working face of coal seam：Controlled by the flitting System sets the rear coal seam right end float coal number of No.1 working face of coal seam described in cleanup step 3010, keeps flitting Right roller be in actual mining height low level on the No.1 working face of coal seam, the cylinder that rolls left keeps real on the No.1 working face of coal seam Border mining height middle position, complete the cleaning of the rear coal seam right end float coal of the No.1 working face of coal seam；

The rear coal seam coal cutting from right to left of step 3012, flitting along the No.1 working face of coal seam：Pass through the roller The cylinder that rolls left of flitting drops to actual on the No.1 working face of coal seam in coal-winning machine control system rate-determining steps 3011 Mining height low level, right roller rises to an actual mining height high position on the No.1 working face of coal seam, and operates flitting described in The rear coal seam of No.1 working face of coal seam is from right end to left end coal cutting；

Step 3013, the rear coal seam left end top coal for cutting the No.1 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 No.1 working face of coal seam in system rate-determining steps 3012, And the right roller of flitting drops to actual mining height middle position on the No.1 working face of coal seam in rate-determining steps 3012；

The rear coal seam left end float coal of step 3014, the cleaning No.1 working face of coal seam：Controlled by the flitting System sets the rear coal seam left end float coal number for clearing up the No.1 working face of coal seam, adjusts at the cylinder that rolls left of flitting It is in actual mining height low level on the No.1 working face of coal seam and right roller on the No.1 working face of coal seam in actual mining height Position, completes the cleaning of the rear coal seam left end float coal of the No.1 working face of coal seam, before and after completing the No.1 working face of coal seam The round coal cutting teaching method of flitting one on two coal seams, the flitting control system store the No.1 coal seam Before and after working face on two coal seams flitting round coal cutting training data；

Step 4: the automatic cut teaching of bog-head coal floor height coal dust flitting of direction of ventilation from left to right：The direction of ventilation High coal dust girdle from left to right is No. two coal seams, along No. two coal seams mine district length direction, is mined using roller Machine control system control flitting carries out slicing to No. two coal seams that need to be exploited from the front to the back；Slicing mistake Cheng Zhong, to the recovery method all same in two coal seams being connected before and after No. two working face of coal seam need to exploiting；

On front and rear two coal seams any to No. two 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 4001, the beveling feed of the preceding coal seam left end of No. two working face of coal seam：Determine flitting described two Actual mining height on number working face of coal seam, roll left cylinder and the right side of flitting are adjusted using the flitting control system Roller is in the middle position beveling feed coal cutting of actual mining height on No. two working face of coal seam；

Step 4002, the preceding coal seam left end Triangle Coal for cutting No. two working face of coal seam：Controlled by the flitting It is high to rise to actual mining height on No. two working face of coal seam for the cylinder that rolls left of flitting in system while regulating step 4001 Position and right roller drop to the preceding coal seam that actual mining height low level on No. two working face of coal seam cuts No. two working face of coal seam Left end Triangle Coal；

Step 4003, the preceding coal seam left end ground coal for cutting No. two working face of coal seam：Controlled by the flitting and be The cylinder that rolls left of flitting drops to actual mining height low level on No. two working face of coal seam in system while regulating step 4002 And right roller rises to the preceding coal seam left side that actual mining height middle position on No. two working face of coal seam cuts No. two working face of coal seam Termination ground coal；

The preceding coal seam left end float coal of step 4004, cleaning No. two working face of coal seam：Controlled by the flitting System sets the preceding coal seam left end float coal number of No. two working face of coal seam described in cleanup step 4003, keeps flitting The cylinder that rolls left be in actual mining height low level on No. two working face of coal seam and right roller is on No. two working face of coal seam Actual mining height middle position, complete the cleaning of the preceding coal seam left end float coal of No. two working face of coal seam；

The preceding coal seam coal cutting from left to right of step 4005, flitting along No. two working face of coal seam：The roller is mined The cylinder actual mining height high position on No. two working face of coal seam that rolls left of flitting in machine regulating step 4004 cuts top coal, The right roller of the flitting actual mining height low level on No. two working face of coal seam is adjusted simultaneously and cuts ground coal, and the roller is adopted Coal machine control system controls preceding coal seam of the flitting along No. two working face of coal seam from left end to right end coal cutting；

