Shearer posture adjusting device, adjusting method and shearer

Abstract

The present application relates to the technical field of engineering machinery, and provides a coal winning machine posture adjusting device, an adjusting method and a coal winning machine. The coal winning machine posture adjusting device comprises a swing-to-walking mechanism, a direction adjusting mechanism and a control system. The swing-to-walking mechanism is arranged on the coal wall side of the coal winning machine body and is in contact with the bottom surface of the roadway to assist the walking of the coal winning machine body. The direction adjusting mechanism is used to drive the swing-to-walking mechanism to turn and drive the coal winning machine body to turn. The control system is in communication connection with the swing-to-walking mechanism, the direction adjusting mechanism and the posture detection mechanism of the coal winning machine body. The control system controls the swing-to-walking mechanism and the direction adjusting mechanism to act according to the detection signal of the posture detection mechanism. The control system can control the swing-to-walking mechanism and the direction adjusting mechanism to act according to the detection signal of the posture detection mechanism, adjust the walking posture of the coal winning machine body, reduce the additional friction force between the walking wheels of the coal winning machine and the pin rows of the scraper, reduce the output current of the traction motor and accelerate the walking speed.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a coal mining machine attitude adjustment device, adjustment method, and coal mining machine. Background Technology

[0002] With the gradual improvement of intelligent systems in fully mechanized mining equipment, automated functions such as one-button start, memory cutting, and remote monitoring have been gradually realized. However, some factors still affect its coal mining efficiency. One of the main factors affecting coal mining efficiency is the poor posture of the coal mining machine, which causes the machine body and the scraper and pins of the scraper conveyor to not be relatively parallel, resulting in additional friction between them. This consumes a lot of traction power, making it impossible to increase the coal mining speed, especially under poor working conditions (sharp slope, up-and-down mining), with a lot of gangue and hard coal seams. Summary of the Invention

[0003] This invention provides a coal mining machine attitude adjustment device, adjustment method, and coal mining machine, aiming to solve one of the technical problems existing in the prior art or related technologies.

[0004] This invention provides a coal mining machine attitude adjustment device, comprising:

[0005] A swing-to-traverse mechanism is installed on the coal wall side of the coal mining machine body. The swing-to-traverse mechanism is used to contact the bottom surface of the roadway to assist the movement of the coal mining machine body.

[0006] A direction adjustment mechanism is used to drive the swaying travel mechanism to turn, thereby turning the coal mining machine body.

[0007] The control system is communicatively connected to the swaying walking mechanism, the direction adjustment mechanism, and the body posture detection mechanism of the coal mining machine. The control system is used to control the swaying walking mechanism and the direction adjustment mechanism to operate according to the detection signal of the body posture detection mechanism.

[0008] Preferably, the coal mining machine attitude adjustment device provided by the present invention further includes:

[0009] A distance detection element is used to detect the distance between the coal mining machine body and the scraper conveyor. The distance detection element is communicatively connected to the control system. The control system is used to control the extension and retraction of the support cylinder of the coal mining machine according to the detection information of the distance detection element. The support cylinder is a cylinder used to adjust the height of the coal mining machine body.

[0010] Preferably, according to the coal mining machine attitude adjustment device provided by the present invention, the machine attitude detection mechanism includes a load detection element, the load detection element is used to detect the load information of the coal mining machine load, and the control system is used to control the swing walking mechanism and the direction adjustment mechanism to operate according to the detection signal of the load detection element;

[0011] And / or,

[0012] The fuselage attitude detection mechanism includes an inertial navigation system, which is used to detect the three-dimensional attitude of the coal mining machine. The control system is used to control the swing walking mechanism and the direction adjustment mechanism to move according to the detection signal of the inertial navigation system.

[0013] Preferably, in the coal mining machine attitude adjustment device provided by the present invention, the swaying walking mechanism includes:

[0014] The auxiliary traveling wheels are rotatably connected to the body of the coal mining machine and are used to contact the bottom surface of the roadway.

[0015] A sway-type walking drive device is used to drive the auxiliary walking wheels to move;

[0016] The direction adjustment mechanism is connected to the swaying walking drive device or the auxiliary walking wheel.

[0017] Preferably, in the coal mining machine attitude adjustment device provided by the present invention, the direction adjustment mechanism is a telescopic drive member, the first end of the telescopic drive member is rotatably connected to the coal mining machine body, and the second end of the telescopic drive member is rotatably connected to the swing walking mechanism.

[0018] The present invention also provides a method for adjusting the attitude of a coal mining machine, based on the coal mining machine attitude adjustment device described in any one of the above claims, comprising:

[0019] Acquire the machine's posture information when the coal mining machine moves to the preset position;

[0020] Based on the comparison results between the fuselage attitude sample information and the fuselage attitude information, the first correction data is generated;

[0021] A first adjustment signal is generated based on the first correction data, and the swaying walking mechanism and direction adjustment mechanism of the coal mining machine are controlled to adjust the body posture of the coal mining machine based on the first adjustment signal.

