A shearer rocker arm cooling device and rocker arm

Abstract

The present application provides a kind of coal winning machine rocker arm cooling device and rocker arm, it is related to coal winning machine technical field, including partition modular cooling part, targeted lubrication cooling part and self-adapting control module.The present application breaks through the limitation of single cooling mode of prior art by the collaborative design of partition modular cooling part and targeted lubrication cooling part, partition modular cooling part can realize large-scale independent cooling of the key thermal zone outside rocker arm shell, targeted lubrication cooling part can accurately act on internal gear meshing point for local spray cooling, the linkage of the two forms the three-dimensional cooling system of whole temperature control and local cooling cooperation, and the cooling precision is greatly improved;The design of self-adapting control module realizes the control from passive response to active prediction, generates optimal control parameters in advance, effectively avoids temperature fluctuation risk, and solves the problem of reaction lag of prior art.

Description

Technical Field

[0001] This invention belongs to the field of coal mining machine technology, specifically relating to a coal mining machine rocker arm cooling device and rocker arm. Background Technology

[0002] The rocker arm of a coal mining machine is a core actuator in underground coal mining operations. Internally, it integrates a cutting motor, multiple sets of transmission gear pairs, and other key components. Externally, it drives the cutting drum to withstand intense cutting loads, operating in a harsh environment with concentrated heat generation. The operating temperature of the rocker arm directly determines transmission efficiency, component lifespan, and operational safety; therefore, the cooling system is a crucial supporting device for the coal mining machine rocker arm.

[0003] Existing rocker arm cooling technologies for coal mining machines generally suffer from three major problems:

[0004] Firstly, most existing cooling devices adopt an integrated cooling structure. Generally speaking, the heat generation of different areas of the rocker arm housing and the meshing points of the gears inside varies significantly. Integrated cooling is prone to local overheating (such as at the gear meshing points) or overcooling (such as in non-critical areas), which not only affects the cooling effect but also wastes energy.

[0005] Secondly, the existing cooling devices lack the design of local cooling structures, which cannot locally cool high-heat-generating parts such as gear meshing points, thus shortening the service life of transmission gears.

[0006] Third, most existing cooling devices are passive response controls, which only adjust cooling parameters after the temperature exceeds the standard. They lack the ability to predict the operating status of the rocker arm and cannot avoid the risk of temperature rise in advance. Temperature fluctuations can easily lead to increased gear wear and accelerated deterioration of lubricating oil. In severe cases, it can cause component jamming, malfunctions and shutdowns, affecting the continuity of mining operations. Summary of the Invention

[0007] The present invention provides a cooling device and a rocker arm for a coal mining machine, which solves at least one of the technical problems mentioned above.

[0008] To solve the above-mentioned technical problems, the present invention discloses a rocker arm cooling device for a coal mining machine, comprising:

[0009] The partitioned modular cooling section is used to independently cool different key hot zones on the exterior of the rocker arm housing.

[0010] The targeted lubrication and cooling section is used to provide targeted, independent spray cooling and lubrication to different key gear meshing points inside the rocker arm.

[0011] The adaptive control module is used to collect multi-dimensional operating status data of the rocker arm in real time, and generate a predicted comprehensive state vector of the rocker arm for future cycles based on a trained dynamic relationship prediction model. Using the predicted comprehensive state vector of the rocker arm for future cycles as input, the module generates control parameters for the corresponding actuators in the partitioned modular cooling section and the targeted lubrication cooling section through a pre-trained strategy network model, and sends the control parameters to the corresponding actuators in real time.

[0012] Preferably, the partitioned modular cooling section includes:

[0013] At least two independent cooling plates, which are detachably mounted to a pre-designed critical heat zone on the outside of the rocker arm housing by bolts;

[0014] The main chiller unit, mounted on the rocker arm, is used to provide coolant to the secondary temperature control valve assembly;

[0015] A secondary temperature control valve group with the same number of independent cooling plates, the secondary temperature control valve group includes a three-way regulating valve, a plate micro heat exchanger and a first electric diverter valve;

[0016] The first inlet of the three-way regulating valve is connected to the chilled water outlet of the main chiller unit through the first pipeline. The second inlet of the three-way regulating valve is connected to the hot side outlet of the plate micro heat exchanger. The mixing outlet of the three-way regulating valve is connected to the liquid inlet of the corresponding independent cooling plate through the second pipeline. The liquid outlet of the independent cooling plate is connected to the inlet of the first electric diverter valve. The first outlet of the first electric diverter valve is connected to the hot side inlet of the plate micro heat exchanger through the third pipeline one. The second outlet of the first electric diverter valve is connected to the return water outlet of the main chiller unit through the third pipeline two. The cold side flow channel of the plate micro heat exchanger is connected in series to the third pipeline two. An electric heater is installed in the hot side flow channel of the plate micro heat exchanger.

[0017] The three-way regulating valve, the first electric diverter valve, and the electric heater are all connected to the adaptive control module via signal.

[0018] Preferably, the targeted lubrication and cooling section includes:

[0019] The main spray pump has its oil inlet connected to the lubrication circuit inside the rocker arm housing via a fourth pipeline.

[0020] The main oil cooler has its inlet connected to the outlet of the main spray pump via a fifth pipeline.

[0021] At least two spray branch units, the inlet of each spray branch unit is connected in parallel to the oil outlet pipe of the main oil cooler, and each spray branch unit includes a second electric diverter valve, a miniature heat exchanger and a proportional regulating valve.

[0022] The inlet of the second electric diverter valve is connected to the oil outlet pipe of the main oil cooler. The first outlet of the second electric diverter valve is connected to the oil side inlet of the micro heat exchanger. The second outlet of the second electric diverter valve is connected to the gearbox lubrication oil circuit through a bypass pipe, thereby guiding the unsprayed lubricating oil back to the gearbox lubrication oil circuit. The oil side outlet of the micro heat exchanger is connected to the inlet of the proportional control valve. The outlet of the proportional control valve is connected to a targeted cooling nozzle through a sixth pipe. The targeted cooling nozzle is hinged to the inner wall of the rocker arm housing and points to the corresponding gear meshing point.

[0023] The water side of the micro heat exchanger is connected to an independent micro refrigeration unit. The micro refrigeration unit is used to utilize the Peltier effect of the semiconductor refrigeration chip and to achieve precise temperature control of the lubricating oil by changing the direction of the current.

[0024] The second electric diverter valve, the proportional control valve, and the miniature refrigeration unit are all connected to the adaptive control module via signal transmission.

[0025] Preferably, the adaptive control module includes:

[0026] The data acquisition submodule is used to collect multi-dimensional operating status data of the rocker arm in real time and at fixed intervals. The collected multi-dimensional operational status data is standardized to form a comprehensive state vector of the rocker arm for each cycle. ;

[0027] The coupled prediction submodule is used to generate a predicted comprehensive state vector for the future cycle rocker arm based on the trained dynamic relationship prediction model and the comprehensive state vector of the historical rocker arm.

[0028] The predictive control submodule is used to receive the predicted comprehensive state vector and generate control parameter vectors for the partitioned modular cooling section and the targeted lubrication cooling section through a pre-trained policy network model.

[0029] in, , , These represent the temperatures of the rocker arm housing outer wall regions corresponding to the Xth, Yth, and Yth independent cooling plates, respectively. , , The value after standardization , , These represent the temperatures at the gear meshing points corresponding to the Xth, Zth, and Zth targeted cooling nozzles, respectively. , , The value after standardization The real-time working tilt angle of the rocker arm in the Xth cycle. The value after standardization The real-time operating current of the motor is cut off in the Xth cycle. The value after standardization; where Y is the total number of independent cooling plates and Z is the total number of gear meshing points.

[0030] Preferably, the coupling prediction submodule includes:

[0031] The timing data buffer unit is used to receive and store continuous data from the data acquisition submodule. The comprehensive state vector data of the historical rocker arm for each cycle;

[0032] Multivariate coupling analysis unit, used for continuous Each element in the comprehensive state vector data of the historical rocker arm for each cycle is used to generate a continuous... The system uses Y historical outer wall temperature sequences, Z historical engagement point temperature sequences, historical tilt angle sequences, and historical load current sequences corresponding to each period. Based on a trained dynamic relationship prediction model, it takes these Y historical outer wall temperature sequences, Z historical engagement point temperature sequences, historical tilt angle sequences, and historical load current sequences as inputs to output a prediction of the future period. The value of each element in the predicted integrated state vector data of the rocker arm for each cycle is used to compose the future state vector data for the next cycle. Predicted integrated state vector of the rocker arm for each cycle ;in, , , These are the predicted temperature values ​​for the outer wall regions of the rocker arm housing corresponding to the , , and Y independent cooling plates in the P-th cycle, respectively. , , These are the predicted temperatures at the gear meshing points corresponding to the , , and Z-th targeted cooling nozzles in the P-th cycle, respectively. Let be the predicted real-time working tilt angle of the rocker arm in the Pth cycle. This is the predicted real-time operating current of the cutting motor in the Pth cycle.

