217results about "Propulsion" patented technology

An integral frame-type machine body structure of a coal mining machine, and an integral frame-type intelligent coal mining machine. A structure in which an integral frame-type framework is welded to articulated frames is adopted, and the frame-type framework is configured to be of a transverse drawer-type structure, thereby achieving high interchangeability. The articulated frames are symmetrically distributed on a left side and a right side of the frame-type framework and are welded and connected to the frame-type framework; and a top plate (16) and a bottom plate (14) are fixedly arranged at an upper part and a lower part of the frame-type framework, respectively, external traction transverse plates (9) are fixedly arranged on the left side and the right side of the frame-type framework, and several intermediate vertical plates are fixedly arranged between the top plate (16) and the bottom plate (14), which are located an upper side and a lower side of the frame-type framework, to divide same, so as to obtain a plurality of cavities. The modularization rate of the coal mining machine is improved, thereby improving the interchangeability, facilitating underground maintenance and overhaul, and enhancing the matching adaptability; in addition, the force-bearing condition of the coal mining machine during the working process is improved, and the reliability of a transmission system of the coal mining machine is enhanced.

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.

The invention belongs to the technical field of mining machinery, and provides a coal cutter sliding shoe bionic wear-resistant structure design and service life prediction method in order to solve the problem that traditional sliding shoe surface design mainly depends on material selection and simple geometric structure optimization. A bionic coal mining machine sliding shoe is obtained through bionic technology design, the abrasion loss of the bionic coal mining machine sliding shoe and the smooth surface sliding shoe is obtained through an abrasion loss comparison experiment, modeling simulation is conducted on the bionic coal mining machine sliding shoe and the smooth surface sliding shoe, and abrasion nodes obtained through the abrasion loss and simulation are calculated. According to the method, the wear rate of the skid shoe of the bionic coal mining machine and the wear rate of the skid shoe on the smooth surface are obtained, the service life of the skid shoe of the bionic coal mining machine is predicted, the bearing capacity of the surface of the skid shoe of the bionic coal mining machine is improved, and a design thought is provided for durability and long-term stability of the skid shoe of the coal mining machine.

The invention relates to the technical field of hard rock excavation, in particular to hard rock multi-source mutagenesis cutting increase and multi-mode non-explosive mechanical excavation equipment and a hard rock multi-source mutagenesis cutting increase and multi-mode non-explosive mechanical excavation process. The excavation equipment comprises a walking device, and a cutting device, an excavation device, a recovery device and a cutting increase device which are all mounted on the walking device; a digging head of the digging device comprises a multi-stage cutter head telescopic structure, an impact rock breaking structure is arranged on an inner cutter head, a rolling rock breaking structure is arranged on an outer cutter head, and the multi-stage cutter head telescopic structure stretches out and draws back to achieve alternate protruding of the impact rock breaking structure and the rolling rock breaking structure. The driving mechanism drives the excavating arm to move to achieve three-dimensional movement of the excavating head and rotation around the axis of the excavating arm. According to the cutting device, the pre-cutting groove extending transversely is pre-cut in the bottom of the tunnel face, the overall strength of the tunnel face rock mass is remarkably reduced, pre-cracking weakening is conducted on the tunnel face rock mass through the cutting increasing device, the hard rock cuttable performance is improved, hard rock crushing is achieved through the rolling and impacting combined rock breaking effect, and the cutting strength of the tunnel face rock mass is improved. The device is suitable for hard rock excavation.

A transverse cutter head for a mining machine has an outer surface including a plurality of cutting tools. Tips of the plurality of cutting tools define a virtual contour line when viewed in a cutter boom longitudinal direction and a rotation of the cutter head is considered. The contour line is formed by at least four sections, namely a first section, a second section, a third section and a fourth section. The four sections are located adjacently in this order, wherein the first section is located closest to the cutter boom and the fourth section forms a side wall cutting area. The first section and / or the fourth section run substantially straight. Each one of the first section, the second section, and the third section has a pitch angle different from the pitch angle of the other two sections. A roadheader having such a cutter head is also provided.

