2332 results about "Shovel" patented technology

The present subject matter provides a shovel configured to attach to a distal edge of an endoscope and protrude from a lower part of the distal edge, and an endoscope comprising the shovel attached to a distal edge of the endoscope. Additional embodiments of the shovel and the endoscope comprising the shovel are disclosed herein.

The invention relates to an inner hole back-off core-pulling mold which comprises a panel, a front mold, a rear mold, mold feet and a bottom plate which are sequentially arranged from top to bottom, a back-off mold core assembly comprises a panel shovel base fixedly arranged on the panel and a back-off mold core arranged on the side edge of the panel shovel base, and the panel shovel base comprises a transmission part stretching into an injection molding cavity. The transmission part and the back-off mold core are provided with a matching surface which forms an inclined angle with the mold opening and closing direction, and the transmission part and the back-off mold core are in sliding fit through a T-shaped groove guide structure arranged on the matching surface; by the adoption of the technical scheme, in the mold opening process, when the panel shovel base moves upwards along with the panel, the back-off mold core can be driven to slide inwards along the inclined face, so that the transverse core pulling action of inner hole back-off is achieved, meanwhile, the sliding part and the mounting groove in the bottom of the sliding part slide through the other T-shaped groove guide structure, the sliding direction of the sliding part is restrained, and the inner hole back-off effect is improved. And meanwhile, the sliding part is prevented from acting along the mold opening and closing direction relative to the front mold.

The invention provides a digging and pulling combined type ginger harvester and a working method, relates to the field of ginger harvesters, and aims to solve the problem that ginger blocks are easy to mechanically damage when ginger is harvested at present, a combined mode of digging and clamping and pulling is adopted, a digging shovel loosens soil through a rotary digging action, conditions are created for ginger seedling extraction, and then the ginger seedlings are harvested; meanwhile, through the cooperation of flexible clamping and lifting effects of the clamping conveying channels on ginger seedlings, stable extraction of the whole ginger is achieved, the situation that an excavating component directly collides with ginger blocks to cause damage is avoided, a flexible clamping space is formed through opposite arrangement of the clamping conveying chains, the ginger seedlings can be reliably fixed, the ginger blocks cannot be extruded, and therefore the ginger seedlings can be stably extracted. The floating support which is obliquely installed can adapt to field terrain fluctuation, and the stability of clamping and conveying is kept; the subsequent ginger seedlings are stably transferred through the clamping side throwing channel, falling or collision in the conveying process is avoided, and the damage risk is further reduced.

The invention discloses an excavator operation action control method and device based on bucket trajectory planning, and belongs to the technical field of engineering machinery automation. The method comprises the steps that excavator attitude sensing data and excavator environment sensing data are obtained; the excavator attitude sensing data comprises all joint angles of the excavator; according to the excavator attitude sensing data, obtaining the position and attitude of the bucket and constructing a dynamic model; the dynamic model represents a mapping relation between the bucket stress information and the bucket force output constraint information; acquiring a three-dimensional construction model according to the excavator environment sensing data; acquiring a three-dimensional deviation field according to the three-dimensional construction model and a preset building information model; planning a target construction track of the bucket according to the position and posture of the bucket, the three-dimensional deviation field and the dynamic model; and the target pose sequence of the joint space of the excavator is obtained based on the target construction track of the bucket, action control is conducted on all joints of the excavator according to the target pose sequence, and the high-precision excavator control method capable of achieving real-time adjustment according to the operation quality is achieved.

The invention relates to the technical field of mining exploration, and discloses a surface mine mining system and method based on a three-dimensional model, and the system comprises a three-dimensional modeling module which is used for fusing earth surface and deep geological data to construct a dynamic digital twinborn body, receiving environment dynamic sensing data, and calculating rock mass stress and a water flow coupling field in real time; the mining planning module is used for generating a mining step design and equipment scheduling instruction based on the lithologic parameters and stress distribution of the dynamic digital twin; the equipment control module is used for converting the equipment dispatching instruction into centimeter-level action control signals of a mine truck and an electric shovel through a low-delay communication chain; and the monitoring feedback module is used for collecting mining surface deformation and muck pile characteristic data. Through the dynamic digital twinborn body fusing earth surface centimeter-level scanning and deep quantum detection and stress and water flow coupling field real-time calculation, synchronous visualization of the rock mass mechanical state and hydrological response is achieved, full-time-domain geological perspective capacity is provided for mining decision, and mining efficiency is improved.

