Self-adaptive variable-section line distance type coal mining machine and cutting method thereof

Abstract

The invention discloses a self-adaptive variable-section line distance type coal mining machine and a cutting method thereof.The coal mining machine comprises a box body, a walking mechanism, a pitching mechanism, a longitudinal moving mechanism, a cantilever and a cutting mechanism, through traction of the longitudinal moving mechanism, the cantilever of the coal mining machine drives a roller cutting head to do longitudinal reciprocating cutting motion, the cutting range is widened, and the cutting efficiency is improved; meanwhile, by regulating and controlling the longitudinal moving speed of the cutting head, the line cutting distance of the coal mining machine can be obviously reduced, the problems that the cutting thickness is small and the cutting capacity is insufficient during coal rock cutting are solved, and the risk that each mechanism fails and is damaged is reduced; through arrangement of the sensors, coal rocks can be divided into three grades of normal hardness, high hardness and ultrahigh hardness according to load conditions, the cutting thickness and the line cutting distance can be reduced when the hardness is relatively high so as to improve the cutting capacity, the cutting thickness and the line cutting distance can be properly increased when the hardness is relatively low so as to improve the cutting speed, and the coal rock cutting device can adapt to relatively complex working conditions and is suitable for large-scale popularization and application. And high-quality and high-efficiency cutting is realized.

Description

Technical Field

[0001] The invention relates to the field of roadheader equipment, and in particular to an adaptive variable-cutting-distance coal mining machine and a cutting method thereof. Background Art

[0002] my country has abundant energy resource reserves, including a large amount of coal reserves, which account for a large proportion of the world's total, but the reserve-production ratio is lower than the global average. In order to cope with the dual pressures of energy resource reserves and consumption, my country is adjusting its industrial structure, promoting the coal industry to shift towards high-quality and sustainable development, and gradually improving the level of coal mining technology, production efficiency and safety.

[0003] With the advancement of science and technology and the rapid development of society, the intelligence level of coal mining machines is constantly improving, and the design and manufacturing are also constantly improving. Coal mining machines adopt a more compact and efficient design, which can work in a smaller space, improving coal mining efficiency; the use of materials is more durable and reliable, extending the service life and reducing maintenance costs. Although my country has made certain progress in coal mining machine technology, the reliability of key components in domestic coal mining machines is still low, and the equipment is prone to failure during operation, affecting the continuity and efficiency of coal mining operations. In the construction of hard rock excavation, the degree of wear of the cutter is large, and the reliability and work efficiency are reduced. For mining areas with complex geological conditions, the difficulty of coal and rock mining is relatively high, which limits the application and development of coal mining machines in my country under complex and harsh working conditions. Therefore, the design and function of coal mining machines need to be further developed and improved.

[0004] At present, the cutting ability of coal mining machines is poor when dealing with harder coal and rock. The picks are prone to wear and failure, and the amount of dust increases. Usually, the method of reducing the traction speed of the coal mining machine is used to restore the cutting ability of the picks. However, the reduction of the traction speed will lead to a decrease in the cutting thickness of the picks, which will lead to the coal and rock in the middle area of ​​the two adjacent sections in the working face being unable to be peeled off and falling off, which is prone to insufficient cutting. Additional measures need to be taken for auxiliary cutting, which reduces the efficiency of cutting and poses a greater safety hazard. Summary of the invention

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an adaptive variable-cutting-distance coal mining machine and a cutting method thereof, in which the driving unit inside the upper cantilever drives the cutting mechanism to rotate to cut coal and rock, and the longitudinal movement of the cutting mechanism is achieved through the longitudinal moving mechanism in the middle. The displacement and speed of the mechanism are controlled by a controller to achieve continuous and efficient operation of the coal mining machine.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An adaptive variable-cutting-distance coal mining machine comprises a box body, a traveling mechanism, a pitching mechanism, a cantilever, and a cutting mechanism;

[0008] The box body travels on the preset track through the traveling mechanism;

[0009] The box body controls the cantilever at both ends to adjust the height through the pitch mechanism;

[0010] The cutting mechanism is located at the end of the cantilever, at a fixed depth in the coal seam, and follows the movement of the box to cut the coal seam;

[0011] The cantilever comprises a lower cantilever, a longitudinal moving mechanism and an upper cantilever;

[0012] The lower cantilever is connected to the pitch mechanism, the upper cantilever is connected to the cutting mechanism, a longitudinal moving mechanism is provided between the lower cantilever and the upper cantilever, and the upper cantilever moves toward or away from the vertical surface of the coal seam on the lower cantilever through the longitudinal moving mechanism;

[0013] The longitudinal movement mechanism includes:

[0014] The slideway is connected to the pitch mechanism, is the carrier of the longitudinal movement mechanism, and is connected to the lower cantilever;

[0015] The slider cooperates with the slide slot, moves along the path of the slide slot, and is connected to the upper cantilever;

[0016] The cylinder unit is arranged inside the slideway and is used to drive the slide block to move toward or away from the vertical surface of the coal seam.

[0017] As a further preferred embodiment, the longitudinal movement mechanism further comprises:

[0018] A supporting connector is connected between the slider and the cylinder unit. The supporting connector is fixed to the bottom of the slider by bolt IV. The inner cylinder of the cylinder unit is fixedly connected to the side of the supporting connector.

