Integral frame-type machine body structure of coal mining machine, and integral frame-type intelligent coal mining machine

Abstract

An integral frame-type machine body structure of a coal mining machine, and an integral frame-type intelligent coal mining machine. A structure in which an integral frame-type framework is welded to articulated frames is adopted, and the frame-type framework is configured to be of a transverse drawer-type structure, thereby achieving high interchangeability. The articulated frames are symmetrically distributed on a left side and a right side of the frame-type framework and are welded and connected to the frame-type framework; and a top plate (16) and a bottom plate (14) are fixedly arranged at an upper part and a lower part of the frame-type framework, respectively, external traction transverse plates (9) are fixedly arranged on the left side and the right side of the frame-type framework, and several intermediate vertical plates are fixedly arranged between the top plate (16) and the bottom plate (14), which are located an upper side and a lower side of the frame-type framework, to divide same, so as to obtain a plurality of cavities. The modularization rate of the coal mining machine is improved, thereby improving the interchangeability, facilitating underground maintenance and overhaul, and enhancing the matching adaptability; in addition, the force-bearing condition of the coal mining machine during the working process is improved, and the reliability of a transmission system of the coal mining machine is enhanced.

Description

Coal mining machine integral frame body structure and integral frame type intelligent coal mining machine Technical Field

[0001] The present application relates to the technical field of coal mining machines, and in particular to an integral frame body structure of a coal mining machine and an integral frame intelligent coal mining machine. Background Art

[0002] The coal mining industry's requirements for "high productivity, high efficiency, high reliability, high adaptability, and high intelligence" are a common goal for all coal mine users. Standardizing, modularizing, and universalizing the design of series shearers, achieving a fully series-based menu-based selection system, increasing versatility, and improving the development of intelligent shearer series are imperative. Overall optimization of shearer structure is a key step in improving the development of intelligent shearer series.

[0003] The current high-power coal mining machine body structure is mainly a three-section structure. The traction unit, as one of the important components of the coal mining machine structure, is composed of two parts: left and right traction transmission boxes and left and right external traction parts. That is, the left and right traction transmission boxes of the traditional coal mining machine are distributed on both sides of the middle section of the coal mining machine. Two high-strength large-diameter pins are used to locate the two traction transmission boxes and the central electric control box, and they are fastened by connecting studs and super nuts. The top and bottom of the left and right traction transmission boxes are designed with mounting holes for long screw assemblies. The left and right traction transmission boxes and the central control box are fastened together by high-strength long screws to form the coal mining machine body. This three-section frame coal mining machine structure is insufficient in strength, and when the traction component is damaged and repaired, the entire traction component can only be removed and replaced. Therefore, the installation and disassembly of internal components are difficult in daily maintenance and repair, resulting in extended underground production cycles and increased production costs.

[0004] Regarding the related technologies, the three-section frame coal mining machine has insufficient structural strength, and the installation and disassembly of internal components are difficult during daily maintenance and repair, resulting in extended underground production cycles and increased production costs. There is currently no effective solution.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide an integral frame body structure of a coal mining machine and an integral frame intelligent coal mining machine, so as to at least solve the problem that the three-section frame coal mining machine structure in the related technology is insufficient in strength, and the installation and disassembly of internal components in daily maintenance and repair are difficult, resulting in extended underground production cycles and increased production costs.

[0007] According to one embodiment of the present application, an integral frame-type body structure of a coal mining machine is provided, comprising: a frame-type frame, comprising a top plate and a bottom plate arranged upper and lower, and a plurality of side plates arranged between the top plate and the bottom plate, wherein the top plate, the bottom plate and the plurality of side plates are welded to form the frame-type frame; an articulated frame, comprising a first articulated frame and a second articulated frame arranged on both sides in the length direction of the frame-type frame, wherein the articulated frame and the frame-type frame are welded and connected; an external traction cross plate, arranged on both sides in the length direction of the frame-type frame and fixedly connected to the bottom plate; a plurality of neutral plates, arranged between the top plate and the bottom plate, wherein the plurality of neutral plates divide the inner cavity of the frame-type frame into a plurality of independent cavities, the cavities are symmetrically distributed along the width direction of the frame-type frame, independent module structures are placed in the cavities, and the cavities and the module structures form a drawer-type structure.

[0008] In one embodiment, the overall frame-type body structure of the coal mining machine also includes: a plurality of tenons, which are arranged on the articulated frame at a position opposite to the frame-type frame; a plurality of mortises, which are arranged on the frame-type frame at a position opposite to the articulated frame, wherein the plurality of tenons and the plurality of mortise and tenon grooves cooperate with each other to form a mortise and tenon insertion and positioning welding structure; a plurality of ribs arranged in parallel, which are fixedly connected to the bottom of the base plate along the length direction of the frame-type frame; a plurality of vertical ribs, which are arranged in parallel between two adjacent ribs, wherein the ribs are respectively welded to the base plate and the vertical ribs to form a local box-type reinforcement structure below the base plate.

[0009] According to another embodiment of the present application, an integral frame type intelligent coal mining machine is also provided, comprising the integral frame type fuselage structure of the coal mining machine described in any one of the above items, two sets of rocker arms arranged on both sides of the integral frame type fuselage structure, two rollers respectively connected to the two sets of rocker arms, and a sliding shoe leg assembly installed above the integral frame type fuselage structure.

[0010] In one embodiment, at least the following modules are installed in the module compartment of the integral frame-type fuselage structure: a first traction part transmission system module, a second traction part transmission system module, an electrical control box, a pump station and auxiliary components, wherein the internal structures of the first traction part transmission system module and the second traction part transmission system module are mirror images of each other, and different types of guide rails and limit wedges are arranged in different module compartments.