The utility model discloses a shoveling and milling compound machine which comprises a machine frame, a machining stand column mechanism, a workbench and a moving mechanism, and the machining stand column mechanism is provided with a machining main shaft, a shovel blade assembly and a tool magazine mechanism; the moving mechanism is provided with a clamping platform, and the clamping platform is provided with a turnover mechanism. The clamping platform comprises a base, a clamp mechanism and a bridge plate. The scraper knife assembly is arranged behind the machining main shaft and used for providing the scraper knife function, so that the tooth relieving machining action is conducted on a machined workpiece, functionality is improved, the machined workpiece does not need to be detached and replaced with another device to be machined, time is saved, and the machining efficiency of the machined workpiece is improved; by arranging the clamping platform with the turnover mechanism, angle adjustment of the machined workpiece is achieved, the stability of angle adjustment is guaranteed, the jig does not need to be replaced, and the machining efficiency is improved.

A shovel includes a lower traveling body, an upper turning body turnably mounted on the lower traveling body, an attachment including a boom attached to the upper turning body, an arm attached to an end of the boom, and an end attachment attached to an end of the arm, wherein a motion of the arm or the end attachment is corrected according to a stability of a body of the shovel.

The invention discloses a multi-degree-of-freedom programmable deep scarification mechanism and a control method thereof, belongs to the technical field of agricultural machinery, and aims at solving the problems that an existing deep scarification machine tool is fixed in movement track, single in operation mode, lack of multi-dimensional space movement capacity and lack of an intelligent closed-loop control system and the like. The mechanism comprises an initial pitching adjusting mechanism, a transverse translation mechanism, an operation depth adjusting mechanism, a posture fine adjusting mechanism, a shovel body rotating mechanism and a control system, and all the mechanisms are in hierarchical connection to form a collaborative operation system. The initial pitching adjusting mechanism is connected with the transverse translation mechanism, and the operation depth adjusting mechanism is connected below the transverse translation mechanism and can adjust the mechanism position and the tilling depth; the posture fine adjustment mechanism is of a four-hydraulic-cylinder space parallel connection structure and can drive the subsoiler to achieve multi-dimensional posture adjustment in cooperation with the shovel body rotating mechanism. The operation mode of the subsoiler can be programmable and reconstructed, the subsoiler can adapt to a complex soil environment, the traction resistance is reduced, the soil crushing quality and the operation precision are improved, and support is provided for precision agriculture.

The application discloses a kind of building engineering template support strength detection equipment, belong to template strength detection technical field, including detection table and rack, the top of detection table is provided with support frame and turnover mechanism, turnover mechanism is used to drive support frame overturning;It also includes the moving mechanism and guide mechanism being set in rack, lifting frame is set on moving mechanism.The application is integrated with vibration mechanism by setting cleaning mechanism on lifting frame, can automatically clean template surface before strength detection;Cleaning shovel is driven under the vibration mechanism, and the template surface is flexibly and slightly high-frequency spliced and vibrated, effectively removes cement block and other sundries on the surface of wooden template, avoids template surface being pressed in subsequent pressure detection due to the existence of hard object, which protects the flatness and reuse value of template, and also ensures that support strength detection directly acts on template body, thereby significantly improving the accuracy and reliability of detection result.