[0019] The slide groove pad is arranged on the inner end surface where the slide groove contacts the inner tube of the oil cylinder and is fixed on the slide groove by bolt II;

[0020] The slide rail end covers are arranged on both sides of the slide groove to form a semi-closed environment inside the longitudinal moving mechanism.

[0021] As a further preferred solution, a displacement sensor is provided on the side of the outer barrel of the oil cylinder of the oil cylinder unit for detecting the position of the slider.

[0022] As a further preferred solution, the pitch mechanism includes:

[0023] A base is arranged at both ends of the box body and is used to connect the pitch components of the pitch mechanism;

[0024] The telescopic oil cylinder is arranged at the bottom of the base and is movably connected with the base through the pin shaft II;

[0025] The support frame has an upper portion connected to the lower cantilever and an upper and lower connecting ear at the lower portion. The upper connecting ear is connected to the base through a pin shaft I, and the lower connecting ear is movably connected to the telescopic cylinder through a pin shaft III.

[0026] As a further preferred solution, an angular displacement sensor is provided at the connection between the support frame and the base, for detecting the elevation angle of the cantilever unit to obtain the height of the cutting mechanism;

[0027] A displacement sensor is provided on the telescopic oil cylinder to detect the elevation angle of the cantilever unit to obtain the height of the cutting mechanism.

[0028] As a further preferred solution, a tension and pressure sensor is provided on the outer shell of the upper cantilever to detect the force load of each supporting and connecting unit.

[0029] A cutting method for an adaptive variable-cutting-distance coal mining machine comprises the following steps:

[0030] Step 1: The initial pitch angle of the front and rear cantilevers is recorded by the angular displacement sensor at the connection between the support frame and the base, and the position of the cutting mechanism is calculated. The angles of the front and rear cantilevers are adjusted by the pitch mechanism to change the cutting height of the drum, so that the front and rear cutting mechanisms can complete one-time cutting within the vertical working surface and have a larger cutting range; the longitudinal moving mechanism at the middle end of the cantilever is adjusted to make the cutting teeth of the cutting mechanism close to the coal and rock working surface;

[0031] Step 2: Start the drive unit to drive the internal gear set of the upper cantilever to rotate, and the end output shaft of the planetary reducer drives the cutting mechanism to rotate; when the drive unit is started, start the high-pressure water jet unit to use the high-pressure water jet to assist the cutting mechanism to work;

[0032] Step 3: Start the walking mechanism to make the coal mining machine move along the predetermined working path as a whole, and the cutting mechanism starts to cut coal and rock along the working surface; after cutting to the predetermined working thickness, the walking mechanism stops operating, and the longitudinal moving mechanism is started. The controller controls the cylinder unit to extend and retract, and the upper cantilever connected to the slider moves along the slide path, so that the cutting mechanism as a whole moves longitudinally; the displacement sensor installed on the cylinder unit is used to detect its displacement and indirectly obtain its moving speed, so as to obtain the working dynamics of the cutting mechanism and adjust the cylinder unit through the controller so that the cutting mechanism meets the predetermined working requirements;

[0033] Step 4: When the displacement sensor on the longitudinal moving mechanism detects that the cutting mechanism is at the limit position of the displacement range, the controller controls the oil cylinder unit to move in the reverse direction, so that the longitudinal moving mechanism moves in the reverse direction along the path, and the driving unit of the cutting mechanism continues to perform the cutting task according to the predetermined working state, thereby realizing the reciprocating cutting of coal and rock in the horizontal working surface;

[0034] Step 5: By monitoring the speed, average voltage, average current of the driving motor during the rotation period of the cutting mechanism and the traction speed of the walking mechanism, the load torque T and the thickness h of the cutting working surface during the cutting process of the coal mining machine are obtained, and the size of the load coefficient k is solved;

[0035]

[0036] Through the preset parameters and geometric relationships, the intercept distance Q of the moving cantilever state is obtained as:

[0037]

[0038] Taking its derivative we get:

[0039]

[0040] After analysis, it is concluded that the change of the shearer's cut-off distance Q can be achieved by adjusting the moving speed v of the longitudinal moving mechanism;

[0041] When the load coefficient k increases due to cutting high-hardness coal and rock, the forward speed of the walking mechanism is reduced through the controller adjustment to reduce the cutting thickness of the coal mining machine, and at the same time, the moving speed of the cylinder unit in the longitudinal moving mechanism is reduced to reduce the intercept distance of the cutting coal and rock to improve the cutting ability of the coal mining machine; when the load coefficient k increases significantly due to cutting ultra-high hardness coal and rock, the forward speed of the walking mechanism is greatly reduced through the controller to significantly reduce the cutting thickness of the coal mining machine, and at the same time, the moving speed of the cylinder unit in the longitudinal moving mechanism is greatly reduced to reduce the intercept distance of the cutting coal and rock to significantly improve the cutting ability of the coal mining machine; when the cutting of harder coal and rock is completed and the load coefficient k is reduced, the forward speed of the walking mechanism can be appropriately increased through the controller to increase the cutting thickness, and the moving speed of the longitudinal moving mechanism can be increased to increase the intercept distance, so as to restore the high-speed cutting of the coal mining machine and improve the cutting efficiency of the coal mining machine;

