CN103775080B - A construction method of attitude angle adjustment model of shearer in unmanned working face in thin coal seam - Google Patents

Abstract

A construction process for thin coal seam unmanned working surface coal mining machine attitude angle adjustment model, belongs to coal-winning machine pose adjustment model building method.This construction process is installed based on gyroscope on thin coal seam unmanned work plane short fuselage coal-winning machine body, front roll and back roll, builds manless working face coal-winning machine attitude angle adjustment model; When coal-winning machine comes and goes traction automatic Memory coal cutting along manless working face, initial coordinate system is set up with coal-winning machine center, in conjunction with the mutual transfer principle of space coordinates, derive the conversion between the moving axes after the adjustment of coal-winning machine attitude angle and initial coordinate system, the inclination angle of and attitude angle adjustment back roll rocking arm initial by gyroscope survey coal-winning machine, constructs the Controlling model of attitude angle adjustment and horizon control further.Advantage: the method computing is reasonable, and productivity effect, safety and reliability are good, this Controlling model construction process, improve the Automated condtrol of coal-winning machine, improve functional performance, improve equipment dependability and life-span.

Description

A construction method of attitude angle adjustment model of shearer in unmanned working face in thin coal seam

technical field

The invention relates to a construction method of a shearer attitude adjustment model, in particular to a construction method of a shearer attitude adjustment model in an unmanned working face of a thin coal seam.

Background technique

After years of mining, the reserves of medium-thick and thick coal seams in mines in many areas of my country are close to depletion, and the mining of thin coal seams (thickness ≤ 1.3m) has been in a state of slow development for a long time due to economic, technical and safety reasons. The recoverable reserves of thin coal seams in my country's coal reserves are about 6.15 billion tons, accounting for about 19% of the total coal recoverable reserves in the country. However, according to incomplete statistics, the annual output of thin coal seams in my country only accounts for about 10.4% of the total coal production in the country. , the ratio of production and reserves is seriously out of balance. In recent years, with the improvement of thin coal seam mining equipment manufacturing technology and automation control technology, as well as the country's higher requirements for the rational development and utilization of resources, the safe and efficient mining of thin coal seams has been paid more and more attention. In order to fully develop and utilize limited mineral resources, solve the long-term problem of "one big and three low" that has plagued the development of safe and efficient mining of thin coal seams, and improve the economic and social benefits of mining enterprises, increase research on safe and efficient mining technologies for thin coal seams and discussions are necessary.

Unmanned face coal mining technology is an important way to solve the problem of safe production and sustainable development of the coal industry, especially for the mining of difficult-to-mining thin coal seams that have long-term slow development or even stagnated in my country, and will have important strategic significance. Due to the special environment of coal mine underground, radio navigation, astronomical navigation, and satellite positioning need to rely on external forces, all of which have their limitations, and cannot be used normally under complex underground conditions; The coal route is constantly changing, causing uneven changes in the external load of the shearer, causing various disturbances to the movement of the shearer, and changing the movement state of the shearer. In addition to the time factor, it is necessary to determine the movement state parameters of the shearer at a certain time And controlling the operation of the shearer will be extremely difficult.

Contents of the invention

Technical problem: In order to overcome the deficiency of the relationship technology between the attitude angle adjustment of the unmanned working face of the thin coal seam and the height adjustment control of the drum, the present invention provides an It has good reliability and can realize the relationship between the adjustment of the attitude angle of the shearer and the height adjustment control of the drum, a construction method for the simulation of the adjustment of the attitude angle of the shearer in the unmanned working face of the thin coal seam.