Step 4006, the preceding coal seam right end top coal for cutting No. two working face of coal seam：Controlled by the flitting and be The right roller of flitting rises the preceding coal seam right end top coal for cutting No. two working face of coal seam in system rate-determining steps 4005, And the cylinder that rolls left of flitting is in actual mining height middle position on No. two working face of coal seam in rate-determining steps 4005；

The preceding coal seam right end float coal of step 4007, cleaning No. two working face of coal seam：Controlled by the flitting System sets the preceding coal seam right end float coal number for clearing up No. two working face of coal seam, adjusts at the cylinder that rolls left of flitting It is low that actual mining height on No. two working face of coal seam is in actual mining height middle position on No. two working face of coal seam and right roller Position, complete the cleaning of the preceding coal seam right end float coal of No. two working face of coal seam；

Step 4008, the beveling feed of the rear coal seam right end of No. two working face of coal seam：Controlled by the flitting The right roller of flitting rises on feed to No. two working face of coal seam in actual mining height in system fading margin step 4007 Position, while the cylinder that rolls left of flitting keeps actual mining height middle position beveling feed coal cutting on No. two working face of coal seam；

Step 4009, the rear coal seam right end Triangle Coal for cutting No. two working face of coal seam：Controlled by the flitting It is low to drop to actual mining height on No. two working face of coal seam for the cylinder that rolls left of flitting in system while regulating step 4008 Position and right roller rise to the rear coal seam that an actual mining height high position on No. two working face of coal seam cuts No. two working face of coal seam Right end Triangle Coal；

Step 4010, the rear coal seam right end ground coal for cutting No. two 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 on No. two working face of coal seam in system while regulating step 4009 And right roller drops to the rear coal seam right side that actual mining height low level on No. two working face of coal seam cuts No. two working face of coal seam Termination ground coal；

The rear coal seam right end float coal of step 4011, cleaning No. two working face of coal seam：Controlled by the flitting System sets the rear coal seam right end float coal number of No. two working face of coal seam described in cleanup step 4010, keeps flitting The cylinder that rolls left be in actual mining height middle position on No. two working face of coal seam, keep right roller to be in No. two working face of coal seam Upper actual mining height low level, complete the cleaning of the rear coal seam right end float coal of No. two working face of coal seam；

The rear coal seam coal cutting from right to left of step 4012, flitting along No. two working face of coal seam：Pass through the roller The cylinder that rolls left of flitting drops to actual on No. two working face of coal seam in coal-winning machine control system rate-determining steps 4011 Mining height low level, right roller rises to an actual mining height high position on No. two working face of coal seam, and operates flitting described in The rear coal seam of No. two working face of coal seam is from right end to left end coal cutting；

Step 4013, the rear coal seam left end top coal for cutting No. two 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 No. two working face of coal seam in system rate-determining steps 4012, And the right roller of flitting drops to actual mining height middle position on No. two working face of coal seam in rate-determining steps 4012；

The rear coal seam left end float coal of step 4014, cleaning No. two working face of coal seam：Controlled by the flitting System sets the rear coal seam left end float coal number for clearing up No. two working face of coal seam, adjusts at the cylinder that rolls left of flitting It is in actual mining height low level on No. two working face of coal seam and right roller on No. two working face of coal seam in actual mining height Position, the cleaning of the rear coal seam left end float coal of No. two working face of coal seam is completed, before and after completing No. two working face of coal seam The round coal cutting teaching method of flitting one on two coal seams, the flitting control system store No. two coal seams Before and after working face on two coal seams flitting round coal cutting training data；

Step 5: 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 the coal seam that need to be exploited The recovery method all same in two coal seams being connected before and after working face；

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 501, obtain working face of coal seam initialization data：Set coal seam thickness threshold value pre- by detector for measuring depth of coal bed (1) First detection of coal seam actual (real) thickness, Dust Concentration threshold value is set and underground Dust Concentration is obtained by Dust Concentration sensor (2), is led to Cross anemoscope (3) and obtain underground ventilating direction；