[0042] Step 6: When the cutting mechanism is again at the limit position of the displacement range, the longitudinal moving mechanism stops operating, and repeats the contents of steps 3, 4, and 5 to continue to complete the cutting task of the next working surface;

[0043] Step 7: Repeat steps 3 to 6 to achieve continuous and efficient cutting of the adaptive variable-cutting-distance coal mining machine.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. By adding a longitudinal moving mechanism in the middle of the cantilever unit, the degree of freedom in one direction is increased for the cutting mechanism, thereby improving the flexibility of the cutting process; in addition, by adjusting the longitudinal moving speed of the cutting mechanism, the number of cutting lines between adjacent cutting lines on the same spiral line is increased, which significantly reduces the cutting line distance on the coal and rock working surface, improves the efficiency of crushing and stripping hard coal and rock, avoids excessive wear of the cutting teeth, and reduces the risk of damage to the cutting teeth, tooth seats and other mechanisms.

[0046] 2. When the coal mining machine moves forward along the working path, since the cutting mechanism has longitudinal freedom, it can move back and forth along the working surface to cut, so that the coal mining machine has a larger cutting working surface at the same forward speed, increases the longitudinal cutting range within the same working surface, and improves the cutting efficiency of the coal mining machine.

[0047] 3. Through the angular displacement sensor on the pitch mechanism, the displacement sensor on the telescopic cylinder, the displacement sensor on the longitudinal movement mechanism, the tensile stress sensor on the upper cantilever and other devices, the controller can monitor the position, load and working condition of the cutting mechanism.

[0048] 4. Through the action of various sensors and longitudinal movement mechanisms, the controller of the coal mining machine can judge the hardness of coal rock according to the load conditions, and classify the hardness of coal rock into normal coal rock, high hardness coal rock, and ultra-high hardness coal rock. When the hardness of coal rock is high, the cutting thickness and intercept distance of the coal mining machine are reduced according to the grade to improve the cutting capacity; when the hardness of coal rock is low, the cutting thickness and intercept distance of the coal mining machine are appropriately increased to improve the cutting speed, thereby improving the adaptability of the coal mining machine to complex cutting conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 The figure is a general diagram of the adaptive variable-interceptor distance coal mining machine of the present invention;

[0050] Figure 2 It is an assembly diagram of the pitch mechanism in the present invention;

[0051] Figure 3 It is an assembly diagram of the cantilever unit and the cutting mechanism in the present invention;

[0052] Figure 4 It is an assembly diagram of the longitudinal moving mechanism in the present invention;

[0053] Figure 5 It is a cross-sectional view of the longitudinal moving mechanism in the present invention;

[0054] Figure 6 It is a schematic diagram of the cross section of the coal mining machine cutting three kinds of coal and rock before and after adding the longitudinal moving mechanism;

[0055] Figure 7 It is a flow chart of the cutting work of the coal mining machine in the present invention;

[0056] In the figure: 1 is a box body, 2 is a walking mechanism, 3 is a pitching mechanism, 4 is a lower cantilever, 5 is a longitudinal moving mechanism, 6 is an upper cantilever, 7 is a cutting mechanism, 8 is a box body connecting bolt, 9 is a box body connecting nut, 10 is a protective baffle, 11 is a protective supporting cylinder, 12 is a box body cover, 13 is a cover fastening bolt, 14 is a controller, 15 is a baffle, 16 is a pin shaft I, 17 is a coal mining machine section line of a fixed cantilever, 18 is a coal mining machine section line of a forward moving cantilever, 19 is a coal mining machine section line of a reverse moving cantilever, 3-1 is a base, 3-2 is a telescopic cylinder, 3-3 is an angular displacement sensor, 3-4 is a support frame, 3-5 is a pin shaft II, 3-6 is a displacement sensor, 3-7 is Pin shaft III, 4-1 is the driving motor, 4-2 is the transmission gear, 4-3 is the housing, 4-4 is the output shaft end cover, 4-5 is the tension and pressure sensor, 4-6 is the motor end cover, 4-7 is the rolling bearing, 5-1 is the slide groove, 5-2 is the slider, 5-3 is the cylinder unit, 5-4 is the supporting connector, 5-5 is the slide rail end cover, 5-6 is the slide groove pad, 5-7 is the displacement sensor, 5-8 is the bolt I, 5-9 is the bolt II, 5-10 is the bolt III, 5-11 is the bolt IV, 7-1 is the roller, 7-2 is the spiral blade, 7-3 is the pick, 5-3-1 is the outer cylinder, 5-3-2 is the inner cylinder, 7-3-1 is the pick I, 7-3-2 is the pick II. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0058] like Figures 1 to 6As shown, this embodiment is an adaptive variable cutter distance type coal mining machine, wherein the longitudinal moving mechanism is used to drive the upper section of the cantilever to move longitudinally. By adding the longitudinal moving mechanism in the middle of the cantilever unit, the degree of freedom in one direction is increased for the cutting mechanism, thereby improving the flexibility of the cutting process; in addition, by adjusting the longitudinal moving speed of the cutting mechanism, the number of cutters between adjacent cutters on the same spiral line is increased, the cutter distance on the coal rock working surface is significantly reduced, and the crushing efficiency of hard coal rock is improved. When the coal mining machine advances along the working path, it can move back and forth along the working surface to cut, so that the coal mining machine has a larger cutting working surface at the same forward speed, increases the longitudinal cutting range within the same working surface, and improves the cutting efficiency of the coal mining machine. Through the action of various sensors and the longitudinal moving mechanism, the controller can obtain the position and working condition of the cutting mechanism, judge the hardness of the coal rock according to the load condition, and classify the hardness level of the coal rock into normal coal rock, high hardness coal rock, and ultra-high hardness coal rock. When the hardness of the coal rock is high, the traction speed and cutting distance of the coal mining machine are reduced according to the grade to improve the cutting capacity; when the hardness of the coal rock is low, the traction speed and cutting distance of the coal mining machine are appropriately increased to improve the cutting speed. It has strong adaptability to complex cutting conditions, thereby realizing efficient and automated cutting of the coal mining machine.

