Cutting roller suitable for complex coal rock structure and control system and use method thereof

Abstract

The invention provides a cutting roller adapting to a complex coal rock structure and a control system and a using method thereof, the cutting roller is mainly applied to a roller of a coal mining machine and a roller of a bolter miner, a spiral blade is welded to a roller hub, a cutting tooth seat is welded to the spiral blade, and long cutting teeth and short cutting teeth are alternately installed on the cutting tooth seat at intervals. The roller has transverse movement and rotary movement during working, and the long cutting teeth are driven to rotate to cut coal rocks ahead of the short cutting teeth. The first method is that the long cutting teeth and the short cutting teeth are alternately arranged, the long cutting teeth are evenly arranged at certain intervals, and the short cutting teeth are installed among the long cutting teeth; and secondly, the long and short cutting tooth helical blades are alternately arranged, and the short cutting teeth are arranged on the newly added blades and are staggered with the long cutting teeth by adjusting the number of the helical blades. Cutting parameters are automatically adjusted by monitoring roller stress information and coal rock structure information in real time, different cutting line distances are adjusted through the synergistic effect of the short cutting teeth, abrasion of the cutting teeth is reduced, and the cutting efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of coal mining equipment, and in particular to a cutting drum adaptable to complex coal and rock structures, a control system and a use method thereof. Background Art

[0002] In the process of coal mining, the performance and efficiency of the shearer drum, as one of the core equipment, directly affects the mining efficiency and cost of coal resources. Traditional shearer drums generally use fixed length and arrangement of picks to cut coal seams or rock strata. This design has many limitations when facing complex and changeable coal and rock conditions.

[0003] First, the uneven hardness of coal and rock poses a great challenge to coal mining operations. In coal seams, the hardness of coal and rock may vary significantly due to factors such as geological structure and sedimentary environment. When facing high-hardness coal and rock, the traditional coal mining machine drum will suffer from severe wear of the pick teeth, low cutting efficiency, and may even cause the pick teeth to break, affecting the continuity and safety of coal mining operations. In low-hardness coal and rock, although the cutting efficiency is relatively high, excessive cutting force will also accelerate the wear of the pick teeth and shorten their service life.

[0004] Secondly, the pick arrangement of the traditional coal mining machine drum is relatively fixed and lacks adaptability to different coal and rock hardness. During the cutting process, the stress state and wear of the pick are closely related to the hardness of the coal and rock. However, the pick arrangement and cutting strategy of the traditional coal mining machine drum are often based on empirical design, which makes it difficult to achieve intelligent adaptation and efficient cutting to different coal and rock hardness.

[0005] Moreover, at the same cutting thickness, if the intercept distance is too small, the rock blocks that collapse between the two cutting grooves are too crushed, mainly finer fragments and fine-grained rock debris, and the amount of dust generated during the cutting process is large, indicating that it is in an over-cutting state at this time, and the cutting conditions are very poor. Although the cutting force is small, the cutting specific energy consumption is large. If the intercept distance is too large, the cutting grooves do not affect each other and there are obvious rock ridges. The cracks generated between the two cuttings cannot penetrate each other, and the rocks between the cutting grooves cannot form effective collapse, indicating that it is in an under-cutting state at this time, and the cutting specific energy consumption is also large. Therefore, the effect of the intercept distance on the specific energy consumption is closely related to the cutting thickness. The minimum specific energy consumption under different combinations is the result of the combined effect of the intercept distance and the cutting thickness. Although there is an ideal formula and corresponding distance setting between the intercept distance and the cutting thickness, the conditions based on this formula will change under complex working conditions, resulting in difficulty in achieving ideal results in cutting complex coal and rock.

[0006] Therefore, in order to solve the above problems, the present invention proposes a cutting drum that is adaptable to complex coal and rock structures, and a control system and a use method thereof. Summary of the invention

[0007] The exemplary embodiments of the present application provide a cutting drum that is adaptable to complex coal and rock structures, as well as a control system and a method of use thereof, so as to at least have the technical effect of optimizing the design and layout of short picks, combining the flexible configuration of long and short picks and intelligent cutting strategies, achieving intelligent adaptation to different coal and rock hardnesses and efficient cutting, improving coal mining efficiency, and reducing pick loss and energy consumption.

