Cutting drum and control system adapted to complex coal rock structure

Abstract

The application provides a cutting drum suitable for complex coal and rock structure, a control system and a use method thereof, which are mainly applied to a drum of a coal mining machine and a tunnel anchor machine. Spiral blades are welded on a drum hub, tooth holder is welded on the spiral blades, long and short picks are alternately arranged on the tooth holder, the drum has transverse movement and rotary motion during work, and the long picks rotate ahead of the short picks to cut coal and rock. First, the long and short picks are alternately arranged, the long picks are uniformly arranged at a certain interval, and the short picks are arranged between the long picks. Second, the long and short pick spiral blades are alternately arranged, the number of spiral blades is adjusted, the short picks are arranged on the new blades, and the short picks are staggered with the long picks. Through real-time monitoring of the stress information of the drum and the coal and rock structure information, the cutting parameters are automatically adjusted, the different cutting line distances are adjusted through the synergistic effect of the short picks, the wear of the picks is reduced, and the cutting efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mining equipment, in particular to a cutting drum suitable for complex coal and rock structure and a control method thereof. BACKGROUND

[0002] In the process of coal mining, the drum of a coal mining machine is one of the core equipment, and its performance and efficiency directly affect the efficiency and cost of coal resource mining. The traditional coal mining machine drum generally uses fixed length and arranged cutting teeth to cut coal seams or rock layers. This design has many limitations when facing complex and variable coal and rock conditions.

[0003] Firstly, the unevenness of coal and rock hardness brings great challenges to coal mining operations. In coal seams, the hardness of coal and rock may differ significantly due to geological structure, sedimentary environment, and other factors. When facing high-hardness coal and rock, the traditional coal mining machine drum has serious cutting tooth wear, low cutting efficiency, and even may cause cutting tooth fracture, affecting the continuity and safety of coal mining operations. While in low-hardness coal and rock, although the cutting efficiency is relatively high, excessive cutting force will also accelerate the wear of cutting teeth, shortening their service life.

[0004] Secondly, the cutting tooth arrangement of the traditional coal mining machine drum is relatively fixed, lacking adaptability to different coal and rock hardness. In the cutting process, the stress state and wear of cutting teeth are closely related to the hardness of coal and rock. However, the cutting tooth arrangement and cutting strategy of the traditional coal mining machine drum are often designed based on experience, making it difficult to achieve intelligent adaptation and efficient cutting of different coal and rock hardness.

[0005] Moreover, under the same cutting thickness, if the cutting line distance is too small, the rock blocks between the front and rear cutting slots are too crushed, mainly in the form of fine fragments and fine rock debris, and a large amount of dust is generated during the cutting process, indicating that this is an over-cutting state, with poor cutting conditions, although the cutting force is small, the specific energy consumption is large. If the cutting line distance is too large, the cutting slots do not affect each other and there is a clear rock ridge, the cracks generated between the front and rear cutting cannot be connected, and the rock between the cutting slots cannot form effective collapse, indicating that this is an under-cutting state, and the specific energy consumption is also large. Therefore, the influence of cutting line distance on specific energy consumption is closely related to cutting thickness, and the minimum specific energy consumption under different combinations is the result of the joint action of cutting line distance and cutting thickness. Although there is an ideal formula and corresponding distance setting between cutting line distance and cutting thickness, in the case of complex working conditions, the conditions on which this formula is based will change, making it difficult to achieve ideal results in cutting complex coal and rock.

[0006] Therefore, to solve the above problems, the present application proposes a cutting drum suitable for complex coal and rock structure and a control system. SUMMARY

[0007] The various exemplary embodiments of the present application provide a cutting drum suitable for complex coal rock structure and a control system thereof, so as to realize intelligent adaptation and efficient cutting of different coal rock hardness, improve coal mining efficiency, and reduce pick consumption and energy consumption by optimizing short pick design and layout, combining flexible configuration of long and short picks and intelligent cutting strategy.

