426results about "Driving means" patented technology

The double-coal-machine mining method comprises the following steps that S1, coal is cut at a first end through a first notch machine to form a first end notch, and coal is cut in the middle of a working face through a middle notch machine to form a second middle notch; s2, the first coal mining machine is controlled to enter the first end notch, and the second coal mining machine is controlled to move from the second end to the first end so as to enter the second middle notch; and S3, the first coal cutter and the second coal cutter both cut coal in the direction from the first end to the second end. According to the double-coal-machine mining method provided by the embodiment of the invention, the coal mining machine can enter the coal wall for normal mining without beveling feed, the process is simpler, and the coal cutting speed is higher, so that the mining efficiency and the propelling speed of a working face can be improved.

The invention discloses a hard rock stratum presplitting auxiliary crushing device and method, belongs to the field of rock stratum presplitting, and aims to solve the problem that an existing presplitting auxiliary crushing device is low in presplitting quality and efficiency. Through the mounting base, an electric push rod A, a main connecting plate, an upper connecting plate, a knocking plate, a half gear and a main disc, when a drill bit is in a rotating state all the time, due to the fact that the half gear is provided with a half circle of teeth, a toothed plate and the upper connecting plate only move upwards by a certain distance in the upward moving process, and then move downwards due to gravity; according to the device, the knocking plate is arranged on the surface of the rock stratum, so that the knocking plate can knock down the surface of the rock stratum, the surface of the rock stratum is knocked and pre-split by knocking, and the knocking plate can also knock and pre-split the surface of the rock stratum when the drill bit is used for drilling and pre-splitting the rock stratum, so that the looseness between drill holes can be improved, and subsequent construction is more convenient; and the overall working efficiency and working quality are indirectly improved.

The invention relates to the technical field of coal mine intellectualization, and provides an inter-face coal pillar digging and mining robot which comprises a right-angle turning scraper conveyor and a digging and mining robot body. The digging and mining robot is mounted on the right-angle turning scraper conveyor; the digging and mining robot comprises a cutting system, and the cutting system is located on a machine body of the digging and mining robot. Wherein the cutting system is driven by the electric cylinder to move, and vertical cutting of a rectangular section is completed through compound movement of the feeding electric cylinder and the height adjusting electric cylinder; after the cutting action is completed, a walking system of the digging and mining robot moves by one cut width along the right-angle turning scraper conveyor, and the actions are repeated until the whole section is pushed by one cut distance; wherein in the cutting process, the fallen coal is transferred into the right-angle turning scraper conveyor; the stability of the cutting system in the cutting and walking process is ensured through the anti-overturning effect of the guide sliding shoes in the walking system of the digging and mining robot and the force effect of the hydraulic support matched with the right-angle turning scraper conveyor.

According to the impact-cutting composite rock breaking hydraulic system and method for the mining heading machine, hydraulic damping and impact hammer collaborative operation are integrated, and the problems that a traditional heading machine is low in rock breaking efficiency, poor in stability and insufficient in adaptability are solved. The system comprises a cutting arm hydraulic damping system and an impact hammer hydraulic impact system, and multi-parameter closed-loop regulation and control are achieved through a controller. The device is characterized in that a double overflow protection mechanism is adopted, a proportional overflow valve and an external control overflow valve cooperate with each other, a hydraulic control one-way valve is combined for compensating an oil path, and the pressure difference of a hydraulic cylinder is dynamically kept stable; the impact hammer system adjusts the pressure of an energy accumulator through a proportional pressure reducing valve and is matched with a hydraulic control switch valve to realize variable impact energy control; based on feedback of a vibration sensor and a pressure sensor, damping and impact parameters of the cutting arm are adjusted in a self-adaptive mode through a nonlinear algorithm, and intelligent rock breaking operation under different rock stratum hardness is achieved. According to the system, the impact resistance stability, the rock breaking efficiency and the operation intelligence level of the heading machine are remarkably improved.

