| Nowadays, tunneling machines are widely used in mining and underground engineering, developing directions of boom-type roadheader are intelligentized and automatic manipulation, improving automatic level of roadheader is an important thesis of mining and underground engineering in China. This paper studies intelligentized control of driving and cutting of boom-type roadheader.In this paper, it simplifies driving mechanism of boom-type roadheader into four-wheel mechanism made up of two leading wheels and two driving wheels. The essay deduces functional relations between distance which roadheader drives along straight line, angle which roadheader rotates around its own central line and oil volume which flows through left and right driving hydraulic motors respectively. Mathematic model is built about roadheader driving route of arc curve laneway, the method of elongating line of arc chord is proposed, central line of arc laneway is divided equally, the straight line between two neighbor dividing spots takes the place of the corresponding arc, so error is decreased. The new thinking of usual hydraulic motor should be replaced by digital hydraulic motor is proposed.Idea of redesigning the structure of original roadheader is proposed, and the assumption of using intelligentized theodolite to confirm the position of roadheader is put forward.Then main constitution and working characteristics of cutting unit of boom roadheader are analyzed. Mathematic model is built about the movement of cutting unit. The cutting route is divided properly, the coordinates calculating functions of boundary dots on the laneway profile are deduced, and the calculating functions of corresponding length of cylinders which control the boom to lift or descend and rotate is presented, these functions undertake to cut out smooth profile which coincides with demand of design .In the end, combining driving and cutting of the roadheader, the essay uses the software...
|
PDF Full Text Request