The utility model discloses a rear unloading type combined electric shovel bucket which comprises a bottom plate, side plates, a top plate, a rear plate and bucket teeth, the number of the side plates is two, the two side plates are symmetrically arranged between the bottom plate and the top plate, the side plates are connected with the bottom plate through second connecting bolts, the side plates are connected with the top plate through third connecting bolts, and the rear plate is connected with the bottom plate through third connecting bolts. The bucket teeth are connected with the bottom plate through first connecting bolts, the rear plate is arranged at the lower end of a cavity defined by the bottom plate, the side plates and the top plate in a turnover mode, according to the rear discharging type combined electric shovel bucket, parts of the bucket can be conveniently replaced, overall replacement is not needed, cost is reduced, meanwhile, discharging is directly conducted through the rear end, and the discharging efficiency is greatly improved.

This invention provides a multifunctional adaptive watermelon harvesting robot, including a vehicle body, a recognition and positioning module, and a telescopic push-pull module. The vehicle body is used for position movement; the recognition and positioning module is located at the end of the vehicle body for locating the watermelon's position; the telescopic push-pull module is also located at the end of the vehicle body and includes an upper shovel assembly and a lower shovel assembly. The lower shovel assembly can extend to the ground to scoop up the watermelon, and the upper shovel assembly can move to cut the watermelon vines that have been scooped into it. This invention uses the recognition and positioning module for coarse positioning, combined with the lower shovel assembly to scoop up the watermelon close to the ground, eliminating the need for a lengthy precise positioning process. It can quickly grab the watermelon, and then the upper shovel assembly moves downward to close and cut the vines with the lower shovel assembly. This eliminates the need to search for the vines, quickly removes the vines, ensures the safety of the watermelon, maintains the integrity of the watermelon during harvesting, reduces operation time, and effectively improves the efficiency of watermelon harvesting.

The invention discloses a rapid marking device and method suitable for complex pavement road marking paint, the rapid marking device comprises a marking vehicle, the marking vehicle can move freely, and a paint barrel and a spraying pump are mounted on the top of the marking vehicle; the cleaning mechanism is arranged at the front end of the marking vehicle and elastically connected with the marking vehicle, the cleaning mechanism is provided with a front shovel and a rolling brush which are used for leveling the road surface, and the rolling brush is arranged behind the front shovel; the marking group is arranged at the bottom of the marking vehicle, the marking group is provided with a spraying box capable of moving up and down, a plurality of nozzles are arranged in the spraying box, and the nozzles are respectively communicated with the coating barrel and the spraying pump. The device has the beneficial effects that the front shovel is matched with the rolling brush to carry out leveling box cleaning on the ground, and the quality of subsequent spraying marking lines is ensured; and the arranged spraying box descends to be in contact with the ground during spraying, so that paint can be controlled in the spraying box during spraying, the outline of a sprayed marking line is clear and stable, and the quality of the sprayed marking line is ensured.

A system for selectively opening flexible containers, such as plastic bags, in a mixed solid waste stream is disclosed, for use in Material Recovery Facilities (MRFs) or other contexts. The system may include a conveyor configured to transport waste, a sensor configured to detect the presence and position of flexible containers, and a multi-degree-of-freedom positioning device that moves a cutting tool relative to the containers. A processor, in communication with the sensor and positioning device, may calculate a cutting path and control the positioning device to execute the cutting operation. The system may utilize various cutting tools, including punches, blades, spades, shovels, and motorized saws, as well as non-contact fluid-based cutting technologies such as air or water jets. Additionally, the system can dynamically adjust the cutting trajectory based on real-time feedback and environmental conditions. The method provides an adaptable solution to open bags without damaging recyclable materials, improving throughput and reducing waste in mixed waste streams.