Step 502, judge coal seam type：The working face of coal seam data that controller (8) obtains according to step 501 judge coal seam class Type：When the coal seam actual (real) thickness of detector for measuring depth of coal bed (1) detection in step 501 exceedes coal seam thickness threshold value, the coal seam For medium-thickness seam, step 503 is performed；Set when the coal seam actual (real) thickness of detector for measuring depth of coal bed (1) detection in step 501 is less than The coal seam thickness threshold value put, and Dust Concentration sensor (2) obtain underground Dust Concentration less than set Dust Concentration threshold value when, The coal seam is low coal dust girdle, performs step 504；When the coal seam of detector for measuring depth of coal bed (1) detection in step 501 is actual Thickness is dense higher than the coal dust set less than the coal seam thickness threshold value, Dust Concentration sensor (2) acquisition underground Dust Concentration set When spending threshold value and underground ventilating direction from right to left, the coal seam be the No.1 coal seam, execution step 505；When in step 501 The coal seam actual (real) thickness of detector for measuring depth of coal bed (1) detection is less than the coal seam thickness threshold value set, Dust Concentration sensor (2) obtains When taking underground Dust Concentration higher than the Dust Concentration threshold value and underground ventilating direction set from left to right, the coal seam is described No. two Coal seam, perform step 506；

Step 50301, the initialization flitting control system：It is thick in being gathered by coal-winning machine pose detection module (6) Coal seam flitting location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right 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 medium-thickness 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 medium-thickness seam flitting The right rocking arm mining height data of block (5) detection；

Step 50302, judge whether medium-thickness seam flitting is in termination：When medium-thickness seam flitting is in termination When, according to the medium-thickness seam flitting location parameter obtained in step 50301, if medium-thickness seam flitting is in a left side During termination, step 50303 is performed；If medium-thickness seam flitting is in right end, step 50304 is performed；Central thick coal When layer flitting is not at termination, according to the medium-thickness seam flitting direct of travel obtained in step 50301, if in The coal cutting from left to right of high seam flitting, the step 1005 transferred in memory (14) reproduce medium-thickness seam flitting Coal cutting；If the coal cutting from right to left of medium-thickness seam flitting, the step 1012 transferred in memory (14) reproduces medium-thickness seam Flitting coal cutting；

Whether the rear coal seam left end float coal clearing times for step 50303a, judging medium-thickness seam working face are zero：Pass through control Device (8) sets the rear coal seam left end float coal number of medium-thickness seam working face, when the after coal seam left end of medium-thickness seam working face When float coal clearing times are zero, the step 1001 transferred in memory (14) reproduces medium-thickness seam flitting coal cutting；Otherwise, Step 1014 reproduction medium-thickness seam flitting coal cutting is performed a plurality of times after transferring the step 1013 in memory (14)；

Step 50303b, judge whether flitting runs to the left in the preceding coal seam of medium-thickness seam working face：Work as medium-thickness seam When flitting is run to the left, the step 1002 transferred in memory (14) reproduces medium-thickness seam flitting coal cutting；It is no Then, the step 1003 transferred in memory (14) reproduces medium-thickness seam flitting coal cutting；

Whether the preceding coal seam left end float coal clearing times for step 50303c, judging medium-thickness seam working face are zero：Pass through control Device (8) sets the rear coal seam left end float coal number of medium-thickness seam working face, when the preceding coal seam left end of medium-thickness seam working face When float coal clearing times are zero, the step 1005 transferred in memory (14) reproduces medium-thickness seam flitting coal cutting；It is central When the preceding coal seam left end float coal clearing times of high seam working face are not zero, the step 1004 transferred in memory (14) reproduces Medium-thickness seam flitting coal cutting；

Whether the preceding coal seam right end float coal clearing times for step 50304a, judging medium-thickness seam working face are zero：Pass through control Device (8) sets the preceding coal seam right end float coal number of medium-thickness seam working face, when the preceding coal seam right end of medium-thickness seam working face When float coal clearing times are zero, the step 1008 transferred in memory (14) reproduces medium-thickness seam flitting coal cutting；Otherwise, Step 1007 reproduction medium-thickness seam flitting coal cutting is performed a plurality of times after transferring the step 1006 in memory (14)；