[0059] The adaptive variable cutting line distance type coal mining machine comprises a box body 1, a walking mechanism 2, a pitching mechanism 3, a lower cantilever 4, a longitudinal moving mechanism 5, an upper cantilever 6, a cutting mechanism 7, a box body connecting bolt 8, a box body connecting nut 9, a protective baffle 10, a protective support cylinder 11, a box body cover plate 12, a cover plate fastening bolt 13, a controller 14, a baffle plate 15, and a pin shaft I 16;

[0060] Box 1, the main body of the coal mining machine;

[0061] A walking mechanism 2, arranged at the bottom of the box body, is used for moving the coal mining machine;

[0062] The pitch mechanism 3 is arranged at both ends of the box body and is used to pull the cantilever unit of the coal mining machine to swing up and down to adjust the cutting height;

[0063] A longitudinal movement mechanism 5 is provided at the middle end of the cantilever unit and is used to drive the upper section of the cantilever to move longitudinally;

[0064] The lower cantilever 4 is the lower part of the cantilever unit and is used to connect the pitch mechanism and the longitudinal movement mechanism;

[0065] The upper cantilever 6 is the upper part of the cantilever unit, and is arranged between the cutting mechanism and the longitudinal moving mechanism, and is used to provide the power for rotation and to pull the cutting mechanism to move longitudinally;

[0066] A cutting mechanism 7, arranged at the end of the upper cantilever, for cutting coal and rock;

[0067] Among them, the lower cantilever 4, the longitudinal moving mechanism 5, the upper cantilever 6, the cutting mechanism 7, etc. are all installed on the pitch mechanism 3, forming the cantilever cutting unit of the entire coal mining machine.

[0068] like Figure 2 As shown, the pitch mechanism includes: a base 3-1, a telescopic cylinder 3-2, an angular displacement sensor 3-3, a support frame 3-4, a pin II 3-5, a displacement sensor 3-6, and a pin III 3-7, wherein:

[0069] Base 3-1, arranged at both ends of the box unit, for connecting each pitch assembly;

[0070] The telescopic cylinder 3-2 is arranged at the bottom of the base 3-1, driving the support frame and its end connection components to move, and its two ends are respectively connected to the base 3-1 and the support frame 3-4, and a displacement sensor 3-6 is arranged on the side of the telescopic cylinder;

[0071] The support frame 3-4 cooperates with the base through connecting ears. The two upper connecting ears are connected to the base 3-1 through the pin shaft Ⅰ16. An angular displacement sensor 3-3 is provided on the connecting side to detect the elevation angle of the cantilever unit to obtain the height of the cutting mechanism. The bottom connecting ear is connected to the telescopic cylinder 3-2.

[0072] like Figure 3 As shown, the upper cantilever includes:

[0073] The driving motor 4-1 is arranged in the cylindrical cavity of the housing 4-3 and fixed in the cylindrical cavity of the housing to provide cutting power, and the motor end cover 4-6 for sealing is fixed by bolts;

[0074] The transmission gear 4-2 is arranged on the transmission path inside the upper cantilever and is installed on the transmission path of the cutting power through the rolling bearing 4-7;

[0075] A planetary reducer is arranged inside the drum 7-1 in the cutting mechanism and fixed on the housing of the upper cantilever, wherein the input shaft thereof is connected to the transmission system and the output shaft thereof is connected to the cutting mechanism;

[0076] High-pressure water jet unit, which uses high-pressure water jet to assist in cutting and crushing coal and rock;

[0077] The output shaft end cover 4-4 is fixed to the cantilever output end surface by bolts;

[0078] The tension and pressure sensor 4-5 is arranged on the housing 4-3 of the upper cantilever 6 and is used to detect the force load between the supporting connection units on the cantilever.

[0079] The cutting mechanism 7 comprises:

[0080] Drum 7-1, the main body of the cutting mechanism, is connected to the planetary reducer by bolts;

[0081] The spiral blade 7-2 is arranged on the side of the drum of the drum and is used to move the cut coal and rock out of the working surface;

[0082] The cutting tooth 7-3 is fixed on the spiral blade through the tooth seat and is responsible for completing the coal and rock cutting. Due to the addition of the longitudinal moving mechanism, the cutting tooth is preferably a short tooth to improve its load-bearing capacity during the cutting process.