The invention relates to the field of loading or disassembling land vehicles, in particular to intelligent crushing equipment, method and system for frozen coal in a compartment. The intelligent fragmentation equipment for the frozen coal in the carriage comprises a gantry truss, wherein the interior of the gantry truss is a detection space; the at least one damage module comprises a moving mechanism, a lifting mechanism and a damage mechanism, the moving mechanism is connected to the upper side of the gantry truss in a sliding mode so as to slide in the vehicle driving direction, and the lifting mechanism is connected to the moving mechanism and can enable the damage mechanism to ascend and descend relative to the moving mechanism; wherein the breaking mechanism comprises a six-axis robotic arm, a lifting mechanism and a breaking mechanism; the air pick assembly is connected to the other end of the six-axis robot arm and comprises a supporting side, a thick-wall air cylinder side and a tool side, one end of the tool side is a shovel-shaped impact air pick, the other end of the tool side is connected with the thick-wall air cylinder side, and the tool side can generate vibration impact under driving; the supporting side comprises a plurality of structural beams surrounding the peripheries of the supporting side and the thick-wall air cylinder side.

The invention provides a fault monitoring method and device for a motor winding of an electric shovel. The method comprises the following steps: collecting a current signal of the motor winding at a preset frequency; calculating the instantaneous change rate of each current sampling point, and dividing the sampling points of the current monitoring period into a sudden change section and / or a stable section according to a self-adaptive threshold value; determining early warning states of all the sudden change sections and all the stable sections, and marking the sudden change sections and the stable sections with abnormal early warning states as abnormal sections; detecting whether a fault section meeting a first preset condition exists or not; and determining the fault type of the fault section according to the fault matching rule and the feature matching score of the fault section. According to the method, fine division of the abrupt change section and the stable section is realized, association of the abrupt change section is completed, segmentation of the same fault is avoided, dynamic segmentation and combination rules are protected, features are extracted in a classified manner, abnormality is dynamically judged, and different from single feature early warning, feature extraction and early warning logic of a sub-scene is protected; and finally, realizing accurate fault distinguishing in combination with feature matching scores.

The invention discloses constructional engineering formwork supporting strength detection equipment, and belongs to the technical field of formwork strength detection.The constructional engineering formwork supporting strength detection equipment comprises a detection table and a rack, a supporting frame and a turnover mechanism are arranged at the top of the detection table, and the turnover mechanism is used for driving the supporting frame to turn over; the moving mechanism and the guide mechanism are arranged in the rack, and a lifting frame is arranged on the moving mechanism. The cleaning mechanism and the vibrating mechanism are integrally arranged on the lifting frame, so that the surface of a template can be automatically cleaned before strength detection; the cleaning scraper knife is driven by the vibration mechanism to carry out flexible small-amplitude high-frequency shoveling and vibrating on the surface of the formwork, cement blocks and other sundries on the surface of the wooden formwork are effectively removed, the situation that the surface of the formwork is crushed due to hard objects in the follow-up pressure detection process is avoided, the flatness and reuse value of the formwork are protected, and the production efficiency is improved. And the supporting strength detection is ensured to directly act on the template body, so that the accuracy and the reliability of a detection result are remarkably improved.

The invention relates to the technical field of loaders, and discloses a loader control method and device, electronic equipment and a storage medium, and the method comprises the following steps: obtaining whole vehicle state parameters of the loader under the current working condition; the current working condition comprises a shoveling working condition or a driving working condition; determining whether the wheel of the loader slips or not according to the state parameters of the whole vehicle; when it is determined that whether the wheel of the loader slips or not is judged, slip judgment parameters are determined according to the state parameters of the whole loader; determining whether wheels of the loader slip or not according to the slip judgment parameters; and when the wheels of the loader slip, a driving motor of the loader is controlled to reduce the request torque, and the change rate of the request torque is reduced. The accuracy of loader slip identification is improved, the application range of an anti-slip strategy is expanded, meanwhile, a wheel speed sensor does not need to be additionally installed, and the hardware cost is controlled while the performance is optimized.

The utility model relates to a linkage type cat litter basin. The linkage type cat litter basin comprises a basin body, a filtering shovel, a driving mechanism and a linkage piece. Wherein a basin cavity is arranged in the basin body, and the filtering shovel is arranged in the basin cavity; the driving mechanism is arranged on the basin body and is connected with the linkage piece; the linkage piece is connected with the filtering shovel so as to drive the filtering shovel to rotate and reciprocate. According to the cat litter basin provided by the invention, the linkage piece is designed to be matched with the filtering shovel to drive the filtering shovel to rotate and move in the basin cavity, so that clotted excrement in the basin cavity can be cleaned; meanwhile, stress at the two ends of the filtering shovel is more balanced, the litter cleaning effect is better, the size of the cat litter basin can be reduced, and the experience feeling of a product is improved.