[0033] Preferably, the predictive control submodule includes:

[0034] The policy network input unit is used to receive the future first-order prediction submodule output. The predicted integrated state vector for each cycle ;

[0035] The core policy network unit is used to generate future policy network models based on pre-trained policies. The predicted integrated state vector for each cycle Mapped to the original control parameter vector;

[0036] The control parameter output unit is used to parse and format the original control parameter vector into a control parameter vector for the partitioned modular cooling unit. and the control parameter vector of the targeted lubrication and cooling section The data is then distributed to the corresponding actuators of the modular cooling section and the targeted lubrication cooling section, respectively.

[0037] Among them, the control parameter vector of the partitioned modular cooling section Specifically, it is expressed as follows: Among them, for the first Each independent cooling plate corresponds to a two-stage temperature control valve group, among which : Indicates the first The first cycle The cold water mixing opening of the three-way regulating valve of the two-stage temperature control valve group corresponding to each independent cooling plate is used to regulate the temperature of the coolant input to the independent cooling plate. Indicates the first The first cycle The first electric diversion valve of the secondary temperature control valve group corresponding to each independent cooling plate directs the flow to the plate micro heat exchanger to adjust the regenerative flow rate. Indicates the first The first cycle The output power of the electric heater in the two-stage temperature control valve group corresponding to each independent cooling plate is used for auxiliary heating;

[0038] Targeted Lubrication and Cooling Section Control Parameter Vector Specifically, it is expressed as follows: Among them, for the first Each targeted cooling nozzle corresponds to a spray branch unit, in which : Indicates the first The first cycle The second electric diversion valve of the spray branch unit corresponding to each targeted cooling nozzle directs the flow to the micro heat exchanger to adjust the amount of oil involved in precise temperature control. Indicates the first The first cycle The opening degree of the proportional regulating valve of the spray branch unit corresponding to each targeted cooling nozzle is used to regulate the final spray flow rate; Indicates the first The first cycle The driving current of the semiconductor refrigeration chip in the spray branch unit corresponding to each targeted cooling nozzle is positive for cooling and negative for heating, which is used to achieve precise temperature control of the sprayed oil.

[0039] A rocker arm for a coal mining machine includes: a rocker arm housing, which itself forms a sealed gearbox; the rocker arm housing has two hinged lugs that are connected to the machine body; the rocker arm housing has one hinged lug that is connected to a height adjustment cylinder on the machine body; a cutting drum is rotatably connected to the end of the rocker arm housing away from the machine body; a cutting motor is installed inside the rocker arm housing; a transmission component is installed at the output end of the cutting motor; the transmission component is completely housed in the gearbox cavity formed by the rocker arm housing; the output end of the transmission component meshes with the cutting drum; and the transmission component is used to drive the cutting drum to rotate.

[0040] The rocker arm housing also integrates a positive pressure dustproof system, which is used to create positive pressure in the cavity inside the sealed gearbox formed by the rocker arm housing.

[0041] Preferably, the transmission assembly includes gear 1, gear 2, gear 3, gear 4, gear 5, gear 6 and gear 7. Gear 1, gear 2, gear 3, gear 4, gear 5, gear 6 and gear 7 are rotatably connected in sequence inside the rocker arm housing. Adjacent gears mesh with each other, and gear 1 is keyed to the output end of the cutting motor. Gear 7 is coaxially connected to a sun gear. A meshing gear ring is fixedly connected to the inner wall of the cutting drum. Four sets of planetary gears mesh between the meshing gear ring and the sun gear.

[0042] On the inner wall of the rocker arm housing, at the meshing points of gear 1 and gear 2, gear 2 and gear 3, gear 3 and gear 4, gear 4 and gear 5, gear 5 and gear 6, and gear 6 and gear 7, there are hinged connections to targeted cooling nozzles.

[0043] Preferably, the cutting roller includes a cylinder, a plurality of toothed seats fixed on the cylinder, and cutting teeth detachably mounted on each toothed seat;

[0044] It also includes an online service status sensing module for cutting tools, which includes:

[0045] Multiple vibration sensors, each sealed and installed inside the cavity of the corresponding tooth holder, are used to collect vibration data of the corresponding tooth holder during the cutting operation;

[0046] The signal processor is installed at the axial center of the cutting drum. It is connected to all vibration sensors via internal wires to collect data from each vibration sensor and calculate the contact stiffness characteristics that reflect the wear state of the cutting tooth tip. The adaptive control module adjusts the partitioned modular cooling section and the targeted lubrication cooling section based on the calculation results. The signal processor is electrically connected to the adaptive control module fixed on the rocker arm housing.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] (1) The present invention breaks through the limitation of the single cooling mode of the prior art by the coordinated design of the partitioned modular cooling section and the targeted lubrication cooling section. The partitioned modular cooling section can realize large-scale independent cooling of the key hot area outside the rocker arm housing, and the targeted lubrication cooling section can accurately act on the internal gear meshing point for local spray cooling. The two work together to form a three-dimensional cooling system with overall temperature control and local cooling synergy, which greatly improves the cooling accuracy.

[0049] (2) This invention realizes control from passive response to active prediction through the dynamic prediction and strategy decision-making function of the adaptive control module. Based on multi-dimensional operating data, it predicts the temperature changes of future operating conditions and generates the optimal control parameters in advance, effectively avoiding the risk of temperature fluctuations and solving the problem of lag in the response of the prior art.

[0050] (3) This invention integrates functions such as online sensing of the service status of the cutting teeth and positive pressure dust prevention, and is linked with the cooling system to form a multi-dimensional equipment protection system, further improving the operational stability and service life of the coal mining machine rocker arm, and adapting to the harsh working environment in coal mines. Attached Figure Description

[0051] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0052] Figure 1 This is a schematic diagram of the overall installation of the rocker arm of the present invention. Figure 1 ;

[0053] Figure 2 This is a schematic diagram of the overall installation of the rocker arm of the present invention. Figure 2 ;

[0054] Figure 3 This is a schematic diagram of the overall structure of the rocker arm of the present invention. Figure 1 ;

[0055] Figure 4 This is a top view of the rocker arm of the present invention;

[0056] Figure 5 For the present invention Figure 4 Sectional view at point AA;

[0057] Figure 6 For the present invention Figure 4 Sectional view at BB;

[0058] Figure 7 For the present invention Figure 4 Sectional view at CC;

[0059] Figure 8 For the present invention Figure 4 Sectional view at DD.

[0060] In the diagram: 1. Rocker arm housing; 2. Machine body; 3. Cutting motor; 4. Gear 1; 5. Gear 2; 6. Gear 3; 7. Gear 4; 8. Gear 5; 9. Gear 6; 10. Double ears of rocker arm; 11. Single ear of rocker arm; 12. Height adjustment cylinder; 13. Cutting drum; 14. Gear 7; 15. Sun gear; 16. Meshing ring gear; 17. Planetary gear; 18. Targeted cooling nozzle; 19. Cylinder; 20. Gear seat; 21. Cutting tooth. Detailed Implementation

[0061] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0062] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0063] The present invention provides the following embodiments.

[0064] Example 1

[0065] This invention provides a cooling device for the rocker arm of a coal mining machine, such as... Figure 1-8 As shown, it includes:

[0066] The partitioned modular cooling section is used to independently cool different key hot zones on the exterior of the rocker arm housing 1.

[0067] The targeted lubrication and cooling section is used to provide targeted, independent spray cooling and lubrication to different key gear meshing points inside the rocker arm.

[0068] The adaptive control module is used to collect multi-dimensional operating status data of the rocker arm in real time, and generate a predicted comprehensive state vector of the rocker arm for future cycles based on a trained dynamic relationship prediction model. Using the predicted comprehensive state vector of the rocker arm for future cycles as input, the module generates control parameters for the corresponding actuators in the partitioned modular cooling section and the targeted lubrication cooling section through a pre-trained strategy network model, and sends the control parameters to the corresponding actuators in real time.

[0069] The working principle and beneficial effects of the above technical solution are as follows: The adaptive control module collects multi-dimensional operating status data of the rocker arm in real time, and generates a predicted comprehensive state vector of the rocker arm for future cycles based on the trained dynamic relationship prediction model. Using the predicted comprehensive state vector of the rocker arm for future cycles as input, the control parameters of the corresponding actuators in the partitioned modular cooling section and the targeted lubrication cooling section are generated through the pre-trained strategy network model, and the control parameters are sent to the corresponding actuators in real time to realize the control of the partitioned modular cooling section and the targeted lubrication cooling section.