[0011] In one embodiment, the first traction part transmission system module includes a motor, a transmission gear box, a hydraulic cooling pipe and a spray system, wherein the upper and lower surfaces of the first traction part transmission system module are symmetrically designed and respectively have three parallel grooves, and the parallel grooves cooperate with the guide rails inside the module compartment to realize the pulling and sliding of the first traction part transmission system module, and the installation position of the first traction part transmission system module is determined according to the position of the positioning wedge block on the rear side of the module compartment and the position of the positioning wedge block on the rocker arm side; the electric control box includes an intelligent electric control device, and the various components of the intelligent electric control device are pushed into the electric control box through the guide rails and fixed.

[0012] In one embodiment, the intelligent electronic control device includes: an intelligent controller, configured to perform monitoring tasks and bottom-level control tasks of the replaceable parts of the coal mining machine, and transmit real-time perception information to a positioning and navigation device in real time, wherein the replaceable parts of the coal mining machine include at least: a planetary head component, a rocker arm, a first traction part transmission system module, a second traction part transmission system module, a sliding shoe leg assembly, and a walking part transmission system module, and the real-time perception information is real-time data obtained from the onboard sensors of the coal mining machine; and the positioning and navigation device, configured to perform top-level planning tasks, including sending control parameters that need to be executed within a preset time period in the future to the intelligent controller, wherein signals are transmitted between the intelligent controller and the positioning and navigation device via Ethernet.

[0013] In one embodiment, the intelligent controller includes: a real-time logic control module, configured to obtain the real-time perception information from the onboard sensor, and determine whether an abnormal situation exists based on the real-time perception information and various thresholds, and receive the control parameters, and output a digital signal or an analog signal based on the control parameters, wherein the digital signal or the analog signal is used to drive the action of an external device; a performance degradation prediction module, configured to receive the real-time perception information sent by the real-time logic control module, and determine whether the replaceable part needs to be replaced based on the real-time perception information; a coal-rock interface prediction module, configured to receive time series data sent by the real-time logic control unit, and determine the absolute position coordinates of the coal-rock interface based on the time series data, wherein the time series data includes at least: drum output torque, cutting motor current, height adjustment cylinder pressure and rocker arm inclination angle information; an operation intensity optimization module, configured to send the control parameters to the real-time logic control module, wherein the control parameters are used to instruct the real-time logic control module to drive the action of the external device.

[0014] In one embodiment, the performance degradation prediction module is further configured to: use a Kalman filter algorithm to filter and reduce noise on the temperature data and current data in the real-time perception information, segment the vibration data in the real-time perception information, and use a kurtosis index to extract features for each time period after segmentation; accumulate and collect 4 to 6 hours of real-time perception information each time and confirm the gradient change of the real-time perception information based on a preset time period; fit the gradient change based on the least squares method to obtain a relatively smooth gradient change curve and gradient mathematical formula; use a multi-dimensional cosine angle formula to calculate the gradient change curve of the real-time perception information of the replaceable part and the spatial cosine angle value of the gradient curve under normal working conditions in the database, wherein the spatial cosine angle value is used to indicate the degree of performance degradation of the replaceable part.

[0015] In one embodiment, the coal-rock interface prediction module is further configured to: denoise the time series data; fuse and identify the sensor data representing the cutting state at the original data level and the feature level, respectively, to obtain a first recognition result for the original data level and a second recognition result for the feature level; calculate the probability distribution function of the first recognition result and the second recognition result based on the DS evidence theory, respectively, to obtain a first probability distribution function and a second probability distribution function; use the entropy weighting method to combine the first probability distribution function and the second probability distribution function to obtain a third recognition result for the cutting material; pair the third recognition result with the cutting trajectory sent by the positioning and navigation device in time series to obtain the absolute position coordinates of the coal-rock interface at the current moment.

[0016] In one embodiment, the positioning and navigation device includes: a precise positioning module, configured to use an inertial navigation device to determine the absolute position of the coal mining machine in the coal seam; a coal seam geological refinement module, configured to correct and complete the three-dimensional model of the coal seam; a cutting space planning module, configured to determine the operating parameter sequence of the coal mining machine in a future preset time period based on the recovery rate, coal cutting volume, and equipment pass rate; and a working face straightening module, configured to determine the distance that the hydraulic support needs to be pushed based on the scraper trajectory.

[0017] The integral frame body structure of the coal mining machine and the integral frame intelligent coal mining machine provided by the embodiments of the present application use a structure in which an integral frame frame and an articulated frame are welded, and the frame frame is set to a horizontal drawer structure with high interchangeability. The articulated frames are symmetrically distributed on the left and right sides of the frame frame and are welded to the frame frame. A top plate and a bottom plate are fixedly provided on the upper and lower parts of the frame frame respectively, and an external traction cross plate is fixedly provided on the left and right sides of the frame frame. A structure in which several neutral plates are fixedly provided between the top and bottom plates on the upper and lower sides of the frame frame divides a plurality of cavities, thereby improving the modularity of the coal mining machine, thereby improving the interchangeability, facilitating underground maintenance and repair, improving the supporting adaptability, and improving the stress conditions during the operation of the coal mining machine, thereby improving the reliability of the coal mining machine transmission system. At the same time, the integral frame body structure of the coal mining machine and the integral frame intelligent coal mining machine provided by this application solve the problem that the three-section frame coal mining machine structure in the related technology is insufficient in strength, and the installation and disassembly of internal components in daily maintenance and repair are difficult, resulting in extended underground production cycles and increased production costs. The production cycle is effectively shortened and production costs are reduced through a highly interchangeable structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] FIG1 is a perspective schematic diagram of an optional integral frame-type body structure of a coal mining machine according to an embodiment of the present application;

[0020] Figure 2 is a front view of Figure 1;

[0021] FIG3 is a schematic structural diagram of an optional integral frame type intelligent coal mining machine according to an embodiment of the present application;

[0022] FIG4 is a schematic diagram of the internal structure of an optional integral frame-type fuselage structure according to an embodiment of the present application;

[0023] FIG5 is a schematic diagram of the internal structure of an optional integral frame-type fuselage structure according to an embodiment of the present application;

[0024] FIG6 is a schematic structural diagram of an optional traction unit transmission system module according to an embodiment of the present application;

[0025] FIG7 is a schematic structural diagram of an optional electric control box according to an embodiment of the present application;

[0026] FIG8 is a schematic structural diagram of an optional intelligent electronic control device according to an embodiment of the present application;

[0027] FIG9 is a flowchart of an optional real-time logic control module according to an embodiment of the present application;

[0028] FIG10 is a flowchart of an optional component performance degradation module according to an embodiment of the present application;

[0029] FIG11 is a flowchart of an optional coal-rock interface prediction module according to an embodiment of the present application;

[0030] FIG12 is a workflow diagram of an optional work intensity optimization module according to an embodiment of the present application.