A kind of 7 type shield support under horizontal non-blasting mining method, belong to the technical field of ore body mining, it includes the following steps, S1, in the vein along the upper section in the tunnel, install 7 type shield support, 7 type shield support is from east side along the vein up mountain, start through joist series connection arrangement to west side along the vein up mountain;S2, after installation and arrangement are completed, from the middle position of along the vein to both ends, using rock drill to carry out retreating type slope rock drilling, according to the angle of 15 ° to both sides mining, mining to vertical height drops 1m, then, horizontal retreating type rock drilling 1m, during, shovel truck follows and carries out in and out slag operation, transports ore to ramp, then, through ore chute connecting channel, transports to ore chute, unloads to ore chute, until rock drilling to end only remaining body length about 4m, will rock drill in stope connecting channel, turns around, will end remaining 4m advancing type rock drilling.The present application simplifies the recovery process, can effectively improve the production efficiency of ore block, and lower the cost of ton ore.

The invention discloses a construction method and device of a bucket load spectrum generation model, equipment and a medium. The method comprises the steps that a physical test bed is controlled to apply multi-dimensional dynamic loads to all stress point positions of the hydraulic excavator, and the hydraulic excavator is controlled to execute simulation operation according to working condition types; instantaneous loads acting on the bucket after the loads are transmitted to all the stress point positions are recorded in real time, and all the instantaneous loads are gathered to form a three-dimensional load spectrum of the bucket; collecting dynamic response data generated by each stress point position, associating the three-dimensional load spectrum with the dynamic response data to form training sample pairs, aggregating the training sample pairs to form a training data set, performing characterization processing, inputting the training data set into an original deep learning model for iterative training, and obtaining a three-dimensional load spectrum; and taking the deep learning model meeting the iteration termination condition as a hydraulic excavator bucket load spectrum generation model. According to the embodiment of the invention, the virtual rack is constructed by a physical test rack of a small number of excavator samples, and a basis is provided for efficiently generating reliable bucket load spectrums for batch excavators.

The invention relates to the technical field of agricultural machinery, and discloses a cyperus esculentus harvesting and soil lifting device which comprises a soil lifting assembly and a cover shell, a soil lifting shovel is arranged in the cover shell, a rotary blade is arranged above the soil lifting shovel, a grating net is arranged on one side of the soil lifting shovel, and a material pushing assembly is arranged above the grating net and comprises a rotating sleeve rotationally connected to the interior of the cover shell. The cyperus esculentus feeding device has the beneficial effects that the contact between the material pushing plate and cyperus esculentus is set to be gradual, the material pushing plate can be attached to the fixing ring when not making contact with the cyperus esculentus, the material pushing plate can rotate outwards when making contact with the cyperus esculentus at the initial stage, at the moment, the material pushing plate buffers the contact force through rotation of the material pushing plate, and the situation that the epidermis of the cyperus esculentus is damaged due to rigid impact is avoided; when the material pushing plate is in complete contact with the cyperus esculentus, the angle can be locked, the locked material pushing plate is in surface contact with the cyperus esculentus, pressure distribution is more uniform, local extrusion damage is further reduced, and the locked material pushing plate can apply enough thrust to the cyperus esculentus.