[0070] This invention features a modular cooling section that allows for independent cooling of different critical heat zones on the exterior of the rocker arm housing 1. It precisely matches the cooling intensity based on the heat generation differences in each area, preventing overheating at gear meshing points due to insufficient cooling while also preventing energy loss from excessive cooling in non-critical areas. This improves cooling efficiency while optimizing energy consumption. The targeted lubrication cooling section provides targeted, independent spray cooling and lubrication to critical gear meshing points inside the rocker arm, precisely covering high-heat core areas and effectively removing concentrated heat generated at the meshing points. This significantly slows down wear on transmission gears and extends their service life. The adaptive control module collects multi-dimensional operating data and predicts future temperature trends based on a dynamic relationship prediction model. It generates and distributes optimal control parameters in advance, upgrading passive over-limit adjustment to proactive pre-prediction control. This effectively avoids the risk of temperature rise, reduces problems such as accelerated gear wear and lubricant deterioration caused by temperature fluctuations, prevents component jamming and downtime, and ensures the continuity of mining operations.

[0071] Example 2

[0072] Based on Example 1, the partitioned modular cooling section includes:

[0073] At least two independent cooling plates are provided, which are detachably mounted to a pre-designed critical heat zone on the outside of the rocker arm housing 1 by bolts.

[0074] The main chiller unit is mounted on the body 2 of the rocker arm and is used to provide coolant to the secondary temperature control valve group;

[0075] A secondary temperature control valve group with the same number of independent cooling plates, the secondary temperature control valve group includes a three-way regulating valve, a plate micro heat exchanger and a first electric diverter valve;

[0076] The first inlet of the three-way regulating valve is connected to the chilled water outlet of the main chiller unit through the first pipeline. The second inlet of the three-way regulating valve is connected to the hot side outlet of the plate micro heat exchanger. The mixing outlet of the three-way regulating valve is connected to the liquid inlet of the corresponding independent cooling plate through the second pipeline. The liquid outlet of the independent cooling plate is connected to the inlet of the first electric diverter valve. The first outlet of the first electric diverter valve is connected to the hot side inlet of the plate micro heat exchanger through the third pipeline one. The second outlet of the first electric diverter valve is connected to the return water outlet of the main chiller unit through the third pipeline two. The cold side flow channel of the plate micro heat exchanger is connected in series to the third pipeline two. An electric heater is installed in the hot side flow channel of the plate micro heat exchanger.

[0077] The three-way regulating valve, the first electric diverter valve, and the electric heater are all connected to the adaptive control module via signal.

[0078] The working principle and beneficial effects of the above technical solution are as follows: During operation, the main chiller unit on the casing 2 starts first and continuously outputs low-temperature coolant. The coolant is transported through the first pipeline to the first inlet of the three-way regulating valve of each secondary temperature control valve group. The adaptive control module sends control commands to the corresponding secondary temperature control valve group according to the predicted temperature values ​​of each region in the predicted comprehensive state vector. The three-way regulating valve responds to the command to adjust the mixing ratio of the low-temperature coolant of the main chiller unit and the return liquid at the hot side outlet of the plate micro heat exchanger, thereby accurately controlling the coolant temperature input to the independent cooling plate and adapting to the cooling requirements of different hot zones of the rocker arm housing 1. The temperature-adjusted coolant flows into the corresponding independent cooling plate through the second pipeline. The independent cooling plate and the preset hot zone outside the rocker arm housing 1 are connected. The coolant is tightly fitted and carries away the heat from the shell through heat conduction, completing the initial cooling operation. The coolant, after absorbing heat, flows out from the outlet of the independent cooling plate and enters the first electric diversion valve. This valve adjusts the diversion ratio according to the command. Part of the coolant enters the hot side of the plate micro heat exchanger through the third pipe one, and completes secondary heat exchange with the return liquid in the cold side flow channel connected in series in the third pipe two. The electric heater in the hot side of the plate micro heat exchanger is activated as needed to assist in heating and prevent the return liquid temperature from being too low and disrupting the system's thermal balance. The remaining coolant flows directly back to the return port of the main chiller through the third pipe two. Finally, all the coolant participating in the circulation is cooled again in the main chiller, forming a complete closed loop. Through independent control of each branch, precise control of the temperature of multiple hot zones of the rocker arm shell can be achieved.

[0079] Example 3

[0080] Based on Example 1, the targeted lubrication and cooling unit includes:

[0081] The main spray pump has its oil inlet connected to the lubrication circuit inside the rocker arm housing 1 via a fourth pipeline.

[0082] The main oil cooler has its inlet connected to the outlet of the main spray pump via a fifth pipeline.

[0083] At least two spray branch units, the inlet of each spray branch unit is connected in parallel to the oil outlet pipe of the main oil cooler, and each spray branch unit includes a second electric diverter valve, a miniature heat exchanger and a proportional regulating valve.

[0084] The inlet of the second electric diverter valve is connected to the oil outlet pipe of the main oil cooler. The first outlet of the second electric diverter valve is connected to the oil side inlet of the micro heat exchanger. The second outlet of the second electric diverter valve is connected to the gearbox lubrication oil circuit through a bypass pipe, thereby guiding the unsprayed lubricating oil back to the gearbox lubrication oil circuit. The oil side outlet of the micro heat exchanger is connected to the inlet of the proportional control valve. The outlet of the proportional control valve is connected to a targeted cooling nozzle 18 through a sixth pipe. The targeted cooling nozzle 18 is hinged to the inner wall of the rocker arm housing 1 and points to the corresponding gear meshing point.

[0085] The water side of the micro heat exchanger is connected to an independent micro refrigeration unit. The micro refrigeration unit is used to utilize the Peltier effect of the semiconductor refrigeration chip and to achieve precise temperature control of the lubricating oil by changing the direction of the current.

[0086] The second electric diverter valve, the proportional control valve, and the miniature refrigeration unit are all connected to the adaptive control module via signal transmission.

[0087] The working principle and beneficial effects of the above technical solution are as follows: During operation, the main spray pump draws lubricating oil from the lubrication oil circuit inside the rocker arm housing 1 through the fourth pipeline. The drawn lubricating oil is then transported to the main oil cooler through the fifth pipeline to complete preliminary cooling and reduce the base oil temperature. The lubricating oil after preliminary cooling is then transported to the inlet of the second electric diversion valve of each spray branch unit. The adaptive control module sends control commands to each branch unit based on the predicted temperature values ​​of each gear meshing point. The second electric diversion valve responds to the commands and adjusts the ratio of oil entering the micro heat exchanger and the bypass pipeline. Oil requiring precise temperature control enters the oil side of the micro heat exchanger. The independent micro refrigeration unit connected to the water side of the micro heat exchanger utilizes semiconductor refrigeration. The Peltier effect of the plate precisely regulates the oil temperature by changing the direction of the current, maintaining the oil temperature control accuracy within ±1℃, which fully meets the cooling requirements of the gear meshing point. The lubricating oil with the specified temperature flows into the proportional regulating valve through the oil side outlet of the micro heat exchanger. After the proportional regulating valve adjusts the spray flow according to the command, it is delivered to the targeted cooling nozzle 18 through the sixth pipeline. The targeted cooling nozzle 18, which is hinged to the inner wall of the rocker arm housing 1, is precisely aligned with the corresponding gear meshing point, and the lubricating oil is evenly sprayed onto the meshing surface. This not only removes the heat generated by meshing, but also forms a lubricating oil film to reduce wear. The lubricating oil that does not participate in the spraying flows directly back to the gearbox lubricating oil circuit through the bypass pipeline, realizing the recycling of oil and avoiding resource waste.

[0088] Example 4

[0089] Based on Example 1, the adaptive control module includes:

[0090] The data acquisition submodule is used to collect multi-dimensional operating status data of the rocker arm in real time and at fixed intervals. The collected multi-dimensional operational status data is standardized to form a comprehensive state vector of the rocker arm for each cycle. ;

[0091] The coupled prediction submodule is used to generate a predicted comprehensive state vector for the future cycle rocker arm based on the trained dynamic relationship prediction model and the comprehensive state vector of the historical rocker arm.

[0092] The predictive control submodule is used to receive the predicted comprehensive state vector and generate control parameter vectors for the partitioned modular cooling section and the targeted lubrication cooling section through a pre-trained policy network model.