[0008] Each exemplary embodiment of the present application provides a cutting drum adapted to complex coal and rock structures, including a drum, a spiral blade, a short pick, a long pick, a pick seat, a pressure sensor, a geological detection radar, and a control system;

[0009] The spiral blade is connected to the barrel hub, the pick seat is connected to the spiral blade, the long pick and the short pick are installed on the pick seat in an interval and staggered arrangement, the ends of the long pick and the short pick are limited by buckles, the drum has lateral movement and rotational motion when working, driving the long pick to rotate ahead of the short pick to cut coal and rock, the pressure sensor is installed on the cutting arm, and the geological detection radar is installed on the outside of the cutting arm shell where the drum is located.

[0010] Preferably, the roller is a roller with long and short picks arranged alternately, on which the long picks are arranged alternately, the long picks are evenly arranged at the same interval, the intercept distance between the long picks is t, and the short picks are installed between the long picks to form a layout with long and short picks arranged alternately, the intercept distance between the short picks is t, and the intercept distance between the short picks and the long picks is t / 2.

[0011] Preferably, the roller is a roller with long and short pick teeth alternatingly arranged spiral blades. On the roller with long and short pick teeth alternatingly arranged spiral blades, the number of spiral blades of the roller is adjusted, the original spiral blades have no short pick teeth, and only the short pick teeth are installed on the newly added spiral blades and arranged in an alternating manner with the long pick teeth. The long pick teeth are evenly arranged at the same interval, and the intercept distance between the long pick teeth is t. The short pick teeth are installed between the long pick teeth to form a layout with long and short pick teeth alternatingly arranged. The intercept distance between the short pick teeth is t, and the intercept distance between the short pick teeth and the long pick teeth is t / 2.

[0012] Preferably, the long pick (4) rotates ahead of the short pick (3) to cut coal rock. When cutting low-hardness coal rock, the roller cutting thickness h1 matches the cutting line distance t of the long pick (4). The long pick (4) completely cuts off the coal rock, and the short pick (3) does not cut the coal rock. The short pick (3) lags behind the long pick (4) in rotating and cutting coal rock. When cutting high-hardness coal rock, the roller cutting thickness h2 matches the mixed cutting line distance t / 2 of the long pick (4) and the short pick (3), and the long pick (4) and the short pick (3) jointly cut the hard coal rock.

[0013] As a preferred embodiment, according to the optimal matching relationship between the intercept distance and the cutting thickness, the ratio of the short pick length m to the long pick length n is 0.81nt / 4 <m<1.23n-t / 10<n。

[0014] Preferably, the cutting drum adapted to complex coal and rock structures is applied to the drums of coal mining machines and anchor digging machines.

[0015] According to another aspect of the present application, a control system is also disclosed, including an acquisition unit configured to acquire the force information of the drum and the coal and rock structure information of the cutting surface in real time;

[0016] A planning unit, configured to determine cutting parameter information according to the force information and the coal rock structure information of the cutting surface;

[0017] The control unit is configured to perform cutting according to cutting parameter information.

[0018] Preferably, the acquisition unit further comprises: a pressure sensor and a geological detection radar,

[0019] The pressure sensor is used to monitor the force changes of the roller in real time;

[0020] The geological detection radar is used to collect coal and rock structure information of the cutting surface in real time.

[0021] Preferably, the planning unit determines whether the hardness of the rock in the current cutting trajectory is about to change based on the coal and rock structure information; if so, pre-regulates the speed of the coal mining machine's motor based on the information; determines whether the hardness of the rock in the current cutting trajectory actually changes based on the force information; if so, adjusts the cutting parameter information to allow the coal mining machine's motor to maintain a constant power output.

[0022] Preferably, the planning unit determines whether the force on the roller during the cutting process is higher than the pressure threshold based on the force information; if so, the hardness of the rock increases during the cutting process, the cutting speed of the coal mining machine is reduced, the short picks participate in the cutting, and the cutting line distance is reduced; otherwise, the original cutting speed is kept unchanged.

