CN113882856B - Coal cutter memory coal cutting method and system - Google Patents
Coal cutter memory coal cutting method and system Download PDFInfo
- Publication number
- CN113882856B CN113882856B CN202010635953.0A CN202010635953A CN113882856B CN 113882856 B CN113882856 B CN 113882856B CN 202010635953 A CN202010635953 A CN 202010635953A CN 113882856 B CN113882856 B CN 113882856B
- Authority
- CN
- China
- Prior art keywords
- coal
- data
- mining machine
- position data
- coal mining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000003245 coal Substances 0.000 title claims abstract description 135
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000005065 mining Methods 0.000 claims abstract description 64
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
- E21C25/10—Rods; Drums
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a memory coal cutting method and system of a coal cutter, comprising the following steps: periodically acquiring position data of the coal mining machine in the working process of the coal mining machine; calculating control data corresponding to current coal cutter position data by using a pre-established coal cutter running track curve, wherein in the coal cutter running track curve, the coal cutter position data and the control data have a corresponding association relation; and calling the calculated control data to control the working of the coal mining machine. The invention has the characteristics of realizing remote control by combining informatization and automation, realizing coal mine production in unmanned and less-man modes, reducing potential safety hazard caused by human error operation, improving production efficiency and being suitable for popularization.
Description
Technical Field
The invention belongs to the technical field of coal mining machines, and particularly relates to a memory coal cutting method and system of a coal mining machine.
Background
The coal mining machine is one of important equipment for realizing mechanized modernization of coal mine production, mechanical coal mining can lighten physical labor, but in the prior art, the coal mining machine needs a driver to perform field operation in a severe environment, so that the health of the driver of the coal mining machine is intangibly influenced, in addition, the driver must pay attention to the working state of the coal mining machine at all times to perform timely adjustment, and potential safety hazards easily occur once the adjustment is not timely.
Disclosure of Invention
Aiming at various defects in the prior art, in order to solve the problems, a coal cutter memory coal cutting method and a coal cutter memory coal cutting system are provided, and the coal cutter memory coal cutting system can realize coal mine production in an unmanned mode and a less-unmanned mode, reduce potential safety hazards caused by human error operation and is suitable for popularization.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a memory coal cutting method of a coal mining machine, which comprises the following steps:
Periodically acquiring position data of the coal mining machine in the working process of the coal mining machine;
Calculating control data corresponding to current coal cutter position data by using a pre-established coal cutter running track curve, wherein in the coal cutter running track curve, the coal cutter position data and the control data have a corresponding association relation;
and calling the calculated control data to control the working of the coal mining machine.
Further, position data and control data of the shearer in a first working cycle completed by manually operating the shearer are recorded, and a shearer running track curve is established based on the recorded position data and control data. And then, establishing a plurality of data sets formed by dividing time periods according to the working time sequence by using position data and control data in a coal cutter running track curve, wherein the plurality of data sets are sequentially called according to the time sequence, and each data set comprises position data and control data. When the coal mining machine is in operation and the current calling control data is lost due to the integral fault, the system directly calls the control data in the data group corresponding to the next time period.
Further, the position data comprise coal cutter positioning data and height data of the top roller and the bottom roller, and are mainly pitch mining angle and working face inclination angle data acquired through an angle sensor arranged in the roller, so that current height data of the top roller and the bottom roller of the coal cutter are obtained through calculation, and the control data comprise running speed data of the coal cutter and control data of a hydraulic support of the coal cutter.
Comparing the acquired current position data of the coal mining machine with position data stored in advance in a corresponding time period in the working process of the coal mining machine, and calculating control data corresponding to the current position data of the coal mining machine by utilizing a pre-established coal mining machine running track curve if the comparison relative difference value is smaller than or equal to a preset threshold value; if the current position data of the coal mining machine is compared with the position data stored in the corresponding time period in advance, and the relative difference value is larger than a preset threshold value, calling alarm data to start an alarm, switching the coal mining machine to a manual mode, recording the position data and control data of the coal mining machine in the manual operation process, and updating the position data and the control data stored in the system in the corresponding time period by using the recorded data.
And a coal cutter memory coal cutting system, comprising:
The data acquisition module is used for periodically acquiring the position data of the coal mining machine in the working process of the coal mining machine;
The calculation module is used for calculating control data corresponding to current coal cutter position data by utilizing a pre-established coal cutter running track curve, wherein in the coal cutter running track curve, the coal cutter position data and the control data have a corresponding association relation;
and the calling execution module is used for calling the control data obtained by the calculation module to control the working of the coal mining machine.