[0093] in, , , These represent the temperatures of the outer wall regions of the rocker arm housing 1 corresponding to the 1st, 2nd, and 3rd independent cooling plates in the Xth cycle. , , The value after standardization , , These are the temperatures at the gear meshing points corresponding to the 1st, 2nd, and Zth targeted cooling nozzles 18 in the Xth cycle. , , The value after standardization The real-time working tilt angle of the rocker arm in the Xth cycle. The value after standardization The real-time operating current of motor 3 is cut off in the Xth cycle. The value after standardization; where Y is the total number of independent cooling plates and Z is the total number of gear meshing points.

[0094] In this embodiment, the temperature of the outer wall region of the rocker arm housing 1 corresponding to each independent cooling plate is... Temperature data is collected by a first temperature sensor located on the outer wall region of the rocker arm housing 1 corresponding to each independent cooling plate; where the value of Y is an integer greater than 2.

[0095] In this embodiment, the temperature at the gear meshing point corresponding to each targeted cooling nozzle 18 is... Z represents the average temperature of the two meshing gears corresponding to the gear meshing points. These meshing points include gear 4 and gear 5, gear 2 and gear 6, gear 3 and gear 7, gear 4 and gear 8, gear 5 and gear 9, and gear 6 and gear 7.14. The temperatures at these meshing points are the average temperatures of gear 4 and gear 2, gear 2 and gear 6, gear 3 and gear 7, gear 4 and gear 8, gear 5 and gear 9, and gear 6 and gear 7.14, respectively. The temperature of each gear is collected by a second temperature sensor mounted on it. The value of Z is an integer greater than 2.

[0096] In this embodiment, the real-time working tilt angle of the rocker arm Data is collected by an angle sensor fixedly mounted on the rocker arm housing 1;

[0097] In this embodiment, the real-time operating current of the motor 3 is cut off. The real-time operating current of the cutting motor 3 is collected by a current sensor installed in the power supply circuit of the cutting motor 3. Used to characterize the load on the rocker arm at this time.

[0098] In this embodiment, the dynamic relationship prediction model is a multivariate time series prediction model built based on machine learning technology. It is used to learn and internalize the dynamic coupling and evolution law between various physical states of the rocker arm during operation. The model takes the historical state vector sequence collected and standardized at fixed periods as input. The state vector includes the shell temperature of the corresponding area of ​​each independent cooling plate, the temperature of each gear meshing point, the real-time working tilt angle of the rocker arm, and the motor current representing the load. By analyzing the data sequence of multiple consecutive historical periods, the model can accurately predict the comprehensive state of the rocker arm at a specified future period. Its output is the predicted comprehensive state vector containing the predicted values ​​of temperature, tilt angle, and load current of all key points in the future.

[0099] In this embodiment, the pre-trained policy network model is an intelligent decision controller based on deep reinforcement learning, used to integrate the future prediction state vector output by the dynamic relationship prediction model. As input, through complex internal nonlinear mapping, a complete set of optimal control parameter vectors that can drive the actions of all cooling and lubrication actuators is directly generated and output, namely, the control parameter vector of the partitioned modular cooling unit. and the control parameter vector of the targeted lubrication and cooling section ;

[0100] The pre-trained policy network model is trained in a digital simulation environment capable of high-fidelity simulation of the rocker arm's thermodynamic process and the dynamic response of the actuator. The specific steps are as follows:

[0101] During the training cycle ,state It is fully defined as the comprehensive state vector of the rocker arm at that moment. ;action The control decisions made by the policy network represent It includes parameters such as the opening degree of all valves, heater power, and semiconductor cooling chip current; Indicates period The corresponding partitioned modular cooling unit control parameter vector, Indicates period The corresponding control parameter vector for the targeted lubrication and cooling section; the digital simulation environment has a built-in proven simplified thermodynamic and fluid dynamic model, and when the environment receives an action... Then, based on the current state The state at the next simulation moment is calculated based on this model. This simulates the physical effects produced by the controlled actions;

[0102] The reward function used in the pre-trained policy network model can proactively prevent risks caused by load and attitude changes while simultaneously optimizing temperature control accuracy and system energy efficiency. Its expression is:

[0103]

[0104] The engineering and physical meanings of each item are explained in detail below:

[0105] Temperature tracking penalty:

[0106]

[0107] This calculation includes all Actual values ​​of each temperature monitoring point Compared with the preset safety target value The sum of squares of the deviations between them, and the weighting coefficient of the temperature tracking penalty term. Minimizing this deviation is the primary goal of the cooling system, driving the network to learn precise temperature control strategies.

[0108] Energy consumption control penalty items:

[0109]

[0110] This item is the action vector. The norm square quantifies the overall amplitude and energy consumption of all control actions such as valve regulation, heating, and cooling, and is the weighting coefficient of the control energy consumption penalty term. This encourages the strategy network to achieve control objectives in a smoother and more energy-efficient manner, avoiding unnecessary control oscillations and energy waste;

[0111] Load adaptation penalty term:

[0112]

[0113] This is an intelligent adjustment term specifically designed in the model to respond to load changes. It is about load current The function is designed based on the principle of predicting or current load. A significant increase indicates a dramatic increase in heat generation. The value of increases accordingly, thereby driving the policy network to strengthen cooling efforts in advance through a negative reward mechanism; conversely, under light load, the system is allowed to operate in a more economical mode, with the load adaptive penalty term weight coefficient... The weights used to adjust the impact of the load give the model a forward-looking adaptive capability to workload.

[0114] Postural thermal imbalance penalty:

[0115]

[0116] This is a core innovation in addressing changes in the rocker arm's posture. It's about real-time tilt angle Axial temperature difference with rocker arm housing The nonlinear penalty function has the characteristic that when Exceeding the safety threshold and thus causing As the scale expands, the function value increases significantly, and the weighting coefficient of the attitude thermal imbalance penalty term increases. This forced strategy network must master special coordination strategies under large tilt angle conditions during learning, such as suppressing the heating of the lubricating oil accumulation area, enhancing its cooling, and implementing protective interventions for the lubricating oil shortage area, thereby actively maintaining the overall thermal balance and preventing structural thermal damage.

[0117] The training and convergence process of the model includes:

[0118] The policy neural network parameters are randomly initialized, and the environment is reset to diverse initial operating conditions, such as covering different loads and tilt angle combinations. Initially, the network explores the action space with a degree of randomness; subsequently, in each interaction, the policy network adjusts its actions based on the state. Output Action A new state is generated after the environment is executed. and rewards Forming empirical tuples The data is stored in a memory bank, and stable DRL algorithms such as proximal policy optimization are used to sample batches of data from the memory bank, calculate the advantage function, and update the network parameters through gradient ascent to maximize the expected cumulative discount reward. discount factor The model is designed to balance immediate and long-term benefits. Through millions of repeated interactions and optimizations, the policy learns various extreme and normal operating conditions. The model's performance is evaluated on an independent test set to confirm that its control effect is stable and robust. Finally, the network parameters are solidified and embedded into the predictive control submodule of the adaptive regulation module, becoming a pre-trained model that can be run directly.

[0119] The working principle and beneficial effects of the above technical solution are as follows: During operation, the data acquisition submodule starts at a fixed cycle. It acquires the temperature of the outer wall region of the rocker arm housing 1 corresponding to each independent cooling plate through the first temperature sensor, acquires the temperature of each gear through the second temperature sensor and calculates the average temperature of the corresponding meshing point, acquires the real-time working tilt angle of the rocker arm housing 1 through the tilt angle sensor, and acquires the working current in the power supply circuit of the cutting motor 3 through the current sensor to characterize the load. After acquisition, a standardized algorithm is used to eliminate the dimensional differences of each parameter, constructing a unified format comprehensive state vector to ensure that the data can be directly used for model analysis. Subsequently, the time-series data buffer unit of the coupled prediction submodule stores historical comprehensive state vectors for K consecutive cycles, forming a complete historical database. The multivariate coupled analysis unit extracts each parameter from the database, generating independent time-series sequences for the housing outer wall temperature, gear meshing point temperature, rocker arm tilt angle, and load current. The dynamic coupling relationship between parameters is captured by the correlation analysis, such as the hysteresis correlation between the increase in load current and the increase in temperature at the gear meshing point, and the correspondence between the change in rocker arm tilt angle and the shift of the hot zone of the housing. The time series is input into the trained dynamic relationship prediction model. Based on historical evolution, the model outputs the predicted values ​​of each parameter in the future P-th cycle. The predicted values ​​are combined into a complete predicted comprehensive state vector according to the preset format, which clarifies the temperature change trend of each key area. Finally, the strategy network input unit of the predictive control submodule receives the vector and completes the format verification and normalization processing. The core strategy network unit transforms the predicted vector into the original control parameter vector covering all actuators through the pre-trained nonlinear mapping relationship. The control parameter output unit splits the vector according to the cooling part type and generates control parameter vectors for the partitioned modular cooling part and the targeted lubrication cooling part, respectively. The vectors are then sent to the corresponding valve group, motor and refrigeration unit according to the preset communication protocol to achieve precise control.