[0023] According to another aspect of the present application, a cutting method is also disclosed, comprising the following steps:

[0024] a) Preprocessing stage, setting the parameter threshold of the control system (8), using the geological detection radar (7) to pre-detect the coal and rock structure information of the working surface, including but not limited to the distribution of coal and rock layers, hardness changes and potential coal and rock faults;

[0025] b) During the cutting stage, the coal mining machine is started. When the detection result shows that the machine is about to enter a low-hardness coal rock area, the control system (8) starts the pre-acceleration program. The contact force between the drum (1) and the coal rock is monitored in real time. When the data received by the control system (8) from the pressure sensor (6) is less than the designed threshold value, the machine determines that the coal rock is of low hardness. At this time, the drum (1) is subject to little resistance, and the control system (8) will control the drum of the coal mining machine to enter a high-speed cutting state.

[0026] On the contrary, when the detection result shows that the machine is about to enter a high-hardness coal rock area, the control system (8) starts the pre-deceleration program to gradually reduce the rotation speed of the drum. When the data received by the pressure sensor (6) from the control system (8) is greater than the designed threshold value, it is determined to be high-hardness coal rock. At this time, the drum (1) is subject to great resistance, and the control system (8) controls the coal mining machine drum to enter a low-speed cutting state.

[0027] c) During the maintenance phase, regularly check the wear of the long and short cutting teeth to maintain cutting efficiency.

[0028] This application has the following beneficial effects:

[0029] 1. Intelligent adaptability and efficient cutting: The present invention achieves intelligent adaptation to different coal seam conditions by introducing an optimized short pick design and layout, combined with the flexible configuration of long and short picks. In low-hardness coal and rock areas, long picks are mainly used for initial crushing, and short picks are used as backup or auxiliary support to reduce unnecessary wear; in high-hardness coal and rock areas, long and short picks work together to effectively reduce the wear and resistance of the long picks and improve cutting efficiency. This intelligent and adaptive design enables the coal mining machine to maintain efficient cutting operations under different coal seam conditions.

[0030] 2. Comprehensive coal-rock information and real-time force feedback: The control system of the present invention integrates an acquisition unit, a planning unit and a control unit, and can obtain the force information of the coal mining machine drum and the coal-rock structure information of the cutting surface in real time. This method of comprehensive coal-rock information and real-time force feedback enables the control system to more accurately evaluate the hardness of coal and rock, and further adjust the cutting parameters accordingly to ensure the stability and safety of the cutting process. In addition, the control system can also comprehensively adjust the cutting strategy according to the distribution and thickness of the coal seam to achieve more efficient cutting and more uniform coal seam crushing.

[0031] 3. Pre-speed regulation and constant power output: The planning unit of the present invention can predict the change of rock hardness according to the coal rock structure information, and pre-regulate the speed of the motor of the coal mining machine. When the actual force information confirms the change of rock hardness, the control system can adjust the cutting parameters so that the motor of the coal mining machine maintains a constant power output. This design of pre-speed regulation and constant power output not only improves the cutting efficiency, but also reduces the risk of equipment damage caused by high load impact.

[0032] 4. Dynamic adjustment of cutting strategy: During the cutting stage, the control system of the present invention can dynamically adjust the cutting strategy according to the real-time force information. When the drum force exceeds the set threshold, the control system will automatically reduce the cutting speed and the cutting line distance, and the short pick will participate in the cutting to cope with the increased hardness of the coal and rock. This dynamic adjustment strategy not only improves the stability and safety of the cutting process, but also further reduces the wear and energy consumption of the pick. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0034] Figure 1 This is a front view of the drum of the present invention;

[0035] Figure 2 This is a schematic diagram of the cutting principle of the present invention under low hardness coal rock;

[0036] Figure 3 This is a schematic diagram of the cutting principle of the present invention under high hardness coal rock;

[0037] Figure 4 It is a cylindrical development diagram of a drum with long and short picks arranged alternately according to the present invention;

[0038] Figure 5 It is a cylindrical development diagram of a drum with alternately arranged long and short pick-tooth spiral blades according to the present invention;

[0039] Figure 6 It is a flow chart of the cutting strategy of the present invention;

[0040] Figure 7 It is a flow chart of the control system of the present invention.