[0031] Explanation of Reference Numerals 1. First articulated frame; 2. First cavity; 3. Second cavity; 4. Third cavity; 5. Fourth cavity; 6. Fifth cavity; 7. Second articulated frame; 8. Side plate; 9. External traction cross plate; 10. Second neutral plate; 11. Rib plate; 12. Third neutral plate; 13. Side plate; 14. Bottom plate; 15. Side plate; 16. Top plate; 17. Fourth neutral plate; 18. First neutral plate; 19. Roller; 20. Rocker arm; 21. Integral frame-type fuselage structure; 22. Sliding shoe leg assembly; 3.1 , first traction unit transmission system module; 3.1.1, traction unit guide rail groove; 3.1.2, traction unit fixing bolt hole; 3.2, auxiliary components; 3.3, electric control box; 3.3.1, electric control box box guide rail; 3.4, frame-type fuselage outer box; 3.4.1, traction unit fixing bolt; 3.4.2, limit wedge block; 3.4.3, electric control box fixing bolt; 3.4.4, traction unit sliding guide rail; 3.4.5, electric control box sliding guide rail; 3.5, pump station; 3.6, second traction unit transmission system module. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0034] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0037] As shown in Figures 1 and 2, an embodiment of the present invention provides a coal mining machine integral frame-type body structure, comprising:

[0038] The frame-type frame body and the hinged frame, the frame-type frame body has a horizontal drawer-type structure, the hinged frames are symmetrically distributed on the left and right sides of the frame-type frame body, and are welded to the frame-type frame body. A top plate 16 and a bottom plate 14 are fixedly provided on the upper and lower parts of the frame-type frame body respectively, and an external traction cross plate 9 is fixedly provided on the left and right sides of the frame-type frame body. A number of neutral plates are fixedly provided between the top plate 16 and the bottom plate 14 on the upper and lower sides of the frame-type frame body.

[0039] Specifically, the direction of the neutral plate is the vertical direction.

[0040] Specifically, the direction of the outer traction transverse plate 9 is horizontal.

[0041] In some optional aspects of this embodiment, the articulated frame connected to the coal mining machine rocker arm is manufactured by casting.

[0042] Furthermore, it also includes a vertical plate 11 , and the number of the side plates 11 is multiple, and the multiple vertical plates 11 are fixedly arranged on the periphery of the bottom plate 14 .

[0043] In some optional embodiments, the neutral plate includes a first neutral plate 18, a second neutral plate 10, a third neutral plate 12, and a fourth neutral plate 17, and the neutral plates are parallel to each other. The neutral plates are located on the body of the integral frame, with one end in contact with the top plate 16 and the other end in contact with the bottom plate 14, thereby dividing the inner cavity of the body into a plurality of sub-cavities. It should be noted that the neutral plates in the present invention include but are not limited to the first, second, third, and fourth neutral plates 13 described above. The number of neutral plates can be set to multiple, and the specific number is determined according to actual usage. On the one hand, the structure of the neutral plate and the side plates 15 improves the strength of the integral frame. On the other hand, the structure of the neutral plate ensures that the windows or cavities opened on the body of the integral frame structure can maintain a certain strength, play a certain shaping role, and avoid local deformation of the frame body due to the opening of the windows or cavities.

[0044] In some optional embodiments, the top plate 16 and the bottom plate 14 are parallel to each other at the upper and lower parts of the frame body, and the top plate 16 and the bottom plate 14 pass through the frame body from left to right.

[0045] In some optional embodiments, the overall shape enclosed by the side panels 15 is consistent with the shape of the window or cavity.

[0046] In some optional embodiments, a plurality of round holes or oblong holes are provided on the first neutral plate 18, the second neutral plate 10, the third neutral plate 12, the fourth neutral plate 17, the rib plate 11, the top plate 16, the bottom plate 14 and the outer traction cross plate 9. On the one hand, this can reduce the overall weight of the integral frame; on the other hand, this can also reduce stress, avoid stress concentration and improve the strength of the integral frame.

[0047] One end of the articulated frame is provided with a tenon, and a tenon groove that cooperates with the tenon is provided at a position where the frame body is welded to the articulated frame to form a mortise and tenon insertion structure.

[0048] In this way, by arranging a tenon on the articulated frame of the present invention and arranging a mortise and tenon that matches the tenon on the frame-type frame, on the one hand, the articulated frame and the frame-type frame can be more firmly matched and welded with each other through the mortise and tenon matching, and the contact area is larger, thereby ensuring the strength of the articulated frame on the integral frame. At the same time, the accurate positioning of the articulated frame on the frame-type frame is guaranteed, thereby ensuring the functions of the articulated frame and the integral frame.

[0049] In some optional aspects of this embodiment, the cavity openings on the frame-type frame are all arranged on one side of the integral frame and are located on the same side as the outer traction cross plate 9.

[0050] Specifically, a plurality of cavities are provided on the integral frame, and the plurality of cavities respectively correspond to the positions of the hydraulic system unit, the traction power unit and the electronic control system unit of the equipment matched with the integral frame.

[0051] In some optional aspects of this embodiment, the plurality of cavities respectively cooperate with the outer walls of the hydraulic system unit, the traction power unit and the electronic control system unit of the equipment that cooperates with the integral frame.