[0120] Example 5

[0121] Based on Example 4, the coupling prediction submodule includes:

[0122] The timing data buffer unit is used to receive and store continuous data from the data acquisition submodule. The comprehensive state vector data of the historical rocker arm for each cycle;

[0123] Multivariate coupling analysis unit, used for continuous Each element in the comprehensive state vector data of the historical rocker arm for each cycle is used to generate a continuous... The system uses Y historical outer wall temperature sequences, Z historical engagement point temperature sequences, historical tilt angle sequences, and historical load current sequences corresponding to each period. Based on a trained dynamic relationship prediction model, it takes these Y historical outer wall temperature sequences, Z historical engagement point temperature sequences, historical tilt angle sequences, and historical load current sequences as inputs to output a prediction of the future period. The value of each element in the predicted integrated state vector data of the rocker arm for each cycle is used to compose the future state vector data for the next cycle. Predicted integrated state vector of the rocker arm for each cycle ;in, , , These are the predicted temperature values ​​for the outer wall region of the rocker arm housing 1 corresponding to the 1st, 2nd, and yth independent cooling plates in the Pth cycle, respectively. , , These are the predicted temperature values ​​at the gear meshing points corresponding to the 1st, 2nd, and Zth targeted cooling nozzles 18 in the Pth cycle, respectively. Let be the predicted real-time working tilt angle of the rocker arm in the Pth cycle. This is the predicted real-time operating current of the cutting motor 3 in the Pth cycle.

[0124] The working principle and beneficial effects of the above technical solution are as follows: During operation, the time-series data buffer unit continuously receives the comprehensive state vector from the data acquisition submodule, stores historical data for K consecutive periods in chronological order to form a complete historical database, and periodically cleans up expired data, ensuring data continuity and integrity while avoiding redundant data from affecting computational efficiency and effectively preventing prediction deviations caused by data breaks. Subsequently, the multivariate coupling analysis unit extracts parameters of each dimension from the historical database, generating historical outer wall temperature sequences for Y independent cooling plate regions, historical temperature sequences for Z gear meshing points, historical tilt angle sequences, and so on. Historical load current sequences are analyzed using algorithms to capture the dynamic coupling relationships between various parameters, such as the lag in temperature rise at the gear meshing point after load current increases and the corresponding relationship between the hot zone shift of the housing caused by changes in rocker arm tilt angle. After analysis, the above time series is synchronously input into a trained dynamic relationship prediction model. Based on the evolution of historical data, the trained dynamic relationship prediction model calculates and outputs the predicted values ​​of each parameter in the future P-th cycle. These predicted values ​​are then combined into a complete rocker arm prediction comprehensive state vector in the future P-th cycle according to a preset format, providing an accurate basis for the subsequent predictive control submodule to generate control parameters.

[0125] Example 6

[0126] Based on Example 5, the predictive control submodule includes:

[0127] The policy network input unit is used to receive the future first-order prediction submodule output. The predicted integrated state vector for each cycle ;

[0128] The core policy network unit is used to generate future policy network models based on pre-trained policies. The predicted integrated state vector for each cycle Mapped to the original control parameter vector;

[0129] The control parameter output unit is used to parse and format the original control parameter vector into a control parameter vector for the partitioned modular cooling unit. and the control parameter vector of the targeted lubrication and cooling section The data is then distributed to the corresponding actuators of the modular cooling section and the targeted lubrication cooling section, respectively.

[0130] Among them, the control parameter vector of the partitioned modular cooling section Specifically, it is expressed as follows: Among them, for the first Each independent cooling plate corresponds to a two-stage temperature control valve group, among which : Indicates the first The first cycle The cold water mixing opening of the three-way regulating valve of the two-stage temperature control valve group corresponding to each independent cooling plate is used to regulate the temperature of the coolant input to the independent cooling plate. Indicates the first The first cycle The first electric diversion valve of the secondary temperature control valve group corresponding to each independent cooling plate directs the flow to the plate micro heat exchanger to adjust the regenerative flow rate. Indicates the first The first cycle The output power of the electric heater in the two-stage temperature control valve group corresponding to each independent cooling plate is used for auxiliary heating;

[0131] Targeted Lubrication and Cooling Section Control Parameter Vector Specifically, it is expressed as follows: Among them, for the first Each targeted cooling nozzle 18 corresponds to a spray branch unit, wherein : Indicates the first The first cycle The second electric diversion valve of the spray branch unit corresponding to each targeted cooling nozzle 18 directs the flow to the micro heat exchanger to adjust the amount of oil involved in precise temperature control. Indicates the first The first cycle The opening degree of the proportional regulating valve of the spray branch unit corresponding to each targeted cooling nozzle 18 is used to regulate the final spray flow rate; Indicates the first The first cycle The driving current of the semiconductor refrigeration chip of the spray branch unit corresponding to each targeted cooling nozzle 18 is positive for cooling and negative for heating, which is used to achieve precise temperature control of the sprayed oil.

[0132] The working principle and beneficial effects of the above technical solution are as follows: During operation, the strategy network input unit first receives the predicted comprehensive state vector for the Pth future period output by the coupled prediction submodule, and simultaneously completes vector format verification and normalization processing to ensure that the vector meets the input requirements of the core strategy network unit and can be directly used for parameter mapping. The core strategy network unit, based on a pre-trained deep reinforcement learning model, transforms the predicted comprehensive state vector into the original control parameter vector through a complex internal nonlinear mapping relationship. This vector covers the action parameters of all actuators in the partitioned modular cooling section and the targeted lubrication cooling section, specifically including the action parameters of each independent cooling unit. The board corresponds to the opening degree of the three-way regulating valve of the secondary temperature control valve group, the flow ratio of the first electric diverter valve, the power of the electric heater, and the flow ratio of the second electric diverter valve, the opening degree of the proportional regulating valve, and the driving current of the semiconductor refrigeration chip of each spray branch unit. Subsequently, the control parameter output unit parses and formats the original control parameter vector according to the type of cooling unit, and generates the partitioned modular cooling unit control parameter vector and the targeted lubrication cooling unit control parameter vector respectively. Then, according to the preset communication protocol, the two sets of parameter vectors are sent to the corresponding actuators to ensure that each valve group, motor and refrigeration unit works in coordination and accurately matches the cooling requirements of the predicted future operating conditions.

[0133] Example 7

[0134] This invention provides a rocker arm for a coal mining machine, comprising: a rocker arm housing 1, which itself constitutes a sealed gearbox; the rocker arm double lugs 10 of the rocker arm housing 1 are hinged to the machine body 2; the rocker arm single lug 11 of the rocker arm housing 1 is hinged to the height adjustment cylinder 12 on the machine body 2; a cutting drum 13 is rotatably connected to the end of the rocker arm housing 1 away from the machine body 2; a cutting motor 3 is provided inside the rocker arm housing 1; a transmission component is provided at the output end of the cutting motor 3; the transmission component is completely housed in the gearbox cavity formed by the rocker arm housing 1; the output end of the transmission component meshes with the cutting drum 13; and the transmission component is used to drive the cutting drum 13 to rotate.

[0135] The rocker arm housing 1 also integrates a positive pressure dustproof system, which is used to create positive pressure in the cavity inside the sealed gearbox formed by the rocker arm housing 1.

[0136] In this embodiment, the positive pressure dustproof system includes a miniature air compressor, which is fixed on the body 2. The air inlet of the miniature air compressor is connected to a precision air filter, which is used to filter the intake ambient air. The air outlet of the miniature air compressor is connected in sequence to an electronic pressure regulating valve and an air path distributor. The output end of the air path distributor is connected to the air inlet valve seat located on the upper part of the rocker arm housing 1 through at least one air passage. The rocker arm housing 1 is provided with an adjustable exhaust valve, which is a one-way valve. Both the air inlet valve seat and the adjustable exhaust valve are connected to the internal cavity of the sealed gearbox formed by the rocker arm housing 1, thereby forming a controllable air inlet and exhaust passage.

[0137] The rocker arm housing 1 is equipped with a pressure sensor inside to monitor the actual gas pressure inside the gearbox cavity. The rocker arm housing 1 is equipped with a dust concentration sensor outside to monitor the ambient dust concentration. The electronic pressure regulating valve, adjustable exhaust valve, pressure sensor, and dust concentration sensor are all connected to the adaptive control module. The adaptive control module is used to adjust the opening of the electronic pressure regulating valve and adjustable exhaust valve based on the detection values ​​of the dust concentration sensor and pressure sensor to ensure that the detection value of the pressure sensor is maintained at the target positive pressure.