Step 50304b, judge whether flitting runs to the right in the rear coal seam of medium-thickness seam working face：Work as medium-thickness seam When flitting is run to the right, the step 1009 transferred in memory (14) reproduces medium-thickness seam flitting coal cutting；It is no Then, the step 1010 transferred in memory (14) reproduces medium-thickness seam flitting coal cutting；

Whether the rear coal seam right end float coal clearing times for step 50304c, judging medium-thickness seam working face are zero：Pass through control Device (8) sets the rear coal seam right end float coal number of medium-thickness seam working face, when the after coal seam right end of medium-thickness seam working face When float coal clearing times are zero, the step 1012 transferred in memory (14) reproduces medium-thickness seam flitting coal cutting；It is central When the rear coal seam right end float coal clearing times of high seam working face are not zero, the step 1011 transferred in memory (14) reproduces Medium-thickness seam flitting coal cutting；

Step 50401, the initialization flitting control system：Low coal is gathered by coal-winning machine pose detection module (6) Dirt girdle flitting location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller pitching Angular dimensions, left rocking arm mining height detection module can determine that by a pitching angular dimensions that rolls left for low coal dust girdle flitting (4) the left rocking arm mining height data of detection, the right side is can determine that by the right roller pitching angular dimensions of low coal dust girdle flitting The right rocking arm mining height data of rocking arm mining height detection module (5) detection；

Step 50402, judge whether low coal dust girdle flitting is in termination：When low coal dust girdle flitting During in termination, according to the low coal dust girdle flitting location parameter obtained in step 50401, if low coal dust girdle When flitting is in left end, step 50403 is performed；If low coal dust girdle flitting is in right end, hold Row step 50404；When low coal dust girdle flitting is not at termination, according to the low coal dust obtained in step 50401 Girdle flitting direct of travel, if low coal dust girdle flitting coal cutting from left to right, transfers memory (14) In step 2005 reproduce low coal dust girdle flitting coal cutting；If low coal dust girdle flitting is cut from right to left Coal, transfer the step 2012 in memory (14) and reproduce low coal dust girdle flitting coal cutting；

Whether the rear coal seam left end float coal clearing times for step 50403a, judging low coal dust thin seam working surface are zero：Pass through Controller (8) sets the rear coal seam left end float coal number of low coal dust thin seam working surface, when low coal dust thin seam working surface When coal seam left end float coal clearing times are zero afterwards, transfer the step 2001 in memory (14) and reproduce low coal dust girdle roller Coal-winning machine coal cutting；Otherwise, transfer and step 2014 is performed a plurality of times after the step 2013 in memory (14) reproduces low coal dust girdle Flitting coal cutting；

Step 50403b, judge whether flitting runs to the left in the preceding coal seam of low coal dust thin seam working surface：When low coal When dirt girdle flitting is run to the left, transfer the step 2002 in memory (14) and reproduce low coal dust girdle roller and adopt Coal machine cut coal；Otherwise, transfer the step 2003 in memory (14) and reproduce low coal dust girdle flitting coal cutting；

Whether the preceding coal seam left end float coal clearing times for step 50403c, judging low coal dust thin seam working surface are zero：Pass through Controller (8) sets the rear coal seam left end float coal number of low coal dust thin seam working surface, when low coal dust thin seam working surface When preceding coal seam left end float coal clearing times are zero, transfer the step 2005 in memory (14) and reproduce low coal dust girdle roller Coal-winning machine coal cutting；When the preceding coal seam left end float coal clearing times of low coal dust thin seam working surface are not zero, memory is transferred (14) step 2004 in reproduces low coal dust girdle flitting coal cutting；

Whether the preceding coal seam right end float coal clearing times for step 50404a, judging low coal dust thin seam working surface are zero：Pass through Controller (8) sets the preceding coal seam right end float coal number of low coal dust thin seam working surface, when low coal dust thin seam working surface When preceding coal seam right end float coal clearing times are zero, transfer the step 2008 in memory (14) and reproduce low coal dust girdle roller Coal-winning machine coal cutting；Otherwise, transfer and step 2007 is performed a plurality of times after the step 2006 in memory (14) reproduces low coal dust girdle Flitting coal cutting；