[0041] Among them, 1-drum, 2-spiral blade, 3-short pick, 4-long pick, 5-pick seat, 6-pressure sensor, 7-geological detection radar, 8-control system, a-drum with long and short picks arranged alternately, b-drum with long and short pick spiral blades arranged alternately. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the preferred embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] like Figure 1As shown, the cutting drum adapted to the complex coal and rock structure comprises: a drum 1, a spiral blade 2, a short pick 3, a long pick 4, a pick seat 5, a pressure sensor 6, a geological detection radar 7, and a control system 8.

[0044] The spiral blade 2 is welded on the drum hub, the pick seat 5 is welded on the spiral blade, the long pick 4 and the short pick 3 are regularly installed on the pick seat 5, the ends of the long pick 4 and the short pick 3 are limited by buckles, and the drum 1 has lateral movement and rotation when working, driving the long pick 4 to rotate ahead of the short pick 3 to cut coal and rock. The pressure sensor 6 is installed on the cutting arm, and the advanced detection radar 7 is installed on the outside of the cutting arm shell where the drum 1 is located.

[0045] like Figure 2 As shown, the long pick 4 rotates ahead of the short pick 3 to cut the coal rock. When cutting low-hardness coal rock, when the drum cutting thickness h1 matches the cutting line distance t of the long pick 4, the long pick 4 completely cuts off the coal rock, and the short pick 3 does not cut the coal rock.

[0046] like Figure 3 As shown, the short pick 3 lags behind the long pick 4 in rotating and cutting the coal rock. When cutting high-hardness coal rock, the drum cutting thickness h2 matches the mixed cutting line distance t / 2 of the long pick 4 and the short pick 3, and the long pick 4 and the short pick 3 jointly cut the hard coal rock.

[0047] like Figure 4 The long and short picks are arranged alternately in the drum (a). On the conventional spiral drum, the long picks are evenly arranged at a certain interval, and the intercept distance between the long picks is t. On the long and short picks are arranged alternately in the drum, the short picks are installed between the long picks, forming a layout of long and short picks arranged alternately, the intercept distance between the short picks is t, and the intercept distance between the long and short picks is t / 2.

[0048] like Figure 5 The long and short pick spiral blades are arranged alternately in the drum (b). On the conventional spiral drum, the long picks are evenly arranged at a certain spacing, the intercept distance between the long picks is t, and each blade is evenly arranged and the wrap angle is α. The number of spiral blades of the drum is adjusted. The original blades have no short picks. Only short picks are installed on the newly added spiral blades and arranged in an alternating manner with the long picks. The intercept distance between the short picks is t, and the intercept distance between the long and short picks is t / 2. Each blade is evenly arranged and the wrap angle is β.

[0049] The extended length of the pick on the tooth seat must meet the cutting conditions to prevent the tooth seat from contacting the coal body and causing tooth seat wear and coal squeezing, thereby increasing the cutting resistance. Therefore, the radial extended length of the pick, lp, should be greater than the maximum coal cutting thickness hmax when cutting coal, that is: lp = khmax

[0050] It is possible to take l1 = kh1, l2 = k`h2

[0051] k and k` are reserve coefficients, and for radial picks, k = k` = 1.3 - 1.6.

[0052] The ratio of the cutting line spacing t to the cutting thickness h (t / h) is a commonly used parameter in the design of the working mechanism of rock-breaking machinery and is closely related to the properties of the rock. Bilgin et al. found that there is an optimal value for s / h that minimizes the energy consumed per unit volume of rock broken, and this ratio ranges from 2 to 5 and is related to the properties of the rock, i.e., 2 < t / h < 5. From this, it can be obtained that: 2 < t / h1 < 5;

[0053] Assume h2 = h1 - Δh, then 2 < (t / 2) / (h1 - Δh) < 5;

[0054] Splitting and solving the formula gives h1 < t / 5, h1 - Δh < t / 10, h1 > t / 2, h1 - Δh > t / 4

[0055] It can be obtained that: t / 10 < Δh < t / 4

[0056] That is: h1 - t / 4 < h2 < h1 - t / 10

[0057] Substituting l1 = kh1 and l2 = k`h2 and taking the limit value gives:

