Navigation positioning and automatic cutting method of cantilever type heading machine

Abstract

The invention belongs to the technical field of cantilever type heading machines for coal mine underground roadway operation, and provides a navigation positioning and automatic cutting method of a cantilever type heading machine. The method comprises the steps of S1, arranging a main inertial navigation assembly on a machine body of the cantilever type heading machine, installing an auxiliary inertial navigation assembly on a cutting arm, and installing an automatic total station assembly on a fixed rail erected in a roadway; S2, calculating the spatial position of the cutting head of the heading machine by combining the detection data of the main inertial navigation assembly and the auxiliary inertial navigation assembly; and S3, presetting a process path for the cutting head to work, controlling the strokes of a lifting oil cylinder and a rotary oil cylinder in combination with a section automatic cutting model of the cutting head, enabling the cutting head to move to the starting point position of automatic cutting, and starting to automatically cut the coal wall according to the process path. According to the invention, the navigation and positioning precision of the machine body of the heading machine and the automatic cutting precision of the spatial position of the cutting head can be effectively improved, and the overall navigation and positioning precision of the heading machine is improved.

Description

technical field [0001] The invention belongs to the technical field of cantilever-type roadheaders for tunneling operations in coal mines, and in particular relates to a navigation, positioning and automatic cutting method for a cantilever-type roadheader. Background technique [0002] The cantilever roadheader is a very important type of underground mining equipment. It is the most widely used tunneling equipment in the mechanized production of fully mechanized coal tunnels in my country. It is mainly used for cutting partial sections. Its outstanding structural features are A telescopic swingable cantilever is installed on the turret, and a cutting head is installed at the front end of the cantilever. Through the swing of the cantilever and the rotation of the cutting head, the coal and rock can fall off. The operation table of the roadheader can control the operation of the cutting head. Controlling the track, it can cut roadways of various shapes, such as rectangles, arche...

AI Technical Summary

Problems solved by technology

[0006] In the above patent application documents on the position and posture detection of the roadheader, it is necessary to use the cylinder stroke sensor, the inclination sensor, etc. to measure the pitch angle and roll angle of the roadheader. However, the underground environment of the coal mine is relatively harsh. In actual work, The working conditions of the roadheader are relatively complicated, and the vibration of the body is relatively large, which is easy to affect the measurement accuracy of the sensor. After a long time of use, the sensor has a high failure rate, reduced reliability, and difficult maintenance, which seriously affects the service life of the sensor.

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