[0008] The various exemplary embodiments of the present application provide a cutting drum suitable for complex coal rock structure, which comprises 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 drum hub, the pick seat is connected to the spiral blade, the long pick and the short pick are arranged on the pick seat in an interval staggered manner, the long pick and the short pick are limited by buckles at the ends, the drum has transverse movement and rotary motion when working, driving the long pick to rotate ahead of the short pick to cut coal rock, the pressure sensor is installed on the cutting arm, and the geological detection radar is installed outside the cutting arm shell where the drum is located.

[0010] As a preferred, the drum is a long-short pick alternate arrangement drum, on the long-short pick alternate arrangement drum, the long picks are uniformly arranged at the same interval, the cutting line distance between the long picks is t, the short picks are installed between the long picks to form a long-short pick alternate arrangement layout, the cutting line distance between the short picks is t, and the cutting line distance between the short picks and the long picks is t / 2.

[0011] As a preferred, the drum is a long-short pick spiral blade alternate arrangement drum, on the long-short pick spiral blade alternate arrangement drum, the number of spiral blades of the drum is adjusted, the original spiral blades have no short picks, and the short picks are installed on the newly added spiral blades and staggered with the long picks, the long picks are uniformly arranged at the same interval, the cutting line distance between the long picks is t, the short picks are installed between the long picks to form a long-short pick alternate arrangement layout, the cutting line distance between the short picks is t, and the cutting line distance between the short picks and the long picks is t / 2.

[0012] As a preferred, the long pick rotates ahead of the short pick to cut coal rock, when cutting low-hardness coal rock, the drum cutting thickness h1 matches the long pick cutting line distance t, the long pick completely cuts off the coal rock, and the short pick does not cut the coal rock; the short pick lags behind the long pick to rotate and cut 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 and the short pick, and the long pick and the short pick jointly cut hard coal rock.

[0013] Preferably, the ratio of the length of the short pick m to the length of the long pick n is 0.81n-t / 4 < m < 1.23n-t / 10 < n according to the optimal matching relationship between the cutting line distance and the cutting thickness.

[0014] Preferably, the cutting drum suitable for complex coal and rock structure is applied to the drum of a coal mining machine and a mining anchor machine.

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

[0017] a control unit configured to control cutting according to the 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 change of the drum in real time.

[0020] The geological detection radar is used to collect the 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 track will change according to the coal and rock structure information; if yes, the motor of the coal mining machine is pre-adjusted according to the information; the planning unit determines whether the hardness of the rock in the current cutting track has actually changed according to the force information; if yes, the cutting parameter information is adjusted to keep the motor of the coal mining machine at constant power output.

[0022] Preferably, the planning unit determines whether the force on the drum during cutting is higher than a pressure threshold according to the force information; if yes, the hardness of the rock during cutting increases, the cutting speed of the coal mining machine is reduced, the short pick participates in 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, which comprises the following steps:

[0024] a) a preprocessing stage, in which parameter thresholds of the control system are set, and the coal and rock structure information of the working surface is pre-detected by a geological detection radar, including but not limited to the distribution of coal and rock layers, hardness change, and potential coal and rock faults, etc.

[0025] b) Cutting phase, start the shearer, when the detection result shows that it is about to enter the low-hardness coal rock area, the control system starts the pre-acceleration program; real-time monitoring of the contact force between the drum and the coal rock, when the control system receives the data of the pressure sensor less than the designed threshold value, it is determined as low-hardness coal rock; at this time, the drum receives small resistance, the control system will control the shearer drum to enter the high-speed cutting state;

[0026] On the contrary, when the detection result shows that it is about to enter the high-hardness coal rock area, the control system starts the pre-deceleration program, gradually reduces the speed of the drum, when the control system receives the data of the pressure sensor greater than the designed threshold value, it is determined as high-hardness coal rock; at this time, the drum receives large resistance, the control system controls the shearer drum to enter the low-speed cutting state;