The invention relates to the technical field of mining, in particular to a continuous drilling device for mining, which comprises a base, a crawler walking mechanism, a protective shell, a mining cutterhead, a transmission mechanism, an adjusting mechanism and a linkage control mechanism, the crawler walking mechanism is arranged at the bottom of the base, and the protective shell is arranged at the top of the base; one side of the base is connected with a mining cutter head used for mining a gold mine, the transmission mechanism is used for driving the mining cutter head to rotate, a worm and a worm wheel are meshed and linked, and through the synergistic effect of a connecting rod structure, a sliding block can drive the mining cutter head to move in a guide frame, and real-time adjustment of radial displacement of the mining cutter head is achieved. The path deviation can be corrected without shutdown, the transmission structure can bear high-frequency angle adjustment under heavy-load torque, an additional power source is not needed, the transmission structure is economical and efficient, linkage of the connecting rod assembly and the worm gear is controlled in real time through the linkage control mechanism, and rapid decoupling of the worm gear and the connecting rod structure is achieved.

The invention relates to a chain belt auxiliary traction device for a large-dip-angle coal face, and discloses a chain belt auxiliary traction device for a large-dip-angle coal face. According to the chain belt auxiliary traction device, a coal mining machine is driven to move in the mode that a winding storage shaft on one side in a winding assembly tightens a traction rope and the other side of the winding assembly loosens; and a winding storage shaft is fixed through a hydraulic cylinder and a limiting clamping column, so that stable coal mining operation is realized. The device is characterized by comprising a winding assembly, an adjusting assembly and a coal mining machine, the adjusting assembly is arranged on the winding assembly, the coal mining machine is fixedly connected with the winding assembly, the winding assembly can drive the coal mining machine to move, and a traction rope can be evenly distributed and wound on the surface of a winding storage shaft through the adjusting assembly; the winding assembly is composed of a positioning base plate, a fixing plate, a power motor, a winding storage shaft, a baffle, a positioning groove, a limiting clamping column, a connecting plate, a hydraulic cylinder, a traction rope and a Hall sensor.

The application discloses a kind of protective devices for coal mining and its use method, including support seat, the left side of the support seat is fixedly connected with connecting box, the inner cavity of the connecting box is provided with cylinder, the output end of the cylinder is penetrated to the outside of connecting box and is fixedly connected with first locating plate.The application is used for stably supporting coal mining machine by support seat, through the cooperation of cylinder, first locating plate, first movable rod, second movable rod, gear teeth and second locating plate, the second locating plate and the first locating plate are in contact with coal mining machine, and then the positioning of coal mining machine is completed, the stability of coal mining machine during operation is ensured, the situation of coal mining machine falling is effectively improved, and the problem that the coal mining machine is directly placed on the protective plate during use without positioning treatment, so that the coal mining machine will slowly shift due to vibration during operation, and then the situation of falling and failure will occur, thereby the entire coal mining work will be interrupted.

The invention discloses an ultra-thin seam coal mining machine external traction device which comprises a driving wheel shaft, a chain wheel, a spacer sleeve, a guide shoe, a first external traction assembly, a second external traction assembly and a positioning pin, the driving wheel shaft is sleeved with the chain wheel, the driving wheel shaft is sleeved with the spacer sleeve and abuts against the chain wheel, and the guide shoe is sleeved with the front end of the guide sleeve; the first outer traction assembly is rotatably arranged at the rear end of the spacer sleeve, the second outer traction assembly is rotatably arranged at the front end of the driving wheel shaft, and the first outer traction assembly and the second outer traction assembly are connected through a positioning pin. The chain wheel is compact in overall structure and convenient to mount and dismount, the overall length of the chain wheel is effectively shortened, meanwhile, the stress condition of the chain wheel is improved, the chain wheel only bears driving acting force, and the service life of the chain wheel is effectively prolonged.

An interface between a guide shoe of a mining machine and a rack includes a first surface positioned on the guide shoe. and a second surface positioned on the rack. At least one of the first surface and the second surface including a profile oriented at an oblique angle relative to a plane of the rack.

The present application relates to a kind of automatic tow cable system of coal mining machine, the space in cable trough is divided into three layers by layered board assembly, the lower part of tow cable trolley and bundle cage tow rope device is located in middle layer and can only reciprocate along the length direction of cable trough, bundle cage tow rope device is fixed relative to coal mining machine, steel wire rope is threaded along the length direction of cable trough, one end of steel wire rope is wound around the fixed pulley at the head of scraper conveyor, changes direction and then connected with bundle cage tow rope device, the other end is wound around the fixed pulley at the tail, then wound around the movable pulley of tow cable trolley, changes direction again, then returns to the tail and is fixed, cable clamp plate group is connected on coal mining machine at one end, is fixed at the head at the other end, middle part is wound around the roller of tow cable trolley and passes through bundle cage along the length direction of cable trough, the relative position of head and tail can be interchanged.The present application does not need external input power, with guide, upper layer cable clamp plate group will not fall, steel wire rope will not be thrown out, and safety is good.