Step 50404b, judge whether flitting runs to the right in the rear coal seam of low coal dust thin seam working surface：When low coal When dirt girdle flitting is run to the right, transfer the step 2009 in memory (14) and reproduce low coal dust girdle roller and adopt Coal machine cut coal；Otherwise, transfer the step 2010 in memory (14) and reproduce low coal dust girdle flitting coal cutting；

Whether the rear coal seam right end float coal clearing times for step 50404c, judging low coal dust thin seam working surface are zero：Pass through Controller (8) sets the rear coal seam right end float coal number of low coal dust thin seam working surface, when low coal dust thin seam working surface When coal seam right end float coal clearing times are zero afterwards, transfer the step 2012 in memory (14) and reproduce low coal dust girdle roller Coal-winning machine coal cutting；When the rear coal seam right end float coal clearing times of low coal dust thin seam working surface are not zero, memory is transferred (14) step 2011 in reproduces low coal dust girdle flitting coal cutting；

Step 50501, the initialization flitting control system：By described in coal-winning machine pose detection module (6) collection No.1 coal seam flitting location parameter, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller pitching Angular dimensions, left rocking arm mining height detection module can determine that by a pitching angular dimensions that rolls left for No.1 coal seam flitting (4) the left rocking arm mining height data of detection, the right side is can determine that by the right roller pitching angular dimensions of No.1 coal seam flitting The right rocking arm mining height data of rocking arm mining height detection module (5) detection；

Step 50502, judge whether No.1 coal seam flitting is in termination：When No.1 coal seam flitting During in termination, according to the No.1 coal seam flitting location parameter obtained in step 50501, if the No.1 coal seam When flitting is in left end, step 50503 is performed；If No.1 coal seam flitting is in right end, hold Row step 50504；When the No.1 coal seam, flitting is not at termination, according to described one obtained in step 50501 Number coal seam flitting direct of travel, if the coal cutting from left to right of No.1 coal seam flitting, transfers memory (14) In step 3005 reproduce the No.1 coal seam flitting coal cutting；If No.1 coal seam flitting is cut from right to left Coal, transfer the step 3012 in memory (14) and reproduce the No.1 coal seam flitting coal cutting；

Whether the rear coal seam left end float coal clearing times for step 50503a, judging the No.1 working face of coal seam are zero：Pass through Controller (8) sets the rear coal seam left end float coal number of the No.1 working face of coal seam, when the No.1 working face of coal seam When coal seam left end float coal clearing times are zero afterwards, transfer the step 3001 in memory (14) and reproduce No.1 coal seam roller Coal-winning machine coal cutting；Otherwise, transfer and step 3014 is performed a plurality of times after the step 3013 in memory (14) reproduces the No.1 coal seam Flitting coal cutting；

Step 50503b, judge whether flitting runs to the left in the preceding coal seam of the No.1 working face of coal seam：When described When No.1 coal seam flitting is run to the left, transfer the step 3002 in memory (14) and reproduce No.1 coal seam roller and adopt Coal machine cut coal；Otherwise, transfer the step 3003 in memory (14) and reproduce the No.1 coal seam flitting coal cutting；

Whether the preceding coal seam left end float coal clearing times for step 50503c, judging the No.1 working face of coal seam are zero：Pass through Controller (8) sets the rear coal seam left end float coal number of the No.1 working face of coal seam, when the No.1 working face of coal seam When preceding coal seam left end float coal clearing times are zero, transfer the step 3005 in memory (14) and reproduce No.1 coal seam roller Coal-winning machine coal cutting；When the preceding coal seam left end float coal clearing times of the No.1 working face of coal seam are not zero, memory is transferred (14) step 3004 in reproduces the No.1 coal seam flitting coal cutting；

Whether the preceding coal seam right end float coal clearing times for step 50504a, judging the No.1 working face of coal seam are zero：Pass through Controller (8) sets the preceding coal seam right end float coal number of the No.1 working face of coal seam, when the No.1 working face of coal seam When preceding coal seam right end float coal clearing times are zero, transfer the step 3008 in memory (14) and reproduce No.1 coal seam roller Coal-winning machine coal cutting；Otherwise, transfer and step 3007 is performed a plurality of times after the step 3006 in memory (14) reproduces the No.1 coal seam Flitting coal cutting；

