Study On Identification And Control Methods Of The Shearer Rock Drilling

In our country the thin seams have abundant resources and good coal quality.However, thin seams have less mining every year because the degree of automation ofthe thin seam mining working face is not high. Currently, the thin seam mining mainlyrely on Auger Shearer. The drilling tools is made up of the multi-section drill pipeconnected with drill bit in the long distance drilling process. In the process ofdirectional cutting coal seam, the shear often encounters rocks, which make the bitdeflect easily, and further lead to drill pipe deflection, even cause safety problems. Soautomatic identification of coal and rock in the mining face and effective correctivecontrol drilling tools is the premise to ensure the safety of high-speed automatic thinseam mining and one of the problems that need to be solved.Based on these problems, this paper studied the coal and rock identificationmethod of Auger Shearer and the corrective control method of drilling tools. Itdesigned a relative signal collection system, collected and analyzed relative signals.The work done in this paper are as follows:1. It studied coal and rock peculiarities, and the characteristics of vibration signalsand noise signals when the shearer bit is in the state of cutting. By analyzing thedifferent characteristics of the coal and rock, we deduced a model for different cuttingcoal resistances the shearer drill subjected to, by which we can analyze vibrationsignals when the shearer are cutting coal and rock, and achieve effective identificationof coal and rock.2. Under laboratory conditions, referring to Platts hardness factor, we madeartificial coal rock samples of different hardness factors with rock, sand, and cementmixed according to a certain percentage. Relying on cutting test platform of thelaboratory, we designed shearer vibration signal acquisition system based on virtualinstrument.3. For several different cutting conditions, with the vibration signal acquisitionsystem designed, we conducted the experimental data acquisition, data collectedwavelet threshold filtering and wavelet (packet) analysis to extract the hardness ofdifferent cutting vibration signals features, analyzed and summarized thecharacteristics of different cutting conditions of vibration signals.4. We studied the problem that auger shearer deflected in the mining process, designed inclination measurement and control systems based on three-axisacceleration sensor MPU6050, realized real-time monitoring of the drill deflectionangle and designed the control circuit, and controlled real-time correction auger usingimproved PID control algorithm.This study provides a reference for the work of rock face recognition ofunderground auger-type automatic coal miner, workers can judge shearer drill cuttingconditions based on the vibration signal characteristics, which is an auxiliary methodof coal and rock identification.