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

[0028] The present application has the following beneficial effects:

[0029] 1. Intelligent adaptability and high-efficiency cutting: The present application realizes intelligent adaptability to different coal seam conditions by introducing optimized short pick design and layout, and combining flexible configuration of long and short picks. In the low-hardness coal rock area, long picks are mainly used for preliminary crushing, and short picks are used as backup or auxiliary support, reducing unnecessary wear; while in the high-hardness coal rock area, long and short picks work together, effectively reducing the wear and resistance of long picks, and improving the cutting efficiency. This intelligent adaptive design enables the shearer to maintain high-efficiency cutting operation under different coal seam conditions.

[0030] 2. Comprehensive coal rock information and real-time force feedback: The control system of the present application integrates acquisition unit, planning unit and control unit, which can real-time acquire the force information of the shearer drum and the coal rock structure information of the cutting face. This comprehensive coal rock information and real-time force feedback enables the control system to more accurately assess the hardness of coal rock, and further adjust the cutting parameters accordingly, ensuring the stability and safety of the cutting process. In addition, the control system can also adjust the cutting strategy according to the distribution and thickness of the coal seam, realizing more efficient cutting and more uniform coal seam crushing.

[0031] 3. Pre-adjustment speed and constant power output: The planning unit of the present application can predict the change of rock hardness according to the coal rock structure information, and pre-adjust the speed of the motor of the shearer. When the actual force information confirms the change of rock hardness, the control system can adjust the cutting parameters to keep the motor of the shearer at constant power output. This pre-adjustment speed and constant power output design 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 application can dynamically adjust the cutting strategy according to real-time force information. When the roller force exceeds the set threshold, the control system will automatically reduce the cutting speed and lower the cutting line distance, and the short cutting teeth will participate in cutting to cope with the increased hardness of 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 cutting teeth. BRIEF DESCRIPTION OF DRAWINGS

[0033] The drawings described herein are used to provide further understanding of the present application, and form 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 is the front view of the roller of the present application;

[0035] Figure 2 is the cutting principle diagram of the present application under low-hardness coal and rock;

[0036] Figure 3 is the cutting principle diagram of the present application under high-hardness coal and rock;

[0037] Figure 4 is the long-short cutting tooth alternately arranged roller cylindrical development diagram of the present application;

[0038] Figure 5 is the long-short cutting tooth helical blade alternately arranged roller cylindrical development diagram of the present application;

[0039] Figure 6 is the cutting strategy flowchart of the present application;

[0040] Figure 7 is the control system flowchart of the present application.

[0041] Among them, 1-roller, 2-helical blade, 3-short cutting tooth, 4-long cutting tooth, 5-cutting tooth seat, 6-pressure sensor, 7-geological detection radar, 8-control system, a long-short cutting tooth alternately arranged roller, b long-short cutting tooth helical blade alternately arranged roller. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the preferred embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0043] As Figure 1As shown, the cutting drum adapted to complex coal and rock structures includes: a drum 1, spiral blades 2, short picks 3, long picks 4, pick holders 5, pressure sensors 6, geological detection radars 7, and a control system 8.

[0044] The spiral blade 2 is welded to the drum hub, and the pick holder 5 is welded to the spiral blade. The long pick 4 and short pick 3 are installed on the pick holder 5 in a regular pattern. The ends of the long pick 4 and short pick 3 are locked by snaps. When the drum 1 is in operation, it has lateral movement and rotation, 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 advance 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 In the example of the long and short pick alternating drum (a), on a conventional spiral drum, the long picks 4 are evenly spaced at regular intervals, with the intersecting distance between the long picks 4 being t. On the long and short pick alternating drum, the short picks 3 are installed between the long picks 4, forming an alternating long and short pick arrangement. The intersecting distance between the short picks 3 is t, and the intersecting distance between the long and short picks is t / 2.