[0138] The adaptive control module adjusts the opening of the electronic pressure regulating valve and the adjustable exhaust valve based on the detection values ​​of the dust concentration sensor and the air pressure sensor, including:

[0139] First, based on the dust concentration value measured in real time by the dust concentration sensor. Dynamically calculate the target positive pressure value inside the gearbox Its calculation formula is ,in The preset base positive pressure value, The positive pressure compensation coefficient is set according to the system characteristics, and then the actual pressure value is measured in real time by the pressure sensor. As feedback, its relationship with the target positive pressure value is calculated. Pressure deviation between ,Right now Therefore, a proportional-integral-derivative (PID) control algorithm is adopted, based on the real-time pressure deviation. integral of deviation and the differential of the deviation The coordinated opening adjustment command for the electronic pressure regulating valve and the adjustable exhaust valve is calculated. This command aims to achieve the desired pressure value through coordinated control of the intake and exhaust flow rates. It rapidly and steadily approaches and maintains the target positive pressure value. .

[0140] The working principle and beneficial effects of the above technical solution are as follows: During operation, the cutting motor 3 inside the rocker arm housing 1 starts and transmits power through the transmission component connected to the output end. After the planetary gear mechanism reduces speed and increases torque, it drives the cutting drum 13 to rotate and cut the coal seam. The height adjustment cylinder 12 on the machine body 2 is connected to the rocker arm single ear 11 of the rocker arm housing 1 by a hinge, which can extend and retract to adjust the angle of the rocker arm. In conjunction with the rocker arm double ear 10 and the hinge of the machine body 2, the cutting drum 13 can be flexibly adjusted to adapt to different coal seam thickness requirements. Simultaneously, the positive pressure dustproof system is activated to achieve dustproof effect: the miniature air compressor is fixed on the body 2, and draws in ambient air and filters impurities through the precision air filter connected to the air inlet. The purified air is then delivered to the electronic pressure regulating valve and the air distributor through the air outlet. The electronic pressure regulating valve adjusts the air pressure according to the command, and the air distributor delivers the stabilized air through the ventilation pipeline to the air inlet valve seat on the upper part of the rocker arm housing 1, and finally into the sealed gearbox formed by the rocker arm housing 1. The adaptive control module dynamically sets the target positive pressure value based on the external dust concentration monitored by the dust concentration sensor. Combined with the actual pressure inside the gearbox fed back by the air pressure sensor, it adjusts the opening of the electronic pressure regulating valve and the opening of the adjustable exhaust valve through the PID algorithm to maintain a stable positive pressure inside the gearbox and prevent external dust from entering.

[0141] Example 8

[0142] Based on embodiment 7, the transmission assembly includes gear 1 4, gear 2 5, gear 3 6, gear 4 7, gear 5 8, gear 6 9 and gear 7 14. Gear 1 4, gear 2 5, gear 3 6, gear 4 7, gear 5 8, gear 6 9 and gear 7 14 are rotatably connected in sequence inside the rocker arm housing 1. Adjacent gears mesh with each other, and gear 1 4 is keyed to the output end of the cutting motor 3. Gear 7 14 is coaxially connected to the sun gear 15. The inner wall of the cutting drum 13 is fixedly connected to the meshing gear ring 16. Four sets of planetary gears 17 mesh between the meshing gear ring 16 and the sun gear 15.

[0143] On the inner wall of the rocker arm housing 1, at the meshing points of gear 1-4 and gear 2-5, gear 2-5 and gear 3-6, gear 3-6 and gear 4-7, gear 4-7 and gear 5-8, gear 5-8 and gear 6-9, and gear 6-9 and gear 7-14, there are hinged connections to the corresponding positions of the target cooling nozzles 18.

[0144] The working principle and beneficial effects of the above technical solution are as follows: During operation, the cutting motor 3 starts, and the output end drives gear 4 to rotate through a key connection. Gear 4 meshes with gear 5, transmitting power to gear 5. Subsequently, the power is transmitted step by step through the meshing relationship of gear 5 with gear 6, gear 6 with gear 7, gear 7 with gear 8, gear 8 with gear 9, and gear 9 with gear 14, achieving smooth power transmission and deceleration and torque increase. When gear 14 rotates, it drives the coaxially connected sun gear 15 to rotate synchronously. The sun gear 15 meshes with the inner wall of the cutting drum 13. Four sets of planetary gears 17 mesh between the gear rings 16. The sun gear 15 drives the planetary gears 17 to rotate, which in turn drives the meshing gear rings 16 and the cutting drum 13 to rotate as a whole, completing the cutting operation of the coal seam. The design of the four sets of planetary gears 17 makes the power transmission more uniform and adapts to the heavy-duty cutting requirements. At the same time, the targeted cooling nozzles 18 installed on the inner wall of the rocker arm housing 1 are hinged to the meshing points of each gear. They are precisely aligned with the meshing surface and adjust the flow rate and temperature of the lubricating oil spray according to the parameters issued by the adaptive control module. The lubricating oil spray flow rate and temperature are adjusted in real time to remove the heat generated by the gear meshing. At the same time, an oil film is formed on the meshing surface to reduce wear and ensure the stable operation of the transmission components.

[0145] Example 9

[0146] Based on embodiment 7, the cutting roller 13 includes a cylinder 19, a plurality of toothed seats 20 fixed on the cylinder 19, and cutting teeth 21 detachably mounted on each toothed seat 20;

[0147] It also includes an online service status sensing module for cutting tools, which includes:

[0148] Multiple vibration sensors are provided, each of which is sealed and installed in the internal cavity of the corresponding toothed seat 20, and is used to collect vibration data of the corresponding toothed seat 20 during the cutting operation.

[0149] The signal processor is installed at the axial center of the cutting drum 13. The signal processor is connected to all vibration sensors through internal wires. It is used to collect the data collected by each vibration sensor and calculate the contact stiffness characteristics that reflect the wear state of the tip of the cutting tooth 21. The adaptive control module controls the partitioned modular cooling section and the targeted lubrication cooling section based on the calculation results. The signal processor is electrically connected to the adaptive control module fixed on the rocker arm housing 1.

[0150] In this embodiment, the signal processor processes the vibration data of each tooth holder 20 and calculates a contact stiffness characteristic quantity that reflects the wear state of the tip of the cutting tooth 21. ,in Represents the stiffness of the cutting tooth. For serial number, Let be the stiffness of the k-th cutting tooth 21;

[0151] The adaptive control module adjusts the partitioned modular cooling section and the targeted lubrication cooling section based on calculation results, including:

[0152] The adaptive control module receives and arranges the contact stiffness characteristics of each tooth seat 20 in real time and in chronological order. data;

[0153] For each tooth holder 20, based on its contact stiffness characteristic quantity Cut off the real-time operating current of motor 3 and the real-time working tilt angle of the rocker arm Through a pre-defined association function Estimate the additional temperature rise that may occur at the meshing point of the transmission gear corresponding to each tooth seat 20. ,Right now:

[0154]

[0155] Specifically, the transmission gear corresponding to each tooth holder 20 refers to the gear pair in the transmission assembly whose force state is most significantly affected by the cutting load on the tooth holder 20. This correspondence is determined by the circumferential installation position of the cutting tooth 21 on the cutting drum 13: For the tooth holder 20 installed in the half-circumference range of the cutting drum 13 near the rocker arm housing 1, its load mainly affects the gear pair at the end of the transmission chain, namely the meshing point of gear six 9 and gear seven 14; for the tooth holder 20 installed in the half-circumference range of the side away from the rocker arm housing 1, its load mainly affects the gear pair at the front end of the transmission chain, namely the meshing point of gear two 5 and gear three 6.

[0156] When the contact stiffness characteristic of any tooth seat 20 is monitored It continues to decrease within a preset period, and the total decrease exceeds the preset degradation threshold. If the cutting tooth 21 installed on the tooth holder 20 is in an unhealthy wear stage, it is determined that the cutting tooth 21 is in an unhealthy wear stage.

[0157] The adaptive control module adjusts based on the calculated additional temperature rise. Proactive adjustments:

[0158] Increase the amount of lubricating oil injected into the targeted cooling nozzle 18 that points to the meshing point of the transmission gear corresponding to the unhealthy worn cutting tooth 21, and simultaneously reduce the cooling intensity setting value of the independent cooling plate in the corresponding area on the outer surface of the rocker arm housing 1, thereby preemptively offsetting the problem of local temperature rise in the transmission system that may be caused by the wear of the cutting tooth 21.

[0159] In this embodiment, the signal processor processes the vibration data of each tooth holder 20 and calculates a contact stiffness characteristic quantity that reflects the wear state of the tip of the cutting tooth 21. ,include:

[0160] Vibration data acquisition and preprocessing: Each vibration sensor acquires the axial vibration acceleration signal of the tooth holder 20 during the cutting operation at a sampling frequency of 1kHz. Each acquisition cycle is 0.5 seconds. The signal processor performs mean filtering on the acquired raw vibration data and retains the effective vibration waveform.