Technical solution: the purpose of the present invention is achieved through the following technical solution: the construction method is based on the installation of gyroscopes on the body of the thin coal seam unmanned working face with a short fuselage shearer, the front drum and the rear drum, and constructs an unmanned working face for coal mining. Adjustment model of the attitude angle of the shearer; when the shearer pulls back and forth along the unmanned working face and automatically remembers to cut coal, the initial coordinate system is established based on the center position of the shearer, and the attitude angle of the shearer is derived by combining the principle of mutual conversion of the space coordinate system For the conversion between the adjusted moving coordinates and the initial coordinate system, the initial angle of the shearer and the inclination angle of the drum rocker arm after the adjustment of the attitude angle are measured by the gyroscope, and the control model of the adjustment of the attitude angle and the automatic height adjustment of the drum is further constructed; the specific steps as follows:

a. Install a gyroscope on the main body and two rollers of the low-body shearer in the unmanned working face of the thin coal seam, respectively, to measure the angle change of the shearer body and the rotation angle of the two rollers;

b. Based on the low body shearer pulling back and forth along the unmanned working face to remember the coal cutting process, the initial coordinate system I is established as OXYZ, and the center position of the short body shearer is used as the coordinate origin O to be perpendicular to the unmanned working face The X axis is pointing to the goaf, the Y axis is pointing to the return air level roadway along the unmanned working face, and the Z axis is vertically upward, and the dynamic coordinate system II when the short body shearer implements the memory coal cutting process is set as O'X'Y'Z';

c. According to the principle of coordinate change, the initial coordinate system first rotates around the X-axis by an angle of α, then around the Y-axis by a angle of β, and finally around the Z-axis by a angle of γ to obtain the dynamic coordinate system O' for adjusting the attitude angle of the low-body shearer X'Y'Z', where α is the roll angle, β is the pitch angle, and γ is the deflection angle. According to the operating conditions of the low body shearer, it can be known that: -π/2<α<π/2, -π/ 2<β<π/2, -π/2<γ<π/2, so the coordinate change of the moving coordinate system II relative to the initial coordinate system I is:

d. When the low-body shearer normally automatically memorizes coal cutting, it can be divided into two coal cutting methods: the front drum cuts the bottom coal, the rear drum cuts the top coal, and the front drum cuts the top coal and the rear drum bottom coal. It is assumed that the second type of coal cutting is adopted In the mode, the coordinates of the highest point A are:

The coordinates of the lowest point B are In the formula, X ₀ is the X-axis coordinate of the roller axis, Y ₀ is the Y-axis coordinate of the roller axis, θ _Y is the inclination angle of the rocker arm of the front roller, θ _Z is the inclination angle of the rocker arm of the rear roller, L is the length of the rocker arm, and r is the radius of the roller ;

e. According to the principle of coordinate transformation, the coordinates of the moving coordinate system O'X'Y'Z' relative to the initial coordinate system OXYZ are: then the Z coordinate of the highest point A of the front roller relative to the initial coordinate system OXYZ Similarly, the Z coordinate of the bottom point B of the drum relative to the initial coordinate system OXYZ is:

f. When the low-body shearer memorizes coal cutting, the initial inclination angle of the rocker arm of the front drum is θ _Y0 measured by the gyroscope, and the initial inclination angle of the rocker arm of the rear drum is θ _Z0 ; the attitude angle of the short-body shearer is adjusted Afterwards, the gyroscope again measures the initial inclination angle of the rocker arm of the front roller as θ _Y , and the initial inclination angle of the rocker arm of the rear roller is θ _Z , that is, θ _Y = θ _Y0 + Δθ _Y , θ _Z = θ _Z0 + Δθ _Z , then the initial The Z coordinate of the highest point A of the front drum relative to the initial coordinate system OXYZ The Z coordinate of the lowest point B of the rear drum relative to the initial coordinate system OXYZ Then the height change of the highest point A of the front drum after adjusting the attitude angle of the short fuselage shearer is: The height change of the lowest point B of the rear drum

g. Set sinσ=cosβsinα, cosσ=cosβcosα, then tanσ=sinσ/cosσ=tanα, -π/2<σ<π/2, sort out the model of the relationship between attitude angle adjustment and height adjustment control of low body shearer :

Change in inclination angle of the rocker arm of the front roller:

Δθ _Y ＝α-θ _Y0 +arcsin([ΔH+X ₀ sinβ+Y ₀ sinα+h+r+Lsinθ _Y0 -(h+r)cosα]/L);

Change in inclination angle of the rear roller rocker arm:

Δθ _Z =α-θ _Z0 -arcsin([ΔH'+X ₀ sinβ-Y ₀ sinα+hr-Lsinθ _Y0 +(hr)cosα]/L).