[0058] 0.81l1 - t / 4 < l2 < 1.23l1 - t / 10 < l1

[0059] According to the radial length, the proportional relationship between long and short picks is determined as: 0.81n - t / 4 < m < 1.23n - t / 10 < n

[0060] The control system 8 is located inside the machine body and is used to receive the data from the pressure sensor 6 and the detection equipment, and control the rotational speed of the motor and the cutting strategy according to the data changes. The control system 8 includes parts such as S1. Acquisition unit, S2. Planning unit, and S3. Control unit, and is used to automatically adjust the cutting strategy according to the change of the coal seam resistance. The flow chart of the cutting strategy adjustment is as Figure 6 shown and includes:

[0061] 1. Startup and data acquisition

[0062] After starting the machine, the control system 8 begins to collect the real-time monitoring data of the pressure sensor 6 and the geological detection radar 7. The data includes information such as the force on the drum 1 during cutting and the coal-rock structure in front of the cutting face, and sets a pressure threshold according to the actual hardness of the coal-rock for the force generated by the drum.

[0063] 2. Cutting strategy for low-hardness coal and rock

[0064] Start the coal mining machine, and when the detection results show that it is about to enter the low-hardness coal and rock area, the control system 8 will start the pre-acceleration program. By controlling the motor, the drum is moderately accelerated in advance to optimize the cutting efficiency. During this process, it is necessary to monitor the contact force between the drum 1 and the coal and rock in real time. When the data received by the control system 8 from the pressure sensor 6 is less than the designed threshold, it is determined to be low-hardness coal and rock. At this time, the drum 1 is subject to less resistance, and the control system 5 will control the coal mining machine drum to enter a high-speed cutting state to ensure efficient and stable cutting operations in the low-hardness coal and rock area. Under low-hardness coal and rock, the cutting teeth involved in cutting are mainly long cutting teeth 4, and the short cutting teeth 3 do not participate or are only used as auxiliary supports. At this time, if Figure 2 As shown, the intercept distance t is the distance between two long picks 2.

[0065] 3. High-hardness coal and rock cutting strategy

[0066] When the detection results show that it is about to enter a high-hardness coal rock area, the control system 8 starts the pre-deceleration program. By gradually reducing the rotation speed of the drum, it provides the necessary buffer for the upcoming hard rock cutting and reduces the risk of equipment damage caused by sudden high-load impact. When the data received by the control system 8 from the pressure sensor 6 is greater than the designed threshold, it is determined to be high-hardness coal rock. At this time, the drum 1 is subject to greater resistance, and the control system 8 will control the drum to enter a low-speed cutting state to reduce tooth wear and energy consumption. At the same time, the short pick 3 cooperates in the cutting to reduce the burden on the long pick 4 and improve the cutting capacity. At this time, if Figure 3 As shown, the intercept distance is reduced to half t (i.e., the distance when long and short picks are arranged alternately), and the short pick 3 can participate in the cutting process more effectively, avoiding incomplete cutting due to excessive intercept distance when encountering hard rock, and maintaining the stability and safety of the cutting process.

[0067] like Figure 7 As shown, the control system 8 also includes:

[0068] S1. Acquisition unit: configured to acquire the force information of the drum and the coal rock structure information of the cutting surface in real time;

[0069] S2. Planning unit: configured to determine cutting parameter information according to the force information and the coal rock structure information of the cutting surface;

[0070] S3. Control unit: configured to perform cutting according to cutting parameter information.

[0071] According to the above scheme, during the cutting process, the control end can obtain the coal rock structure information of the front cutting surface in real time, and determine the cutting parameter information of the coal mining machine according to the coal rock structure information of the cutting surface. In the above process, the control end can adjust the operation information in time to avoid the occurrence of mechanical failures, which is conducive to improving work efficiency.

[0072] Specifically, the S1. acquisition unit further includes a pressure sensor 6 and a geological detection radar 7;

[0073] The pressure sensor 6 is used to monitor the force changes of the roller in real time;

[0074] The geological detection radar 7 is used to collect coal and rock structure information of the cutting surface in real time.