[0052] In some optional embodiments, the cavity may include a first cavity 2, a second cavity 3, a third cavity 4, a fourth cavity 5 and a fifth cavity 6. Taking the coal mining machine as an example, the settings inside each cavity or the corresponding structures inside each cavity are explained. Specifically, a traction transmission box is set in the first cavity 2; auxiliary components are set in the second cavity 3; an electric control box, an electrical system and accessories and an intelligent module are set in the third cavity 4; a pump station system is set in the fourth cavity 5; and a traction transmission box is set in the fifth cavity 6; the external traction on the left and right sides of the coal mining machine is driven by the traction transmission part, and after straight tooth deceleration, the power is transmitted to the sprocket, which engages with the pin rail on the working face scraper to realize the operation of the coal mining machine on the working face.

[0053] Such an arrangement can facilitate maintenance operations on the hydraulic system unit, traction power unit and electronic control system unit of the coordinated equipment, avoid dismantling the integral frame during maintenance operations, and enable maintenance and replacement through the above-mentioned cavity or opening. Specifically, the size of the above-mentioned openings and cavities is determined according to the actual size of maintenance and replacement, including but not limited to mutual coordination with the size of the corresponding unit.

[0054] Preferably, the top plate 16 and the bottom plate 14 are single-layer solid plates.

[0055] In some optional implementations of this embodiment, the top plate 16, bottom plate 14, and side plates 15 are welded to the frame. During welding, the top plate 16, bottom plate 14, and side plates 15 are pre-welded to form a frame, which is then welded to the articulated frame. A plurality of ribs 11 are also fixedly mounted on the frame, with one end of each rib being welded to the bottom plate 14 and the other end being welded to the frame.

[0056] In some optional embodiments, the bottom plate 14 is welded to the remaining neutral plates, rib plates 11, etc. to form a local small frame, which is then welded to the top plate 16 and side plates 15. The rib plates 11 are welded to the bottom plate 14 and other parts of the overall frame to form a local small frame to increase the strength of the overall frame of the coal mining machine.

[0057] In this way, by pre-welding the top plate 16, the bottom plate 14 and the side plate 15 into one piece, and aligning and inserting the welded frame with the articulated frame and then welding them together, the accuracy of the relative positions between the welded top plate 16, the bottom plate 14 and the side plate 15 and the articulated frame 1 and the articulated frame 7 is ensured.

[0058] Therefore, the present invention adopts a structure in which a partial casting (articulated frame) and a welded frame are welded together. Due to the compact space and complex structure, the hinged parts (articulated frames) at both ends of the coal mining machine's integral frame and the rocker arm are generally cast. They are welded to the top plate 16, bottom plate 14, side plates 15, etc., combining casting and welding to keep the box body integrated to form an integral frame in the form of a cast-welded structure. The first articulated frame 1 is welded to the left side of the coal mining machine's integral frame, and the second articulated frame 7 is welded to the right side of the integral frame. The mortise and tenon joint and plug-in positioning welding structure is adopted to resist some welding stress and prevent deformation, while significantly improving the tensile and torsional resistance.

[0059] As shown in Figures 3 to 7, another optional embodiment of the present application also provides an integral frame type intelligent coal mining machine, which includes the above-mentioned coal mining machine integral frame type fuselage structure 21, two groups of rocker arms 20 arranged on both sides of the integral frame type fuselage structure 21, two rollers 19 respectively connected to the two groups of rocker arms, and a sliding shoe leg assembly 22 installed above the integral frame type fuselage structure.

[0060] In one embodiment, at least the following modules are installed in the module compartment of the integral frame-type fuselage structure: a first traction part transmission system module 3.1, a second traction part transmission system module 3.6, an electric control box 3.3, a pump station 3.5 and an auxiliary component 3.2, wherein the internal structures of the first traction part transmission system module 3.1 and the second traction part transmission system module 3.6 are mirror images of each other, and different types of guide rails and limit wedges are arranged in different module compartments.

[0061] In one embodiment, the first traction part transmission system module 3.1 includes a motor, a transmission gear box, a hydraulic cooling pipe and a spray system, wherein the upper and lower surfaces of the first traction part transmission system module 3.1 are symmetrically designed and respectively have three parallel grooves, and the parallel grooves cooperate with the guide rails inside the module compartment to realize the pulling and sliding of the first traction part transmission system module 3.1, and the installation position of the first traction part transmission system module 3.1 is determined according to the position of the positioning wedge block on the rear side of the module compartment and the position of the positioning wedge block on the rocker arm side; the electric control box 3.3 includes an intelligent electric control device, and the various components of the intelligent electric control device are pushed into the electric control box 3.3 through the guide rails and fixed.

[0062] In one embodiment, the intelligent electronic control device includes: an intelligent controller, configured to perform monitoring tasks and bottom-level control tasks of the replaceable parts of the coal mining machine, and transmit real-time perception information to a positioning and navigation device in real time, wherein the replaceable parts of the coal mining machine include at least: a planetary head component, a rocker arm, a first traction part transmission system module, a second traction part transmission system module, a sliding shoe leg assembly, and a walking part transmission system module, and the real-time perception information is real-time data obtained from the onboard sensors of the coal mining machine; and the positioning and navigation device, configured to perform top-level planning tasks, including sending control parameters that need to be executed within a preset time period in the future to the intelligent controller, wherein signals are transmitted between the intelligent controller and the positioning and navigation device via Ethernet.

[0063] In one embodiment, the intelligent controller includes: a real-time logic control module, configured to obtain the real-time perception information from the onboard sensor, and determine whether an abnormal situation exists based on the real-time perception information and various thresholds, and receive the control parameters, and output a digital signal or an analog signal based on the control parameters, wherein the digital signal or the analog signal is used to drive the action of an external device; a performance degradation prediction module, configured to receive the real-time perception information sent by the real-time logic control module, and determine whether the replaceable part needs to be replaced based on the real-time perception information; a coal-rock interface prediction module, configured to receive time series data sent by the real-time logic control unit, and determine the absolute position coordinates of the coal-rock interface based on the time series data, wherein the time series data includes at least: drum output torque, cutting motor current, height adjustment cylinder pressure and rocker arm inclination angle information; an operation intensity optimization module, configured to send the control parameters to the real-time logic control module, wherein the control parameters are used to instruct the real-time logic control module to drive the action of the external device.