[0022] Preferably, the method for adjusting the attitude of a coal mining machine according to the present invention further includes:

[0023] Acquire detection information from the distance detection element;

[0024] Based on the comparison between the detection information of the distance detection element and the preset distance value, second correction data is generated;

[0025] A second adjustment signal is generated based on the second correction data, and the extension and retraction of the support cylinder of the coal mining machine is controlled based on the second adjustment signal to keep the distance between the coal mining machine and the scraper conveyor at the preset distance value.

[0026] Preferably, the method for adjusting the attitude of a coal mining machine according to the present invention further includes:

[0027] Obtain the current body posture information of the coal mining machine when it last moves to the preset position;

[0028] Based on the comparison between the current machine posture information and the machine posture information after the previous adjustment of the coal mining machine at the preset position, third correction data is generated.

[0029] A third adjustment signal is generated based on the third correction data, and the swing walking mechanism and the direction adjustment mechanism are controlled to move according to the third adjustment signal, so that the coal mining machine moves within a preset length range according to the posture adjusted by the third adjustment signal.

[0030] Obtain the body posture information of the coal mining machine within the preset length range;

[0031] Compare the body posture information of the coal mining machine traveling within the preset length range with the detection information of the body posture detection mechanism after the coal mining machine was previously adjusted at the preset position;

[0032] When the detection information of the body posture detection mechanism within the preset length range is consistent with or gradually approaches the detection information of the body posture detection mechanism after the previous adjustment of the coal mining machine at the preset position, the coal mining machine is controlled to walk according to the posture adjusted by the third adjustment signal.

[0033] When the detection information of the body posture detection mechanism within the preset length range is determined to gradually increase compared with the detection information of the body posture detection mechanism after the previous adjustment of the coal mining machine at the preset position, the coal mining machine is controlled to walk according to the posture after the previous adjustment.

[0034] Preferably, in the coal mining machine attitude adjustment method provided by the present invention, the machine attitude detection mechanism includes a load detection element, and the coal mining machine attitude adjustment method further includes:

[0035] Obtain the current load information of the load detection element when the coal mining machine moves to the preset position for the last time;

[0036] The third correction data is generated based on the comparison between the current load information and the load information of the coal mining machine after the previous adjustment at the preset position;

[0037] The third adjustment signal is generated based on the third correction data, and the swing walking mechanism and the direction adjustment mechanism are controlled to move according to the third adjustment signal, so that the coal mining machine moves within the preset length range according to the posture adjusted by the third adjustment signal.

[0038] Obtain load information of the load detection element within the preset length range;

[0039] Based on the comparison between the load information of the load detection element that travels within the preset length range and the load information of the coal mining machine after its previous adjustment at the preset position, it is determined whether the load information of the load detection element that travels within the preset length range is consistent with the load information of the coal mining machine after its previous adjustment at the preset position.

[0040] When it is determined that the load information of the load detection element within the preset length range is consistent with the load information of the coal mining machine after the previous adjustment at the preset position, the coal mining machine is controlled to walk according to the posture adjusted by the third adjustment signal.

[0041] When it is determined that the load information of the load detection element within the preset length range is greater than the load information of the coal mining machine after the previous adjustment at the preset position, the coal mining machine is controlled to walk according to the posture of the previous adjustment.

[0042] The present invention also provides a coal mining machine, including a coal mining machine attitude adjustment device as described in any one of the above claims or performing a coal mining machine attitude adjustment method as described in any one of the above claims.

[0043] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the coal mining machine attitude adjustment method as described in any of the preceding claims.

[0044] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the coal mining machine attitude adjustment method as described in any of the preceding claims.

[0045] One of the above technical solutions has the following advantages and beneficial effects:

[0046] The present invention provides a coal mining machine attitude adjustment device, adjustment method, and coal mining machine. The coal mining machine attitude adjustment device includes a swaying walking mechanism, a direction adjustment mechanism, and a control system. The swaying walking mechanism is disposed on the coal wall side of the coal mining machine body and is used to contact the bottom surface of the roadway. The direction adjustment mechanism can be used to drive the swaying walking mechanism to turn, so as to drive the coal mining machine body to turn. The control system is communicatively connected to the swaying walking mechanism, the direction adjustment mechanism, and the coal mining machine body attitude detection mechanism, and the control system controls the swaying walking mechanism and the direction adjustment mechanism to operate according to the detection signal of the body attitude detection mechanism, so as to realize the adjustment of the coal mining machine body attitude.