[0075] In specific applications, the arrangement position and number of the pressure sensor 6 can be adjusted according to factors such as the length of the drum 1, the cutting depth, and the hardness of the coal and rock to ensure the accuracy and reliability of data acquisition. The pressure sensor 6 converts the pressure signal of the pick into an electrical signal and transmits it to the control system 8 by arranging strain gauges on the pick. Optionally, the pressure sensor 6 can also use a torque sensor to detect the force changes of the drum in real time. The geological detection radar 7 extracts the components of the multidimensional space by transmitting and receiving electromagnetic pulse signals, establishes different electromagnetic characteristic matrices, and obtains the required detection results through the matrix algorithm. Specifically, the obtained electromagnetic features are mapped to points in the multidimensional space (non-Euclidean space), and the components of the multidimensional space are defined as the position of the emission polarization in the spherical ball, the position of the echo polarization in the spherical ball, the equivalent radar cross section after the mixture of coal and (various) rocks, the propagation speed of electromagnetic waves in the coal-rock mixture, the dielectric constant of the coal-rock mixture at the same frequency, and the singular value frequency of the dielectric constant of the coal and rock. Among them, the singular value refers to the abnormal or unconventional value of the dielectric constant under certain specific conditions. The singular value frequency of the dielectric constant of coal and rock refers to the frequency where the singular value of the dielectric constant of coal and rock is located. Generally speaking, the singular value frequency of the dielectric constant of coal and rock is between 300 and 1200 Hz.

[0076] Optionally, the detection of coal and rock can also be carried out by using equipment such as seismometers and gas detectors, or by using methods such as continuous advance detection during excavation and identification and imaging of abnormal bodies.

[0077] Specifically, the S2. planning unit is specifically configured as follows:

[0078] According to the coal rock structure information, it is determined whether the hardness of the rock in the current cutting trajectory is about to change; if so, the motor of the coal mining machine is pre-adjusted according to the information.

[0079] Alternatively, whether the hardness of the rock is about to change can be determined based on the difference in energy of the received electromagnetic pulse signal. Specifically, when electromagnetic waves encounter different medium targets during propagation, the reflected electromagnetic energy is different. Therefore, whether the hardness of the rock ahead is about to change can be determined based on the magnitude of the reflected electromagnetic energy.

[0080] Determine whether the hardness of the rock in the current cutting trajectory actually changes according to the force information; if so, adjust the cutting parameter information so that the motor of the coal mining machine maintains a constant power output.

[0081] Specifically, the S2. planning unit is specifically configured as follows:

[0082] According to the force information, it is determined whether the force on the roller during the cutting process is higher than the pressure threshold; if so, the hardness of the rock increases during the cutting process, the cutting speed of the coal mining machine is reduced, the short pick teeth participate in the cutting, and the cutting line distance is reduced; otherwise, the original cutting speed is maintained unchanged.

[0083] In practical applications, the cutting speed of the coal mining machine is related to the load of the motor. When the drum 1 of the coal mining machine encounters a rock or coal seam with a hardness greater than that of coal, the load of the motor will increase, which will cause the current to rise. If the motor runs under high load for a long time, it may cause overheating or other damage. In order to prevent this, the current value of the motor is monitored, and once it is detected that the current value is close to the preset maximum allowable current (i.e., the rated current of the motor), the controller automatically reduces the cutting speed, thereby reducing the load of the motor and returning its current value to a safe range. On the contrary, when the drum 1 encounters a rock or coal seam with a hardness less than that of coal, the load of the motor is reduced and the current drops. At this time, the controller can appropriately increase the cutting speed to make full use of the power of the motor and improve work efficiency, while keeping the motor working under a constant power output state. In this way, the constant power cutting control system can dynamically adjust the cutting speed to ensure that the motor operates in the best state, which not only ensures production efficiency but also protects the safety of the equipment.

[0084] In this embodiment, S3. the control unit controls the coal mining machine to perform cutting in real time and adaptively.

[0085] In specific applications, the key to adaptive control is the intelligent control technology of hydraulic valves. With the support of high-precision displacement, flow, pressure and temperature sensors, the flow delay control strategy is studied through the design of time-delay observer TDO, time-delay filter TDF and time-delay learning controller TDL to ensure the accuracy and stability of hydraulic valve flow control. Through the fuzzy PID collaborative control strategy, the compound control of pressure flow, the compound control of speed pressure, the compound control of multiple actuators, etc. are studied to solve the problem of collaborative work of multiple parameters or multiple components of the hydraulic system. Through load prediction models, load dynamic identification and adaptive control algorithms, the research on adaptive control technology of hydraulic valve systems for cutting objects is completed, and finally the adaptive cutting control of coal rock identification or cutting rock hardness identification is realized.