[0048] like Figure 5 The drum with alternating long and short picks (b) is shown. On a conventional spiral drum, the long picks 4 are evenly spaced at a fixed pitch. The intersecting distance between the long picks 4 is t, and each blade is evenly spaced with an angle of α. Adjust the number of spiral blades on the drum. The existing blades have no short picks, and only the new spiral blades are equipped with short picks 3, staggered with the long picks 4. The intersecting distance between the short picks 3 is t, and the intersecting distance between the long and short picks is t / 2. Each blade is evenly spaced with an angle of β.

[0049] The protruding 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 protruding length lp of the pick should be greater than the maximum coal chip thickness hmax when cutting coal, that is: lp = khmax

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

[0051] k, k' is the stock coefficient, the radial pick k = k' = 1.3 ~ 1.6.

[0052] The ratio of the cutting line distance t to the cutting thickness h (t / h) is a commonly used parameter in the design of rock breaking mechanical mechanisms, and is closely related to the properties of the rock. Bilgin et al. found that there is an optimal value of s / h, which minimizes the energy consumed to break down a unit volume of rock, and this ratio is distributed between 2 and 5, and is related to the properties of the rock, that is: 2 < t / h < 5. Therefore, we can get: 2 < t / h < 5;

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

[0054] The formula is split to solve h1 < t / 5, h1 - Δh < t / 10, h1 > t / 2, h1 - Δh > t / 4

[0055] We can get: t / 10 < Δh < t / 4

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

[0057] Bring l1 = kh1, l2 = k'h2 into the formula and take the limit value to get:

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

[0059] According to the radial length, the proportional relationship between the long and short picks is determined: 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 data from the pressure sensor 6 and the detection device, and to control the speed of the motor and the cutting strategy according to the data changes. The control system 8 includes S1. acquisition unit, S2. planning unit and S3. control unit, etc., which are used to automatically adjust the cutting strategy according to the changes of the coal seam resistance. The cutting strategy adjustment flow chart is shown in Figure 6 , which includes:

[0061] 1. Start and data acquisition

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

[0063] 2. Low hardness coal rock cutting strategy

[0064] When the detection result shows that the low-hardness coal rock region is about to be entered, the control system 8 starts the pre-acceleration program. The drum is moderately accelerated in advance by controlling the motor to optimize the cutting efficiency. During this process, the contact force between the drum 1 and the coal rock needs to be monitored in real time. When the control system 8 receives the data of the pressure sensor 6 and the data is less than the designed threshold value, it is determined that it is a low-hardness coal rock. At this time, the drum 1 receives less resistance, and the control system 5 will control the drum of the coal mining machine to enter the high-speed cutting state, so as to ensure efficient and stable cutting operation in the low-hardness coal rock region. Under the low-hardness coal rock, the cutting picks participating in the cutting are mainly long cutting picks 4, and short cutting picks 3 do not participate or are only used as auxiliary support. At this time, as shown in FIG. 4, the cutting line distance t is the distance between two long cutting picks 4. Figure 2

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

[0066] When the detection result shows that the high-hardness coal rock region is about to be entered, the control system 8 starts the pre-deceleration program. By gradually reducing the rotating speed of the drum, necessary buffer is provided for the hard rock cutting to be encountered, and the risk of equipment damage caused by sudden high-load impact is reduced. When the control system 8 receives the data of the pressure sensor 6 and the data is greater than the designed threshold value, it is determined that it is a high-hardness coal rock. At this time, the drum 1 receives greater resistance, and the control system 8 will control the drum to enter the low-speed cutting state to reduce the pick wear and energy consumption. At the same time, the short cutting pick 3 cooperatively participates in the cutting to reduce the burden of the long cutting pick 4 and improve the cutting capacity. At this time, as shown in FIG. 5, the cutting line distance is reduced to one-half t (i.e., the distance when the long and short cutting picks are alternately arranged), and the short cutting pick 3 can more effectively participate in the cutting process, avoid incomplete cutting caused by too large cutting line distance when hard rock is encountered, and maintain the stability and safety of the cutting process. Figure 3

[0067] As shown in FIG. 6, the control system 8 further includes: Figure 7

[0068] S1. An acquisition unit configured to acquire the force information of the drum and the coal rock structure information of the cutting face in real time;

[0069] S2. A planning unit configured to determine the parameter information of the cutting according to the force information and the coal rock structure information of the cutting face;

[0070] S3. A control unit configured to control the cutting according to the parameter information of the cutting.