[0047] With this configuration, a swing-walking mechanism and a direction adjustment mechanism are installed on the coal wall side of the coal mining machine. When the posture of the coal mining machine is poor or the traction resistance is high, the control system can control the swing-walking mechanism and the direction adjustment mechanism to adjust the walking posture of the coal mining machine based on the detection signal of the coal mining machine posture detection mechanism. This assists the coal mining machine in walking and increases the traction power for the coal mining machine. In this way, the extra friction between the coal mining machine's walking wheels and the scraper conveyor pins can be reduced, and the output current of the traction motor can be reduced, thereby increasing the walking speed of the coal mining machine. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0049] Figure 1 This is a view of the coal face side of a coal mining machine according to an embodiment of the present invention;

[0050] Figure 2 This is a top view of a coal mining machine according to an embodiment of the present invention;

[0051] Figure 3 This is one of the flowcharts illustrating a method for adjusting the attitude of a coal mining machine according to an embodiment of the present invention (adjusting the swing travel mechanism and the direction adjustment mechanism);

[0052] Figure 4 This is a second flowchart illustrating a method for adjusting the attitude of a coal mining machine according to an embodiment of the present invention (adjusting the support cylinder).

[0053] Figure label:

[0054] 1. Coal mining machine body; 2. Swinging travel mechanism; 3. Traveling slippers;

[0055] 4. Support cylinder; 21. Auxiliary traveling wheel; 22. Swinging travel drive device. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0057] The following is combined Figures 1 to 4 This invention describes a coal mining machine attitude adjustment device, adjustment method, and coal mining machine according to some embodiments of the present invention.

[0058] like Figure 1 and Figure 2 As shown, the present invention provides a coal mining machine attitude adjustment device, which may include a swing walking mechanism 2, a direction adjustment mechanism and a control system.

[0059] The swaying travel mechanism 2 can be installed on the coal wall side of the coal mining machine body 1, and can be used to contact the bottom surface of the roadway to assist the movement of the coal mining machine body 1. In this way, the swaying travel mechanism 2 can help increase the traction power of the coal mining machine, assist the coal mining machine in moving, help reduce the output current of the traction motor of the coal mining machine, and speed up the movement of the coal mining machine.

[0060] The direction adjustment mechanism can be used to drive the sway walking mechanism 2 to turn, so as to drive the coal mining machine body 1 to turn, thereby adjusting the walking posture of the coal mining machine body 1.

[0061] In addition, the control system can communicate with the swing travel mechanism 2, the direction adjustment mechanism and the body posture detection mechanism of the coal mining machine respectively, and the control system can be used to control the swing travel mechanism 2 and the direction adjustment mechanism according to the detection signal of the body posture detection mechanism, so as to realize the adjustment of the body posture of the coal mining machine.

[0062] Specifically, the control system is configured to control the direction adjustment mechanism to turn the swing walking mechanism 2 when the detection signal of the body posture detection mechanism is inconsistent with the sample detection signal of the coal mining machine, and control the swing walking mechanism 2 to turn forward or reverse, thereby adjusting the walking posture of the coal mining machine body 1.

[0063] Here, the control system can be the industrial control computer of the coal mining machine.

[0064] With this configuration, a swing-walking mechanism 2 and a direction adjustment mechanism are installed on the coal wall side of the coal mining machine body 1. When the posture of the coal mining machine body 1 is poor or the traction resistance is large, the control system can control the swing-walking mechanism 2 and the direction adjustment mechanism to adjust the walking posture of the coal mining machine body 1 based on the detection signal of the coal mining machine body posture detection mechanism. This assists the coal mining machine body 1 in walking and increases the traction power for the coal mining machine to walk. In this way, the extra friction between the coal mining machine's walking wheels and the scraper conveyor pins can be reduced, and the output current of the traction motor can be reduced, thereby increasing the walking speed of the coal mining machine.

[0065] In an optional embodiment of the present invention, the fuselage attitude detection mechanism may include a load detection element, and the control system may be used to control the swing walking mechanism 2 and the direction adjustment mechanism to move according to the detection signal of the load detection element.

[0066] Here, the load detection element can be used to detect the load information of the coal mining machine.

[0067] In an optional embodiment, the load detection element may include a load current detection element, and the control system may control the swing walking mechanism 2 and the direction adjustment mechanism to move according to the detection signal of the load current detection element.

[0068] Specifically, when the load current value detected by the load current detection element of the coal mining machine is greater than the sample load current value, the control system can control the swing walking mechanism 2 and the direction adjustment mechanism to adjust the walking posture of the coal mining machine so that the body of the coal mining machine is relatively parallel to the scraper and pin rack of the scraper conveyor, thereby reducing the load current value.