The utility model provides a sealant shoveling device which comprises a scraper knife assembly and a collecting box, the scraper knife assembly comprises a knife holder, a main scraper knife and auxiliary scraper knives, the tail portion of the knife holder is connected with the collecting box, the auxiliary scraper knives are located on the two sides of the knife holder, and the collecting box is connected with the main scraper knife and the auxiliary scraper knives. The main scraper knife is located between the two auxiliary scraper knives, the main scraper knife is perpendicular to the auxiliary scraper knives, and a sealant collecting bag is arranged in the collecting box. The main shovel blade and the auxiliary shovel blade are used for shoveling aged and dry and hard sealant, and the problem that the sealant falls into the gear box is effectively avoided. Due to the interval between the two auxiliary scraper knives, the auxiliary scraper knives can be well attached to the side wall of the gearbox observation window, the main scraper knife can also be attached to the upper surface of the side wall of the gearbox observation window, and the sealant collecting efficiency is guaranteed.

The utility model discloses a shovel tooth combined type mud flat shellfish digging device with adjustable spacing, which relates to the technical field of mud flat shellfish digging operation, and comprises a cross beam and a plurality of digging shovels fixedly arranged on the cross beam, comb teeth are uniformly arranged among the digging shovels, the comb teeth are arranged on the cross beam, the spacing of the comb teeth is adjustable, and the shovel tooth combined type mud flat shellfish digging device is arranged on the cross beam. The digging shovel is provided with multiple types of protruding structures, and the comb teeth are designed to be of a gradually-changing-size structure. Due to the design of various protruding structures on the shovel body of the digging shovel, mud flat silt can be better cut during digging, soil entering resistance can be reduced, and soil adhesion is prevented. The comb teeth are of a size gradual change type structural design, the soil penetrating size is gradually changed during excavation, soil penetrating resistance can be reduced, and the hilling phenomenon is reduced. The digging shovel and the comb teeth are adopted for cooperative operation, the soil breaking capacity of the digging shovel can be kept, the soil penetrating resistance is reduced through the comb teeth, part of soil is screened out in the digging process, and the soil hilling phenomenon is reduced.

The mine carry-scraper unloading equipment comprises mounting frames, a transfer rail, a transfer trolley and a transfer hopper, the transfer rail is arranged above the mounting frames, the mounting frames are arranged below the transfer rail in the front, back, left and right directions, the transfer trolley is arranged on the transfer rail, and the transfer hopper is arranged below the transfer trolley. The transfer trolley is in telecommunication connection with the control cabinet; the transfer rail is arranged to be of a rounded square structure; the transfer hopper further comprises a mounting plate, a damping rotating shaft, a Y-shaped frame and a hopper; and a dumping mechanism is also arranged between the mounting frames. The device has the functions that the structure of the device is simplified, the reliability is improved, the hopper can stably ascend and descend in the whole loading and unloading process, meanwhile, the stability and safety of the transfer hopper in the loading and unloading process are guaranteed, and mineral aggregates can be stably laid into a transport truck; and the structure is simple and reliable, and the unloading efficiency and reliability of the unloading equipment of the mine carry-scraper are greatly improved.

A linkage-type litter box comprises a box body, a filter shovel, a driving mechanism and a linkage member. A cavity is provided inside the box body, and the filter shovel is arranged inside the cavity. The driving mechanism is arranged on the box body and connected to the linkage member. The linkage member is connected to the filter shovel to drive the filter shovel to rotate and reciprocate.

The utility model provides a depth-adjustable potato harvester which comprises a rack, a conveying belt, a break shovel, a lifting mechanism and wheels, a vertical frame is arranged at the tail of the rack, a mounting frame is arranged at the head of the rack, the break shovel is arranged at the bottom of the mounting frame for loosening soil, and the lifting mechanism is arranged on the mounting frame in a lifting mode and drives the break shovel to ascend and descend. The two ends of the conveying belt are located at the head of the rack and the top of the vertical frame, potatoes shoveled out by the break shovel are conveyed, and the wheels are installed at the bottom of the rack. According to the potato harvester capable of adjusting the depth, the functions of lifting and position adjusting of the break shovel and the conveying shovel are achieved, the potato harvester can adapt to soil conditions of different depths, and the harvesting efficiency and integrity of potatoes are remarkably improved; through a multi-stage adjusting structure, the flexibility and universality of the equipment are enhanced, so that the equipment can better cope with a complex farmland environment; the angle adjusting function of the break shovel is optimized, the soil loosening effect is further improved, and damage to the potatoes in the harvesting process is reduced.