[0071] According to the above scheme, in the cutting process, the control end can acquire the coal rock structure information of the front cutting face in real time, and determine the cutting parameter information of the coal mining machine according to the coal rock structure information of the cutting face. In the above process, the control end can timely adjust the operation information to avoid mechanical failure, which is beneficial to improve the 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 placement and number of pressure sensors 6 can be adjusted based on 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. Pressure sensor 6, by placing strain gauges on the pick teeth, converts the pick teeth's pressure signals into electrical signals and transmits them to the control system 8. Optionally, pressure sensor 6 can also utilize a torque sensor to detect real-time force changes on the drum. Geological detection radar 7 analyzes and extracts components of multidimensional space by transmitting and receiving electromagnetic pulse signals, establishing different electromagnetic signature matrices. Using matrix algorithms, the desired detection results can be obtained. Specifically, the acquired electromagnetic signatures are mapped to points in multidimensional space (non-Euclidean space). The components of multidimensional space are defined as the position of the transmit polarization on the Pencaleucosphere, the position of the return polarization on the Pencaleucosphere, the equivalent radar cross section of 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 frequencies of singular values ​​of the dielectric constants of the coal and rock. Singular values ​​refer to abnormal or unpredictable values ​​of the dielectric constant exhibited 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 use equipment such as seismometers and gas detectors, or methods such as continuous advance detection and abnormal body identification imaging during excavation can be used.

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

[0078] Determine whether the hardness of the rock in the current cutting trajectory is about to change based on the coal rock structure information; if so, pre-speed adjustment processing is performed on the motor of the coal mining machine based on the information.

[0079] Alternatively, whether the rock's hardness is about to change can be determined based on the energy of the received electromagnetic pulse signal. Specifically, when electromagnetic waves propagate, they reflect different amounts of electromagnetic energy when encountering different dielectric targets. Therefore, the magnitude of the reflected electromagnetic energy can be used to determine whether the rock's hardness is about to change.

[0080] According to the stress information, it is determined whether the hardness of the rock in the current cutting track has actually changed, and if so, the cutting parameter information is adjusted to keep the motor of the coal mining machine at a constant power output.

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

[0082] According to the stress information, it is determined whether the stress on the drum during cutting is higher than a pressure threshold, and if so, the hardness of the rock during cutting increases, the cutting speed of the coal mining machine is reduced, the short cutting teeth 3 participate in cutting, and the cutting line distance is reduced; otherwise, the original cutting speed remains 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 rock or coal seam with hardness greater than coal, the load of the motor will increase, which will cause the current to rise. If the motor runs at high load for a long time, it may cause overheating or other damage. In order to prevent this situation, the current value of the motor is monitored, and once the current value is detected to be 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 making its current value return to the safe range. Conversely, when the drum 1 encounters rock or coal seam with hardness less than coal, the load of the motor decreases and the current decreases. At this time, the controller can appropriately increase the cutting speed to fully utilize the power of the motor and improve the working efficiency, while keeping the motor working at a constant power output. 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, ensuring production efficiency and protecting the safety of the equipment.

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

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

[0086] A cutting drum and cutting method suitable for complex coal rock structure, comprising the following steps:

[0087] a) Pretreatment stage: Set the parameter threshold of the control system 8, and use the geological detection radar 7 to detect the coal rock structure information of the working face, including but not limited to the distribution of coal rock layer, hardness change and potential coal rock fault information.