The invention relates to the technical field of thin seam mining equipment, in particular to a thin seam mining machine which comprises a driving assembly, a transmission assembly, a machine body, a first cutting assembly and a second cutting assembly, and the first cutting assembly and the second cutting assembly are arranged on the two sides of the machine body in the extending direction. The driving assembly and the transmission assembly are arranged in the machine body, the driving assembly is arranged between the first cutting assembly and the second cutting assembly, the input end of the transmission assembly is connected with the output end of the driving assembly, and the first output end of the transmission assembly is connected with the input end of the first cutting assembly; and the second output end of the transmission assembly is connected with the input end of the second cutting assembly. According to the thin seam coal mining machine, the single motor is arranged to drive the rollers on the two sides, the size of the coal mining machine is reduced, and the coal mining flexibility is improved.

The invention discloses a radial oscillation cutting mechanism. The core structure of the device is composed of a transmission shaft, an eccentric block, an eccentric jumping wheel, an oscillation cutting disc base, an oscillation cutting disc and the like. In the operation process, the motor serves as a power source to drive the shaft to rotate, the shaft rotates to drive the eccentric block to rotate along with the shaft, and then the two eccentric jumping wheels arranged in the 180-degree phase difference mode are promoted to start to move. The two eccentric jumping wheels are matched with the pin in a cam mode, so that the two eccentric jumping wheels move along a unique curve track. Due to the fact that the base of the oscillation cutting disc is tightly and fixedly connected with one eccentric jumping wheel, the unique movement transmission mechanism is achieved, then the oscillation cutting disc is successfully driven to execute hard rock cutting operation, and a solution which is extremely innovative and efficient is provided for hard rock cutting engineering.

The invention discloses an impacting-splitting-cutting composite rock breaking configuration of a cantilever type heading machine, relates to the field of coal mine underground heading equipment, and solves the problems of low efficiency, serious cutting pick abrasion, poor stability and insufficient adaptability of an existing heading machine during hard rock operation. A multi-stage cylinder executing mechanism is arranged on a cutting arm of the heading machine, an angle adjusting rotary table is arranged at the upper end of the multi-stage cylinder executing mechanism, and a breaking hammer and a rock cracking machine are arranged on the angle adjusting rotary table; the angle adjusting rotary table comprises a track plate and a rotary table, and the rotary table drives the track plate to rotate; a breaking hammer is arranged at one end of the track plate, and a rock cracking machine is arranged at the other end. The breaking hammer and the rock cracking machine are integrated at the front end of the heading machine, pre-broken rock can be split, the number of times of breaking is reduced, vibration and noise caused by repeated breaking are avoided, the internal stress of a rock stratum is damaged by additionally arranging the rock cracking machine, other work of the whole machine is not affected, and the service life of the heading machine is not affected.

The invention belongs to the technical field of coal mine tunneling robots, and discloses a strong magnetism gathering type bilateral excitation magnetic field modulation permanent magnet cutting motor for a coal mine tunneling robot. The motor adopts an outer stator and inner rotor structure, and permanent magnets are arranged on the stator side and the rotor side, so that a bidirectional magnetic field modulation effect is formed, a large number of air-gap magnetic field harmonic waves are generated, and the torque density is greatly improved. In addition, the permanent magnets on the stator side form a Halbach array arrangement and a double-spoke array arrangement. The permanent magnets arranged in the Halbach array have the magnetism gathering effect, and meanwhile, the two side permanent magnets of the Halbach array and the stator permanent magnets at the corresponding side edge positions of the inner side ends of the stator teeth form the permanent magnets arranged in the spoke array, so that the other two magnetism gathering effects are introduced; according to the novel strong magnetism gathering type permanent magnet arrangement mode, the magnetomotive force of the permanent magnets on the stator side can be greatly improved, and the torque density is improved. And meanwhile, the stator permanent magnets at the edge parts of the inner side ends of the stator teeth also have a pole changing effect, so that the torque density is higher.

The present application provides a kind of slotted equipment for coal seam gas control, belong to coal seam gas control technical field, including two slotted mainframes of synchronous coordination work, two slotted mainframes are arranged in the roadway of coal seam two sides respectively, and two slotted mainframes are driven connection through annular cutting cable between two slotted mainframes;Slotted mainframe includes self-propelled platform, power module, speed reducer, gear reversing device and main drive line wheel are set in self-propelled platform upper portion, power module passes through speed reducer and transmits power to gear reversing device;The present application uses annular cutting cable of cyclic motion as cutting force, and combines the feeding force provided by two slotted mainframes of synchronous coordination work, can cut out one or two slotted in coal seam transversely, instead of traditional high-density drilling, not only greatly reduces labor intensity, saves cost, and the permeability area formed by slotted is larger, more conducive to the desorption of gas, to greatly improve gas extraction efficiency.