[0064] In one embodiment, the performance degradation prediction module is further configured to: use a Kalman filter algorithm to filter and reduce noise on the temperature data and current data in the real-time perception information, segment the vibration data in the real-time perception information, and use a kurtosis index to extract features for each time period after segmentation; accumulate and collect 4 to 6 hours of real-time perception information each time and confirm the gradient change of the real-time perception information based on a preset time period; fit the gradient change based on the least squares method to obtain a relatively smooth gradient change curve and gradient mathematical formula; use a multi-dimensional cosine angle formula to calculate the gradient change curve of the real-time perception information of the replaceable part and the spatial cosine angle value of the gradient curve under normal working conditions in the database, wherein the spatial cosine angle value is used to indicate the degree of performance degradation of the replaceable part.

[0065] It should be noted that the Kalman filter algorithm is based on the Bayesian inference principle, which minimizes the error between the estimated value and the true value by continuously updating the estimated mean and covariance matrix of the temperature data and the current data. The least squares method determines the optimal polynomial parameter value by minimizing the residual sum of squares between the polynomial gradient change curve and the true gradient value, and finally obtains the mathematical formula of the gradient change. The multidimensional cosine angle formula is to first sample the gradient change curve of the real-time perception information and the gradient curve under normal working conditions in the database according to the time interval of the real-time perception information, obtain two sets of vectors, and calculate the ratio of the inner product of the two vectors and the product of the vector length as the spatial cosine angle value.

[0066] In one embodiment, the coal-rock interface prediction module is further configured to: denoise the time series data; fuse and identify the sensor data representing the cutting state at the original data level and the feature level, respectively, to obtain a first recognition result for the original data level and a second recognition result for the feature level; calculate the probability distribution function of the first recognition result and the second recognition result based on the DS evidence theory, respectively, to obtain a first probability distribution function and a second probability distribution function; use the entropy weighting method to combine the first probability distribution function and the second probability distribution function to obtain a third recognition result for the cutting material; pair the third recognition result with the cutting trajectory sent by the positioning and navigation device in time series to obtain the absolute position coordinates of the coal-rock interface at the current moment.

[0067] It should be noted that the DS evidence theory constructs a probability distribution function based on the prior recognition rate of the feature layer fusion recognition model and the data layer fusion recognition model, and updates the probability distribution function from different sources according to the conjunction rule and disjunction rule in the DS evidence theory. The entropy weighting method is to perform weighted processing on multiple recognition results, and the weight is calculated using the information entropy method. The parameter used in calculating the information entropy is the probability distribution function.

[0068] In one embodiment, the positioning and navigation device includes: a precise positioning module, configured to use an inertial navigation device to determine the absolute position of the coal mining machine in the coal seam; a coal seam geological refinement module, configured to correct and complete the three-dimensional model of the coal seam; a cutting space planning module, configured to determine the operating parameter sequence of the coal mining machine in a future preset time period based on the recovery rate, coal cutting volume, and equipment pass rate; and a working face straightening module, configured to determine the distance that the hydraulic support needs to be pushed based on the scraper trajectory.

[0069] The structure and working process of the integral frame type intelligent coal mining machine provided in the embodiment of the present application will be described in detail below with reference to Figures 2 to 12.

[0070] As shown in Figure 2, the first and second traction unit drive system modules, an electrical control box, a pump station, and auxiliary components are installed inside the integral frame-type fuselage structure. The integral frame-type fuselage structure is designed with module compartments of different specifications based on the installed modules. Partial areas between the module compartments are interconnected, used for interconnection between internal modules. Different types of slide rails and limit wedges are designed inside different module compartments. The modules inside the fuselage can be pulled out and replaced via the slide rails. The goaf side of the fuselage is equipped with a removable baffle, which facilitates the replacement and maintenance of the modules inside the fuselage, while preventing coal blocks and dust from entering the fuselage and affecting the operation of the modules. The coal wall side of the fuselage is a closed design.

[0071] As shown in Figures 4 and 5, the lower end of the module compartment of the traction unit drive system module is designed with three parallel guide rails 3.4.4, and eight groups of bolt holes 3.4.1 are opened on the parallel guide rails. Limiting wedges 3.4.2 are installed on the rear side of the module compartment and the rocker arm side. The internal structures of the first and second traction unit drive system module compartments are mirrored.

[0072] As shown in Figure 6, the traction drive system module includes a motor, transmission gearbox, hydraulic cooling pipes, and a spray system. The upper and lower surfaces of the traction drive system module housing are symmetrically designed, each with three parallel grooves 3.1.1. Each groove has eight sets of through-hole bolt holes 3.1.2 positioned in the same position as the bolt holes on the guide rails. These parallel grooves 3.1.1 cooperate with the internal guide rails 3.4.4 of the module compartment to enable the traction drive system module to be pulled out and slid. Positioning wedges 3.4.2 on the rear and rocker sides of the module compartment determine the module's installation position, and eight sets of long bolts are used to secure it, meeting the high-strength requirements for power transmission components. The mirrored design of the traction drive system module compartment's internal structure and the symmetrical design of the upper and lower surfaces of the module housing allow for full left-right interchangeability of the first and second traction drive system modules by flipping them 180°.