[0069] Here, the load can be the traction motor of the coal mining machine.

[0070] In an optional embodiment, the load detection element may include a load temperature detection element, and the control system may control the swing walking mechanism 2 and the direction adjustment mechanism to move according to the detection signal of the load temperature detection element.

[0071] Specifically, when the load temperature value detected by the load temperature detection element of the coal mining machine is greater than the sample load temperature value, the control system can control the swing walking mechanism 2 and the direction adjustment mechanism to adjust the walking posture of the coal mining machine so that the body of the coal mining machine is relatively parallel to the scraper and pin rack of the scraper conveyor, thereby reducing the temperature of the load.

[0072] It should be noted that during the initial coal cutting, the coal mining machine records data from the working face when cutting one slice of coal. Based on this data, the initial sample body posture information of the coal mining machine and the sample detection information from the body posture detection mechanism are determined. The sample load current value and sample load temperature value can be two of the sample detection information.

[0073] The load current sensing element can be a current sensor, and the load temperature sensing element can be a temperature sensor.

[0074] In an optional embodiment of the present invention, the fuselage attitude detection mechanism may include an inertial navigation system, and the control system may be used to control the swing walking mechanism 2 and the direction adjustment mechanism to move according to the detection signal of the inertial navigation system.

[0075] Here, the inertial navigation system can be used to detect the three-dimensional attitude of the coal mining machine. Specifically, the inertial navigation system can continuously measure the position and attitude of the coal mining machine and output information as needed.

[0076] Specifically, the inertial navigation system can detect the current body attitude information of the coal mining machine and output it to the control system. The control system can compare the current body attitude information of the coal mining machine output by the inertial navigation system with the initial sample body attitude information, and control the swing walking mechanism 2 and the direction adjustment mechanism to adjust the walking attitude of the coal mining machine body 1 according to the comparison result.

[0077] In other embodiments, the fuselage attitude detection mechanism may also include an attitude detection mechanism for a scraper conveyor, an attitude detection mechanism for a hydraulic support, or other devices or mechanisms capable of detecting the attitude of the coal mining machine.

[0078] In optional embodiments of the present invention, such as Figure 1 As shown, the swaying travel mechanism 2 may include an auxiliary travel wheel 21 and a swaying travel drive device 22. The auxiliary travel wheel 21 can be rotatably connected to the coal mining machine body 1 and can be used to contact the bottom surface of the roadway. The swaying travel drive device 22 can be used to drive the auxiliary travel wheel 21 to travel. In this way, the auxiliary travel wheel 21 can assist the coal mining machine in traveling, and the swaying travel drive device 22 can help increase the traction power and reduce the output current of the traction motor, thereby effectively increasing the traveling speed of the coal mining machine.

[0079] Here, the direction adjustment mechanism can be connected to the auxiliary walking wheel 21 or the sway walking drive device 22 so as to drive the auxiliary walking wheel 21 to turn.

[0080] In an optional embodiment, the auxiliary walking wheel 21 can be a track wheel, and the swaying walking drive device 22 can be a drive motor.

[0081] In an optional embodiment of the present invention, the direction adjustment mechanism can be a telescopic drive member. The first end of the telescopic drive member can be rotatably connected to the coal mining machine body 1, and the second end of the telescopic drive member can be rotatably connected to the swaying travel mechanism 2. Specifically, the second end of the telescopic drive member can be connected to the swaying travel drive device 22. In this way, the steering of the auxiliary travel wheel 21 can be achieved by the extension and retraction of the telescopic drive member.

[0082] In optional embodiments, the telescopic drive can be a hydraulic cylinder, a pneumatic cylinder, an electric cylinder, or other telescopic structures or devices.

[0083] In an optional embodiment of the present invention, the coal mining machine attitude adjustment device may further include a distance detection element. The distance detection element can be used to detect the distance between the coal mining machine body 1 and the scraper conveyor. The distance detection element can be communicatively connected to the control system. The control system can be used to control the extension and retraction of the support cylinder 4 of the coal mining machine according to the detection information of the distance detection element, so as to adjust the height of the coal mining machine body 1.

[0084] Here, the support cylinder 4 can be a cylinder used to adjust the height of the coal mining machine body 1.

[0085] It should be noted that when the angle between the coal mining machine and the scraper conveyor is large, that is, when the coal mining machine and the scraper conveyor are not parallel, it will cause additional friction and resistance between the coal mining machine and the scraper conveyor. By adjusting the height of the coal mining machine body 1, the friction between the coal mining machine and the scraper conveyor can be effectively reduced, which can further reduce the lateral friction between the traveling part of the coal mining machine and the pin row of the scraper conveyor, reduce the traveling resistance of the coal mining machine, increase the traveling speed, and improve the coal mining efficiency.