The invention discloses a coal cutter self-adaptive height adjustment system and method based on coal rock interface fine identification, and the system comprises a coal seam thickness detection module, a cutting state detection module and a coal cutter height adjustment control module. The coal seam thickness detection module obtains a single-tool coal-rock interface under a mine absolute coordinate system according to the electromagnetic wave signal reflected by the coal-rock interface, the tilt angle data of each hydraulic support and the pushing slip amount, and stores the single-tool coal-rock interface to a historical-tool coal-rock interface database; the cutting state detection module collects cutting sound wave signals, discriminates the real-time cutting state of the roller of the coal mining machine according to the cutting sound wave signals and a historical cutting number coal rock interface, and carries out refined identification and local correction on the coal rock interface; and the coal cutter height adjustment control module predicts a current cutter number coal rock interface based on historical cutter number coal rock interface information, plans a target cutting path of a coal cutter roller, and performs coal cutter height adjustment control. The method has the characteristics of high coal mining rate, good economical efficiency, high precision and reliable system.

The invention provides a four-direction intelligent directional forward-going and backward-going perforation auxiliary cutting mechanism which comprises a protection shell, a cutting mechanism, a cutting mechanism, a cutting mechanism, a cutting mechanism, a cutting mechanism and a cutting mechanism, and is characterized in that a mounting cavity is formed in the protection shell, and a rear end cover is arranged at the rear end of the mounting cavity; the driving piece is arranged in the mounting cavity of the protective shell and is mounted on the inner end surface of the rear end cover; the eccentric block is mounted at the output end of the driving part; an inclined inner hole is formed in the end, away from the driving piece, of the eccentric block. An included angle exists between the axis of the inclined inner hole and the axis of the eccentric block. And the oscillating cutting part comprises a connecting shaft and an oscillating cutting head located at the front end of the connecting shaft, the connecting shaft is movably installed in the inclined inner hole, the end, away from the connecting shaft, of the oscillating cutting head extends out of the installation cavity, and a plurality of cutting blades are arranged on the circumference of the outer surface of the oscillating cutting head. Wherein the driving piece rotates to drive the eccentric block to rotate, and the eccentric block rotates to drive the oscillating cutting part to cyclically swing periodically, so that the cutting blade mills coal rocks. The problems that cutting resistance is large, cutting blades are seriously abraded, the dust yield is high, hard rock cutting efficiency is low, and energy consumption is large are solved.

The invention relates to multi-roller continuous mining equipment suitable for a large mine, and belongs to the technical field of mining equipment. Comprising a rack base plate, a lower cutting device and an upper cutting device, crawler side chassis are symmetrically and fixedly arranged on the left side and the right side of the rack base plate, crawler walking devices are fixedly connected to the outer sides of the crawler side chassis, side supporting plates are fixedly connected to the upper ends of the crawler side chassis, and a rack top plate is fixedly connected to the upper ends of the side supporting plates; two sets of discharging grooves distributed left and right are formed in the upper surface of the top plate of the rack in a penetrating mode. The method has good adaptability, can adapt to various ore types, and is not limited by ore body shapes and geological conditions. And the rocks are mechanically crushed, so that the potential safety hazards such as vibration, flying rocks and noise during blasting operation are avoided, and the operation safety is greatly improved. By arranging the lower cutting device and the upper cutting device and adopting a mining mode of synchronously and continuously breaking rocks in an upper area and a lower area, rock breaking operation can be carried out in multiple areas at the same time, and the ore breaking efficiency is greatly improved.