The beneficial effects are that:
The invention provides a coal cutter memory coal cutting method and a system, wherein the method utilizes calculated data to control the work of the coal cutter, combines informatization and automation, and further remotely controls the coal cutter, thereby realizing coal mine production in unmanned and less modes, reducing potential safety hazards caused by manual misoperation and improving production efficiency.
Drawings
FIG. 1 is a schematic flow diagram of the method of the present invention;
Fig. 2 is a system schematic block diagram of the present invention.
Detailed Description
In order to make the technical solution of the present application better understood by those skilled in the art, the technical solution of the present application will be clearly and completely described in the following with reference to the accompanying drawings, and based on the embodiments of the present application, other similar embodiments obtained by those skilled in the art without making any inventive effort should be included in the scope of protection of the present application. In addition, directional words such as "upper", "lower", "left", "right", and the like, as used in the following embodiments are merely directions with reference to the drawings, and thus, the directional words used are intended to illustrate, not to limit, the application.
One example is as follows:
as shown in FIG. 1, the invention provides a memory coal cutting method of a coal mining machine, which comprises the following specific steps:
s100, periodically acquiring position data of the coal mining machine in the working process of the coal mining machine;
Further, the location data includes: positioning data of the coal mining machine, and height data of the top roller and the bottom roller.
Further, the positioning data of the coal mining machine obtain accurate position data of the coal mining machine on a working surface through a multi-circle absolute value encoder arranged at the shaft end part of a two-shaft of a speed reducing mechanism in a right traction part of the coal mining machine.
Specifically, when the coal mining machine walks along the working surface, the traction motor drives the traction part to rotate for a plurality of circles, the absolute value type rotary encoder detects the rotation angle of the two shafts in case, pulse signals are transmitted to the coal mining machine controller through CAN communication, and the coal mining machine controller CAN calculate the position of the coal mining machine according to the reduction ratio and the diameter of the travelling wheels.
Further, the height data of the top roller and the bottom roller are obtained through the pitching angle sensor arranged on the rocker and the coal cutter body angle sensor, the pitching angle and the working face inclination angle value of the coal cutter are obtained, and then the working face inclination angle value is calculated.
S200, calculating control data corresponding to current coal cutter position data by using a pre-established coal cutter running track curve, wherein in the coal cutter running track curve, the coal cutter position data and the control data have a corresponding association relation.
Further, a plurality of data sets formed by dividing time segments are established according to working time sequence by the position data and the control data in the running track curve of the coal mining machine, the plurality of data sets are sequentially called according to time sequence, and each data set comprises the position data and the control data.
S300, presetting a threshold value of a relative difference value between the stored position data and the position data of the coal mining machine during working, comparing the current position data of the coal mining machine with the stored position data during working of the coal mining machine, and if the relative difference value is smaller than or equal to the threshold value, calculating control data corresponding to the current position data of the coal mining machine by utilizing a pre-resume coal mining machine running track curve to perform normal working; and if the relative difference value is greater than the threshold value, calling alarm data to start an alarm, switching to a manual mode, re-recording new position data and control data, and updating the position data and the control data in the corresponding time period stored in the system.
As shown in fig. 2, the coal cutter memory coal cutting system includes:
the data acquisition module (100) is used for periodically acquiring the position data of the coal mining machine in the working process of the coal mining machine;
The calculation module (200) is used for calculating control data corresponding to current coal cutter position data by utilizing a pre-established coal cutter running track curve, wherein in the coal cutter running track curve, the coal cutter position data and the control data have a corresponding association relation;
and the calling execution module (300) is used for calling the control data obtained by the calculation module to control the working of the coal mining machine.
The foregoing detailed description of the application has been presented for purposes of illustration and description, but is not intended to limit the scope of the application, i.e., the application is not limited to the details shown and described.