[0086] A cutting drum and cutting method adapted to complex coal-rock structures, comprising the following steps:

[0087] a) Preprocessing stage: setting the parameter threshold of the control system 8, and using the geological detection radar 7 to pre-detect the coal and rock structure information of the working surface, including but not limited to the distribution of coal and rock layers, hardness changes, and potential coal and rock faults.

[0088] b) Cutting stage: When the detection results show that the low-hardness coal and rock area is about to be entered, the control system 8 will start the pre-acceleration program. The motor is controlled to moderately accelerate the drum in advance to optimize the cutting efficiency. During this process, the contact force between the drum 1 and the coal and rock needs to be monitored in real time. When the data received by the control system 8 from the pressure sensor 6 is less than the designed threshold, it is determined to be low-hardness coal and rock. At this time, the drum 1 is subject to less resistance, and the control system 8 will control the coal mining machine drum to enter a high-speed cutting state to ensure efficient and stable cutting operations in the low-hardness coal and rock area.

[0089] On the contrary, when the detection results show that the high-hardness coal rock area is about to be entered, the control system 8 starts the pre-deceleration program. By gradually reducing the rotation speed of the drum, the necessary buffer is provided for the hard rock cutting that is about to be encountered, reducing the risk of equipment damage caused by high-load impact. When the data received by the control system 8 from the pressure sensor 6 is greater than the designed threshold, it is determined to be high-hardness coal rock. At this time, the drum 1 is subject to greater resistance, and the control system 8 will control the coal mining machine drum to enter a low-speed cutting state to reduce the wear of the pick teeth and the energy consumption during cutting.

[0090] c) Maintenance stage: Regularly check the wear of long and short cutting teeth to maintain cutting efficiency.

[0091] Specifically, the cutting drum adapted to complex coal and rock structures, the efficient cutting drum and the use method can be applied to the drums of coal mining machines and bolting machines.

[0092] The above is only a preferred embodiment of the present application. It should be noted that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present application, and these improvements and modifications should also be regarded as the scope of protection of the present application.

[0093] Although the preferred embodiments of the present application have been described, those skilled in the art, once knowing the basic creative concept, can make other changes and modifications according to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cutting drum adapted to complex coal and rock structures, characterized in that: It comprises a roller (1), a spiral blade (2), a short pick (3), a long pick (4), a pick seat (5), a pressure sensor (6), a geological detection radar (7), and a control system (8); The spiral blade (2) is connected to the cylinder hub, the pick seat (3) is connected to the spiral blade, the long pick (4) and the short pick (5) are installed on the pick seat (3) in an interlaced arrangement, the ends of the long pick (4) and the short pick (5) are limited by buckles, the drum (1) has lateral movement and rotational movement when working, driving the long pick (4) to rotate ahead of the short pick (5) to cut coal and rock, the pressure sensor (6) is installed on the cutting arm, and the geological detection radar (7) is installed on the outside of the cutting arm shell where the drum (1) is located.

2. A cutting drum adapted to complex coal and rock structures according to claim 1, characterized in that: The roller (1) is a roller with long and short picks arranged alternately. On the roller with long and short picks arranged alternately, the long picks (4) are evenly arranged at the same interval, the tangent distance between the long picks (4) is t, the short picks (5) are installed between the long picks (4), forming a layout with long and short picks arranged alternately, the tangent distance between the short picks (5) is t, and the tangent distance between the short picks (5) and the long picks (4) is t / 2.

3. A cutting drum adapted to complex coal and rock structures according to claim 1, characterized in that: The roller (1) is a roller with long and short pick-tooth spiral blades arranged alternately. On the roller with long and short pick-tooth spiral blades arranged alternately, the number of spiral blades of the roller (1) is adjusted, the original spiral blades have no short picks, only the short picks are installed on the newly added spiral blades and arranged in a staggered manner with the long picks, the long picks (4) are evenly arranged at the same interval, the intercept distance between the long picks (4) is t, the short picks (5) are installed between the long picks (4), forming a layout in which long and short picks are arranged alternately, the intercept distance between the short picks (5) is t, and the intercept distance between the short picks (5) and the long picks (4) is t / 2.