The invention discloses a double-drum self-adaptive cutting head of a coal mining machine, which comprises a main cutting drum, an auxiliary cutting drum, a transmission case, a crawler belt cutting part, an automatic telescopic mechanism, a first-section drill rod box and the like, and is combined with a driving part of a long-distance spiral drill rod coal mining machine for use. The spiral drill rod drives the main cutting roller to conduct rotary cutting through the bevel gear transmission system, the main cutting roller drives the auxiliary cutting roller to conduct rotary cutting through the chain transmission system, the auxiliary cutting roller adjusts the coal mining height through the automatic telescopic mechanism on the rear portion, and the pneumatic spring system is arranged on the automatic telescopic mechanism. The height of the auxiliary roller can be automatically adjusted according to fluctuating changes of a coal seam, and the coal mining height of the coal mining machine can be adjusted in a self-adaptive mode. The cutting head provided by the invention can effectively cope with fluctuating complex coal seams with the thickness between 0.5 m and 1.3 m, effectively solves the problem of corner coal retention of a traditional drilling type coal mining machine, improves the coal mining efficiency and the resource recovery rate, and adopts a drill rod box mode to reduce the damage of the coal mining machine to a coal roadway bottom plate.

The invention relates to the technical field of open-pit tailing mining, in particular to a propelling arm device for an open-pit mine environment. The device comprises a plurality of sections of propelling arms, any section of propelling arm comprises a box body, the box body is a cuboid, two spiral bodies with opposite spiral directions are arranged in the box body in parallel, and a conical head and a conical hole are formed in the two ends of each spiral body respectively and used for butt joint positioning and fixing of the adjacent sections of propelling arms; the spiral body hanging bearing seat is used for hanging one end of the spiral body in the box body, and the other end of the spiral body is open; the box body connecting mechanism and the box body connecting tongue plate are arranged at the two ends of the box body and used for achieving mechanical connection of the adjacent sections of propelling arms; the spiral body connecting mechanism is used for connecting the spiral bodies of the adjacent sections of propelling arms, so that power transmission is realized and the coaxiality is ensured; armor cable grooves are formed in the two sides of the upper surface of the box body and used for fixing armored cables. The lower surface of the box body is of a plane structure. The problem that open-air tailing end slope coal pressing cannot be effectively and safely mined is solved.

A multi-parameter pressure relief drilling rig and method for monitoring impact danger while drilling, relating to the field of mining engineering technology. The pressure relief drilling rig includes a coal dust collection device, a crawler walking device, an analyzer, a drilling device, a monitoring device, a fixed bracket, a support, a drill rod, a control console and a temperature sensor. Each component cooperates with each other to complete the monitoring of rock burst danger and the pressure relief and danger relief in dangerous areas; during the drilling process, the drilling rig monitors multiple parameters such as coal dust temperature, drilling speed, torque, coal dust particle ratio and drilling time, and transmits them to the analysis instrument through wireless transmission, and integrates and determines the rock burst danger; when the monitoring results show that there is an impact danger, large-diameter drilling pressure relief can be directly carried out near the location to achieve the purpose of real-time danger relief, and at the same time, the drilling parameters are monitored in real time during the drilling process. This method realizes the combination of monitoring and pressure relief, and has the advantages of convenient operation, accurate monitoring and high safety.

The invention discloses a vertical feed coal mining system and a coal mining method. The vertical feed coal mining system comprises a reversed loader, a hydraulic support, a scraper conveyor, a plurality of single-drum rocker arm type drum coal mining machines and a plurality of mechanical arms, the single-drum rocker arm type drum coal mining machines can move in the arrangement direction of the scraper conveyor, and coal briquettes cut by the single-drum rocker arm type drum coal mining machines are conveyed to the reversed loader through the scraper conveyor. The multiple mechanical arms are arranged on the scraper conveyor at intervals, the multiple mechanical arms correspond to the multiple single-drum rocker arm type drum coal mining machines in a one-to-one mode, the single-drum rocker arm type drum coal mining machines are coupled and positioned with the scraper conveyor through the mechanical arms, vertical feeding is achieved under pushing of the hydraulic support, and therefore the coal mining operation method is greatly simplified, and the coal mining efficiency is improved. The problems that a fully mechanized coal mining face is difficult to level, a scraper machine is difficult to straighten and the like in a traditional beveling feed coal mining process are solved, the mining efficiency of the fully mechanized coal mining face is greatly improved, and meanwhile automation and intelligentization of the fully mechanized coal mining face are better achieved.

