Research On Automatic Control System Of Working Mechanism Of Boom-type Roadheader

There are two kinds of roadheader according to mode that roadheader acts on section of laneway: Tunneling Boom Machine (TBM) and partial-size tunneling machine. Nowadays, partial-size tunneling machines are used widely in mining production in our country and abroad, main research object in this paper is boom-type roadheader that widely used in laneway excavation in underground coal mine, main problems which are discussed are how to finish laneway section automatic shaping of boom-type roadheader automatically and how to adjust swaying velocity of boom to realize constant power control on main cutting motor according to different distribution of coal and rock. In this paper, longitudinal axis type roadheader of EBJ-132A is made as an example, according to mathematic model which reflects relationship between parameters of main working mechanism of boom-type roadheader and sizes of laneway section (the model has been established previously), a few kinds of exising methods of displacement measuring and control of hydraulic cylinder are analyzed and compared, method of using numerical hydraulic cylinder to control displacement of working hydraulic cylinder of boom-type roadheader is put forward, and corresponding control programs of working mechanism are programmed respectively according to a few kinds of familiar shapes of laneway section in practical production. Because coal and rock usually exist together in same section of laneway, on condition that power are constant,when cutting bit cuts the coal, high feeding velocity and low feeding force are needed; When cutting bit cuts hard coal or combination of coal and rock, low feeding velocity and high feeding force are needed. In this paper LabWindows/CVI is used as platform to develop system software about automatic control of working mechanism of roadheader, automatic shaping of laneway section can be completed automatically if this system is adopted according to section shape and parameters which are input by user, feeding velocity can be adjusted automatically according to different distribution of coal and rock in laneway section, aims of reducing loss of power and improving working efficiency and degree of automatization can be achieved. It provides realizing automatization and unmanned of mechanical digging laneway in the future with a kind of feasible method.