[0161] Feature frequency extraction: When the cutting tooth 21 comes into contact with coal and rock, a fixed characteristic frequency will appear in the vibration signal. Fixed characteristic frequency The vibration amplitude corresponding to the characteristic frequency is determined by the material of the cutting teeth and the structure of the tooth holder, and is calibrated before leaving the factory. The range is 100-200Hz. The signal processor extracts the vibration amplitude corresponding to this characteristic frequency through spectrum analysis. ;

[0162] Calculation of contact stiffness characteristic: Based on the negative correlation between vibration amplitude and contact stiffness, i.e., the more severe the wear of the cutting tooth, the smaller the contact area at the tip, the lower the stiffness, and the greater the vibration amplitude under the same cutting load, a linear formula is used for calculation. The formula is:

[0163]

[0164] in, This is the reference stiffness value of the cutting tooth in its brand-new condition, factory calibrated, in N / mm. This is a proportionality coefficient, adapted to the cutting tooth model, and determined through testing; the unit is N / (mm·g). This represents the vibration amplitude corresponding to the filtered characteristic frequency, in grams (g). After calculation... After standardization processing, the data is transmitted to the adaptive control module.

[0165] In this embodiment, the amount of lubricating oil injected into the targeted cooling nozzle 18, which points to the meshing point of the transmission gear corresponding to the unhealthy worn cutting tooth 21, is increased, for example:

[0166] Based on the normal operating condition lubricating oil injection volume of the corresponding target cooling nozzle 18, the lubricating oil injection volume under normal operating conditions must meet the basic lubrication and cooling requirements of the corresponding transmission gear meshing point. During adjustment, the injection volume is increased proportionally according to the additional temperature rise value: for every additional temperature rise of one degree Celsius, the injection volume is increased by 5% to 8% on the normal benchmark. At the same time, an upper limit for the injection volume is set, and the maximum increase shall not exceed 60% of the normal benchmark, that is, the final injection volume shall not exceed 160% of the normal injection volume. This is to avoid problems such as increased gear oil churning loss and abnormal lubricating oil temperature rise caused by excessive lubricating oil injection volume, and to ensure a balance between adjustment effect and system stability.

[0167] Simultaneously lower the cooling intensity setting value of the independent cooling plate in the corresponding area on the outer surface of the rocker arm housing 1, such as:

[0168] The cooling intensity of the independent cooling plate in the corresponding area is based on the normal operating condition setting. The normal setting should be able to maintain the normal heat dissipation requirements of the corresponding area of ​​the rocker arm housing. When adjusting, the adjustment range is half of the increase in lubricating oil injection volume. For example, if the lubricating oil injection volume is increased by 24% compared to the normal benchmark, the cooling intensity setting of the corresponding independent cooling plate is reduced by 12% compared to the normal benchmark. At the same time, a lower limit for cooling intensity is set, which is no less than 60% of the normal setting value to prevent the cooling intensity from being too low to meet the basic heat dissipation and to avoid the continuous rise in local temperature. Through this linkage adjustment, the increase in lubricating oil injection volume is used to achieve targeted cooling of the transmission gear meshing point, and the energy consumption is reduced by appropriately reducing the cooling intensity, thus preemptively offsetting the problem of local temperature rise in the transmission system that may be caused by wear of the cutting teeth.

[0169] The working principle and beneficial effects of the above technical solution are as follows: During operation, the cylinder 19 of the cutting drum 13 drives the toothed seat 20 fixed thereon and the detachably installed cutting teeth 21 to rotate. The cutting teeth 21 contact the coal seam to complete the cutting operation. At the same time, the online sensing module for the service status of the cutting teeth is activated synchronously. The vibration sensor installed in the sealed cavity inside each toothed seat 20 collects the axial vibration acceleration signal of the toothed seat 20 during the cutting operation at a fixed frequency, and captures the contact state between the cutting teeth 21 and the coal and rock in real time. The sealed installation design can avoid the influence of underground dust and impact on the sensor, ensuring the stability of monitoring. The data collected by each vibration sensor is transmitted to the signal processor installed at the axis of the cutting drum 13 through internal wires. The signal processor first removes underground dust and impact through the mean filtering algorithm. The noise is eliminated, and the vibration amplitude corresponding to the characteristic frequency is extracted through spectrum analysis. Based on the negative correlation between the vibration amplitude and the contact stiffness of the cutting tooth 21, the contact stiffness characteristic quantity of each cutting tooth 21 is calculated by a linear formula. After standardization, it is transmitted to the adaptive control module. The control module determines the wear state of the cutting tooth 21 according to the change of the characteristic quantity. If excessive wear of the cutting tooth 21 is detected, the additional temperature rise caused by uneven load at the corresponding gear meshing point is estimated by combining the current of the cutting motor 3 and the rocker arm tilt angle data. Then, the command is issued to increase the lubricating oil spray flow of the corresponding targeted cooling nozzle 18 and simultaneously adjust the cooling intensity of the independent cooling plate in the corresponding area of ​​the rocker arm housing 1 to achieve targeted cooling protection and avoid local abnormal temperature rise caused by excessive wear of the cutting tooth 21, which may lead to transmission component failure.

[0170] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A cooling device for the rocker arm of a coal mining machine, characterized in that: include: The partitioned modular cooling section is used to independently cool different key hot zones on the outside of the rocker arm housing (1); The partitioned modular cooling section includes at least two independent cooling plates, which are detachably mounted to a pre-set critical hot zone on the outside of the rocker arm housing (1) by bolts; The targeted lubrication and cooling section is used to provide targeted, independent spray cooling and lubrication to different key gear meshing points inside the rocker arm. The adaptive control module is used to collect multi-dimensional operating status data of the rocker arm in real time, and generate a predicted comprehensive state vector of the rocker arm for future cycles based on a trained dynamic relationship prediction model. Using the predicted comprehensive state vector of the rocker arm for future cycles as input, the module generates control parameters for the corresponding actuators in the partitioned modular cooling section and the targeted lubrication cooling section through a pre-trained strategy network model, and sends the control parameters to the corresponding actuators in real time. The dynamic relationship prediction model takes the historical state vector sequence, which is collected and standardized at fixed intervals, as input. The state vector includes the shell temperature of the corresponding area of ​​each independent cooling plate, the temperature of each gear meshing point, the real-time working tilt angle of the rocker arm, and the real-time working current of the cutting motor that represents the load.

2. The cooling device for the rocker arm of a coal mining machine according to claim 1, characterized in that: The partitioned modular cooling section also includes: The main chiller unit is mounted on the body (2) of the rocker arm and is used to provide coolant to the secondary temperature control valve group; A secondary temperature control valve group with the same number of independent cooling plates, the secondary temperature control valve group includes a three-way regulating valve, a plate micro heat exchanger and a first electric diverter valve; The first inlet of the three-way regulating valve is connected to the chilled water outlet of the main chiller unit through the first pipeline. The second inlet of the three-way regulating valve is connected to the hot side outlet of the plate micro heat exchanger. The mixing outlet of the three-way regulating valve is connected to the liquid inlet of the corresponding independent cooling plate through the second pipeline. The liquid outlet of the independent cooling plate is connected to the inlet of the first electric diverter valve. The first outlet of the first electric diverter valve is connected to the hot side inlet of the plate micro heat exchanger through the third pipeline one. The second outlet of the first electric diverter valve is connected to the return water outlet of the main chiller unit through the third pipeline two. The cold side flow channel of the plate micro heat exchanger is connected in series to the third pipeline two. An electric heater is installed in the hot side flow channel of the plate micro heat exchanger. The three-way regulating valve, the first electric diverter valve, and the electric heater are all connected to the adaptive control module via signal.

3. The cooling device for the rocker arm of a coal mining machine according to claim 2, characterized in that: The targeted lubrication and cooling section includes: The main spray pump has its oil inlet connected to the lubrication circuit inside the rocker arm housing (1) via a fourth pipeline. The main oil cooler has its inlet connected to the outlet of the main spray pump via a fifth pipeline. At least two spray branch units, the inlet of each spray branch unit is connected in parallel to the oil outlet pipe of the main oil cooler, and each spray branch unit includes a second electric diverter valve, a miniature heat exchanger and a proportional regulating valve. The inlet of the second electric diverter valve is connected to the outlet pipe of the main oil cooler. The first outlet of the second electric diverter valve is connected to the oil side inlet of the micro heat exchanger. The second outlet of the second electric diverter valve is connected to the gearbox lubricating oil circuit through the bypass pipe, so that the unsprayed lubricating oil is guided back to the gearbox lubricating oil circuit. The oil side outlet of the micro heat exchanger is connected to the inlet of the proportional regulating valve. The outlet of the proportional regulating valve is connected to a targeted cooling nozzle (18) through the sixth pipe. The targeted cooling nozzle (18) is hinged to the inner wall of the rocker arm housing (1) and points to the corresponding gear meshing point. The water side of the micro heat exchanger is connected to an independent micro refrigeration unit. The micro refrigeration unit is used to utilize the Peltier effect of the semiconductor refrigeration chip and to achieve precise temperature control of the lubricating oil by changing the direction of the current. The second electric diverter valve, the proportional control valve, and the miniature refrigeration unit are all connected to the adaptive control module via signal transmission.