The utility model relates to the technical field of mining equipment, in particular to a mining heading machine which comprises a heading machine body, a rotating mechanism is arranged on the heading machine body, and a cantilever is rotationally connected to the rotating mechanism. A first motor is arranged in the cantilever; a tunneling drill bit is arranged at the output end of the first motor; vertical supporting rods are symmetrically arranged on the two sides of the cantilever, the bottom end of each supporting rod is connected with the cantilever, the top end of each supporting rod is connected with a protection plate, the protection plate comprises a bottom plate, and the bottom plate is rotationally connected with a rotating plate through a connecting shaft; a shielding mechanism is arranged on the outer side of the cantilever and rotationally connected with two rotating rollers. And one end of the shielding net is wound on one rotating roller, and the other end of the shielding net penetrates through a gap between the bottom plate and the rotating plate and then is wound on the other rotating roller. According to the utility model, broken stones falling from the mine top can be blocked, guided and discharged, the risk that the broken stones crush a cantilever or clamp a mechanical structure at the front end of the heading machine is reduced, and the working efficiency and the safety of mining heading are improved.

The application discloses a short-body fully-mechanized excavator for coal mine tunneling, which comprises a rack, a walking part, a shovel plate part, a cutting part and a conveyer scraper; the rack is connected with the track assembly of the walking part through a rotating mechanism; the cutting part comprises a folding cutting arm and a transverse shaft type cutting head; one end of the cutting arm is hinged to the rack, and the other end of the cutting arm is fixed with the cutting head; the shovel plate part is connected to the front end of the rack; one conveyer scraper passes through and is arranged on the track assembly; the front end and the tail end of the conveyer scraper extend to the front end of the rack and the tail end of the rack respectively. Advantages: the body is greatly reduced compared with the conventional machine type, and is suitable for narrow lane, sharp turning, continuous mining and continuous charging working face branch lane frequent opening scene; through the adjustment of the coal conveying direction of the conveyer scraper, the rack rotation and the linkage of the cutting arm, the rapid opening operation and continuous transportation of the lane are realized, and the construction efficiency is greatly improved.

The present invention relates to a guide and traction system for a short-span, thin-seam coal mining machine, comprising a guide device, a traction connection device, and a scraper conveyor. The guide device comprises a guide shoe and a track, the track being laid in a straight line in the left-right direction. The guide shoe is mounted near the rear of the machine body and supports the machine body from below. The guide shoe straddles the track through its guide groove and is slidably connected to the track. The traction connection device comprises a connecting plate, a connecting hook, a chain trough body, and a traction chain. One end of the connecting plate is hinged to the machine body, and the other end of the connecting plate is hinged to one end of the connecting hook. The hinge axes of these two hinges extend left and right. The other end of the connecting hook is configured as a cylindrical structure with a left-right extending axis. The cylindrical structure is disposed in the chain trough and is slidably connected thereto. The traction chain is connected to the cylindrical structure. The track and the chain trough body are both mounted on the trough body of the scraper conveyor. The present invention can solve the wear problem of chain traction in thin or extremely thin coal seam coal mining machines.

The present disclosure relates to a control method, device and system of a coal mining machine traction system, belonging to the field of coal mining machines. The method is applied to a controller in the coal mining machine traction system. The method comprises: detecting the voltage value of a DC bus in real time; in response to the voltage value being lower than a first preset threshold, obtaining voltage fluctuation information within a preset time period; determining the predicted duration of DC bus under-voltage according to the voltage fluctuation information, and comparing it with a first target duration; in the case where the predicted duration is determined to be less than the first target duration, controlling the output frequency of the frequency converter according to the voltage fluctuation information to perform PID adjustment on the speed of the traction motor, thereby controlling the traction motor to generate power at a reduced speed and feeding the generated power of the traction motor back to the DC bus through the inverter module to maintain the voltage of the DC bus. The robustness of the coal mining machine traction system under under-voltage conditions is ensured, and the reliable production of the coal mining machine traction system is guaranteed.

