摘要
为减少无用掘进量和充填量,提高掘进效率,提出了巷道断面自动截割成形控制方法.首先根据煤矿实际工况制定了巷道断面自动截割工艺流程;然后对断面自动截割成形控制进行运动学分析,进行截割头空间位置及其机构实现的几何分析,得出截割头空间位置坐标与油缸伸缩量及截割臂摆动角之间的几何关系式.研究结果表明,直接测量控制截割头摆角更简单有效.该方法在EBZ160和EBZ200机型上得到实施,试验效果较好,为进一步研究掘进机位姿检测及定向纠偏奠定了基础.
To reduce the useless driving workload and volume of filling and improve excavating efficiency, method of laneway section automatic forming control of longitudinal-axial-roadheaders was presented. Firstly, mine laneway section automatically cutting process was developed according to actual conditions of coal mine. Then, carried out the kinematical analysis of the automatic section forming control, having the analysis of the swing mechanism work, the spatial position of cutting head and the geometric analysis of its mechanical structure. The geometrical relationship formulas were worked out among the cutter head spatial position coordinate, expansion increment of the hydraulic cylinders and swinging angles of the cantilever. The results show that the control mode of directly measuring swing angles of cutting head is more simple and effective. The method proposed was put in practice in EBZ160 and EBZ200 boom-type roadheaders, and the effect of experiment is very nice, laying a foundation for further study position detection and direction correction of roadheader.
出处
《煤炭学报》
EI
CAS
CSCD
北大核心
2009年第1期111-115,共5页
Journal of China Coal Society
基金
国家高技术研究发展计划(863)基金重点资助项目(2008AA062202)
关键词
纵轴式掘进机
断面自动截割成形
截割调速
longitudinal-axial-roadheaders
automatic section cutting and forming control
cutting speed regulation