The invention belongs to the technical field of path planning, and discloses an underground carry-scraper autonomous navigation path generation system based on front-end and rear-end interaction, which comprises the following steps: fusing multi-source map data, and constructing a space coordinate bidirectional mapping engine coupling physical space and pixel space association; detecting space conflicts between the user-labeled path points and the roadway structure in real time and generating a dynamic path skeleton; road section types are divided, then paths are dynamically optimized, redundant data are synchronously compressed, and an optimized path packet is generated; constructing a route version control tree, dynamically allocating storage resources according to roadway topology, and generating a simulation ready path file package; the transverse error and the minimum roadway wall distance are solved in real time, a verification report is generated, then an overrun event in the simulation trajectory tracking process is captured, a double-channel tracing report is generated, and a path section needing to be corrected is reversely marked; and performing hot update on the optimization rule, quantifying the path adaptability and performing reverse iteration on the core parameter library.

This invention relates to a coal cleaning device for the final stage of fully mechanized coal mining faces. The device includes a frame, guide shoes, and support shoes. The support shoes support the upper surface of the shovel plate of a scraper conveyor. The guide shoes slide and guide the scraper conveyor. The device moves relative to the scraper conveyor when pushed or pulled by the coal mining machine. One end of a telescopic frame extends into the frame and slides in a forward-backward direction. The shoveling mechanism is located on the telescopic frame and includes a plow-shaped shovel head and a connecting plate. One end of the connecting plate is hinged to the telescopic frame, and the other end is connected to the plow-shaped shovel head. A telescopic cylinder drives the telescopic frame and the shoveling mechanism to move forward and backward. A lifting cylinder drives the plow-shaped shovel head to lift or lower. The plow-shaped shovel head flips up the accumulated coal and throws it into the scraper conveyor chute. This invention can quickly, safely, and efficiently complete the final stage of coal cleaning in fully mechanized mining faces using mechanical means.

The invention discloses an electric shovel lifting steel wire rope dynamic control device and method based on bucket lifting lug angle changes. The electric shovel lifting steel wire rope dynamic control device comprises a tilt angle sensor, a lifting motor and a whole vehicle controller. The tilt angle sensor is installed in a lifting lug of a bucket of the electric shovel and used for monitoring the dynamic change conditions of the axial tilt angle and the angular acceleration of the lifting lug in the operation process of the electric shovel in real time. A lifting motor dynamic control model established based on the data of the tilt angle sensor is configured in the vehicle control unit, the lifting motor dynamic control model analyzes the real-time posture information of the lifting lug according to the obtained data of the tilt angle sensor, and the tension state of the lifting steel wire rope is further recognized according to the real-time posture information of the lifting lug. And the lifting motor is dynamically controlled accordingly. The angle change of the lifting lug can be automatically monitored in real time, the lifting motor is dynamically adjusted, the fatigue fracture caused by overload of the lifting steel wire rope and the groove jumping overlying fault caused by looseness are effectively avoided, and the operation safety and reliability of equipment are remarkably improved.

The invention discloses a heavy-load mechanical arm obstacle function adaptive sliding mode control method and device based on a disturbance observer, and the method comprises the steps: building a dynamic model which considers the model error, an unmodeled part, friction and lumped disturbance caused by an external load; converting a lumped disturbance estimation problem into a linear system state estimation problem of defined auxiliary state variables and unknown input driving, and designing a sliding mode disturbance observer used for estimating and compensating lumped disturbance; for a disturbance estimation error, a bounded adaptive control gain of a controller is designed by adopting a barrier function, and the error is kept within a preset range while control jitter is avoided. Through systematic control architecture design, the key problem that high-precision tracking and smoothness control of the excavator in a complex working environment are difficult to consider at the same time is effectively solved.