The invention provides a vibration type milling device, which is used for executing the operation of engineering machinery, and comprises a vibration excitation mechanism (10) for generating vibration; the vibration excitation mechanism (1) is used for exciting a stratum, and the milling mechanisms (20 and 30) are used for milling the stratum and connected with the vibration excitation mechanism (1) to vibrate along with vibration of the vibration excitation mechanism (1). The vibrating type milling device is detachably connected with the main machine (1).

A long arm type compact wheel bucket excavator relates to mechanical equipment for open pit mining, comprising a supporting mechanism, a bucket wheel driving mechanism, a discharging arm rotating mechanism, a crawler walking mechanism and a tensioning mechanism, the discharging arm rotating mechanism comprising a main machine walking mechanism, a supporting base assembly, a rotating platform assembly and an adjusting plate assembly; the supporting base assembly comprising a central pipe vertically fixed on the main machine walking mechanism and a mounting seat fixed on the central pipe; the rotating platform assembly comprising a rotating platform rotatably supported on an L-shaped beam; the adjusting plate assembly comprising an adjusting plate body, a lower connecting shaft slide way symmetrically arranged on both sides of the adjusting plate body and an upper connecting shaft slide groove symmetrically arranged on the other two sides of the adjusting plate body, the guide directions of the lower connecting shaft slide way and the upper connecting shaft slide groove being perpendicular to each other. The wheel bucket excavator does not need to additionally set a reclaimer and will not generate triangular coal, and has the advantages of good stress characteristics, good safety and the like.

The utility model provides a grooving robot which comprises a crawler belt walking mechanism and a top cutting mechanism, the crawler belt walking mechanism is used for driving the top cutting mechanism to move along a roadway, the top cutting mechanism is connected to the front end of the crawler belt walking mechanism, the top cutting mechanism comprises a mounting seat connected with the crawler belt walking mechanism, and the mounting seat is connected with the crawler belt walking mechanism. A conical cutting drill bit used for punching and cutting the roadway roof is arranged on the mounting base, and the bottom of the conical cutting drill bit is in transmission connection with a driving mechanism. According to the grooving robot, the top cutting mechanism is designed to be in a long and thin cone shape, so that drilling and grooving are conveniently conducted on the top of a roadway, the construction requirement for the cutting distance can be met on the premise that the cutting amount is reduced, the working efficiency of roadway top cutting and pressure relief is improved, and the cutting force is improved.

The utility model relates to the technical field of coal mine mining pressure prevention and control, in particular to a coal mine fully mechanized coal mining face suspended roof cutting device which comprises an installation bin, a cutting wheel and a clamping unit, and the clamping unit comprises a fixing base, a clamping plate shaft, a square column, a square bin, a rotating shaft, an installation frame, an air cylinder, a rotating base, a power assembly and a lifting assembly. The clamping plate penetrates through the square column to make contact with the clamping plate shaft, the controller is clicked to start the air cylinder, the air cylinder abuts against the rotating base to be close to the rotating shaft till the square column and the square column are matched, at the moment, the rotating base plays a role in abutting against the rotating shaft and can also be matched with the cutting wheel to rotate, and the dismounting mode is opposite to the mounting mode; and the lifting assembly is used for adjusting the height of the mounting bin, so that the cutting wheel is quickly mounted in this way, the time consumed for mounting the cutting wheel is shortened, the workload of workers is reduced, and the working efficiency of the workers is improved.

The utility model provides a caterpillar track type heading machine, and relates to the technical field of heading machines. The caterpillar track type walking mechanism is connected with the heading machine main frame body, and the caterpillar track type walking mechanism is used for driving the heading machine main frame body to move; the caterpillar track type walking mechanism comprises a pre-laid caterpillar track, a pre-laid caterpillar track and a pre-laid caterpillar track, the chain wheels are rotatably arranged on the heading machine main frame body, the chain wheels are meshed with the pre-paving chain track, and the chain wheels are used for walking on the pre-paving chain track so that the heading machine main frame body can move relative to the bottom face of the roadway. According to the technical scheme, the chain wheel walks on the pre-laid chain track, so that the main frame body of the heading machine moves relative to the bottom surface of a roadway. Compared with a crawler-type heading machine, the caterpillar track type heading machine can climb under the large-gradient working condition of 30 degrees or above, is good in stability, overcomes the technical bottleneck that an existing heading machine cannot climb on the large gradient, and is beneficial to reducing potential safety hazards and improving the heading efficiency.