[0083] like Figure 4 As shown, the longitudinal movement mechanism includes:

[0084] The slide 5-1 is connected to the pitch mechanism 3 and is the carrier of the longitudinal movement mechanism;

[0085] The slider 5-2 cooperates with the slide groove 5-1, can move along the path of the slide groove, and is connected to the upper cantilever 6;

[0086] The oil cylinder unit 5-3 is arranged inside the slide groove and is used to drive the slide block to move, and its two ends are respectively connected to the slide rail end cover 5-5 and the support connector 5-4;

[0087] The supporting connecting member 5-4 is fixed to the bottom of the slider by bolts IV5-11 and is respectively connected to the oil cylinder and the slider to drive the slider to move;

[0088] The displacement sensor 5-7 is arranged on the side of the cylinder unit to detect the position of the slider 5-2.

[0089] like Figure 5 As shown, the slide groove pad 5-5 is arranged on the outside of the connection surface between the slide groove and the slider, and is fixed to the slide groove 5-1 by bolts II5-9 to maintain the stability of the connection between the two;

[0090] The slide rail end cover 5-6 is arranged on the end surface of the slide groove, so that the interior of the longitudinal moving mechanism forms a semi-closed environment with good transmission characteristics;

[0091] The outer cylinder 5-3-1 is connected to the left end cover by bolts through the connection holes of the end plate, and a support plate is provided at the connection between the outer cylinder and the plate;

[0092] The inner tube 5-3-2 of the oil cylinder is connected to the supporting connector 5-4 through the connecting hole at the end by means of bolts Ⅰ5-8, and is provided with a supporting plate.

[0093] like Figure 6 As shown, the section line on the coal-rock working surface after the coal mining machine cuts is unfolded into a plane, wherein the section line of the coal mining machine without adding the longitudinal moving mechanism 5 is shown in state 17;

[0094] After adding the longitudinal moving mechanism 5 to the middle section of the cantilever of the coal mining machine, the cutting tooth 7-3 on the cutting mechanism 7 has a longitudinal moving speed, and the formed section has an offset angle; in the present invention, the number of spiral wire heads of the cutting mechanism 7 is 4, that is, the number of cutting teeth in the same section of the cutting mechanism is 4, when the cutting tooth I 7-3-1 on the drum completes the cutting work of 1 / 4 of the circumference, the cutting tooth II 7-3-2 at the next 1 / 4 circumference position in the same section of the drum will continue to cut from the plane where the cutting tooth I 7-3-1 is currently located, and the remaining cutting teeth in the section repeat the operation, thereby forming multiple groups of sections parallel to each other and with offset angles, and the section of the forward moving cantilever can be obtained as shown in state 18.

[0095] In order to further explain the working principle of the variable intercept distance technology in the present invention, it is necessary to illustrate it in combination with the function expression. The following defines some working parameters of the coal mining machine: the distance between adjacent fixed cantilever sections is S; the distance from the tooth tip of the cutting tooth 7-3 to the central axis of the cutting mechanism 7 is r; the cutting mechanism 7 rotates at a uniform speed, and its rotation speed is n; the longitudinal moving mechanism 5 moves at a uniform speed, and its moving speed is v; the angle between the moving cantilever state section and the fixed cantilever state section is θ; the length of the fixed cantilever section 18 is L; the distance between adjacent moving cantilever state sections is Q.

[0096] According to the rotation speed n of the cutting mechanism 7, the linear speed of the tooth tip of the cutting tooth 7-3 is obtained as:

[0097] N=2πrn

[0098] If the time taken to form a cut line on the coal-rock working face is t, according to Figure 6 The geometric relationship can be obtained:

[0099]

[0100] Then we can get:

[0101]

[0102] Since the coal mining machine drum advances in a single direction, the section line on the coal and rock cutting working surface is distributed along the semi-cylindrical surface, which occupies about half of the cylindrical surface where the end of the cutting tooth of the entire cutting mechanism 7 is located. Then the length L of the fixed cantilever section line is:

[0103]

[0104] Combining the above formula and geometric relationship, the intercept distance Q of the moving cantilever state is:

[0105]

[0106] According to the formula, the intercept distance Q in the mobile cantilever state is related to the parameters r, n, and v. In the analysis process, r and n can be regarded as fixed values ​​and both r and n are greater than zero. Then the intercept distance Q in the mobile cantilever state is only related to the moving speed v of the longitudinal moving mechanism 5. The following can be derived:

[0107]

[0108] Analyzing the above formula, we can conclude that If Q does not have any discontinuity, the intercept distance Q of the mobile cantilever state will increase with the increase of the moving speed v, that is, the intercept distance Q of the mobile cantilever state will change monotonically with the moving speed v. The change of the intercept distance of the coal mining machine can be achieved by adjusting the moving speed v of the longitudinal moving mechanism 5. Since the intercept distance S of the fixed cantilever is a fixed positive number, and when v=0, Q=0, the following conclusion can be drawn:

[0109] When v is small enough, there is always a certain longitudinal moving speed v, which makes the intercept distance Q of the moving cantilever state smaller than the intercept distance S of the fixed cantilever, thereby satisfying the requirement of reducing the intercept distance on the coal rock mass, improving the efficiency of coal and rock stripping and falling off in the middle area between two adjacent intercepts in the working face, improving the phenomenon of insufficient cutting, and enhancing the ability of the coal mining machine to cut hard coal and rock.