[0086] Specifically, when the distance detection element detects that the distance between the coal mining machine body 1 and the scraper conveyor is less than the preset distance, the control system can control the support cylinder 4 of the coal mining machine to extend, so that the distance between the coal mining machine body 1 and the scraper conveyor reaches the preset distance, so as to avoid additional friction between the coal mining machine body 1 and the scraper conveyor.

[0087] It should be noted that the distance detection element can be used to detect the vertical distance between the coal mining machine body 1 and the scraper conveyor. Specifically, the distance detection element can be used to detect the distance between the bottom of the coal mining machine body 1 and the scraper conveyor, or it can be used to detect the distance between the middle of the coal mining machine body 1 and the scraper conveyor.

[0088] In an optional embodiment, a distance detection element can be disposed at the bottom of the coal mining machine body 1, and the distance detection element can be used to detect the distance between the coal mining machine body 1 and the scraper blade of the scraper conveyor.

[0089] The distance detection element can be set on the traveling slipper 3 located on the coal wall side of the coal mining machine to detect the distance between the traveling slipper 3 and the scraper blade of the scraper conveyor, so as to detect whether the coal mining machine body 1 is relatively parallel to the pin row.

[0090] Alternatively, the distance detection element can be set on the guide shoe located on the old working side of the coal mining machine (i.e., the side away from the coal wall) to detect the distance between the guide shoe and the pin row of the scraper conveyor, so as to detect whether the coal mining machine body 1 is relatively parallel to the pin row.

[0091] In an optional embodiment, the coal mining machine attitude adjustment device may include at least two distance detection elements, each of which may be respectively disposed on each of the traveling slippers 3 of the coal mining machine. In this way, by detecting the distance between the multiple traveling slippers 3 and the scraper blades of the scraper conveyor, it is possible to detect whether the coal mining machine body 1 forms an angle with the scraper conveyor, that is, whether the coal mining machine body 1 is relatively parallel to the pin rack.

[0092] Here, the distance detection element can be a distance sensor.

[0093] In other embodiments, at least one distance detection element may be provided on both the left and right traction units of the coal mining machine. The distance detection element is used to detect the distance between the left and right traction units and the scraper blades of the scraper conveyor.

[0094] The following describes the coal mining machine attitude adjustment method provided by the present invention. The coal mining machine attitude adjustment method described below can be referred to in correspondence with the coal mining machine attitude adjustment device described above.

[0095] The present invention provides a method for adjusting the attitude of a coal mining machine, which can be based on the coal mining machine attitude adjustment device described in any of the above embodiments, such as... Figure 3 As shown, the specific steps may include:

[0096] S11: Obtain the body posture information of the coal mining machine when it moves to the preset position;

[0097] S12: Generate the first correction data based on the comparison results between the fuselage attitude sample information and the fuselage attitude information;

[0098] S13: Generate a first adjustment signal based on the first correction data, and control the swing walking mechanism 2 and the direction adjustment mechanism of the coal mining machine to adjust the body posture of the coal mining machine based on the first adjustment signal.

[0099] Here, adjusting the posture of the coal mining machine can specifically adjust the posture of the coal mining machine to the posture of the sample machine.

[0100] In this way, the walking posture of the coal mining machine body 1 can be adjusted to reduce the additional friction between the coal mining machine's walking wheels and the scraper conveyor pins, and reduce the output current of the traction motor, thereby increasing the walking speed of the coal mining machine.

[0101] In an optional embodiment, obtaining the body posture information of the coal mining machine when it moves to a preset position may include:

[0102] Obtain the detection information from the body posture detection mechanism of the coal mining machine;

[0103] The body posture information of the coal mining machine at the preset position is calculated based on the detection information of the body posture detection mechanism.

[0104] In an optional embodiment, the coal mining machine attitude adjustment method may further include:

[0105] Before generating the first correction data based on the comparison results of the fuselage attitude sample information and the fuselage attitude information, the fuselage attitude sample information of the coal mining machine is retrieved and compared with the fuselage attitude information.

[0106] In an optional embodiment, retrieving the body posture sample information of the coal mining machine may include the following steps:

[0107] Remotely retrieve attitude data of scraper conveyor and hydraulic support;

[0108] Based on the attitude data of the scraper conveyor and hydraulic support, the relative attitude of the coal mining machine body 1 is calculated, and the body attitude sample information of the coal mining machine body 1 is generated.

[0109] In an optional embodiment, the coal mining machine attitude adjustment method may include the following steps:

[0110] Obtain the detection information of the load current detection element of the coal mining machine;

[0111] Retrieve the load current information corresponding to the body posture sample information of the coal mining machine;

[0112] The first correction data is generated based on the comparison between the load current information corresponding to the fuselage attitude sample information and the detection information of the load current detection element.