The invention discloses a coal mine drilling machine intelligent propelling system based on the self-adaptive control technology. The coal mine drilling machine intelligent propelling system comprises a main control unit, a power switching module, a first driving assembly, a second driving assembly and a feedback collecting module. The main control unit receives state information of the drilling machine host and dynamically adjusts the power switching module in combination with data of the environment sensing module so as to accurately control the two driving assemblies. The system monitors working conditions in real time through a rock stratum stress sensor and a temperature sensor, optimizes operation parameters, and guarantees equipment safety through a safety protection module and an alarm prompt module. The remote interaction module supports wireless data interaction, and the intelligent level is improved. According to the invention, the adaptability, response speed and operation precision under complex geological conditions can be improved, and the problem of insufficient intelligence of a traditional propulsion system is solved.

The application provides a vertical cutting swing roof supporting device and mining device suitable for steeply inclined thin ore veins, and belongs to the technical field of mine vertical mining. The vertical cutting swing roof supporting device suitable for steeply inclined thin ore veins comprises a cutting mechanism, a supporting mechanism, a swing hinge point pin shaft, a cutting swing oil cylinder, a vertical roof supporting mechanism and a vertical bottom supporting mechanism. The application combines the occurrence characteristics and mining technical conditions of steeply inclined thin ore veins, carries out research on the related vertical cutting swing roof supporting device and mining device, discusses the use conditions and range of the ore deposit, changes the current situation of the mining device and process of steeply inclined thin ore veins in mines, realizes efficient, safe and economic mining in mines, and achieves the purpose of improving the ore grade of steeply inclined thin ore veins, reducing ore dilution and improving the economic benefits of mines.

This invention relates to the field of coal mining machine technology, and provides a continuous operation system for a coal mining machine. The continuous operation system includes a coal mining machine, a conveyor, and supports. The supports include telescopic components that can drive the conveyor to extend and retract. The telescopic components can move the conveyor along the width direction of the machine body. Multiple supports are arranged sequentially along the length direction of the machine body. The continuous operation system has a working state and a waiting state. In the working state, the conveyors are arranged side-by-side in a row on the working face, and the coal mining machine moves along a slide rail to mine coal. In the waiting state, the coal mining machine mines coal at the starting positions at both ends of the working face, and the supports adjust the conveyor to move to the next working face. The continuous operation system for a coal mining machine according to this invention has advantages such as flexible deployment and efficient switching, realizing rapid transfer of equipment between working faces and automatic track reconstruction.

The embodiment of the application provides a detachable inverted U-shaped oil tank structure, and relates to the technical field of oil tank structure. The detachable inverted U-shaped oil tank structure comprises an oil tank body assembly, the oil tank body assembly is made through welding and is in an inverted U-shaped structure, two groups of connecting sleeves are inlaid and welded between the top and the bottom of the oil tank body assembly, mounting screws are arranged in each group of connecting sleeves, a positioning pin is arranged at the bottom of the oil tank body assembly, a central small hole is formed in the positioning pin for lubricating oil to pass through, and the oil tank body assembly is fixed on a walking part of a coal mining machine through the positioning pin and the two groups of mounting screws. The positioning pin and the mounting screws are used for conveniently disassembling and assembling the oil tank body assembly, the inlaid and welded connecting sleeves prevent oil leakage, the inverted U-shaped structure avoids a long silk rod and has a lubricating oil dripping function of adjusting the flow rate of lubricating oil, and therefore the maintenance convenience, the work efficiency and the safety and reliability of equipment operation are improved.

The utility model provides a heading machine supporting device and a heading machine, and relates to the technical field of heading machine equipment, the heading machine supporting device comprises a telescopic part and a supporting structure, the supporting structure comprises a supporting plate and a hinge assembly, and the supporting plate is hinged to the telescopic part through the hinge assembly; the telescopic part is used for being arranged on a body mechanism of the heading machine and drives the supporting plate to move relative to the body mechanism in a telescopic mode so that the supporting plate can be supported to the top in a roadway. The heading machine comprises a body mechanism and at least one heading machine supporting device, the body mechanism is provided with at least one mounting position, and the heading machine supporting device is arranged at the mounting position; the problem that the heading machine shakes when cutting coal and rock masses in a roadway is solved.