Beneficial effects, due to the adoption of the above scheme, gyroscopes are installed on the shearer body, the front drum and the rear drum, and when the shearer pulls back and forth along the unmanned working face and automatically remembers to cut coal, the initial position is established with the center position of the shearer. Coordinate system, combined with the principle of mutual conversion of the space coordinate system, deduced the conversion between the dynamic coordinate system and the initial coordinate system after the adjustment of the attitude angle of the shearer, and measured the initial and attitude angle adjustment of the shearer through the gyroscope. Inclination angle, to further construct the control model of attitude angle adjustment and automatic height adjustment of the drum, to provide the basis and basis for the realization of unmanned working face; The control model of coal mining attitude angle adjustment and height adjustment improves the design of the automatic control of the coal mining machine, improves its performance, and improves the reliability and life of the equipment. The idea is simple, the calculation is reasonable, the degree of automation is high, the production efficiency, safety and reliability are good, and the relationship between the adjustment of the attitude angle of the shearer and the height adjustment control of the drum can be realized.

Advantages: This method is simple in thinking, reasonable in operation and high in automation, and has good production efficiency, safety and reliability. reliability and lifespan.

Description of drawings

Fig. 1 is the coordinate system of the short fuselage shearer of the present invention and its transformation diagram.

Fig. 2 is a schematic diagram of the automatic memory cutting coal of the low body shearer of the present invention.

In the figure: 1. Short fuselage shearer; 2. Front drum; 3. Rear drum; 4. Center of low fuselage shearer; 5. Gyroscope.

Detailed ways

The specific implementation steps of the present invention are described in conjunction with accompanying drawings:

Example 1: In Figure 1 and Figure 2, O(I) represents the initial coordinate system; O(II) represents the dynamic coordinate system; α is the roll angle; β is the pitch angle; γ is the deflection angle; R represents coal mining The radius of the machine drum; Y ₀ indicates the Y-axis coordinate of the drum rocker arm shaft; L indicates the length of the drum rocker arm; θ _Y indicates the inclination angle of the front drum rocker arm; θ _Z indicates the inclination angle of the rear drum rocker arm; B indicates the lowest point of the rear roller position.

Based on the installation of gyroscopes on the low body shearer body, front drum and rear drum of the unmanned working face in thin coal seams, the attitude angle adjustment model of the unmanned working face coal shearer is constructed; the shearer travels along the unmanned working face When traction automatic memory coal cutting, the initial coordinate system is established with the center position of the shearer, combined with the mutual conversion principle of the space coordinate system, the conversion between the dynamic coordinate system after the adjustment of the attitude angle of the shearer and the initial coordinate system is deduced, through the gyroscope The instrument measures the inclination angle of the rocker arm of the drum at the initial stage and after the adjustment of the attitude angle of the shearer, and further constructs the control model of the adjustment of the attitude angle and the automatic height adjustment of the drum; the specific steps are as follows:

a. Install a gyroscope 5 on the main body 1, the front drum 2 and the rear drum 3 of the low-body shearer in the unmanned working face of the thin coal seam, respectively, to measure the angle change of the shearer body and the rotation angle of the two drums ;

b. Based on the low-body shearer 1 pulling back and forth along the unmanned working face and remembering the coal cutting process, the initial coordinate system I is OXYZ, and the center position 4 of the low-body shearer 1 is used as the coordinate origin O, and the coordinate system is perpendicular to the unmanned The human working face points to the goaf as the X axis, the unmanned working face points to the return air level roadway as the Y axis, and the vertical upward direction as the Z axis, and the low-body shearer 1 is set to implement the dynamic memory during the coal cutting process. Coordinate system II is O'X'Y'Z';