[0113] The first adjustment signal is generated based on the first correction data, and the swing walking mechanism 2 and the direction adjustment mechanism of the coal mining machine are controlled to adjust the body posture of the coal mining machine to the sample body posture.

[0114] Here, based on the comparison between the load current information corresponding to the fuselage attitude sample information and the detection information of the load current detection element, the first correction data is generated, which may include:

[0115] Compare the load current information corresponding to the fuselage attitude sample information with the detection information of the load current detection element;

[0116] If the detection information of the load current detection element is greater than the load current information corresponding to the fuselage attitude sample information, the first correction data is generated.

[0117] In an optional embodiment, the coal mining machine attitude adjustment method may further include the following steps:

[0118] The machine posture of the coal mining machine after adjustment according to the first adjustment signal is stored, so as to serve as the body posture sample information when the coal mining machine moves to the preset position next time.

[0119] This allows the machine's previous posture to be retrieved when it moves to the preset position, and then compared with the current posture information of the machine when it moves to the preset position.

[0120] Here, the control system may include a power-off storage area, and the body posture of the coal mining machine after adjustment according to the first adjustment signal can be stored in the power-off storage area.

[0121] In optional embodiments of the present invention, such as Figure 4 As shown, the method for adjusting the attitude of a coal mining machine may also include the following steps:

[0122] S21: Obtain detection information from the distance detection element;

[0123] S22: Generate second correction data based on the comparison results between the detection information of the distance detection element and the preset distance value;

[0124] S23: Generate a second adjustment signal based on the second correction data, and control the extension and retraction of the support cylinder 4 of the coal mining machine based on the second adjustment signal, so that the distance between the coal mining machine and the scraper conveyor is maintained at a preset distance value.

[0125] In this way, by adjusting the height of the support cylinder 4 of the coal mining machine, the lateral friction between the traveling part of the coal mining machine and the pin row of the scraper conveyor can be further effectively reduced, the traveling resistance of the coal mining machine can be reduced, the traveling speed can be increased, and thus the coal mining efficiency can be improved.

[0126] Here, the preset distance value can be: the distance between the traveling slipper 3 of the coal mining machine and the scraper plate of the scraper when the body 1 of the coal mining machine is parallel to the pin row of the scraper.

[0127] In an optional embodiment of the present invention, the coal mining machine attitude adjustment method may further include the following steps:

[0128] Obtain the current body posture information of the coal mining machine when it last moves to the preset position;

[0129] Based on the comparison between the current machine posture information and the machine posture information after the previous adjustment of the coal mining machine at the preset position, the third correction data is generated.

[0130] A third adjustment signal is generated based on the third correction data, and the swing walking mechanism 2 and the direction adjustment mechanism are controlled according to the third adjustment signal to make the coal mining machine walk in the posture adjusted by the third adjustment signal within the preset length range.

[0131] Obtain the body posture information of the coal mining machine within a preset walking length range;

[0132] Compare the body posture information of the coal mining machine within the preset walking length range with the body posture information of the coal mining machine after the previous adjustment at the preset position;

[0133] When the body posture information of the coal mining machine within the preset walking length range is consistent with or gradually approaches the body posture information of the coal mining machine after the previous adjustment at the preset position, the coal mining machine is controlled to walk according to the posture adjusted by the third adjustment signal.

[0134] When the comparison between the body posture information of the coal mining machine within the predetermined walking length range and the body posture information of the coal mining machine after the previous adjustment at the predetermined position gradually increases, the coal mining machine is controlled to walk according to the posture adjusted by the first adjustment signal.

[0135] In this way, the posture of the coal mining machine can be corrected at the same position to ensure that the scraper and pin rack of the coal mining machine and the scraper conveyor are parallel, thereby reducing the friction between the coal mining machine and the scraper conveyor.

[0136] Here, when the comparison result of the coal mining machine's body posture information is consistent with or gradually approaches the body posture information after the previous adjustment at the preset position, the coal mining machine is controlled to move according to the posture adjusted by the third adjustment signal, and the posture adjusted according to the third adjustment signal is stored in the power-off storage area of ​​the control system. In this way, when the coal mining machine moves to the preset position again, the previously adjusted body posture can be obtained to update the sample data.

[0137] It should be noted that obtaining the body posture information of the coal mining machine within the preset travel length range refers to the continuous body posture information of the coal mining machine within the preset travel range.

[0138] In an optional embodiment, obtaining the current body posture information of the coal mining machine when it last moves to the preset position may include:

[0139] Obtain the current detection information of the machine body detection mechanism when the coal mining machine moves to the preset position for the last time;

[0140] The current attitude information of the coal mining machine is calculated based on the current detection information.

