Optimization method for automatically forming cutting motion of section of cantilever longitudinal shaft type heading machine

Abstract

The invention discloses an optimization method for automatically forming a cutting motion of the section of a cantilever longitudinal shaft type heading machine. The optimization method comprises the following steps of establishing five coordinate systems in a roadway, calculating the coordinate of the ith cutting tooth of a cutting head in an O0-X0Y0Z0 coordinate system according to the coordinate of the ith cutting tooth of the cutting head in an O3-X3Y3Z3 coordinate system, planning the track of the cutting head during horizontal movement by adopting a high-order polynomial transition linear interpolation method, planning the track of the cutting head during non-horizontal movement by adopting a combined sine function curve, and then determining a coordinate sequence of all inflection points on the section of the roadway in a cutting path according to the form of the section of the roadway. According to the optimization method, a correction method is provided for the inflection point positions of the S-shaped cutting paths of different roadway section types, the forming precision of the sections can be further increased, and the method is easy to implement through programs in an automatic section forming control system.

Description

technical field [0001] The invention relates to the technical field of automatic excavation equipment, in particular to an optimization method for automatic section forming and cutting movement of a cantilever longitudinal axis excavation machine section. Background technique [0002] Coal is one of the indispensable energy sources in human production and life, and the supply of coal is related to the development of all aspects of my country's industry and society. In the past, due to the limitation of backward mining technology, mine collapse accidents occurred frequently, and the life safety of underground coal miners was seriously threatened. With the continuous growth of my country's economic strength and the country's emphasis on coal mining equipment, and the establishment of scientific and technological research projects and research and development funds in related fields, my country's coal mining equipment technology has been significantly improved in recent years, ...

AI Technical Summary

Problems solved by technology

With the rapid development of comprehensive coal mining mechanization in the mining face, mines have higher and higher requirements for the driving speed of coal and rock roadways. Currently, workers rely on workers to control the movement of the cutting head through visual inspection and manual operation of the machine, which is affected by the technical level of workers and Due to the limitation of the surrounding working environment, over-excavation or under-excavation of the section often occurs in this way, the forming quality of the cut section is not good, the efficiency is low, and the construction progress is also affected

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