The invention relates to the field of mine quarrying equipment, and discloses a mine quarrying machine capable of cutting mine raw stones, the mine quarrying machine comprises a machine body which is used as a supporting carrier of the whole device, and one side of the top end of the machine body is provided with a placing box for loading the mine raw stones; the multi-angle cutting assembly is installed on one side of the top of the machine body and used for conducting multi-angle cutting treatment on mine raw stones; the multi-angle cutting assembly is used for cutting ore, the grabbing assembly is installed outside the multi-angle cutting assembly and used for grabbing the cut ore and then placing the cut ore in the containing box, and the dust falling assembly is installed on the outer side of the multi-angle cutting assembly and used for conducting dust falling treatment on dust generated in the mine raw stone cutting process. By additionally arranging the multi-angle cutting assembly, multi-angle cutting can be conducted on mine raw stones, so that the cutting flexibility and accuracy can be remarkably improved, compared with a traditional cutting method which is usually limited to a single angle, the utilization rate of the raw stones can be reduced, and comprehensive utilization of the raw stones is achieved.

The utility model discloses an underground intelligent mining all-in-one machine for a coal mine, which belongs to the technical field of coal mining, and comprises a mining machine main body and a movable arm arranged on the mining machine main body, a hydraulic telescopic rod is arranged on the movable arm, a connecting seat is arranged at the output end of the hydraulic telescopic rod, and the connecting seat is fixedly connected with a motor box. A connecting plate is arranged at the end of the movable arm and fixedly connected with a motor box, a mounting groove is formed in the motor box, a motor is fixedly mounted in the mounting groove, the output end of the motor is fixedly connected with a drill bit, and a dust falling assembly is arranged in the motor box. Water in the water tank is pumped out and conveyed into the atomization nozzle, the water can be atomized into tiny water drops through the atomization nozzle, the dust catching effect is improved, the atomization nozzle is obliquely arranged, the coverage area of mist spraying can be increased, and the dust falling effect can be improved.

The application discloses a rock drill and a control system thereof. The control system is used for controlling a drill bit of the rock drill. The control system comprises an impact oil cylinder, a propelling oil cylinder, an impact control valve, a propelling sensor and a controller. The controller is electrically connected to the propelling sensor. The impact control valve is hydraulically connected to the impact oil cylinder. The controller is electrically connected to the impact control valve to obtain a flow of an oil circuit of the impact oil cylinder which is matched with a pressure of an oil circuit of the propelling oil cylinder when the pressure of the oil circuit of the propelling oil cylinder detected by the propelling sensor changes. The rock drill and the control system thereof have the beneficial effect that the impact frequency of the impact oil cylinder is matched with the pressure of the oil circuit of the propelling oil cylinder.

The utility model relates to the technical field of rocker arms of coal mining machines, and discloses a rocker arm of a coal mining machine, which comprises a case with a support structure fixedly mounted at the top, an electric control box fixedly mounted in the middle of the case and used for control, and a traction part fixedly mounted on one side of the case and used for adjustment. A rocker arm used for rotation is fixedly installed on one side of the traction part, a speed reducer used for speed regulation is fixedly installed on one side of the rocker arm, and a roller used for cutting is fixedly installed on one side of the rocker arm. According to the rocker arm of the coal mining machine, through cooperative arrangement of the supporting structure, the machine case, the electric cabinet and the traction part, the rocker arm can be more stable and reliable in use, the supporting structure fixes and supports the machine case, the stability of the bottom of the rocker arm can be guaranteed, the influence of shaking of the rocker arm on coal mining work is avoided, and the electric cabinet can control the traction part; therefore, the height of the device is adjusted, coal mining can be carried out better, and the stability and reliability of the device are improved.

The invention belongs to the technical field of mining height measurement, and discloses a coal machine rocker arm mining height calculation system and method.The coal machine rocker arm mining height calculation system comprises a coal machine body, a coal machine rocker arm, a roller, an IMU sensor and an air pressure sensor, one end of the coal machine rocker arm is hinged to the coal machine body, and the other end of the coal machine rocker arm is in rolling connection with the roller; the IMU sensor is mounted on the side wall of one end, close to the coal machine main body, of the coal machine rocker arm; an air pressure sensor is mounted on the side wall of one end, close to the roller, of the coal machine rocker arm; the IMU sensor and the air pressure sensor are both connected with a calculation unit, and after data output by the IMU sensor and the air pressure sensor are processed through the calculation unit, mining height data are output. According to the technical scheme, more accurate, low-cost and stable measurement of the mining height of the coal mining machine can be realized.