c. According to the principle of coordinate change, the initial coordinate system first rotates around the X-axis by an angle of α, then around the Y-axis by an angle of β, and finally around the Z-axis by an angle of γ, and obtains the dynamic coordinate system O of adjusting the attitude angle of the low body shearer 1 'X'Y'Z', where α is the roll angle, β is the pitch angle, and γ is the yaw angle. According to the operating conditions of the low body shearer 1, we can know: -π/2<α<π/2,- π/2<β<π/2, -π/2<γ<π/2, so the coordinate change of the moving coordinate system II relative to the initial coordinate system I is:

d. The low-body shearer 1 normally automatically memorizes coal cutting when it is divided into two coal cutting methods: the front drum 2 cuts the bottom coal, the rear drum 3 cuts the top coal, and the front drum 2 cuts the top coal, and the rear drum 3 bottom coal. In the second coal cutting method, the coordinate of the highest point A is The coordinates of the lowest point B are:

In the formula, X ₀ is the X-axis coordinate of the roller 2 axis, Y ₀ is the Y-axis coordinate of the roller 2 axis, θ _Y is the inclination angle of the rocker arm of the front roller 2, θ _Z is the inclination angle of the rocker arm of the rear roller 3, and L is the length of the rocker arm. r is the radius of the roller;

e. According to the principle of coordinate transformation, the coordinates of the moving coordinate system O'X'Y'Z' relative to the initial coordinate system OXYZ are: then the Z coordinate of the highest point A of the front roller 2 relative to the initial coordinate system OXYZ Similarly, the Z coordinate of the bottom point B of the rear drum 3 relative to the initial coordinate system OXYZ is:

f. Assume that when the short-body shearer 1 memorizes coal cutting, the initial inclination angle of the rocker arm of the front drum 2 is measured by the gyroscope 5 as θ _Y0 , and the initial inclination angle of the rocker arm of the rear drum 3 is θ _Z0 ; After the attitude angle of machine 1 is adjusted, the gyroscope again measures that the initial inclination angle of the rocker arm of the front roller 2 is θ _Y , and the initial inclination angle of the rocker arm of the rear roller 3 is θ _Z , that is, θ _Y = θ _Y0 + Δθ _Y , θ _Z = θ _Z0 +Δθ _Z , then the initial Z coordinate of the highest point A of the front drum 2 relative to the initial coordinate system OXYZ The Z coordinate of the lowest point B of the rear drum 3 relative to the initial coordinate system OXYZ Then the height change of the highest point A of the front drum after adjusting the attitude angle of the short body shearer 1 is: The height change of the lowest point B of the rear drum

g. Assuming sinσ=cosβsinα, cosσ=cosβcosα, then tanσ=sinσ/cosσ=tanα, -π/2<σ<π/2, sorting out the relationship between attitude angle adjustment and height adjustment control of low body shearer 1 Model:

The amount of inclination change of the rocker arm of the front roller 2:

Δθ _Y ＝α-θ _Y0 +arcsin([ΔH+X ₀ sinβ+Y ₀ sinα+h+r+Lsinθ _Y0 -(h+r)cosα]/L);

Change in inclination angle of the rocker arm of the rear roller (3):

Δθ _Z =α-θ _Z0 -arcsin([ΔH'+X ₀ sinβ-Y ₀ sinα+hr-Lsinθ _Y0 +(hr)cosα]/L).

The present invention constructs a control model for attitude angle adjustment and automatic height adjustment of the drum by analyzing the relationship between the attitude angle adjustment of the unmanned working face of the thin coal seam and the height adjustment control of the drum. This method has simple ideas, reasonable operation and high degree of automation. The production efficiency, safety and reliability are good. The construction method of this control model is of great significance for improving the design of the automatic control of the coal mining machine, improving its performance, and improving the reliability and life of the equipment.