Claims (5)
1. The memory coal cutting method of the coal mining machine is characterized by comprising the following steps of:
Periodically acquiring position data of the coal mining machine in the working process of the coal mining machine;
Calculating control data corresponding to current coal cutter position data by using a pre-established coal cutter running track curve, wherein in the coal cutter running track curve, the coal cutter position data and the control data have a corresponding association relation;
Calling the calculated control data to control the coal mining machine to work;
Recording position data and control data of the coal mining machine in a first working cycle completed by manually operating the coal mining machine, and establishing a coal mining machine running track curve based on the recorded position data and control data;
Establishing a plurality of data sets formed by dividing time periods according to the working time sequence by using position data and control data in a coal cutter running track curve, wherein the plurality of data sets are sequentially called according to the time sequence, and each data set comprises position data and control data;
Comparing the acquired current position data of the coal mining machine with position data stored in advance in a corresponding time period, and if the comparison relative difference value is smaller than or equal to a preset threshold value, calculating control data corresponding to the current position data of the coal mining machine by using a pre-established coal mining machine running track curve;
if the current position data of the coal mining machine is compared with the position data stored in advance in the corresponding time period, and the relative difference value is larger than a preset threshold value, calling alarm data to start an alarm;
When the comparison relative difference value between the current position data of the coal mining machine and the position data stored in the corresponding time period in advance is larger than a preset threshold value, the coal mining machine is switched to a manual mode, the position data and the control data of the coal mining machine in the manual operation process are recorded, and the recorded data are used for updating the position data and the control data stored in the system in the corresponding time period.
2. The method of claim 1, wherein when the current call control data is lost due to an overall fault during operation of the shearer, the system directly calls the control data in the data set corresponding to the next time period.
3. The shearer memory coal cutting method of claim 1, wherein the position data includes shearer positioning data, top and bottom drum height data, and the control data includes shearer operating speed data and shearer hydraulic mount control data.
4. The memory coal cutting method of the coal cutter according to claim 3, wherein the pitch mining angle and the working face inclination angle data of the coal cutter are periodically acquired based on the sensor, and then the current height data of the top roller and the bottom roller of the coal cutter are calculated.
5. A memory coal cutting system of a coal cutter, characterized in that, the memory coal cutting method of the coal cutter of any one of claims 1-4 is adopted, the system comprises:
The data acquisition module is used for periodically acquiring the position data of the coal mining machine in the working process of the coal mining machine;
The calculation module is used for calculating control data corresponding to current coal cutter position data by utilizing a pre-established coal cutter running track curve, wherein in the coal cutter running track curve, the coal cutter position data and the control data have a corresponding association relation;
and the calling execution module is used for calling the control data obtained by the calculation module to control the working of the coal mining machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010635953.0A CN113882856B (en) | 2020-07-03 | 2020-07-03 | Coal cutter memory coal cutting method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010635953.0A CN113882856B (en) | 2020-07-03 | 2020-07-03 | Coal cutter memory coal cutting method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113882856A CN113882856A (en) | 2022-01-04 |
| CN113882856B true CN113882856B (en) | 2024-05-17 |
Family
ID=79013288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010635953.0A Active CN113882856B (en) | 2020-07-03 | 2020-07-03 | Coal cutter memory coal cutting method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113882856B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4753484A (en) * | 1986-10-24 | 1988-06-28 | Stolar, Inc. | Method for remote control of a coal shearer |
| CN102797462A (en) * | 2012-07-30 | 2012-11-28 | 西安煤矿机械有限公司 | Automatic cutting control system and automatic cutting control method for coal cutter |
| US8690260B1 (en) * | 2013-03-12 | 2014-04-08 | Stolar, Inc. | Mining machine automation |
| CN204402481U (en) * | 2014-11-25 | 2015-06-17 | 神华宁夏煤业集团有限责任公司梅花井煤矿 | A kind of coal-winning machine and memory cut navigation system, positioning control system |
