Construction method of attitude angle regulating model of manless working face coalcutter for thin seam

Abstract

The invention discloses a construction method of an attitude angle regulating model of a manless working face coalcutter for a thin seam, belonging to a construction method of an attitude angle regulating model of a coalcutter. The construction method is characterized in that a situation that gyrocopes are installed on the machine body, the front roller and the rear roller of the manless working face short machine body coalcutter is taken as a basic to construct the attitude angle regulating model of the manless working face coalcutter; when the coalcutter is drawn back and forth to perform automatic memory coal cutting on the manless working face, a primary coordinate system is established in the center of the coalcutter, and an interconversion principle between the primary coordinate system and a space coordinate system is combined, so as to derive the conversion between the moving coordinate system and the primary coordinate system after the attitude angle of the coalcutter is regulated; the inclined angle of the roller rocker is measured after the initial inclined angle and the attitude angle of the coalcutter are regulated through a gyroscope, so as to further construct a control model for attitude angle regulation and automatic roller height adjustment. The construction method disclosed by the invention has the advantages that operation is reasonable, and production benefit, safety and reliability are good; the control model control method improves the automation control of the coalcutter, improves the use performance, enhances the reliability and prolongs the service life of equipment.

Description

technical field [0001] The invention relates to a construction method of a shearer attitude adjustment model, in particular to a construction method of a shearer attitude adjustment model in an unmanned working face of a thin coal seam. Background technique [0002] After years of mining, the reserves of medium-thick and thick coal seams in mines in many areas of my country are close to depletion, and the mining of thin coal seams (thickness ≤ 1.3m) has been in a state of slow development for a long time due to economic, technical and safety reasons. The recoverable reserves of thin coal seams in my country's coal reserves are about 6.15 billion tons, accounting for about 19% of the total coal recoverable reserves in the country. However, according to incomplete statistics, the annual output of thin coal seams in my country only accounts for about 10.4% of the total coal production in the country. , the ratio of production and reserves is seriously out of balance. In recent ...

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Problems solved by technology

[0004] Technical problem: In order to overcome the deficiency of the relationship technology between the attitude angle adjustment of the unmanned working face of the thin coal seam and the height adjustment control of the drum, the present invention provides an A construction m

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