[0088] b) Cutting stage: When the detection result shows that it is about to enter the low hardness coal rock area, the control system 8 starts the pre-acceleration program. By controlling the motor, the drum is accelerated in advance to optimize the cutting efficiency. During this process, the contact force between the drum 1 and the coal rock needs to be monitored in real time. When the control system 8 receives the data of the pressure sensor 6 less than the designed threshold, it is determined as low hardness coal rock. At this time, the drum 1 receives less resistance, and the control system 8 will control the drum of the coal mining machine to enter the high-speed cutting state, to ensure efficient and stable cutting operation in the low hardness coal rock area.

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

[0090] c) Maintenance stage: Regularly check the wear of the long and short cutting picks 3 to maintain the cutting efficiency.

[0091] Specifically, the cutting drum adapted to complex coal rock structure, the efficient cutting drum and the use method can be applied to the drum of the coal mining machine and the tunnel anchor machine.

[0092] The above only describes the preferred embodiments of the present application. It should be pointed out that for those skilled in the art, without departing from the principle of the present application, some improvements and refinements can be made, which should be regarded as the protection scope of the present application

[0093] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications according to the embodiments once they know the basic creative concept. 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 examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that the technical solutions recorded in the foregoing examples can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate 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 (5) is connected to the spiral blade, the long pick (4) and the short pick (3) are installed on the pick seat (5) in an interlaced arrangement, the ends of the long pick (4) and the short pick (3) are limited by buckles, the drum (1) has lateral movement and rotational movement when working, driving the long pick (4) to advance the short pick (3) to rotate and 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; 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 tangential distance between the long picks (4) is t. The short picks (3) are installed between the long picks (4) to form a layout in which long and short picks are arranged alternately. The tangential distance between the short picks (3) is t, and the tangential distance between the short picks (3) and the long picks (4) is t / 2. The long pick (4) rotates and cuts the coal rock ahead of the short pick (3). 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 the 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.

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 pick-toothed spiral blades arranged alternately. On the roller with long and short pick-toothed spiral blades arranged alternately, the number of spiral blades of the roller (1) is adjusted. The original spiral blades have no short picks, and only the short picks are installed on the newly added spiral blades and are arranged in an alternating manner with the long picks.

3. 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。 4. The cutting drum adapted to complex coal and rock structures according to any one of claims 1 to 3, applied to a coal mining machine or an anchor miner.

5. A control system, applicable to any one of claims 1 to 3 for cutting drums adapted to complex coal and rock structures, characterized in that: include: An acquisition unit configured to acquire in real time the force information of the drum and the coal and rock structure information of the cutting surface; a planning unit configured to determine cutting parameter information based on the force information and coal rock structure information of the cutting surface; The control unit is configured to perform cutting according to cutting parameter information.

6. The control system according to claim 5, characterized in that: The acquisition unit further includes: 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.

7. 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, pre-regulates the speed of the coal mining machine's motor based on the information; Determine whether the hardness of the rock in the current cutting trajectory actually changes based on the force information; if so, adjust the cutting parameter information to keep the coal mining machine's motor at a constant power output.

8. 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 distance is reduced; otherwise, the original cutting speed remains unchanged.

9. A cutting method using the cutting drum adapted to complex coal and rock structures according to any one of claims 1 to 3, characterized in that: The following steps are involved: a) Pre-processing stage, setting parameter thresholds of the control system (8), and using geological detection radar (7) to pre-detect coal and rock structure information of the working face, including but not limited to the distribution of coal and rock layers, hardness changes, and potential coal and rock fault information; b) During the cutting phase, the coal mining machine is started. When the detection result shows that the machine is about to enter the 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, it is determined to be low-hardness coal rock; 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 and gradually reduces the rotation speed of the drum. When the data received by the pressure sensor (6) by 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 subjected to great resistance, and the control system (8) controls the shearer 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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