4. A cooling device for a coal mining machine rocker arm according to claim 3, characterized in that: The adaptive control module includes: The data acquisition submodule is used to collect multi-dimensional operating status data of the rocker arm in real time and at fixed intervals. The collected multi-dimensional operational status data is standardized to form a comprehensive state vector of the rocker arm for each cycle. ; The coupled prediction submodule is used to generate a predicted comprehensive state vector for the future cycle rocker arm based on the trained dynamic relationship prediction model and the comprehensive state vector of the historical rocker arm. The predictive control submodule is used to receive the predicted comprehensive state vector and generate control parameter vectors for the partitioned modular cooling section and the targeted lubrication cooling section through a pre-trained policy network model. in, , , The temperatures of the outer wall regions of the rocker arm housing (1) corresponding to the 1st, 2nd, and 3rd independent cooling plates in the Xth cycle are respectively. , , The value after standardization , , The temperatures of the gear meshing points corresponding to the 1st, 2nd, and Zth targeted cooling nozzles (18) in the Xth cycle are respectively. , , The value after standardization The real-time working tilt angle of the rocker arm in the Xth cycle. The value after standardization The real-time operating current of the cutting motor (3) in the Xth cycle. The value after standardization; where Y is the total number of independent cooling plates and Z is the total number of gear meshing points.

5. A cooling device for a coal mining machine rocker arm according to claim 4, characterized in that: The coupling prediction submodule includes: The timing data buffer unit is used to receive and store continuous data from the data acquisition submodule. The comprehensive state vector data of the historical rocker arm for each cycle; Multivariate coupling analysis unit, used for continuous Each element in the comprehensive state vector data of the historical rocker arm for each cycle is used to generate a continuous... The system uses Y historical outer wall temperature sequences, Z historical engagement point temperature sequences, historical tilt angle sequences, and historical load current sequences corresponding to each period. Based on a trained dynamic relationship prediction model, it takes these Y historical outer wall temperature sequences, Z historical engagement point temperature sequences, historical tilt angle sequences, and historical load current sequences as inputs to output a prediction of the future period. The value of each element in the predicted integrated state vector data of the rocker arm for each cycle is used to compose the future state vector data for the next cycle. Predicted integrated state vector of the rocker arm for each cycle ;in, , , These are the predicted temperature values ​​of the outer wall region of the rocker arm housing (1) corresponding to the 1st, 2nd, and Yth independent cooling plates in the Pth cycle, respectively. , , These are the predicted temperatures of the gear meshing points corresponding to the 1st, 2nd, and Zth targeted cooling nozzles (18) in the Pth cycle, respectively. Let be the predicted real-time working tilt angle of the rocker arm in the Pth cycle. The predicted real-time operating current of the cutting motor (3) in the Pth cycle is given.

6. A cooling device for a coal mining machine rocker arm according to claim 5, characterized in that: The predictive control submodule includes: The policy network input unit is used to receive the future first-order prediction submodule output. The predicted integrated state vector for each cycle ; The core policy network unit is used to generate future policy network models based on pre-trained policies. The predicted integrated state vector for each cycle Mapped to the original control parameter vector; The control parameter output unit is used to parse and format the original control parameter vector into a control parameter vector for the partitioned modular cooling unit. and the control parameter vector of the targeted lubrication and cooling section The data is then distributed to the corresponding actuators of the modular cooling section and the targeted lubrication cooling section, respectively. Among them, the control parameter vector of the partitioned modular cooling section Specifically, it is expressed as follows: Among them, for the first Each independent cooling plate corresponds to a two-stage temperature control valve group, among which ; Indicates the first The first cycle The cold water mixing opening of the three-way regulating valve of the two-stage temperature control valve group corresponding to each independent cooling plate is used to regulate the temperature of the coolant input to the independent cooling plate. Indicates the first The first cycle The first electric diversion valve of the secondary temperature control valve group corresponding to each independent cooling plate directs the flow to the plate micro heat exchanger to adjust the regenerative flow rate. Indicates the first The first cycle The output power of the electric heater in the two-stage temperature control valve group corresponding to each independent cooling plate is used for auxiliary heating; Targeted Lubrication and Cooling Section Control Parameter Vector Specifically, it is expressed as follows: Among them, for the first Each targeted cooling nozzle (18) corresponds to a spray branch unit, wherein ; Indicates the first The first cycle The second electric diversion valve of the spray branch unit corresponding to each targeted cooling nozzle (18) diverts the flow to the micro heat exchanger to adjust the amount of oil involved in precise temperature control. Indicates the first The first cycle The opening degree of the proportional regulating valve of the spray branch unit corresponding to each targeted cooling nozzle (18) is used to regulate the final spray flow rate; Indicates the first The first cycle The driving current of the semiconductor cooling chip of the spray branch unit corresponding to each targeted cooling nozzle (18) is positive for cooling and negative for heating, which is used to achieve precise temperature control of the sprayed oil.

7. A rocker arm of a coal mining machine, used for cooling by a rocker arm cooling device as described in any one of claims 1-6, characterized in that: include: The rocker arm housing (1) itself constitutes a closed gearbox. The rocker arm double ears (10) of the rocker arm housing (1) are hinged to the machine body (2). The rocker arm single ear (11) of the rocker arm housing (1) is hinged to the height adjustment cylinder (12) on the machine body (2). The end of the rocker arm housing (1) away from the machine body (2) is rotatably connected to the cutting drum (13). The rocker arm housing (1) is equipped with a cutting motor (3). The output end of the cutting motor (3) is equipped with a transmission component. The transmission component is completely housed in the gearbox cavity formed by the rocker arm housing (1). The output end of the transmission component meshes with the cutting drum (13). The transmission component is used to drive the cutting drum (13) to rotate. The rocker arm housing (1) is also integrated with a positive pressure dustproof system, which is used to create positive pressure in the cavity inside the sealed gearbox formed by the rocker arm housing (1).

8. A rocker arm for a coal mining machine according to claim 7, characterized in that: The transmission assembly includes gear 1 (4), gear 2 (5), gear 3 (6), gear 4 (7), gear 5 (8), gear 6 (9) and gear 7 (14). Gear 1 (4), gear 2 (5), gear 3 (6), gear 4 (7), gear 5 (8), gear 6 (9) and gear 7 (14) are rotatably connected in sequence inside the rocker arm housing (1). Adjacent gears mesh with each other, and gear 1 (4) is keyed to the output end of the cutting motor (3). Gear 7 (14) is coaxially connected to the sun gear (15). The inner wall of the cutting drum (13) is fixedly connected to the meshing gear ring (16). There are four sets of planetary gears (17) meshing between the meshing gear ring (16) and the sun gear (15). The corresponding positions of the meshing points of gear 1 (4) and gear 2 (5), gear 2 (5) and gear 3 (6), gear 3 (6) and gear 4 (7), gear 4 (7) and gear 5 (8), gear 5 (8) and gear 6 (9), and gear 6 (9) and gear 7 (14) on the inner wall of the rocker arm housing (1) are all hinged to targeted cooling nozzles (18).

9. A rocker arm for a coal mining machine according to claim 7, characterized in that: The cutting roller (13) includes a cylinder (19), a plurality of toothed seats (20) fixed on the cylinder (19), and cutting teeth (21) detachably mounted on each toothed seat (20); It also includes an online service status sensing module for cutting tools, which includes: Multiple vibration sensors, each of which is sealed and installed in the internal cavity of the corresponding tooth holder (20), are used to collect vibration data of the corresponding tooth holder (20) during the cutting operation; The signal processor is installed at the axial center of the cutting drum (13). The signal processor is connected to all vibration sensors through internal wires to collect the data collected by each vibration sensor and calculate the contact stiffness characteristics that reflect the wear state of the cutting tooth tip (21). The adaptive control module controls the partitioned modular cooling section and the targeted lubrication cooling section based on the calculation results. The signal processor is electrically connected to the adaptive control module fixed on the rocker arm housing (1).

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