[0073] As shown in Figure 7, the lower end of the module compartment of the electrical control box is designed with five parallel guide rails 3.4.5. The lower end surface of the electrical control box body is also designed with five parallel guide rails 3.3.1. The guide rails 3.3.1 on the lower end surface of the box body match the guide rails 3.4.5 on the lower end of the module compartment. Both guide rails have bolt holes in the same position. Bolts 3.4.3 are used to secure the electrical control box. The electrical control box contains intelligent electronic control devices and adopts a multi-layer pull-out, sliding rail, and hinged structure. Each internal electrical component can be pushed into the electrical control box body and secured using the guide rails. Since the pump station 3.5 and auxiliary components 3.2 are lightweight and do not transmit power, they can be directly pushed into the two-component module compartment and secured with bolts.

[0074] As shown in Figure 8, the intelligent electronic control device includes a coal mining machine intelligent controller and a positioning and navigation device. The intelligent controller primarily performs monitoring and low-level execution-level control tasks for the coal mining machine's replaceable components (planetary head module, rocker arm module, traction unit transmission module, sliding shoe leg module, and travel unit transmission system module), and transmits sensor-based information to the positioning and navigation device in real time. The positioning and navigation device primarily performs top-level design-level decision-making and planning tasks, sending control parameters to the intelligent controller for future execution. High-speed Ethernet signal transmission is used between the coal mining machine intelligent controller and the positioning and navigation device to ensure real-time data exchange. The coal mining machine intelligent controller primarily includes a real-time logic control module, a performance degradation prediction module, a coal-rock interface prediction module, and an operation intensity optimization module. The real-time logic control module performs basic mining operations (status perception and command execution). The performance degradation prediction module determines the status of each replaceable module and whether it needs replacement. The coal-rock interface prediction module analyzes the possible absolute location of the coal-rock interface based on real-time sensing information. The operation intensity optimization module fine-tunes and determines upcoming operation parameters to extend the life of the coal mining machine. The positioning and navigation system primarily includes a precise positioning module, a coal seam geology refinement module, a cutting space planning module, and a working face straightening module. The precise positioning module uses an inertial navigation device to determine the shearer's absolute position within the coal seam. The coal seam geology refinement module continuously corrects and completes the three-dimensional coal seam model obtained through geophysical prospecting (geophysical exploration). The cutting space planning module determines the shearer's operating parameter sequence for the future based on the recovery rate, coal cut volume, and equipment passability. The working face straightening module determines the required distance for the hydraulic support to be moved based on the scraper trajectory inverted from the shearer.

[0075] As shown in Figure 9, the real-time logic control module outputs digital or analog signals according to the received control parameters to drive the precise movement of external devices. The basic process is to collect all data from onboard sensors and determine whether there are any abnormal conditions based on the threshold. If an abnormality occurs, an alarm is issued and the machine is shut down for waiting. If there is no abnormal signal, the communication system is judged using heartbeat detection to ensure the normal input of the control signal. Then, the control parameters issued by the operation intensity optimization module based on the cutting space planning module are received. Combined with the proportional-integral-derivative (PID) precise control algorithm, the deviation between the system output and the expected value is continuously corrected to output the actual required electrical signal and drive the execution component to move.

[0076] As shown in Figure 10, the performance degradation prediction module first receives sensor data representing the status of replaceable components on the coal mining machine from the real-time logic control module. The rocker arm module receives temperature data and current signals; the traction drive module receives temperature data and current signals; the sliding shoe module receives vibration signals; and the travel drive system module receives temperature data. A Kalman filter algorithm is then used to filter and reduce noise from the raw sensor time series data, excluding the vibration signal. The vibration signal is then segmented using the same sampling frequency as other sensors. Feature extraction is performed for each segmented time period using the kurtosis metric. Five hours of data are accumulated each time, and the gradient of the data is calculated based on the time interval. The gradient data is fitted using the least squares method to obtain a relatively smooth curve and mathematical formula. A multidimensional cosine angle formula is used to calculate the spatial cosine angle between the gradient curve of the replaceable component's real-time sensor data and the gradient curve under normal operation in the database. This spatial cosine angle is used as the degree of performance degradation of the replaceable component. When the spatial cosine angle value representing the similarity is greater than 0.3, no action is performed. When the similarity is less than 0.3, it indicates that the degree of component damage is no longer negligible. Using the previously trained back-propagation (BP) model for estimating motor and gear degradation indicators based on the normal operation database, degraded operation database, and fault analysis database, the motor degradation indicators (inter-turn short-circuit coefficient, bearing scratch depth) and gear degradation indicators (gear crack width) in the replaceable module are estimated based on real-time sensor data. At the same time, the remaining life of the replaceable component is calculated based on the component's designed failure threshold and the previously obtained gradient mathematical formula. When any of the obtained degradation indicators exceeds the predetermined failure threshold, it indicates that the component has been overused and has undergone significant wear, so component replacement is necessary to ensure normal operation of the coal mining machine. If the failure threshold is not exceeded, the operating parameters can be adjusted to increase the service life of the equipment.

[0077] As shown in Figure 11, the coal-rock interface prediction module first receives real-time sensor data from the real-time logic control module, including drum output torque, cutting motor current, hydraulic cylinder pressure, and rocker arm inclination sensor. It then uses the Kalman optimal estimation method to denoise these time series data to ensure data purity. It then fuses the sensor data representing the cutting state at both the raw data level and the feature level. For raw-level fusion, the Gram angular field method is first used to consider the angles between different points to identify the temporal correlation between different sequence points. The one-dimensional data is converted into a two-dimensional matrix, where the elements represent the sum or difference of each element in the raw data. The resulting four two-dimensional matrices are then superimposed perpendicularly to the matrix (similar to increasing the number of channels in an image). The resulting new image is then trained using a convolutional neural network. For feature-level fusion, the time domain features (energy moment, waveform factor) of the four time series data are first extracted, resulting in eight features. Assuming that each of the eight features is independent, the features are trained using a multi-layer perceptron model. After obtaining the fused recognition results for the original layer and the feature layer, the probability distribution functions of the two recognition results are calculated based on the DS evidence theory. The entropy weighted method is then used to combine the two probability distribution functions to generate a new probability distribution function, ultimately determining the identification result of the cut material at that time. This recognition result is then time-series paired with the cutting trajectory sent by the precise positioning module to obtain the absolute position coordinates of the coal-rock interface at that time.