Step 50504b, judge whether flitting runs to the right in the rear coal seam of the No.1 working face of coal seam：When described When No.1 coal seam flitting is run to the right, transfer the step 3009 in memory (14) and reproduce No.1 coal seam roller and adopt Coal machine cut coal；Otherwise, transfer the step 3010 in memory (14) and reproduce the No.1 coal seam flitting coal cutting；

Whether the rear coal seam right end float coal clearing times for step 50504c, judging the No.1 working face of coal seam are zero：Pass through Controller (8) sets the rear coal seam right end float coal number of the No.1 working face of coal seam, when the No.1 working face of coal seam When coal seam right end float coal clearing times are zero afterwards, transfer the step 3012 in memory (14) and reproduce No.1 coal seam roller Coal-winning machine coal cutting；When the rear coal seam right end float coal clearing times of the No.1 working face of coal seam are not zero, memory is transferred (14) step 3011 in reproduces the No.1 coal seam flitting coal cutting；

Step 50601, the initialization flitting control system：By described in coal-winning machine pose detection module (6) collection No. two coal seam flitting location parameters, direct of travel, fuselage dip angle parameter, a pitching angular dimensions that rolls left and right roller pitching Angular dimensions, left rocking arm mining height detection module can determine that by a pitching angular dimensions that rolls left for No. two coal seam flittings (4) the left rocking arm mining height data of detection, the right side is can determine that by the right roller pitching angular dimensions of No. two coal seam flittings The right rocking arm mining height data of rocking arm mining height detection module (5) detection；

Step 50602, judge whether No. two coal seam flittings are in termination：When No. two coal seam flittings During in termination, according to No. two coal seams flitting location parameter obtained in step 50601, if No. two coal seams When flitting is in left end, step 50603 is performed；If No. two coal seam flittings are in right end, hold Row step 50604；When No. two coal seam flittings are not at termination, according to described two obtained in step 50601 Number coal seam flitting direct of travel, if No. two coal seam flittings coal cutting from left to right, transfers memory (14) In step 4005 reproduce No. two coal seams flitting coal cutting；If No. two coal seam flittings are cut from right to left Coal, transfer the step 4012 in memory (14) and reproduce No. two coal seams flitting coal cutting；

Whether the rear coal seam left end float coal clearing times for step 50603a, judging No. two working face of coal seam are zero：Pass through Controller (8) sets the rear coal seam left end float coal number of No. two working face of coal seam, when No. two working face of coal seam When coal seam left end float coal clearing times are zero afterwards, transfer the step 4001 in memory (14) and reproduce No. two coal seam rollers Coal-winning machine coal cutting；Otherwise, transfer and step 4014 is performed a plurality of times after the step 4013 in memory (14) reproduces No. two coal seams Flitting coal cutting；

Step 50603b, judge whether flitting runs to the left in the preceding coal seam of No. two working face of coal seam：When described When No. two coal seam flittings are run to the left, transfer the step 4002 in memory (14) and reproduce No. two coal seam rollers and adopt Coal machine cut coal；Otherwise, transfer the step 4003 in memory (14) and reproduce No. two coal seams flitting coal cutting；

Whether the preceding coal seam left end float coal clearing times for step 50603c, judging No. two working face of coal seam are zero：Pass through Controller (8) sets the rear coal seam left end float coal number of No. two working face of coal seam, when No. two working face of coal seam When preceding coal seam left end float coal clearing times are zero, transfer the step 4005 in memory (14) and reproduce No. two coal seam rollers Coal-winning machine coal cutting；When the preceding coal seam left end float coal clearing times of No. two working face of coal seam are not zero, memory is transferred (14) step 4004 in reproduces No. two coal seams flitting coal cutting；

Whether the preceding coal seam right end float coal clearing times for step 50604a, judging No. two working face of coal seam are zero：Pass through Controller (8) sets the preceding coal seam right end float coal number of No. two working face of coal seam, when No. two working face of coal seam When preceding coal seam right end float coal clearing times are zero, transfer the step 4008 in memory (14) and reproduce No. two coal seam rollers Coal-winning machine coal cutting；Otherwise, transfer and step 4007 is performed a plurality of times after the step 4006 in memory (14) reproduces No. two coal seams Flitting coal cutting；