Claims (1)

1. the construction process of a thin coal seam unmanned working surface coal mining machine attitude angle adjustment model, it is characterized in that: this construction process is installed based on gyroscope on thin coal seam unmanned work plane short fuselage coal-winning machine body, front roll and back roll, build manless working face coal-winning machine attitude angle adjustment model; When coal-winning machine comes and goes traction automatic Memory coal cutting along manless working face, initial coordinate system is set up with coal-winning machine center, in conjunction with the mutual transfer principle of space coordinates, derive the conversion between the moving axes after the adjustment of coal-winning machine attitude angle and initial coordinate system, the inclination angle of and attitude angle adjustment back roll rocking arm initial by gyroscope survey coal-winning machine, constructs the Controlling model of attitude angle adjustment and horizon control further; Concrete steps are as follows:

A, in the main body and two cylinders of the short fuselage coal-winning machine of thin coal seam unmanned work plane, 1 gyroscope is installed respectively, measures the angle change of coal-winning machine body and the rotational angle of two cylinders respectively;

B, come and go traction memory coal cutting process based on short fuselage coal-winning machine along manless working face, setting up initial coordinate is oXYZ, using short fuselage coal-winning machine center as the origin of coordinates o, to point to goaf perpendicular to manless working face be xaxle, to point to tailgate along manless working face is yaxle, to be vertically upward zaxle, and set short fuselage coal-winning machine implement memory coal cutting process time moving coordinate system as o ^' x ^' y ^' z ^' ;

C, according to changes in coordinates principle, initial coordinate system first around xaxle rotation alpha angle, then around yaxle rotates β angle, finally around zaxle rotates γ angle, obtains the moving coordinate system of short fuselage coal-winning machine attitude angle adjustment o ^' x ^' y ^' z ^' wherein α is roll angle, β is the angle of pitch, γ is deflection angle, operation conditions according to short fuselage coal-winning machine :-pi/2 < α < pi/2,-pi/2 < β < pi/2 ,-pi/2 < γ < pi/2, so by moving coordinate system relative to the changes in coordinates of initial coordinate system be:

Be divided into during the normal automatic Memory coal cutting of d, short fuselage coal-winning machine that front roll cuts ground coal, back roll cuts top coal and front roll cuts top coal, back roll ground coal two kinds of cutting coal methods, when supposing employing the 2nd kind of coal cutting mode, peak acoordinate is:

，

Minimum point bcoordinate is , in formula x ₀for cylinder axis xaxial coordinate, y ₀for cylinder axis yaxial coordinate, for front roll rocking arm inclination angle, for back roll rocking arm inclination angle, lfor rocking arm length, rfor radius roller;

E, according to principle of coordinate transformation, moving coordinate system o'X'Y'Z'relative to initial coordinate system oXYZcoordinate be: , then front roll peak arelative to initial coordinate system oXYZ's zcoordinate , in like manner back roll minimum point B is relative to initial coordinate system oXYZ's zcoordinate is:

；

F, when short fuselage coal-winning machine memory coal cutting, the initial tilt being recorded front roll rocking arm by gyroscope is , the initial tilt of back roll rocking arm is ; After short fuselage coal-winning machine attitude angle adjustment, the initial tilt that gyroscope records front roll rocking arm is again , the initial tilt of back roll rocking arm is , namely , , then front roll peak time initially arelative to initial coordinate system oXYZ's zcoordinate , back roll minimum point brelative to initial coordinate system oXYZ's zcoordinate , then by front roll peak after short fuselage coal-winning machine attitude angle adjustment aheight change be: , back roll minimum point bheight change ;

G, establish sin σ=cos β sin α, cos σ=cos β cos α, then tan σ=sin σ/cos σ=tan α ,-pi/2 < σ < pi/2, arrange and can obtain the adjustment of short fuselage coal-winning machine attitude angle and the model heightening control planning:

The inclination angle knots modification of front roll rocking arm: ;

The inclination angle knots modification of back roll rocking arm:

。