[0078] As shown in Figure 12, the work intensity optimization module first receives the operation parameters to be optimized from the cutting space planning module. It then filters execution feedback data from the normal operation database and the degraded operation database under the same parameters to obtain data pairs such as "data-similarity-duration". The similarity in the normal operation database is always 1 and is therefore omitted. The goal is to make the degraded execution feedback data identical to the normal operation data while reducing the operation parameters. Therefore, data pairs from the historical degraded data pairs that are identical to the normal operation feedback data are selected. Since the equipment has already experienced a certain degree of degradation by the time of operation, it is necessary to use the current similarity as a boundary and eliminate data pairs with a higher similarity than the real-time similarity to obtain a reference data set. The obtained data set is sorted by the remaining time gap and the maximum remaining duration is selected. With maximizing the remaining duration as the optimization criterion, an ant colony optimization algorithm is used to fine-tune the traction speed and rocker arm angle parameters in the cutting space planning to extend the service life of the coal mining machine.

[0079] Specifically, an integral frame structure is provided on the coal mining machine, which shortens the production cycle, facilitates underground maintenance and replacement by workers, and realizes the complete interchangeability of the left and right traction transmission boxes, as well as the integral pulling and pulling of the electrical control box, pump station, and water system module. The coal mining machine of the present invention is composed of a cutting part, a traction part (traction transmission box and external traction), a pump station, a crushing device, a height adjustment cylinder, an electrical control box, auxiliary components, an electrical system, and accessories. The cutting part is the working mechanism of the coal mining machine, and is composed of left and right rocker arms. The parts are located at the left and right ends of the coal mining machine frame and are respectively hinged to the hinge ears on the left and right sides of the frame through pins. During operation, the left rocker arm and the right rocker arm are raised and lowered respectively with the hinge pin as the rotation center to meet the mining height requirements of the coal mining machine. The raising and lowering of the rocker arm keeps the cutting drum in the appropriate working position, and the range of motion of the rocker arm is controlled by the stroke of the height adjustment cylinder. The cutting part is powered by an independent power source, a cutting motor, which is arranged horizontally and can be disassembled and assembled on the goaf side. The traction drive unit, the shearer's travel mechanism, consists of a traction drive box and an external traction mechanism. It's driven by an independent power source, an AC traction motor. To meet the shearer's mining needs, the traction drive motor is controlled by a frequency converter to achieve different speeds, thereby enabling the shearer to achieve different speeds. The external traction mechanisms are located on the left and right ends of the shearer's goaf and are fully interchangeable. The external traction is driven by the traction drive unit. After a straight-tooth reduction, the power is transmitted to the sprocket, which engages with the pin rail on the face scraper to enable the operation of the shearer on the face. Auxiliary components are located between the left traction unit and the electrical control box, providing cooling and spray dust suppression. The electrical control box is adjacent to the auxiliary components and is used to introduce and distribute power to the shearer, as well as control and monitor the shearer. The frame is a frame-type welded steel plate structure, consisting of a top plate 16 and a bottom plate 14 welded to a block neutral plate. The electrical system and accessories achieve various degrees of control over the entire machine through various operating functions. The pump station is located within the shearer frame and converts mechanical energy into hydraulic energy, providing power for raising the shearer's rocker arm, crushing device, and gangue retaining device, while also providing control oil for the brakes of the travel unit. The gangue retaining device is located on the upper portion of the shearer body. It is specially designed to prevent coal from hitting the goaf from the coal wall, ensuring the safety of personnel and equipment. The height adjustment cylinder is located below the traction drive box on the coal face side of the shearer and is hinged to the traction drive unit using a taper pin. The cylinder's stroke adjusts the drum's height to accommodate changes in mining height. The crushing device is an essential working mechanism for high-power, high-height shearers. As the mining height increases during longwall mining, the size of the slabs and falling coal increases. These larger slabs and falling coal can prevent the coal from flowing smoothly through the coal passage between the machine body and the working face conveyor.

[0080] In summary, the integral frame in the embodiment of the present invention is arranged on the coal mining machine, which makes up for the shortcomings of the original functional module combination coal mining machine structure, realizes the overall complete interchangeability of the left and right traction transmission boxes, improves the modularization rate of the whole machine, and the frame structure eliminates the impact of the deformation of the fuselage on the individual systems, thereby improving the reliability of the coal mining machine; the traction box, electrical control box, pump station, and water system are designed as an integral pulling unit, which improves the matching adaptability and use and maintainability of the coal mining machine, greatly reduces the difficulty of maintenance, meets the needs of preventive maintenance of various components of the coal mining machine, and improves the coal mining machine start-up rate to the industry-leading level; optimizes processability, shortens the production cycle, reduces production costs and maintenance costs, and thus reduces coal production costs.

[0081] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An integral frame body structure of a shearer, characterized in that, Comprising: A frame - type body, including a top plate (16) and a bottom plate (14) arranged vertically, and a plurality of side plates (15) arranged between the top plate (16) and the bottom plate (14). Among them, the top plate (16), the bottom plate (14) and the plurality of side plates (15) are welded to form the frame - type body; A hinge frame, including a first hinge frame (1) and a second hinge frame (7) arranged on both sides in the length direction of the frame - type body. Among them, the hinge frame is welded and connected to the frame - type body; An external traction cross - plate (9), arranged on both sides in the length direction of the frame - type body and fixedly connected to the bottom plate (14); A plurality of neutral plates, arranged between the top plate (16) and the bottom plate (14). Among them, the plurality of neutral plates divide the inner cavity of the frame - type body into a plurality of independent module bins. The module bins are symmetrically distributed along the width direction of the frame - type body. Independent module structures are accommodated in the module bins. A plurality of parallel guide rails are arranged on the bottom plate (14) so that the module bins and the module structures form a drawer - type structure.

2. The integral frame type fuselage structure of the shearer according to claim 1, characterized in that The overall frame - type body structure of the shearer further includes: A plurality of tenons (19), arranged at positions on the hinge frame opposite to the frame - type body; A plurality of mortises, arranged at positions on the frame - type body opposite to the hinge frame. Among them, the plurality of tenons (19) and the plurality of mortises cooperate with each other to form a tenon - and - mortise insertion - positioning welding structure; A plurality of parallel rib plates (11), fixedly connected below the bottom plate (14) along the length direction of the frame - type body; A plurality of vertical rib plates, arranged in parallel between two adjacent rib plates (11). Among them, the rib plates (11) are respectively welded to the bottom plate (14) and the vertical rib plates, forming a partial box - type strengthening structure below the bottom plate.

3. An integral frame type intelligent coal shearer, characterized in that, Comprising the overall frame - type body structure according to claim 1 or 2, two groups of rocker arms arranged on both sides of the overall frame - type body structure, two drums respectively connected to the two groups of rocker arms, and a sliding shoe leg assembly installed above the overall frame - type body structure.

4. The overall frame type intelligent coal shearer according to claim 3, characterized in that, At least the following modules are installed in the module bins of the overall frame - type body structure: A first traction unit drive system module, a second traction unit drive system module, an electric control box, a pump station and auxiliary components. Among them, the internal structures of the first traction unit drive system module and the second traction unit drive system module are mirror - image designs of each other, and different types of guide rails and limit wedges are arranged inside different module bins.

5. The overall frame - type intelligent shearer according to claim 4, characterized in that, The first traction unit drive system module includes a motor, a transmission gearbox, a hydraulic cooling pipe, and a spraying system. Among them, the upper and lower surfaces of the first traction unit drive system module are symmetrically designed and each has three parallel grooves. The parallel grooves cooperate with the guide rails inside the module bin to achieve the pulling and sliding of the first traction unit drive system module. The installation position of the first traction unit drive system module is determined according to the positions of the positioning wedges at the rear of the module bin and the positioning wedges on the rocker arm side. The interior of the electric control box includes an intelligent electric control device, and each component of the intelligent electric control device is pushed into the electric control box through the guide rails and fixed.

6. The overall framework type intelligent coal shearer according to claim 5, characterized in that, The intelligent electric control device includes: An intelligent controller configured to execute monitoring tasks and underlying control tasks for replaceable parts of the shearer, and transmit real-time perception information to the positioning and navigation device in real time. Among them, the replaceable parts of the shearer at least include: planetary head components, rocker arms, the first traction unit drive system module, the second traction unit drive system module, slider leg assemblies, and traveling unit drive system modules. The real-time perception information is real-time data obtained from the on-board sensors of the shearer; and The positioning and navigation device configured to execute top-level planning tasks, including sending control parameters that need to be executed within a preset future time period to the intelligent controller. Among them, the intelligent controller and the positioning and navigation device transmit signals through Ethernet.

7. The integral framework type intelligent coal shearer according to claim 6, characterized in that, The intelligent controller includes: A real-time logic control module configured to obtain the real-time perception information from the on-board sensors, judge whether there are abnormal situations according to the real-time perception information and various thresholds, and receive the control parameters, and output digital signals or analog signals according to the control parameters. Among them, the digital signals or analog signals are used to drive the actions of external devices; A performance degradation prediction module configured to receive the real-time perception information sent by the real-time logic control module and determine whether the replaceable parts need to be replaced according to the real-time perception information; A coal-rock interface prediction module configured to receive the time-series data sent by the real-time logic control unit and determine the absolute position coordinates of the coal-rock interface according to the time-series data. Among them, the time-series data at least includes: drum output torque, cutting motor current, boom cylinder pressure, and rocker arm inclination information; An operation intensity optimization module configured to send the control parameters to the real-time logic control module. Among them, the control parameters are used to instruct the real-time logic control module to drive the actions of external devices.

8. The overall frame type intelligent coal shearer according to claim 7, characterized in that The performance degradation prediction module is further configured to: Use the Kalman filter algorithm to filter and denoise the temperature data and current data in the real-time perception information, segment the vibration data in the real-time perception information, and extract features for each segmented time period using the kurtosis index; Accumulatively collect the real-time perception information for 4 to 6 hours each time and confirm the gradient change of the real-time perception information according to a preset time period; Fit the gradient change based on the least squares method to obtain a relatively smooth gradient change curve and a gradient mathematical formula; Calculate the spatial cosine angle value between the gradient change curve of the real-time perception information of the replaceable part calculated using the multi-dimensional cosine angle formula and the gradient curve in the normal working state in the database, where the spatial cosine angle value is used to indicate the performance degradation degree of the replaceable part.

9. The integral frame type intelligent coal shearer according to claim 7, characterized in that, The coal-rock interface prediction module is further configured to: Denoise the time series data; Fuse and identify the sensor data representing the cutting state at the original data level and the feature level respectively, and obtain a first identification result for the original data level and a second identification result for the feature level; Calculate the probability assignment functions of the first identification result and the second identification result respectively based on the D-S evidence theory, and obtain a first probability assignment function and a second probability assignment function; Use the entropy value weighting method to combine the first probability assignment function and the second probability assignment function to obtain a third identification result for the cutting material; Pair the third identification result with the cutting trajectory sent by the positioning and navigation device in time series to obtain the absolute position coordinates of the coal-rock interface at the current moment.

10. The overall framework type intelligent coal shearer according to claim 6, characterized in that, The positioning and navigation device includes: A precise positioning module configured to use an inertial navigation device to determine the absolute position of the shearer in the coal seam; A coal seam geological refinement module configured to correct and complete the three-dimensional coal seam model; A cutting space planning module configured to determine the operation parameter sequence of the shearer within a preset future time period according to the recovery rate, coal cutting amount, and equipment passing rate; A working face straightening module configured to determine the distance that the hydraulic support needs to be pushed according to the scraper conveyor trajectory.

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