[0110] In addition, when the longitudinal moving mechanism 5 moves along the path to the boundary of the displacement interval, the cylinder unit 5-3 operates in the opposite direction, and the working states of other mechanisms remain unchanged, forming a cross-section shown in state 19, which intersects with the cross-section shown in state 18, further reducing the block area cut by the coal mining machine and enhancing the cutting capacity.

[0111] like Figure 7 As shown in the figure, the coal mining machine cuts the coal and rock working face according to the process in the figure, and the explanation of the load factor k is as follows:

[0112] First, according to the traction speed v q , cutting speed n, the cutting thickness h of the cutting mechanism 7 after one rotation is calculated to be:

[0113]

[0114] According to the average voltage U, average current I, working efficiency η and power factor q of the driving motor during the rotation period of the cutting mechanism 7, the average output power P is solved as follows:

[0115] P=U·I·η·q=UIηq

[0116] Then, the average output torque T of the cutting mechanism 7 during one rotation is obtained as follows:

[0117]

[0118] Combining the above variables, the load factor k can be set as:

[0119]

[0120] After a round of reciprocating cutting of the working face, when the monitored load coefficient k is less than the load coefficient a of normal coal and rock, the controller is used to adjust the travel mechanism and the cylinder unit to maintain a high forward speed and moving speed, increase the cutting thickness h of the coal mining machine, and maintain a large cutting line distance Q to perform high-speed cutting of the working face. The expanded plane diagram of the cutting line of the coal mining machine cutting normal coal and rock before and after adding the longitudinal moving mechanism is shown in the figure. Figure 6 (a); when the monitored load coefficient k is greater than the load coefficient a of normal coal rock and less than the load coefficient b of hard coal rock, the controller is adjusted to make the walking mechanism and the cylinder unit maintain a medium forward speed and moving speed respectively, reducing the cutting thickness h of the coal mining machine, and at the same time reducing the intercept distance Q of the cutting coal rock to improve the cutting ability of the coal mining machine. The interception plane diagram of the coal mining machine cutting high-hardness coal rock before and after adding the longitudinal moving mechanism is shown in Figure 6 (b) As shown; when the monitored load coefficient k is greater than the load coefficient b of hard coal rock, the controller is adjusted to make the walking mechanism and the cylinder unit maintain a low forward speed and moving speed respectively, which significantly reduces the cutting thickness h of the coal mining machine, and at the same time greatly reduces the intercept distance Q of the coal rock to further improve the cutting ability of the coal mining machine. The interception plane diagram of the coal mining machine cutting ultra-high hardness coal rock before and after adding the longitudinal moving mechanism is shown in Figure 6 (c) As shown. Then, according to the completion degree of the cutting task, it is determined whether to stop cutting or to cut the next working surface according to the predetermined working route.

[0121] The controller 14 controls the walking mechanism 2, the pitch mechanism 3, the longitudinal moving mechanism 5, the telescopic cylinder 3-2, the cylinder unit 5-3 and other mechanisms according to the angular displacement sensor 3-3 on the pitch mechanism, the displacement sensor 3-6 on the telescopic cylinder, the displacement sensor 5-7 on the longitudinal moving mechanism and the tensile stress sensor 4-5 on the cantilever housing to achieve efficient and automated cutting of the coal mining machine.

[0122] An adaptive variable-interceptor-distance coal mining machine and a cutting method thereof, based on the adaptive variable-interceptor-distance coal mining machine, comprising the following steps:

[0123] Step 1: Record the initial pitch angles of the front and rear cantilever units through the angular displacement sensor 3-3 at the bottom of the cantilever unit, measure the position of the cutting mechanism 7, calculate and optimize the appropriate cutting height, and adjust the angles of the front and rear cantilever through the pitch mechanism 3, so that the front and rear cutting mechanisms can complete one-time cutting within the vertical working surface and have a larger cutting range; adjust the longitudinal moving mechanism 5 at the middle end of the cantilever unit so that the cutting teeth of the cutting mechanism are close to the coal and rock working surface;

[0124] Step 2: Start the drive motor 4-1 to drive the internal transmission gear set 4-2 of the upper cantilever to rotate, and the end output shaft of the planetary reducer drives the cutting mechanism 7 to rotate; when the drive unit is started, the high-pressure water jet unit is started to use the high-pressure water jet to assist the cutting mechanism to work;

[0125] Step 3: Start the walking mechanism 2 to make the coal mining machine move along the predetermined working path as a whole, and the cutting mechanism 7 starts to cut the coal and rock along the working surface; after cutting to the predetermined working thickness, the walking mechanism 2 stops operating, and the longitudinal moving mechanism 5 is started, and the controller 14 controls the cylinder unit 5-3 to extend and retract, and the upper cantilever 6 connected to the slider 5-2 moves along the path of the slide 5-1, so that the cutting mechanism 7 moves longitudinally as a whole; the displacement sensor 5-7 installed on the cylinder unit is used to detect its displacement, and can indirectly obtain its moving speed, so as to obtain the working dynamics of the cutting mechanism 7 and adjust the cylinder unit through the controller 14 so that the cutting mechanism meets the predetermined working requirements;