| CN106256991A (en) * | 2016-08-09 | 2016-12-28 | 河海大学常州校区 | A kind of coal cutter memorized cutting and memory location combination learning method |
| RU169576U1 (en) * | 2016-12-26 | 2017-03-23 | Дмитрий Маркович Шпрехер | ELECTRIC DRIVE CONTROL DEVICE |
| CN107237632A (en) * | 2017-06-18 | 2017-10-10 | 山西新元煤炭有限责任公司 | Highly gassy mine fully-mechanized mining working memory cut Triangle Coal automated system and method |
| CN108252713A (en) * | 2018-03-29 | 2018-07-06 | 西安煤矿机械有限公司 | Multistage speed of service regulating device and method under the automatic cutting mode of coalcutter |
| CN108412490A (en) * | 2018-03-14 | 2018-08-17 | 北京天地玛珂电液控制***有限公司 | Control method and system is turned up in a kind of coalcutter |
| CN108490812A (en) * | 2018-03-26 | 2018-09-04 | 太重煤机有限公司 | Coalcutter intelligence control system and method |
| CN109469484A (en) * | 2018-11-05 | 2019-03-15 | 郑州煤机液压电控有限公司 | Automation coal-mining method based on host computer planning |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9506343B2 (en) * | 2014-08-28 | 2016-11-29 | Joy Mm Delaware, Inc. | Pan pitch control in a longwall shearing system |
-
2020
- 2020-07-03 CN CN202010635953.0A patent/CN113882856B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4753484A (en) * | 1986-10-24 | 1988-06-28 | Stolar, Inc. | Method for remote control of a coal shearer |
| CN102797462A (en) * | 2012-07-30 | 2012-11-28 | 西安煤矿机械有限公司 | Automatic cutting control system and automatic cutting control method for coal cutter |
| US8690260B1 (en) * | 2013-03-12 | 2014-04-08 | Stolar, Inc. | Mining machine automation |
| CN204402481U (en) * | 2014-11-25 | 2015-06-17 | 神华宁夏煤业集团有限责任公司梅花井煤矿 | A kind of coal-winning machine and memory cut navigation system, positioning control system |
| CN106256991A (en) * | 2016-08-09 | 2016-12-28 | 河海大学常州校区 | A kind of coal cutter memorized cutting and memory location combination learning method |
| RU169576U1 (en) * | 2016-12-26 | 2017-03-23 | Дмитрий Маркович Шпрехер | ELECTRIC DRIVE CONTROL DEVICE |
| CN107237632A (en) * | 2017-06-18 | 2017-10-10 | 山西新元煤炭有限责任公司 | Highly gassy mine fully-mechanized mining working memory cut Triangle Coal automated system and method |
| CN108412490A (en) * | 2018-03-14 | 2018-08-17 | 北京天地玛珂电液控制***有限公司 | Control method and system is turned up in a kind of coalcutter |
| CN108490812A (en) * | 2018-03-26 | 2018-09-04 | 太重煤机有限公司 | Coalcutter intelligence control system and method |
| CN108252713A (en) * | 2018-03-29 | 2018-07-06 | 西安煤矿机械有限公司 | Multistage speed of service regulating device and method under the automatic cutting mode of coalcutter |
| CN109469484A (en) * | 2018-11-05 | 2019-03-15 | 郑州煤机液压电控有限公司 | Automation coal-mining method based on host computer planning |
Non-Patent Citations (2)
| Title |
|---|
| 任予鑫等.采煤机记忆截割***的研究与应用.中国煤炭.2020,(第05期),第41-46页. * |
| 采煤机记忆截割***的研究与应用;任予鑫;康向南;杜昭;马昆;;中国煤炭(第05期);第41-46页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113882856A (en) | 2022-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103032076B (en) | Method for correcting unconformable surface stratum shield tunneling construction | |
| CN111236959B (en) | Chain saw mesh cutting tunneling machine and construction method thereof | |
| CN109469484B (en) | Automatic coal mining method based on upper computer planning | |
| CN103123477B (en) | Shaft motion control method based on double feedbacks of motor and machine tool location | |
| CN113882856B (en) | Coal cutter memory coal cutting method and system | |
| CN103991034A (en) | Grinding machine capable of automatically dressing grinding wheel and grinding wheel dressing method of grinding machine | |
| CN106736846A (en) | A kind of complex milling machine tool lathe tool radius compensation method | |
| CN204982335U (en) | Trimming and lift presser foot drive arrangement for flat seaming machine | |
| CN204711296U (en) | A kind of rail milling operation control system | |
| CN210068194U (en) | Intelligent guniting system | |
| CN109653761B (en) | Double-cutting-part control system and method for excavating, supporting and anchoring combined unit | |
| CN116927780A (en) | Three-machine cooperative control method for fully mechanized mining face | |
| CN201535166U (en) | Automatic cutting roadheader | |
| CN216894407U (en) | Section cutting and shaping device and heading machine | |
| CN104942346A (en) | Steel rail milling operation control system | |
| CN215628350U (en) | Visual measurement crust breaking system device for aluminum electrolysis multifunctional unit | |
| CN209851313U (en) | Full-automatic circumferential cutting equipment for tunnel | |
| CN112554879A (en) | Automatic positioning cutting system and method for coal mine heading machine | |
| CN113882857B (en) | Coal cutter differential memory coal cutting method and system | |
| CN105402179A (en) | Automatic balancing control system and method for plurality of hydraulic cylinders of continuous beam blank casting tundish | |
| CN208005017U (en) | A kind of robot Scissoring device | |
| CN215629063U (en) | Automatic track switching device | |
| CN206014255U (en) | Overhead travelling crane system, car body and gantry production line | |
| CN110802742A (en) | Full-automatic circumferential cutting equipment for tunnel | |
| CN220282586U (en) | Top rail turntable |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |