Shearer having adaptive variable cutting line distance and cutting method for shearer

Abstract

Disclosed are a shearer having an adaptive variable cutting line distance and a cutting method for the shearer. The shearer comprises a box (1), a traveling mechanism (2), a pitch mechanism (3), a longitudinal moving mechanism (5), a cantilever, and cutting mechanisms (7). By means of the traction of a longitudinal moving mechanism, a cantilever of the shearer drives a drum cutting head to perform a longitudinal reciprocating cutting motion, thereby improving the cutting range and efficiency; moreover, by regulating the longitudinal movement speed of the cutting head, the cutting line distance of the shearer can be significantly decreased, the problem of insufficient cutting capacity caused by a small cutting thickness during coal rock cutting is solved, and the risk of failure and damage of mechanisms is reduced; by means of the arrangement of sensors, coal rock can be classified into normal-hardness coal rock, high-hardness coal rock, and ultra-high-hardness coal rock on the basis of load conditions; and when the hardness is relatively high, the cutting thickness and the cutting line distance can be decreased so as to improve the cutting capacity, and when the hardness is relatively low, the cutting thickness and the cutting line distance can be appropriately increased so as to increase the cutting speed, so that the shearer can adapt to relatively complex working conditions, thereby achieving high-quality and high-efficiency cutting.

Description

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

[0001] The present application relates to the field of heading machine equipment, in particular to a self-adaptive variable cutting line distance type coal mining machine and a cutting method thereof. BACKGROUND

[0002] China has abundant energy resources, with a large proportion of coal reserves in the world, but the reserve-to-production ratio is lower than the global average. In order to cope with the dual pressure of energy resource reserves and consumption, China is adjusting the industrial structure, promoting the transformation of the coal industry to high-quality and sustainable development, gradually improving the technical level of coal mining, and improving production efficiency and safety.

[0003] With the progress of science and technology and the rapid development of society, the intelligent degree of coal mining machine is continuously improved, and the design and manufacturing are continuously improved. The coal mining machine adopts more compact and efficient design, which can work in smaller space, improves the coal mining efficiency; the use of materials is more durable and reliable, prolongs the service life and reduces the maintenance cost. Although China has made some progress in coal mining machine technology, the reliability of key parts in domestic coal mining machine is still low, and the equipment is prone to failure during operation, affecting the continuity and efficiency of coal mining operation. In the construction of hard rock mass, the wear degree of the cutter is large, and the reliability and working efficiency are reduced. For the mine area with complex geological conditions, the difficulty of coal and rock mining is high, which limits the application and development of China's coal mining machine in complex and harsh working conditions. Therefore, the design and function of the coal mining machine still need to be further developed and improved.

[0004] At present, the cutting ability of the coal mining machine in response to the hard coal rock is poor, the cutting pick is easy to wear and fail, and the dust amount increases. Usually, the method of reducing the traction speed of the coal mining machine is used to restore the cutting ability of the cutting pick, and the reduction of the traction speed will lead to the reduction of the cutting thickness of the cutting pick, which in turn leads to the failure of the coal rock in the middle area of the adjacent two cutting lines to be stripped and fallen, which is easy to produce the phenomenon of insufficient cutting. Additional measures need to be taken to assist in cutting, which reduces the working efficiency of cutting and has great safety hazards. SUMMARY

[0005] The present application provides a self-adaptive variable cutting line distance type coal mining machine and a cutting method thereof, which overcomes the shortcomings of the prior art. The driving unit inside the upper cantilever drives the cutting mechanism to rotate for coal rock cutting, and the longitudinal moving mechanism in the middle part realizes the longitudinal movement of the cutting mechanism. The controller controls the displacement and speed of the mechanism to realize the continuous and efficient operation of the coal mining machine.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0007] An adaptive variable section line distance type coal mining machine, comprising a box, a walking mechanism, a pitching mechanism, a cantilever, a cutting mechanism;

[0008] The box travels on a preset track through the walking mechanism;

[0009] The box controls the height of the cantilevers at both ends through the pitching mechanism;

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

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

[0012] The lower cantilever is connected with the pitching mechanism, the upper cantilever is connected with the cutting mechanism, and the longitudinal movement mechanism is between the lower cantilever and the upper cantilever, and the upper cantilever moves towards or away from the coal seam face on the lower cantilever through the longitudinal movement mechanism;

[0013] The longitudinal movement mechanism comprises:

[0014] A sliding groove connected with the pitching mechanism and serving as a carrier of the longitudinal movement mechanism and connected with the lower cantilever;

[0015] A sliding block matched with the sliding groove and moving along the path of the sliding groove and connected with the upper cantilever;

[0016] An oil cylinder unit arranged inside the sliding groove and used to drive the sliding block to move towards or away from the coal seam face.

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

[0018] A support connecting piece connected between the sliding block and the oil cylinder unit, the support connecting piece is fixed at the bottom of the sliding block through a bolt IV, and the inner cylinder of the oil cylinder unit is fixedly connected to the side of the support connecting piece;

[0019] A sliding groove pad arranged at the inner end face of the sliding groove in contact with the inner cylinder of the oil cylinder unit and fixed on the sliding groove through a bolt II;

[0020] A sliding rail end cover arranged at both sides of the sliding groove to form a semi-closed environment inside the longitudinal movement mechanism.

[0021] As a further preferred solution, the side surface of the outer cylinder of the oil cylinder unit is provided with a displacement sensor for detecting the position of the sliding block.

[0022] As a further preferred solution, the pitching mechanism comprises:

[0023] A base arranged at both ends of the box and used to connect various pitching components of the pitching mechanism;

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

[0025] The support frame is connected with the upper and lower cantilevers, and has upper and lower connecting ears. The upper connecting ear is connected with the base through a pin shaft I, and the lower connecting ear is movably connected with the telescopic oil cylinder through a pin shaft III;

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

[0027] A displacement sensor is arranged on the telescopic oil cylinder, for detecting the elevation angle of the cantilever unit to obtain the height of the cutting mechanism.

[0028] As a further preferred solution, a tension and pressure sensor is arranged on the outer shell of the upper cantilever, for detecting the force load of each support connecting unit.

[0029] A cutting method of a self-adaptive variable cutting line and distance type coal mining machine, comprising the following steps:

[0030] Step 1: record the initial pitch angles of the front and rear cantilevers through the angular displacement sensor at the connection between the support frame and the base, calculate the position of the cutting mechanism, adjust the angles of the front and rear cantilevers through the pitch mechanism to change the cutting height of the drum, so that the front and rear cutting mechanisms can complete the one-time cutting in the vertical working face and have a larger cutting range; adjust the longitudinal movement mechanism of the middle end of the cantilever, so that the cutting picks of the cutting mechanism are close to the coal rock body working face.

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

[0032] Step 3: start the walking mechanism to make the coal mining machine as a whole move along the predetermined working path, and the cutting mechanism starts to cut the coal rock along the working face; after cutting to the predetermined working thickness, the walking mechanism stops working, the longitudinal movement mechanism is started, and the controller controls the telescopic oil cylinder unit to make the upper cantilever connected with the sliding block move along the sliding groove path, so that the cutting mechanism as a whole moves longitudinally; the displacement sensor arranged on the oil cylinder unit is used to detect the displacement and indirectly obtain the moving speed, so as to obtain the working dynamics of the cutting mechanism and adjust the oil cylinder unit through the controller to make the cutting mechanism meet the predetermined working requirements;

[0033] Step 4: when the displacement sensor on the longitudinal movement mechanism detects that the cutting mechanism is located at the limit position of the displacement interval, the controller controls the oil cylinder unit to move reversely, so that the longitudinal movement mechanism moves reversely along the path, and the driving unit of the cutting mechanism continues to perform the cutting task according to the predetermined working state, to realize the reciprocating cutting of the coal rock in the horizontal working face.

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

[0035]

[0036] By presetting parameters and geometric relations, the cutting line distance Q in the moving cantilever state is obtained as:

[0037]

[0038] The derivative is obtained as:

[0039]

[0040] After analysis, it is found that the change of the cutting line distance Q of the coal mining machine can be realized by adjusting the moving speed v of the longitudinal moving mechanism;

[0041] When the load coefficient k increases due to cutting of high-hardness coal rock, the forward speed of the walking mechanism is reduced by the controller, the cutting thickness of the coal mining machine is reduced, and the moving speed of the oil cylinder unit in the longitudinal moving mechanism is reduced to reduce the cutting line distance of the coal rock and improve the cutting capacity of the coal mining machine; when the load coefficient k significantly increases due to cutting of super-high-hardness coal rock, the forward speed of the walking mechanism is greatly reduced by the controller, the cutting thickness of the coal mining machine is significantly reduced, and the moving speed of the oil cylinder unit in the longitudinal moving mechanism is greatly reduced to significantly reduce the cutting line distance of the coal rock and significantly improve the cutting capacity of the coal mining machine; when the cutting of hard coal rock is completed and the load coefficient k is reduced, the forward speed of the walking mechanism can be appropriately increased by the controller to increase the cutting thickness, and the moving speed of the longitudinal moving mechanism is increased to increase the cutting line distance, so as to restore the high-speed cutting of the coal mining machine and improve the cutting efficiency of the coal mining machine;

[0042] Step 6: when the cutting mechanism is located at the limit position of the displacement interval again, the longitudinal moving mechanism stops working, and the contents in steps 3, 4 and 5 are repeated to continue the cutting task of the next working face;

[0043] Step 7: steps 3 to 6 are repeatedly executed, so that the continuous and efficient cutting of the self-adaptive variable cutting line distance type coal mining machine is realized.

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

[0045] 1. By adding a longitudinal movement mechanism in the middle of the cantilever unit, the cutting mechanism is added with a degree of freedom in one direction, which improves the flexibility of the cutting process. In addition, by adjusting the longitudinal movement speed of the cutting mechanism, the number of cutting lines between adjacent cutting lines on the same spiral line is increased, which significantly reduces the cutting line distance on the coal and rock working face, improves the efficiency of breaking and stripping hard coal and rock, avoids excessive wear of the cutting pick, and reduces the risk of damage to the cutting pick, tooth holder and other mechanisms.

[0046] 2. When the coal mining machine advances along the working path, due to the longitudinal degree of freedom of the cutting mechanism, the cutting can be moved back and forth along the working face, so that the coal mining machine has a larger cutting working face at the same advancing speed, increases the longitudinal cutting range in the same working face, and improves the cutting efficiency of the coal mining machine.

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

[0048] 4. Through the action of each sensor and the longitudinal movement mechanism, the controller of the coal mining machine can judge the hardness of coal and rock according to the load condition, and divide the coal and rock hardness grade into normal coal and rock, high hardness coal and rock, and super high hardness coal and rock. When the coal and rock hardness is high, the cutting thickness and cutting line distance of the coal mining machine are reduced according to the grade, which improves the cutting capacity; when the coal and rock hardness is low, the cutting thickness and cutting line distance of the coal mining machine are appropriately increased, which improves the cutting speed and the adaptability of the coal mining machine to complex cutting conditions. BRIEF DESCRIPTION OF DRAWINGS

[0049] Fig. 1 is a general view of the adaptive variable cutting line distance type coal mining machine of the present application;

[0050] Fig. 2 is an assembly view of the pitch mechanism in the present application;

[0051] Fig. 3 is an assembly view of the cantilever unit and cutting mechanism in the present application;

[0052] Fig. 4 is an assembly view of the longitudinal movement mechanism in the present application;

[0053] Fig. 5 is a sectional view of the longitudinal movement mechanism in the present application;

[0054] Fig. 6 is a cutting line development plane schematic diagram of the coal mining machine cutting three kinds of coal and rock before and after adding the longitudinal movement mechanism;

[0055] Fig. 7 is a flow chart of the coal mining machine cutting work in the present application;

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

[0057] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application.

[0058] As shown in FIGS. 1-6, the present embodiment is a self-adaptive variable cutting line distance type coal mining machine, wherein a longitudinal movement mechanism is used to drive the upper section of the cantilever to move longitudinally. By adding a longitudinal movement mechanism in the middle of the cantilever unit, the cutting mechanism is added with a degree of freedom in one direction, which improves the flexibility of the cutting process. In addition, by adjusting the longitudinal movement speed of the cutting mechanism, the number of cutting lines between adjacent cutting lines on the same spiral line is increased, which significantly reduces the cutting line distance on the coal and rock working face, and improves the breaking efficiency of hard coal and rock. When the coal mining machine advances along the working path, the cutting can be reciprocated along the working face, so that the coal mining machine has a larger cutting working face at the same advancing speed, increases the longitudinal cutting range in the same working face, and improves the cutting efficiency of the coal mining machine. Through the action of various sensors and the longitudinal movement mechanism, the controller can obtain the position and working condition of the cutting mechanism, judge the hardness of coal and rock according to the load condition, and divide the hardness of coal and rock into normal coal and rock, high hardness coal and rock, and super high hardness coal and rock. When the hardness of coal and rock is high, the traction speed and cutting line distance of the coal mining machine are reduced according to the grade, and the cutting capacity is improved; when the hardness of coal and rock is low, the traction speed and cutting line distance of the coal mining machine are appropriately increased, the cutting speed is improved, and the coal mining machine has strong adaptability to complex cutting conditions, so as to realize efficient and automatic cutting of the coal mining machine.

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

[0060] The box body 1 is the main body of the coal mining machine.

[0061] The walking mechanism 2 is arranged at the bottom of the box body and is used for moving the coal mining machine.

[0062] The pitching mechanism 3 is arranged at both ends of the box body and is used for driving the cantilever unit of the coal mining machine to swing up and down, so as to adjust the cutting height.

[0063] The longitudinal movement mechanism 5 is arranged at the middle end of the cantilever unit and is used for driving the upper section of the cantilever to move longitudinally.

[0064] The lower cantilever 4 is the lower part of the cantilever unit and is used for connecting the pitching mechanism and the longitudinal movement mechanism.

[0065] The upper cantilever 6 is the upper part of the cantilever unit and is arranged between the cutting mechanism and the longitudinal movement mechanism, which is used for providing power for rotation and driving the cutting mechanism to move longitudinally.

[0066] The cutting mechanism 7 is arranged at the end of the upper cantilever and is used for cutting coal and rock.

[0067] The lower cantilever 4, the longitudinal movement mechanism 5, the upper cantilever 6, the cutting mechanism 7 and the like are all mounted on the pitching mechanism 3 to form a cantilever cutting unit of the coal mining machine.

[0068] As shown in Fig. 2, the pitching mechanism comprises a base 3-1, a telescopic oil cylinder 3-2, an angular displacement sensor 3-3, a support frame 3-4, a pin shaft II 3-5, a displacement sensor 3-6, a pin shaft III 3-7, wherein:

[0069] The base 3-1 is arranged at both ends of the box unit and used for connecting each pitching assembly;

[0070] The telescopic oil cylinder 3-2 is arranged at the bottom of the base 3-1 and drives the support frame and the end connecting assembly to move, and the two ends thereof are connected with the base 3-1 and the support frame 3-4 respectively, and the side surface of the telescopic oil cylinder is provided with the displacement sensor 3-6;

[0071] The support frame 3-4 is connected with the base through connecting ears, the upper two connecting ears are connected with the base 3-1 through the pin shaft I 16, the side surface of the connecting ears is provided with the angular displacement sensor 3-3, which is used for detecting the pitch angle of the cantilever unit to obtain the height of the cutting mechanism, and the bottom connecting ear is connected with the telescopic oil cylinder 3-2.

[0072] As shown in Fig. 3, the upper cantilever comprises:

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

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

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

[0076] The high-pressure water jet unit assists cutting and breaking of coal and rock by means of high-pressure water jet;

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

[0078] The tension and pressure sensor 4-5 is arranged on the shell 4-3 of the upper cantilever 6 and used for detecting the force load between each support connecting unit of the cantilever.

[0079] The cutting mechanism 7 comprises:

[0080] The drum 7-1 is the main body of the cutting mechanism and connected with the planetary reducer by bolts;

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

[0082] Cutting tooth 7-3 is fixed on the spiral blade through the tooth holder, and is responsible for completing the cutting of coal and rock. Due to the addition of the longitudinal movement mechanism, the cutting tooth is preferably a short tooth, which is used to improve its carrying capacity during cutting.

[0083] As shown in FIG. 4, the longitudinal movement mechanism includes:

[0084] Slide 5-1 is connected with the pitch mechanism 3, and is a carrier of the longitudinal movement mechanism;

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

[0086] Cylinder unit 5-3 is arranged inside the slide, and is used to drive the slide block to move, and two ends are respectively connected with the slide rail end cover 5-5 and the support connecting piece 5-4;

[0087] Support connecting piece 5-4 is fixed at the bottom of the slide block through bolt IV 5-11, and is respectively connected with the cylinder and the slide block, and is used to drive the slide block to move;

[0088] Displacement sensor 5-7 is arranged on the side of the cylinder unit, and is used to detect the position of the slide block 5-2.

[0089] As shown in FIG. 5, slide pad 5-5 is arranged outside the connection surface of the slide and the slide block, is fixed on the slide 5-1 using bolt II 5-9, and is used to keep the connection between the two stable;

[0090] Slide rail end cover 5-6 is arranged on the end surface of the slide, so that the inside of the longitudinal movement mechanism forms a semi-closed environment, and has good transmission characteristics;

[0091] Cylinder outer cylinder 5-3-1 is connected with the left end cover through the connection hole of the end plate using a bolt, and a support plate is arranged at the connection between the outer cylinder and the plate;

[0092] Cylinder inner cylinder 5-3-2 is connected with the support connecting piece 5-4 through the connection hole of the end using bolt I 5-8, and is provided with a support plate.

[0093] As shown in FIG. 6, the cutting line on the coal and rock working face after the cutting of the coal winning machine is unfolded into a plane, wherein the cutting line of the coal winning machine without the addition of the longitudinal movement mechanism 5 is shown as state 17;

[0094] After adding the longitudinal moving mechanism 5 in the middle section of the cantilever of the coal mining machine, the cutting tooth 7-3 on the cutting mechanism 7 has a longitudinal moving speed, and the formed cutting line has an offset angle; in the application, the number of helixes of the cutting mechanism 7 is 4, that is, the number of cutting teeth in the same section of the cutting mechanism is 4, when the cutting tooth I 7-3-1 on the drum completes the cutting work of 1 / 4 circumference, the cutting tooth II 7-3-2 at the next 1 / 4 circumference position in the same section of the drum will continue to cut from the plane where the cutting tooth I 7-3-1 is currently located, the remaining cutting teeth in the section repeat the operation, thereby forming a plurality of cutting lines which are parallel to each other and have an offset angle, and the cutting line of the forward moving cantilever is shown as state 18.

[0095] In order to further explain the working principle of the variable cutting line distance technology in the application, the function expression needs to be combined for description, and the following will define part of the working parameters of the coal mining machine: the distance between adjacent fixed cantilever cutting lines is S; the distance from the tooth tip of the cutting tooth 7-3 to the center axis of the cutting mechanism 7 is r; the cutting mechanism 7 rotates at a uniform speed, and the rotating speed is n; the longitudinal moving mechanism 5 moves at a uniform speed, and the moving speed is v; the angle between the moving cantilever state cutting line and the fixed cantilever state cutting line is θ; the length of the fixed cantilever cutting line 18 is L; and the distance between adjacent moving cantilever state cutting lines is Q.

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

[0097] N = 2πrn

[0098] If the time for forming a cutting line on the coal and rock working face is t, according to the geometric relationship of FIG. 6, the following can be obtained:

[0099]

[0100] Further, the following can be obtained:

[0101]

[0102] Since the drum of the coal mining machine advances in a single direction, the cutting line on the coal and rock cutting working face is distributed along a half cylindrical surface, which accounts for about half of the cylindrical surface where the cutting tooth ends of the entire cutting mechanism 7 are located, and the length L of the fixed cantilever cutting line is:

[0103]

[0104] According to the above formula and the geometric relationship, the cutting line distance Q of the moving cantilever state is:

[0105]

[0106] According to the formula, the chord distance Q of the moving cantilever state is related to the parameters r, n, and v. In the analysis process, r and n can be regarded as fixed values and both are greater than zero. Therefore, the chord distance Q of the moving cantilever state is only related to the moving speed v of the longitudinal moving mechanism 5. Taking the derivative of Q with respect to v, we get:

[0107]

[0108] Analyzing the above formula, we can get, and Q has no discontinuity point. Therefore, the chord distance Q of the moving cantilever state will increase with the increase of the moving speed v, i.e., the chord distance Q of the moving cantilever state will change monotonically with the moving speed v. By adjusting the moving speed v of the longitudinal moving mechanism 5, the change of the chord distance of the coal winning machine can be realized. Since the chord distance S of the fixed cantilever is a positive number, and when v = 0, Q = 0, the following conclusion can be drawn:

[0109] When v is small enough, there is always a certain longitudinal moving speed v, so that the chord distance Q of the moving cantilever state is less than the chord distance S of the fixed cantilever, thereby meeting the requirements of reducing the chord distance on the coal and rock mass, improving the efficiency of coal and rock stripping and falling in the middle region between the two adjacent chords in the working face, improving the phenomenon of insufficient cutting, and enhancing the cutting capacity of the coal winning machine.

[0110] In addition, when the longitudinal moving mechanism 5 moves along the path to the boundary of the displacement interval, the oil cylinder unit 5-3 works in reverse, and the other mechanisms remain unchanged, forming a chord as shown in state 19, which intersects with the chord shown in state 18, further reducing the block area of the coal winning machine cutting and enhancing the cutting capacity.

[0111] As shown in FIG. 7, the coal winning machine cuts the coal and rock working face according to the flowchart in the figure, and the explanation of the load coefficient k is as follows:

[0112] First, according to the traction speed v q , the cutting speed n, the cutting thickness h of the cutting mechanism 7 rotating one cycle is calculated as:

[0113]

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

[0115] P = U·I·η·q = UIηq

[0116] Further, the average output torque T of the cutting mechanism 7 in the process of rotating one cycle is:

[0117]

[0118] Based on the above variables, the load coefficient k can be set as:

[0119]

[0120] After a round of reciprocating cutting of the working face, when the monitored load coefficient k is less than the load coefficient a of the normal coal rock, the controller is adjusted to keep the walking mechanism and the oil cylinder unit at a relatively high advancing speed and moving speed, respectively, to increase the cutting thickness h of the shearer and maintain a large cutting line distance Q for high-speed cutting of the working face. The cutting line expansion plane diagram of the shearer cutting normal coal rock before and after the addition of the longitudinal moving mechanism is shown in FIG. 6(a); when the monitored load coefficient k is greater than the load coefficient a of the normal coal rock and less than the load coefficient b of the hard coal rock, the controller is adjusted to keep the walking mechanism and the oil cylinder unit at a medium advancing speed and moving speed, respectively, to reduce the cutting thickness h of the shearer and reduce the cutting line distance Q for improving the cutting capacity of the shearer. The cutting line expansion plane diagram of the shearer cutting high-hardness coal rock before and after the addition of the longitudinal moving mechanism is shown in FIG. 6(b); when the monitored load coefficient k is greater than the load coefficient b of the hard coal rock, the controller is adjusted to keep the walking mechanism and the oil cylinder unit at a relatively low advancing speed and moving speed, respectively, to significantly reduce the cutting thickness h of the shearer and greatly reduce the cutting line distance Q for further improving the cutting capacity of the shearer. The cutting line expansion plane diagram of the shearer cutting super-high-hardness coal rock before and after the addition of the longitudinal moving mechanism is shown in FIG. 6(c). Then, according to the completion degree of the cutting task, it is determined whether to stop cutting or proceed to the next working face according to the predetermined working route.

[0121] The controller 14 controls the walking mechanism 2, the luffing mechanism 3, the longitudinal moving mechanism 5, the telescopic oil cylinder 3-2, the oil cylinder unit 5-3, and other mechanisms to realize efficient and automatic cutting of the shearer according to the angular displacement sensor 3-3 on the luffing mechanism, the displacement sensor 3-6 on the telescopic oil cylinder, the displacement sensor 5-7 on the longitudinal moving mechanism, and the tensile stress sensor 4-5 on the cantilever shell.

[0122] An adaptive variable cutting line distance type shearer and a cutting method thereof, based on the adaptive variable cutting line distance type shearer, comprising the following steps:

[0123] Step 1: Record the initial luffing angle of the front and rear cantilever units through the angular displacement sensor 3-3 at the bottom of the cantilever unit, measure the position of the cutting mechanism 7, calculate the appropriate cutting height, and adjust the angle of the front and rear cantilevers through the luffing mechanism 3, so that the front and rear cutting mechanisms can complete the one-time cutting in the vertical working face and have a large cutting range; adjust the longitudinal moving mechanism 5 at the middle end of the cantilever unit to make the cutting teeth of the cutting mechanism close to the coal rock body working face.

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

[0125] Step 3: Start the walking mechanism 2 to make the coal mining machine move along the predetermined working path, and the cutting mechanism 7 starts to cut the coal and rock along the working face; after cutting to the predetermined working thickness, the walking mechanism 2 stops working, the longitudinal moving mechanism 5 is started, and the controller 14 controls the oil cylinder unit 5-3 to extend and retract, and the upper suspension arm 6 connected with the sliding block 5-2 moves along the sliding groove 5-1 path, so that the cutting mechanism 7 moves longitudinally as a whole; the displacement sensor 5-7 installed on the oil cylinder unit is used to detect the displacement, and the moving speed can be indirectly obtained, so that the working dynamic of the cutting mechanism 7 can be obtained, and the oil cylinder unit can be adjusted by the controller 14 to make the cutting mechanism meet the predetermined working requirements;

[0126] Step 4: When the displacement sensor 5-7 on the longitudinal moving mechanism 5 detects that the cutting mechanism 7 is located at the limit position of the displacement interval, the controller 14 controls the oil cylinder unit 5-3 to move reversely, so that the longitudinal moving mechanism 5 moves reversely along the path, and the driving unit of the cutting mechanism 7 continues to cut according to the predetermined working, so that the reciprocating cutting of the coal and rock in the horizontal working face is realized;

[0127] Step 5: By monitoring the rotating speed, average voltage U, average current I of the driving motor in the rotating period of the cutting mechanism, and the traction speed v of the walking mechanism q , the load torque in the cutting process of the coal mining machine and the thickness of the cutting working face are obtained, so that the size of the load coefficient k is solved; when the load coefficient increases due to cutting high-hardness coal rock, the forward speed of the walking mechanism 2 is adjusted to reduce the cutting thickness h of the coal mining machine, and the moving speed v of the oil cylinder unit 5-3 in the longitudinal moving mechanism 5 is reduced to reduce the cutting line distance Q of the coal rock, so as to improve the cutting capacity of the coal mining machine; when the load coefficient significantly increases due to cutting super-high-hardness coal rock, the forward speed of the walking mechanism 2 is greatly reduced by the controller 14, the cutting thickness h of the coal mining machine is significantly reduced, and the moving speed v of the oil cylinder unit 5-3 in the longitudinal moving mechanism 5 is greatly reduced to reduce the cutting line distance Q of the coal rock, so as to significantly improve the cutting capacity of the coal mining machine; when the cutting of the hard coal rock is completed and the load coefficient is reduced, the forward speed of the walking mechanism 2 can be appropriately increased, the cutting thickness h can be increased, and the moving speed v of the longitudinal moving mechanism 5 can be increased to increase the cutting line distance Q, so as to restore the high-speed cutting of the coal mining machine and improve the cutting efficiency of the coal mining machine;

[0128] Step 6: When the cutting mechanism 7 is again located at the limit position of the displacement interval, the longitudinal movement mechanism 5 stops operating, and the contents of steps 3, 4 and 5 are repeated to continue the cutting task of the next working face;

[0129] Step 7: Steps 3 to 6 are repeatedly executed to realize continuous and efficient cutting of the self-adaptive variable cutting line distance type coal mining machine.

[0130] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can make equivalent replacement or change according to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An adaptive variable gauge length coal mining machine, comprising a box body (1), a walking mechanism (2), a tilting mechanism (3), a cantilever, and a cutting mechanism (7); The box body (1) travels on a preset track through the walking mechanism (2); The box body (1) controls the height of the cantilever at both ends through the tilting mechanism (3); The cutting mechanism (7) is located at the end of the cantilever and cuts the coal seam at a fixed depth, following the movement of the box body (1); characterized in that The cantilever comprises a lower cantilever (4), a longitudinal movement mechanism (5), and an upper cantilever (6); The lower cantilever (4) is connected to the tilting mechanism (3), the upper cantilever (6) is connected to the cutting mechanism (7), and the longitudinal movement mechanism (5) is between the lower cantilever (4) and the upper cantilever (6); the upper cantilever (6) moves towards or away from the coal seam face on the lower cantilever (4) through the longitudinal movement mechanism (5); The longitudinal movement mechanism (5) comprises: a sliding groove (5-1) connected to the tilting mechanism (3) and serving as a carrier of the longitudinal movement mechanism (5), and connected to the lower cantilever (4); a sliding block (5-2) cooperating with the sliding groove (5-1) and moving along the path of the sliding groove (5-1), and connected to the upper cantilever (6); an oil cylinder unit (5-3) arranged inside the sliding groove (5-1) and used to drive the sliding block (5-2) to move towards or away from the coal seam face.

2. A self-adapting variable line length shearer according to claim 1, characterized in that, The longitudinal movement mechanism (5) further comprises: a support connecting piece (5-4) connected between the sliding block (5-2) and the oil cylinder unit (5-3), the support connecting piece (5-4) being fixed at the bottom of the sliding block (5-2) by a bolt IV (5-11), and an inner cylinder (5-3-2) of the oil cylinder unit (5-3) being fixedly connected to the side of the support connecting piece (5-4); a sliding groove pad (5-5) arranged at the inner end surface of the sliding groove (5-1) in contact with the inner cylinder (5-3-2) of the oil cylinder unit (5-3), and fixed on the sliding groove (5-1) by a bolt II (5-9); a sliding rail end cover (5-6) arranged at both sides of the sliding groove (5-1) to form a semi-closed environment inside the longitudinal movement mechanism (5).

3. A self-adapting variable line length shearer according to claim 2, characterized in that: A side surface of an outer cylinder (5-3-2) of the oil cylinder unit (5-3) is provided with a displacement sensor (5-7) for detecting the position of the sliding block (5-2).

4. The self-adapting variable line length shearer according to claim 1, characterized in that: The tilting mechanism (3) comprises: a base (3-1) arranged at both ends of the box body (1) and used to connect various tilting components of the tilting mechanism (3); a telescopic oil cylinder (3-2) arranged at the bottom of the base (3-1) and movably connected to the base (3-1) by a pin shaft II (3-5); a support frame (3-4) having an upper part connected to the lower cantilever (4) and a lower part having upper and lower connecting ears, the upper connecting ear being connected to the base (3-1) by a pin shaft I (16), and the lower connecting ear being movably connected to the telescopic oil cylinder (3-2) by a pin shaft III (3-7).

5. A self-adapting variable line length shearer according to claim 4, characterized in that: An angular displacement sensor (3-3) is arranged at the connection between the support frame (3-4) and the base (3-1) to detect the tilt angle of the cantilever unit and obtain the height of the cutting mechanism; A displacement sensor (3-6) is arranged on the telescopic oil cylinder (3-2) to detect the longitudinal position of the cutting mechanism.

6. A self-adapting variable line length shearer according to claim 1, characterized in that: A tensile and compressive force sensor (4-5) is arranged on the outer shell (4-3) of the upper cantilever (4) to detect the force load of each support connecting unit.

7. A method of cutting according to any one of claims 1 to 6, wherein, The method comprises the following steps: Step 1: record the initial inclination angle of the front and rear cantilevers by the angular displacement sensor (3-3) at the connecting position of the support frame (3-4) and the base (3-1), calculate the position of the cutting mechanism (7), adjust the angle of the front and rear cantilevers by the inclination mechanism (3) to change the cutting height of the drum, so that the front and rear cutting mechanisms (7) can complete the one-time cutting in the vertical working face and have a larger cutting range; adjust the longitudinal movement mechanism (5) at the middle end of the cantilever, so that the cutting picks of the cutting mechanism (7) are close to the coal rock working face; Step 2: start the driving unit to drive the internal gear set of the upper cantilever (6) to rotate, and drive the cutting mechanism (7) to rotate by the output shaft at the end of the planetary reducer; when the driving unit is started, start the high-pressure water jet unit to assist the cutting mechanism in working; Step 3: start the walking mechanism (2) to make the whole coal mining machine move along the predetermined working path, and the cutting mechanism (7) starts to cut coal and rock along the working face; after cutting to the predetermined working thickness, the walking mechanism (2) stops working, the longitudinal movement mechanism (5) is started, and the controller (14) controls the oil cylinder unit to extend and retract, and the upper cantilever connected with the sliding block (5-2) moves along the sliding groove path, so that the cutting mechanism moves longitudinally as a whole; the displacement sensor (3-6) installed on the oil cylinder unit is used to detect the displacement and indirectly obtain the moving speed, so as to obtain the working dynamics of the cutting mechanism and adjust the oil cylinder unit through the controller to make the cutting mechanism meet the predetermined working requirements; Step 4: when the displacement sensor (3-6) on the longitudinal movement mechanism (5) detects that the cutting mechanism (7) is located at the limit position of the displacement interval, the controller (14) controls the oil cylinder unit to move reversely, so that the longitudinal movement mechanism (5) moves reversely along the path, and the driving unit of the cutting mechanism (7) continues to cut according to the predetermined working state to realize the reciprocating cutting of coal and rock in the horizontal working face; Step 5: By monitoring the rotational speed, average voltage, average current of the driving motor in the rotation cycle of the cutting mechanism, and the traction speed of the walking mechanism, the load torque T in the cutting process of the coal mining machine and the thickness h of the cutting working face are obtained, and the size of the load coefficient k is solved; By presetting parameters and geometric relations, the intercept distance Q of the moving cantilever state is obtained as: Taking the derivative of this gives: After analysis, it is found that the change of the cutting line distance Q of the coal mining machine can be realized by adjusting the moving speed v of the longitudinal movement mechanism; When the load coefficient k increases due to cutting of high-hardness coal rock, the forward speed of the walking mechanism is reduced by the controller to reduce the cutting thickness of the coal mining machine, and the moving speed of the oil cylinder unit in the longitudinal movement mechanism is reduced to reduce the cutting line distance of the cutting coal rock to improve the cutting capacity of the coal mining machine; when the load coefficient k significantly increases due to cutting of ultra-high-hardness coal rock, the forward speed of the walking mechanism is greatly reduced by the controller to significantly reduce the cutting thickness of the coal mining machine, and the moving speed of the oil cylinder unit in the longitudinal movement mechanism is greatly reduced to significantly reduce the cutting line distance of the cutting coal rock to significantly improve the cutting capacity of the coal mining machine; when the cutting of hard coal rock is completed and the load coefficient k is reduced, the forward speed of the walking mechanism is appropriately increased by the controller to increase the cutting thickness, and the moving speed of the longitudinal movement mechanism is increased to increase the cutting line distance to restore the high-speed cutting of the coal mining machine and improve the cutting efficiency of the coal mining machine; Step 6: When the cutting mechanism is again located at the limit position of the displacement interval, the longitudinal movement mechanism stops operating, and the contents of steps 3, 4 and 5 are repeated to continue the cutting task of the next working face; Step 7: Steps 3 to 6 are repeatedly executed, thereby realizing continuous and efficient cutting of the self-adaptive variable cutting line distance type coal mining machine.

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