4. A cutting drum adapted to complex coal and rock structures according to claim 1 or 2, characterized in that: The long pick (4) rotates ahead of the short pick (3) to cut coal rock. When cutting low-hardness coal rock, the roller cutting thickness h1 matches the cutting line distance t of the long pick (4), and the long pick (4) completely cuts off the coal rock, and the short pick (3) does not cut the coal rock; the short pick (3) lags behind the long pick (4) in rotating and cutting coal rock. When cutting high-hardness coal rock, the roller cutting thickness h2 matches the mixed cutting line distance t / 2 of the long pick (4) and the short pick (3), and the long pick (4) and the short pick (3) jointly cut the hard coal rock.

5. A cutting drum adapted to complex coal and rock structures according to claim 1 or 2, characterized in that: According to the optimal matching relationship between the cutting line distance and the cutting thickness, the ratio of the short pick length m to the long pick length n is 0.81nt / 4 <m<1.23n-t / 10<n。 6. The cutting drum adapted to complex coal and rock structures according to any one of claims 1 to 4 is applied to the drum of a coal mining machine and an anchoring machine.

7. A control system, applicable to any cutting drum of any one of claims 1 to 4 adapted to complex coal and rock structures, characterized in that: include: An acquisition unit configured to acquire the force information of the drum and the coal and rock structure information of the cutting surface in real time; A planning unit, configured to determine cutting parameter information according to the force information and the coal rock structure information of the cutting surface; The control unit is configured to perform cutting according to cutting parameter information.

8. The control system according to claim 5, characterized in that: The acquisition unit further comprises: a pressure sensor (6) and a geological detection radar (7), The pressure sensor (6) is used to monitor the force changes of the roller in real time; The geological detection radar (7) is used to collect coal and rock structure information of the cutting surface in real time.

9. The control system according to claim 6, characterized in that: The planning unit determines whether the hardness of the rock in the current cutting trajectory is about to change based on the coal rock structure information; if so, the motor of the coal mining machine is pre-adjusted according to the information; Determine whether the hardness of the rock in the current cutting trajectory actually changes according to the force information; if so, adjust the cutting parameter information so that the motor of the coal mining machine maintains a constant power output.

10. The control system according to claim 7, characterized in that: The planning unit determines whether the force on the drum during the cutting process is higher than a pressure threshold according to the force information; If so, the hardness of the rock increases during the cutting process, the cutting speed of the coal mining machine is reduced, the short picks participate in the cutting, and the cutting line distance is reduced; otherwise, the original cutting speed is kept unchanged.

11. A cutting method, using the cutting drum adapted to complex coal and rock structures as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: a) Preprocessing stage, setting the parameter threshold of the control system (8), using the geological detection radar (7) to pre-detect the coal and rock structure information of the working surface, including but not limited to the distribution of coal and rock layers, hardness changes and potential coal and rock faults; b) During the cutting stage, the coal mining machine is started. When the detection result shows that the machine is about to enter a low-hardness coal rock area, the control system (8) starts the pre-acceleration program. The contact force between the drum (1) and the coal rock is monitored in real time. When the data received by the control system (8) from the pressure sensor (6) is less than the designed threshold value, the machine determines that the coal rock is of low hardness. At this time, the drum (1) is subject to little resistance, and the control system (8) will control the drum of the coal mining machine to enter a high-speed cutting state. On the contrary, when the detection result shows that the machine is about to enter a high-hardness coal rock area, the control system (8) starts the pre-deceleration program to gradually reduce the rotation speed of the drum. When the data received by the pressure sensor (6) from the control system (8) is greater than the designed threshold value, it is determined to be high-hardness coal rock. At this time, the drum (1) is subject to great resistance, and the control system (8) controls the coal mining machine drum to enter a low-speed cutting state. c) During the maintenance phase, regularly check the wear of the long and short cutting teeth to maintain cutting efficiency.

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