[0126] Step 4: When the displacement sensor 5-7 on the longitudinal moving mechanism 5 detects that the cutting mechanism 7 is at the limit position of the displacement range, the controller 14 controls the cylinder unit 5-3 to move in the reverse direction, so that the longitudinal moving mechanism 5 moves in the reverse direction along the path, and the driving unit of the cutting mechanism 7 continues to perform the cutting task according to the predetermined work, thereby realizing the reciprocating cutting of the coal and rock in the horizontal working surface;

[0127] Step 5: Monitor the speed, average voltage U, average current I of the drive motor during the rotation cycle of the cutting mechanism and the traction speed v of the walking mechanism. q , the load torque and the thickness of the cutting working surface during the cutting process of the coal mining machine are obtained, thereby solving the size of the load coefficient k; when the load coefficient increases due to cutting high-hardness coal rock, the controller 14 is used to adjust and reduce the forward speed of the walking mechanism 2, reduce the cutting thickness h of the coal mining machine, and at the same time reduce the moving speed v of the cylinder unit 5-3 in the longitudinal moving mechanism 5, reduce the intercept distance Q of the cutting coal rock to improve the cutting ability of the coal mining machine; when the load coefficient increases significantly due to cutting ultra-high hardness coal rock, the controller 14 Greatly reduce the forward speed of the walking mechanism 2, significantly reduce the cutting thickness h of the coal mining machine, and at the same time greatly reduce the moving speed v of the cylinder unit 5-3 in the longitudinal moving mechanism 5, reduce the intercept distance Q of the cut coal rock to significantly improve the cutting ability of the coal mining machine; when the cutting of harder coal rock is completed and the load coefficient is reduced, the forward speed of the walking mechanism 2 can be appropriately increased to increase the cutting thickness h, and the moving speed v of the longitudinal moving mechanism 5 can be increased to increase the intercept distance Q, restore the high-speed cutting of the coal mining machine, and improve the cutting efficiency of the coal mining machine;

[0128] Step 6: When the cutting mechanism 7 is again at the limit position of the displacement range, the longitudinal moving mechanism 5 stops operating, and repeats the contents of steps 3, 4, and 5 to continue to complete the cutting task of the next working surface;

[0129] Step 7: Repeat steps 3 to 6 to achieve continuous and efficient cutting of the adaptive variable-cutting-distance coal mining machine.

[0130] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An adaptive variable-cutting-distance coal mining machine, comprising a housing (1), a traveling mechanism (2), a pitching mechanism (3), a cantilever, and a cutting mechanism (7); The box (1) travels on a preset track via a traveling mechanism (2); The box body (1) controls the cantilever arms at both ends to adjust the height through the pitch mechanism (3); The cutting mechanism (7) is located at the end of the cantilever, at a fixed depth in the coal seam, and moves with the box (1) to cut the coal seam; Features: The cantilever comprises a lower cantilever (4), a longitudinal moving mechanism (5), and an upper cantilever (6); The lower cantilever (4) is connected to the pitch mechanism (3), the upper cantilever (6) is connected to the cutting mechanism (7), a longitudinal moving mechanism (5) is provided between the lower cantilever (4) and the upper cantilever (6), and the upper cantilever (6) moves toward or away from the vertical surface of the coal seam on the lower cantilever (4) through the longitudinal moving mechanism (5); The longitudinal movement mechanism (5) comprises: The slide groove (5-1) is connected to the pitch mechanism (3), is a carrier of the longitudinal movement mechanism (5), and is connected to the lower cantilever (4); The slider (5-2) cooperates with the slide groove (5-1), moves along the path of the slide groove (5-1), and is connected to the upper cantilever (6); The oil cylinder unit (5-3) is arranged inside the slide groove (5-1) and is used to drive the slide block (5-2) to move toward or away from the vertical surface of the coal seam.

2. The adaptive variable-interceptor-distance coal mining machine according to claim 1, characterized in that: The longitudinal movement mechanism (5) further comprises: A support connecting member (5-4) is connected between the slider (5-2) and the cylinder unit (5-3); the support connecting member (5-4) is fixed to the bottom of the slider (5-2) by means of a bolt IV (5-11); and the cylinder inner tube (5-3-2) of the cylinder unit (5-3) is fixedly connected to the side of the support connecting member (5-4); A slide groove pad (5-5) is arranged on the inner end surface of the slide groove (5-1) in contact with the oil cylinder inner tube (5-3-2), and is fixed on the slide groove (5-1) by bolts II (5-9); The slide rail end covers (5-6) are arranged on both sides of the slide groove (5-1) so that the interior of the longitudinal moving mechanism (5) forms a semi-enclosed environment.

3. The adaptive variable-interceptor-distance coal mining machine according to claim 2, characterized in that: A displacement sensor (5-7) is provided on the side of the oil cylinder outer tube (5-3-2) of the oil cylinder unit (5-3) for detecting the position of the slider (5-2).

