Posture positioning method of coal cutter in memory cutting process

Abstract

The invention discloses a posture positioning method of a coal cutter in a memory cutting process. The posture positioning method of the coal cutter in a memory cutting process comprises the following steps: reading a tilt angle sensor in a body of the coal cutter so as to obtain a tilt angle theta 1 of the body of the coal cutter; reading the action time of electromagnetic valves corresponding to left and right height adjusting oil cylinders, which is recorded in a machine-mounted programmable controller, further calculating the oil intake quantity of a hydraulic cylinder, then acquiring the tilt angles theta 2 and theta 3 of left and right rocker arms relative to the body of the coal cuter by the existing geometrical relationship, and positioning the posture of the coal cutter in the memory cutting process. According to the posture positioning method disclosed by the invention, the tilt angles theta 2 and theta 3 of the left and right rocker arms of the coal cutter can be obtained by an indirect method, so that the posture of the coal cutter can be positioned without installing tilt angle sensors of the left and right rocker arms; not only is the number of sensors reduced, a plurality of data volumes are not required to be collected in the memory cutting process, and the data analysis time is shortened, but also the tilt angle sensor is effectively prevented from being damaged by external knock to lead to inaccurate positioning, and the normal operation of the coal cutter is ensured.

Description

technical field [0001] The invention relates to a posture positioning method of a coal mining machine, in particular to a posture positioning method in the memory cutting process of the coal mining machine. Background technique [0002] With the development of fully mechanized mining automation technology, shearers with memory cutting function are gradually being applied to fully mechanized mining faces. In the process of memory cutting, it is necessary to accurately locate the position and attitude of the shearer. The position of the shearer is the three-dimensional coordinates of the shearer relative to the starting point of memory cutting, and the attitude of the shearer is relative to the memory cutting The inclination angle of the shearer body and the inclination angle of the left and right drums at the starting point. [0003] At present, the attitude of the shearer is generally determined by the inclination sensor installed on the body of the shearer and the inclinat...

AI Technical Summary

Problems solved by technology

The inclination sensors installed on the two rocker arms of the shearer are exposed to the outer wall of the rocker arm. When the shearer is working, it is easy to be hit by coal blocks, so that it is often not in the correct working position, and the read data is reliable. Low, easy to damage, requires regular maintenance, which affects the normal work of the shearer

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