[0141] In an optional embodiment, obtaining the body posture information of the coal mining machine traveling within the preset length range may include:

[0142] Obtain continuous detection information from the machine body detection mechanism within a preset travel length range of the coal mining machine;

[0143] The continuous body posture information within the preset travel length range of the coal mining machine is calculated based on the continuous detection information from the body detection mechanism.

[0144] Here, the preset length range can be 5-10cm.

[0145] In an optional embodiment, the coal mining machine attitude adjustment method may further include:

[0146] Before generating the third correction data, the machine posture information after the previous adjustment at the preset position is retrieved based on the comparison between the current machine posture information and the machine posture information after the previous adjustment at the preset position.

[0147] In an optional embodiment, the fuselage attitude detection mechanism includes a load detection element, and the coal mining machine attitude adjustment method may further include the following steps:

[0148] Obtain the current load information of the load detection element when the coal mining machine moves to the preset position for the last time;

[0149] Retrieve the load information of the coal mining machine after its previous adjustment at the preset position;

[0150] By comparing the current load information with the load information of the coal mining machine after its previous adjustment at the preset position, third correction data is generated.

[0151] A third adjustment signal is generated based on the third correction data to control the movement of the swing walking mechanism 2 and the direction adjustment mechanism, so that the coal mining machine moves within a preset length range according to the posture adjusted by the third adjustment signal.

[0152] Obtain load information of the load detection element within a preset walking length range;

[0153] Compare the load information of the load detection element within the preset walking length range with the load information of the coal mining machine after the previous adjustment at the preset position;

[0154] When the load information of the load detection element within the preset walking length range is consistent with or gradually approaches the load information of the coal mining machine after the previous adjustment at the preset position, the coal mining machine is controlled to walk according to the posture adjusted by the third adjustment signal.

[0155] When the load information of the load detection element within the predetermined walking length range is gradually increased compared with the load information of the coal mining machine after the previous adjustment at the predetermined position, the coal mining machine is controlled to walk in the posture adjusted by the first adjustment signal.

[0156] It should be noted that the load information can be the current information of the traction motor. That is, when the current of the traction motor gradually decreases within the predetermined travel length range, the coal mining machine is controlled to travel in the posture adjusted by the third adjustment signal; when the current of the traction motor gradually increases within the predetermined travel length range, the coal mining machine is controlled to travel in the posture adjusted when the coal mining machine moved to the predetermined position last time.

[0157] In an optional embodiment, an encoder can be used to detect whether the coal mining machine has moved to a preset position.

[0158] The coal mining machine provided by the present invention will be described below. The coal mining machine described below and the coal mining machine attitude adjustment device described above can be referred to in correspondence with each other.

[0159] The present invention provides a coal mining machine, which may include a coal mining machine attitude adjustment device as described in any of the above embodiments or perform a coal mining machine attitude adjustment method as described in any of the above embodiments.

[0160] The beneficial effects achieved by the coal mining machine provided by this invention are consistent with the beneficial effects achieved by the coal mining machine attitude adjustment device provided by this invention, so they will not be repeated here.

[0161] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the coal mining machine attitude adjustment method as described in any of the above embodiments.

[0162] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the coal mining machine attitude adjustment method as described in any of the above embodiments.

[0163] The beneficial effects achieved by the electronic device and non-transitory computer-readable storage medium provided by the present invention are consistent with the beneficial effects achieved by the coal mining machine attitude adjustment method provided by the present invention, and therefore will not be repeated here.

[0164] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting the attitude of a coal mining machine, characterized in that, Based on the coal mining machine attitude adjustment device, the coal mining machine attitude adjustment device includes: A swing-to-traverse mechanism is installed on the coal wall side of the coal mining machine body. The swing-to-traverse mechanism is used to contact the bottom surface of the roadway to assist the movement of the coal mining machine body. A direction adjustment mechanism is used to drive the swaying travel mechanism to turn, thereby turning the coal mining machine body. The control system is communicatively connected to the swaying walking mechanism, the direction adjustment mechanism, and the body posture detection mechanism of the coal mining machine. The control system is used to control the swaying walking mechanism and the direction adjustment mechanism to operate according to the detection signal of the body posture detection mechanism. include: Acquire the machine's posture information when the coal mining machine moves to the preset position; Based on the comparison results between the fuselage attitude sample information and the fuselage attitude information, the first correction data is generated; A first adjustment signal is generated based on the first correction data, and the swaying walking mechanism and direction adjustment mechanism of the coal mining machine are controlled to adjust the body posture of the coal mining machine based on the first adjustment signal. Also includes: Obtain the current body posture information of the coal mining machine when it last moves to the preset position; Based on the comparison between the current machine posture information and the machine posture information after the previous adjustment of the coal mining machine at the preset position, third correction data is generated. A third adjustment signal is generated based on the third correction data, and the swing walking mechanism and the direction adjustment mechanism are controlled to move according to the third adjustment signal, so that the coal mining machine moves within a preset length range according to the posture adjusted by the third adjustment signal; Obtain the body posture information of the coal mining machine within the preset length range; Compare the body posture information of the coal mining machine traveling within the preset length range with the detection information of the body posture detection mechanism after the coal mining machine was previously adjusted at the preset position; When the detection information of the body posture detection mechanism within the preset length range is consistent with or gradually approaches the detection information of the body posture detection mechanism after the previous adjustment of the coal mining machine at the preset position, the coal mining machine is controlled to walk according to the posture adjusted by the third adjustment signal. When the detection information of the body posture detection mechanism within the preset length range is determined to gradually increase compared with the detection information of the body posture detection mechanism after the previous adjustment of the coal mining machine at the preset position, the coal mining machine is controlled to walk according to the posture after the previous adjustment.