4. The adaptive variable-interceptor-distance coal mining machine according to claim 1, characterized in that: The pitch mechanism (3) comprises: A base (3-1) is arranged at both ends of the box (1) and is used to connect the pitch components of the pitch mechanism (3); The telescopic oil cylinder (3-2) is arranged at the bottom of the base (3-1) and is movably connected to the base (3-1) through a pin shaft II (3-5); The support frame (3-4) is connected to the lower cantilever (4) at the upper part and has upper and lower connecting ears at the lower part. The upper connecting ear is connected to the base (3-1) through a pin shaft I (16), and the lower connecting ear is movably connected to the telescopic cylinder (3-2) through a pin shaft III (3-7).

5. The adaptive variable-interceptor-distance coal mining machine according to claim 4, characterized in that: An angular displacement sensor (3-3) is provided at the connection between the support frame (3-4) and the base (3-1) for detecting the elevation angle of the cantilever unit to obtain the height of the cutting mechanism; The telescopic oil cylinder (3-2) is provided with a displacement sensor (3-6) for detecting the longitudinal position of the cutting mechanism.

6. The adaptive variable-interceptor-distance coal mining machine according to claim 1, characterized in that: A tension and pressure sensor (4-5) is provided on the outer shell (4-3) of the upper cantilever (4) for detecting the force load of each supporting connection unit.

7. A cutting method for an adaptive variable-cutting-distance coal mining machine according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: The initial pitch angle of the front and rear cantilevers is recorded by an angular displacement sensor (3-3) at the connection between the support frame (3-4) and the base (3-1), and the position of the cutting mechanism (7) is calculated. The angles of the front and rear cantilevers are adjusted by the pitch mechanism (3) to change the cutting height of the drum, so that the front and rear cutting mechanisms (7) can complete one-time cutting within the vertical working surface and have a larger cutting range; the longitudinal moving mechanism (5) at the middle end of the cantilever is adjusted to make the cutting teeth of the cutting mechanism (7) close to the coal and rock working surface; Step 2: Start the driving unit to drive the internal gear set of the upper cantilever (6) to rotate, and the end output shaft of the planetary reducer drives the cutting mechanism (7) to rotate; when the driving unit is started, the high-pressure water jet unit is started to use the high-pressure water jet to assist the cutting mechanism to work; Step 3: Start the walking mechanism (2) to make the coal mining machine move along the predetermined working path as a whole, and the cutting mechanism (7) starts to cut the coal and rock along the working surface; after cutting to the predetermined working thickness, the walking mechanism (2) stops operating, and the longitudinal moving mechanism (5) is started, and the controller (14) controls the cylinder unit to extend and retract, and the upper cantilever connected to the slider (5-2) moves along the slide path, so that the cutting mechanism as a whole moves longitudinally; the displacement sensor (3-6) installed on the cylinder unit is used to detect its displacement and indirectly obtain its moving speed, so as to obtain the working dynamics of the cutting mechanism and adjust the cylinder unit through the controller so that the cutting mechanism meets the predetermined working requirements; Step 4: When the displacement sensor (3-6) on the longitudinal moving mechanism (5) detects that the cutting mechanism (7) is located at the limit position of the displacement range, the controller (14) controls the oil cylinder unit to move in the reverse direction, so that the longitudinal moving mechanism (5) moves in the reverse direction along the path, and the driving unit of the cutting mechanism (7) continues to perform the cutting task according to the predetermined working state, thereby realizing the reciprocating cutting of coal and rock in the horizontal working surface; Step 5: By monitoring the speed, average voltage, average current of the driving motor during the rotation period of the cutting mechanism and the traction speed of the walking mechanism, the load torque T and the thickness h of the cutting working surface during the cutting process of the coal mining machine are obtained, and the size of the load coefficient k is solved; Through the preset parameters and geometric relationships, the intercept distance Q of the moving cantilever state is obtained as: Taking its derivative we get: After analysis, it is concluded that the change of the coal mining machine's cut-off distance Q can be achieved by adjusting the moving speed v of the longitudinal moving mechanism; When the load coefficient k increases due to cutting high-hardness coal and rock, the forward speed of the walking mechanism is reduced through the controller adjustment to reduce the cutting thickness of the coal mining machine, and at the same time, the moving speed of the cylinder unit in the longitudinal moving mechanism is reduced to reduce the intercept distance of the cutting coal and rock to improve the cutting ability of the coal mining machine; when the load coefficient k increases significantly due to cutting ultra-high hardness coal and rock, the forward speed of the walking mechanism is greatly reduced through the controller to significantly reduce the cutting thickness of the coal mining machine, and at the same time, the moving speed of the cylinder unit in the longitudinal moving mechanism is greatly reduced to reduce the intercept distance of the cutting coal and rock to significantly improve the cutting ability of the coal mining machine; when the cutting of harder coal and rock is completed and the load coefficient k is reduced, the forward speed of the walking mechanism can be appropriately increased through the controller to increase the cutting thickness, and the moving speed of the longitudinal moving mechanism can be increased to increase the intercept distance, so as to restore the high-speed cutting of the coal mining machine and improve the cutting efficiency of the coal mining machine; Step 6: When the cutting mechanism is again at the limit position of the displacement range, the longitudinal moving mechanism stops operating, and repeats the contents of steps 3, 4, and 5 to continue to complete the cutting task of the next working surface; Step 7: Repeat steps 3 to 6 to achieve continuous and efficient cutting of the adaptive variable-cutting-distance coal mining machine.

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