The present invention relates to a mobile system for a short-span, thin-seam coal mining machine, comprising a machine body, a guide device, and a traction connection device. The guide device comprises a guide shoe and a track, the track being laid in a straight line in the left-right direction. The guide shoe is mounted at the rear of the machine body and supports the machine body from below. The guide shoe straddles the track through its guide groove and is slidably connected to the track left and right. The traction connection device comprises a connecting plate, a connecting hook, and a traction chain. One end of the connecting plate is hinged to the machine body, and the other end of the connecting plate is hinged to one end of the connecting hook. The hinge axes of these two hinges extend left and right. The other end of the connecting hook is configured as a cylindrical structure with an axis extending left and right. The cylindrical structure is disposed in a chain groove and is slidably connected to the chain groove. The traction chain is connected to the cylindrical structure. The present invention can solve the wear problem of chain traction in thin or extremely thin coal seam coal mining machines.

The utility model provides a kind of high-pressure foam injection type wheeled high-frequency projectile device, it is related to civil engineering machinery and equipment field, and it includes: tracked chassis, the top of tracked chassis is provided with support pedestal;Hydraulic control unit, is arranged in one end of support pedestal top;Gas pressurizing unit, is arranged in one side of hydraulic control unit;Foam delivery unit, is arranged in one side of gas pressurizing unit;Electric excitation unit, is arranged in one side of foam delivery unit;Six-in-one wheeled reaction chamber array, is arranged in one side of electric excitation unit;Projectile loading unit, is arranged in one side of six-in-one wheeled reaction chamber array;Projectile acceleration gun barrel, is arranged in one side of projectile loading unit.The utility model is through six-in-one wheeled disc type ultrahigh-pressure foam reaction chamber array and automatic reset system, substantially reduce operation cycle, improve firing frequency, reduce artificial intervention interruption, make high-frequency continuous operation ability complete breakthrough.

The invention provides a vertical feeding thin seam coal mining system, which comprises a coal mining machine, a conveyor, a top plate support frame, a traction device and a controller, a cutting roller of the coal mining machine comprises a cylinder body, an end cover and a plurality of cutting teeth, the end cover is provided with a middle area and an annular edge area, and the middle area is arranged far away from a coal mining working face relative to the annular edge area; the conveyor is arranged on the side, away from the coal face, of the coal mining machine and provided with a guide rail, and the coal mining machine is slidably connected with the guide rail. A propelling device is connected between the top plate supporting frame and the conveyor and used for pushing the conveyor and the coal mining machine towards the coal face. The traction device comprises a traction chain and a traction driver, the traction chain is connected to the coal mining machine, and the traction chain is in transmission connection with the traction driver so as to drive the coal mining machine to move along the guide rail; the controller is used for regulating the coal mining machine, the conveyor and the traction device to operate. The coal mining efficiency can be improved, and the production cost can be reduced.

The invention belongs to the technical field of intelligent mining of coal mines, and discloses an intelligent cooperative control system for an underground mining working face of a coal mine. Whole-process intelligent cooperative control is realized through deformation monitoring of the scraper conveyor, actual geometric morphology construction, reference drift tensor field calculation, dynamic correction of a coal cutting track, abnormal recognition of a bottom plate and self-adaptive adjustment of control parameters. Identifying a bending deformation section of the conveyor, constructing an actual geometrical shape curve, and calculating a reference drift tensor field of each position of a working surface; performing space coordinate transformation on the original memory coal cutting track of the coal mining machine to generate a corrected target coal cutting track; recognizing a bottom plate fluctuation abnormal area by combining hydraulic support monitoring data, and dynamically adjusting a coal cutter roller lifting control gain and a propulsion speed compensation coefficient; and realizing closed-loop adaptive control by analyzing and identifying a secondary deformation signal and iteratively updating a reference drift tensor field. The bottom plate flatness and the coal seam recovery rate are improved, and equipment abrasion and accident risks are reduced.

A machine for excavating rock includes a frame, a cutting device, and a boom. The cutting device includes a cutting disc having a cutting edge, the cutting disc being rotatable about a cutting device axis. The boom supports the cutting device and includes a first end, a second end, and a boom axis substantially parallel to the cutting device axis. The boom further includes a first portion and a second portion. The first portion is connected to the frame for rotation about a first pivot axis between a raised position and a lowered position. The second portion is connected to the cutting device, and the second portion is pivotable about a second pivot axis between a raised position and a lowered position.