The Kinematics Analysis And Research For Shearer In The Work Model Of Profiling Cutting

At present, the coal mining method of synthetical mechanized exploitation has been used by most coal mining enterprises, it works through the means of human-computer interaction in production field.This way has been an important means for human to achieve high yield and high efficiency mining.However,it still has its imperfections.Operators for shearer and hydraulic supports in the working surface have to been immersed in dust and sharp nose months and years pass by. In the face with gas, operators must always be in danger of gas explosion. The great exploitation cost the frontline staffs huge price like health and even risked their lives; In addition, with the continuous of mining coal, thin seam mining has become increasingly closer to walk to the front of people.The problems in thin coal seam mining with synthetical mechanized exploitation,except what mentioned above,can be more difficult when pepole action,and more easily tired because of the narrow space (face thickness less than1m).To solve these problems of now and in the future, we must realize unmanned working face mining. And shearer drum automatic lifting technology is one of the important part of that. At present, in many drum automatic lifting ways,the profiling cutting way of shearer has been more and more researched,also has become the direction of the pursuit of design units and the majority of coal machine manufacturing enterprises,due to the advantages as practical wide adaptability.The profile modeling of the cutting coal profile section is work model that shearer drum’s height is adjusted by operator in the mining process,then the drums could be adjustmented automatically along the demonstration tool path under computer control instead of workers.This paper takes double drum electric traction shearer as the research object, based on the related mathematical theory and kinematics theory as the analysis tool and the detailed analysis and research on the actual mining technology,makes kinematic analysis for shearer in the procese of profiling cutting, deducts and constructs the corresponding mathematical model, which lays a theoretical foundation for the realization of the use of profiling cutting.And this paper puts forward a new type of profiling cutting scheme base on optimization design theory, which has been verified by experiment, provides a new direction for the research and development of new profiling cutting shearer. The main work is as follows:1This paper has analysed and compared all kinds of methods of automatically adjusting roller to realize the automation of coal cutting, as well as the principles and characteristics of various methods, concluded that the technology of profiling cutting method is the most promising way,studied the diversity of shearer’s attitude and its change rule while working in the face, analysed the close relationship between implementation of profiling cutting and shearer kinematics analysis;2In view of profiling cutting using the way of single demonstration cutter based on the global coordinate system,this paper has studied implementation methods and the method to set up coordinate and the mathematical model,for height-adjusting of shearer drum,also analyzed the error of this method and gived an evaluation.3This paper reserched on another single demonstration profiling cutting mode: single demonstration profiling cutting scheme based on local coordinate system, stated the method to set up coordinate, studied and builded the mathematical model for height-adjusting of shearer drum, also analyzed the error of this method, high application automatic adjusting for shearer drum, the error analysis of the method based on the application, finally get the conclusion of its suitable situation.4This paper reserched on a profiling cutting scheme based on the double knife demonstration, introduces a method to set up coordinate,constructed mathematical model, construct the profiling cutting with the mathematical model for the shearer drum automatic lifting, also analyzed the error of this method, and gived study on factors, pointed out the error is mainly the method error, finally evaluated the scheme.5This paper putted forward a kind of profiling cutting scheme based on recognizing and following goaf physical roof and floor, the profiling cutting scheme based on the existing problems, researched the method of establishing the mathematical mode and lexisting problems, put forward the method to solve the problem,established the mathematical model for height-adjusting of shearer drum, designed sensor mounting mechanism with innovation idea, also analyzed the error of this method and given study on factors,based on the Solidworks2012platform, builded working face and "three-machines" model, made simulation to validate the method.Finally, this paper compared the kinematics model on the four kinds of profiling cutting mode, researched and analized objective problems in all kinds of applications, and pointed out that only by putting appropriate algorithm to Shearer after considering the actual technical conditions and different situation of working face,could the shearer make profiling cutting task well done although in complex conditions,realize the profiling cutting levels go up a new stairs.