2. The method for adjusting the attitude of a coal mining machine according to claim 1, characterized in that, Also includes: Acquire detection information from the distance detection element; Based on the comparison between the detection information of the distance detection element and the preset distance value, second correction data is generated; A second adjustment signal is generated based on the second correction data, and the extension and retraction of the support cylinder of the coal mining machine is controlled based on the second adjustment signal to keep the distance between the coal mining machine and the scraper conveyor at the preset distance value.

3. The method for adjusting the attitude of a coal mining machine according to claim 2, characterized in that, The machine attitude detection mechanism includes a load detection element, and the coal mining machine attitude adjustment method further includes: Obtain the current load information of the load detection element when the coal mining machine moves to the preset position for the last time; The third correction data is generated based on the comparison between the current load information and the load information of the coal mining machine after the previous adjustment at the preset position; The third adjustment signal is generated based on the third correction data, and the swing walking mechanism and the direction adjustment mechanism are controlled to move according to the third adjustment signal, so that the coal mining machine moves within the preset length range according to the posture adjusted by the third adjustment signal; Obtain load information of the load detection element within the preset length range; Based on the comparison between the load information of the load detection element that travels within the preset length range and the load information of the coal mining machine after its previous adjustment at the preset position, it is determined whether the load information of the load detection element that travels within the preset length range is consistent with the load information of the coal mining machine after its previous adjustment at the preset position. When it is determined that the load information of the load detection element within the preset length range is consistent with the load information of the coal mining machine after the previous adjustment at the preset position, the coal mining machine is controlled to walk according to the posture adjusted by the third adjustment signal. When it is determined that the load information of the load detection element within the preset length range is greater than the load information of the coal mining machine after the previous adjustment at the preset position, the coal mining machine is controlled to walk according to the posture of the previous adjustment.

4. The method for adjusting the attitude of a coal mining machine according to claim 1, characterized in that, Also includes: A distance detection element is used to detect the distance between the coal mining machine body and the scraper conveyor. The distance detection element is communicatively connected to the control system. The control system is used to control the extension and retraction of the support cylinder of the coal mining machine according to the detection information of the distance detection element. The support cylinder is a cylinder used to adjust the height of the coal mining machine body.

5. The method for adjusting the attitude of a coal mining machine according to claim 1, characterized in that, The fuselage attitude detection mechanism includes a load detection element, which is used to detect the load information of the coal mining machine. The control system is used to control the swing walking mechanism and the direction adjustment mechanism to move according to the detection signal of the load detection element. And / or, The fuselage attitude detection mechanism includes an inertial navigation system, which is used to detect the three-dimensional attitude of the coal mining machine. The control system is used to control the swing walking mechanism and the direction adjustment mechanism to move according to the detection signal of the inertial navigation system.

6. The method for adjusting the attitude of a coal mining machine according to claim 1, characterized in that, The swaying travel mechanism includes: The auxiliary traveling wheels are rotatably connected to the body of the coal mining machine and are used to contact the bottom surface of the roadway. A sway-type walking drive device is used to drive the auxiliary walking wheels to move; The direction adjustment mechanism is connected to the swaying walking drive device or the auxiliary walking wheel.

7. The method for adjusting the attitude of a coal mining machine according to claim 1, characterized in that, The direction adjustment mechanism is a telescopic drive component. The first end of the telescopic drive component is rotatably connected to the body of the coal mining machine, and the second end of the telescopic drive component is rotatably connected to the swing walking mechanism.

8. A coal mining machine, characterized in that, Perform the coal mining machine attitude adjustment method as described in any one of claims 1 to 7.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the coal mining machine attitude adjustment method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the coal mining machine attitude adjustment method as described in any one of claims 1 to 7.

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