The invention relates to three-machine combined mining equipment and process, the equipment comprises a conveyor, and a main mining coal mining machine, a left notched coal mining machine and a right notched coal mining machine which take the conveyor as a moving track, and the left notched coal mining machine and the right notched coal mining machine are respectively arranged at the left end part and the right end part of the conveyor; the main mining coal mining machine is arranged between the two notching coal mining machines, the main mining coal mining machine is a double-rocker-arm coal mining machine, the left notching coal mining machine and the right notching coal mining machine are single-rocker-arm coal mining machines only provided with left rocker arms and single-rocker-arm coal mining machines only provided with right rocker arms respectively, and rocker arms of the notching coal mining machines are sliding rocker arms; during mining, the two notching coal mining machines are respectively responsible for cutting left and right end notches in advance, the main mining coal mining machine reciprocates between the two end notches to efficiently mine the middle coal wall at a high speed, the inclined cutting feed process is completely omitted, the end notch mining and the middle coal wall mining can be simultaneously carried out, and the overall mining efficiency is obviously improved.

The present invention discloses a rocker arm of a coal mining machine and a coal mining machine, wherein the rocker arm of the coal mining machine comprises a rocker arm housing, a gear box and a cooling device arranged in the rocker arm housing, wherein the rocker arm housing comprises a first side surface and a second side surface opposite to each other, wherein the first side surface and the second side surface extend along the length direction of the rocker arm housing, and a mounting hole is arranged at a position corresponding to the gear box on the second side surface, and the cooling device can be inserted into the gear box through the mounting hole. The present invention can directly insert the cooling device into the rocker arm housing or directly pull out the cooling device from the rocker arm housing, and the disassembly and assembly of the cooling device is very convenient.

The invention discloses a thin-wall coal seam coal mining machine adaptive to left-right inclination of a bottom plate, the thin-wall coal seam coal mining machine comprises a machine body, a first cutting roller, a second cutting roller, a first sliding shoe, a second sliding shoe and an angle adjusting assembly, the first cutting roller and the second cutting roller are arranged on the machine body at an interval along the length direction of the machine body; the first sliding shoe and the second sliding shoe are arranged on the machine body in the length direction of the machine body in a spaced mode. The angle adjusting assembly is arranged on the machine body and connected with the first sliding shoe. According to the coal mining machine, the inclination angle of the machine body in the left-right direction of the bottom plate is adjusted through the angle adjusting assembly to adapt to inclination of the bottom plate in the left-right direction, it can be guaranteed that the two cutting rollers can effectively cover the height of the whole coal seam all the time, loss of the coal seam is reduced, and the coal mining efficiency is improved. The coal mining machine can adapt to different inclination conditions of the bottom plate, the adaptability of the machine to different coal seam conditions is enhanced, and the universality and practicability of the machine are improved.

The invention relates to the technical field of thin coal seam mining equipment, in particular to a thin coal seam mining machine with separated cavities. The thin seam mining machine arranged in the separated cavities comprises a machine body, a cover plate assembly and a lubricating assembly, the machine body comprises a first shell, a transmission shell and a third shell which are sequentially arranged at intervals in the extending direction of the machine body, the first shell is provided with a first cavity, the transmission shell is provided with a transmission cavity, the third shell is provided with a third cavity, and the cover plate assembly comprises a plurality of cover plates. The first shell, the transmission shell and the third shell are each provided with a detachably-connected cover plate, the cover plates are used for opening or sealing the corresponding first cavity, the transmission cavity or the third cavity, the lubricating assembly comprises a plurality of lubricating pumps, the cover plates are provided with liquid passing oil ways, and the output ends of the lubricating pumps communicate with inlets of the liquid passing oil ways of the cover plates. Outlets of the liquid passing oil ways of the cover plates face the directions corresponding to the bottoms of the first cavity, the transmission cavity and the third cavity. According to the thin seam coal mining machine arranged in the divided cavities, the oil way of the coal mining machine can be conveniently cleaned, and the running stability of the coal mining machine is improved.