Step 50604b, judge whether flitting runs to the right in the rear coal seam of No. two working face of coal seam：When described When No. two coal seam flittings are run to the right, transfer the step 4009 in memory (14) and reproduce No. two coal seam rollers and adopt Coal machine cut coal；Otherwise, transfer the step 4010 in memory (14) and reproduce No. two coal seams flitting coal cutting；

Whether the rear coal seam right end float coal clearing times for step 50604c, judging No. two working face of coal seam are zero：Pass through Controller (8) sets the rear coal seam right end float coal number of No. two working face of coal seam, when No. two working face of coal seam When coal seam right end float coal clearing times are zero afterwards, transfer the step 4012 in memory (14) and reproduce No. two coal seam rollers Coal-winning machine coal cutting；When the rear coal seam right end float coal clearing times of No. two working face of coal seam are not zero, memory is transferred (14) step 4011 in reproduces No. two coal seams flitting coal cutting.

2. according to a kind of flitting teaching playback automatic cutting control method described in claim 1, it is characterised in that：Step Rapid 1001 into step 1014 according to actual condition for any one sampling instant flitting teaching coal cutting data, obtain Flitting is after the actual mining height data of left and right rocking arm and coal-winning machine pose data at the moment, the data processing unit (7) transmit after being pre-processed to data preliminary data to controller (8), controller (8) and data are carried out by least square mode Fusion treatment, and by the data storage after the sampling instant fusion treatment in memory (14), by real time data fusion more Newly obtain the automatic cut training data storehouse of medium-thickness seam flitting；

In step 2001 to step 2014 according to actual condition to any one sampling instant flitting teaching coal cutting data come Say, flitting is obtained after the actual mining height data of left and right rocking arm and coal-winning machine pose data at the moment, at the data Reason unit (7) is transmitted to controller (8), controller (8) after being pre-processed to data preliminary data passes through least square mode logarithm According to progress fusion treatment, and the data storage after the sampling instant fusion treatment is passed through into real time data in memory (14) Fusion renewal obtains the low automatic cut training data storehouse of coal dust girdle flitting；

In step 3001 to step 3014 according to actual condition to any one sampling instant flitting teaching coal cutting data come Say, flitting is obtained after the actual mining height data of left and right rocking arm and coal-winning machine pose data at the moment, at the data Reason unit (7) is transmitted to controller (8), controller (8) after being pre-processed to data preliminary data passes through least square mode logarithm According to progress fusion treatment, and the data storage after the sampling instant fusion treatment is passed through into real time data in memory (14) Fusion renewal obtains the automatic cut training data storehouse of No.1 coal seam flitting；

In step 4001 to step 4014 according to actual condition to any one sampling instant flitting teaching coal cutting data come Say, flitting is obtained after the actual mining height data of left and right rocking arm and coal-winning machine pose data at the moment, at the data Reason unit (7) is transmitted to controller (8), controller (8) after being pre-processed to data preliminary data passes through least square mode logarithm According to progress fusion treatment, and the data storage after the sampling instant fusion treatment is passed through into real time data in memory (14) Fusion renewal obtains the automatic cut training data storehouse of No. two coal seam flittings.

3. according to a kind of flitting teaching playback automatic cutting control method described in claim 1, it is characterised in that：Step Rapid one into step 4 the low level of the actual mining height of the roller of flitting be located at flitting for the roller of flitting Position at rack rails；A high position for step 1 actual mining height of the roller of flitting into step 4 is the roller of flitting Positioned at the position of roller coal mining support bracket；The middle position of step 1 actual mining height of the roller of flitting into step 4 is roller The roller of coal-winning machine is located at the variable position between flitting rack rails and roller coal mining support bracket.

4. according to a kind of flitting teaching playback automatic cutting control method described in claim 2, it is characterised in that：Step Controller (8) in rapid one to flitting control system described in step 5 is PLC module；Step 1 institute into step 5 It is filter and amplification Signal-regulated kinase to state the data processing unit (7) in flitting control system；Step 1 is to step 5 Described in frequency-converting speed-governing control system (11) in flitting control system be explosion-proof variable frequency variable speed device；Step 1 is to step Standby control interface (12) in flitting control system described in five includes wired or RFDC interface.