The present application discloses a drill arm control method, electronic equipment, storage medium, drilling rig and device, the method comprising: obtaining DH parameters of multiple motion joints; establishing a first DH parameter model of the drill arm based on the DH parameters of the multiple motion joints; obtaining a posture transformation matrix of a target point; solving the first DH parameter model according to the posture transformation matrix of the target point to obtain a horizontal movement distance of the telescopic arm of the first motion joint; calculating the gap of the first motion joint according to the horizontal movement distance; correcting the DH parameters of the motion joint adjacent to the first motion joint using the horizontal movement distance and the gap; establishing a second DH parameter model based on the DH parameters of multiple second motion joints; solving the second DH parameter model according to the posture transformation matrix of the target point to obtain control quantities of multiple second motion joints, and the control quantities of the second motion joints are used to control the second motion joints of the drill arm.

The present invention relates to a cutting arm of a mining machine. The boom of the cutting arm includes a straight arm portion, a motor mounting portion protruding rearward from the proximal end of the straight arm portion, and a drum mounting portion protruding forward from the distal end of the straight arm portion. A cutting motor, a transmission system, and a clutch mechanism are arranged in the inner cavity of the boom. The cutting motor is located in the motor mounting portion. The transmission system is arranged from near to far in the straight arm portion and the drum mounting portion according to the transmission direction. The final stage of the transmission system is located in the drum mounting portion. A small-diameter drum is coaxially fixed to the output end of the final stage of the transmission. Upper and lower inclined planes are respectively provided on the top and bottom surfaces of the middle and far sections of the straight arm portion. The inclination direction is such that the thickness of the straight arm portion becomes thinner from top to bottom as it gets closer to the distal end, so that the middle and far sections of the straight arm portion form a thin strip-like structure with a relatively thin thickness from top to bottom. The present invention can enable the mining machine to maintain sufficient down-cutting and roof-picking amounts, and is suitable for the mining of ore and rock working faces with a large mining range and complex geological conditions.

The utility model discloses mining tunneling equipment. The mining tunneling equipment comprises a machine head, wherein a tunneling head coarse adjustment angle adjusting mechanism is arranged on one side of the machine head; the heading head coarse adjustment angle adjusting mechanism comprises a sliding rail fixedly arranged at the top of one side of the machine head, a pulley is arranged in the sliding rail in a sliding mode, a rotating plate is arranged at one end of the pulley in a rotating mode, and one end of one side of the rotating plate is fixedly connected with the top of one side of the transverse frame plate through a connecting column. The heading head can be quickly rotated to the target approximate direction in the rough adjustment stage, and time is saved; in the fine adjustment stage, accurate control can be carried out on the basis of approaching a target angle, the operation efficiency is improved, and the equipment ensures large-angle rapid adjustment, realizes high-precision micro angle correction, is particularly suitable for occasions with high requirements on the attitude of the heading head, and has remarkable advantages in operation in a complex geological environment.

The utility model relates to an auxiliary supporting device of a cantilever type cutting part, and belongs to the technical field of auxiliary equipment of coal mining machines. Comprising supporting legs and a supporting seat, the supporting legs and the supporting seat are integrally formed, the supporting legs are used for being connected with a cutting part, and the bottom of the supporting seat is arc-shaped. And the cutting part and the traction part are respectively connected through a rotary pin shaft and an oil cylinder. The arc center of the arc coincides with the axis of the rotary pin shaft. And when the oil cylinder controls the cutting part to move, the cutting part rotates by taking the rotary pin shaft as a fulcrum, the supporting seat is always in contact with the ground in the moving process of the cutting part, and the supporting seat provides support for the cutting part. The stable operation of the cutting part is ensured when the height is adjusted under the driving of the oil cylinder, and meanwhile, the stress of the rotary pin shaft is reduced, so that the efficiency and the safety of coal mining work are improved.

The invention aims to provide a mining process for recovering section coal pillars in a double-wing retreating type continuous mining and continuous filling mode, and belongs to the technical field of coal mining. Coal pillar resources of a working face section are completely recovered through three process steps of branch roadway tunneling, mining chamber stoping and lagging filling, coal resources are avoided, and the mining efficiency is improved. Especially, resource loss caused by scarce high-quality coal resources due to the fact that section coal pillars cannot be recycled is avoided, and the resource recycling rate is increased.