Research On Section Cutting Technology Of The Cantalever Vertical Axis Roadheader

Roadway drivage is the key link in the production of coal mine,boom-type roadheader is an key equipment for tunnelling in coal mines.However,actual working conditions show that the low efficiency of mine tunnelling and the low accuracy of roadway section forming are pervasive,which restrict rapid and accurate tunneling and constraint efficiency of coal production.In this paper,the two planes laser eject position monitoring system used for boom-type roadheader in the coal is built,and the algorithm of position and attitude parameters monitoring is studied,on this account,it can obtain the roadheader body of offset,position and attitude parameters in the roadway in real time.Based on theory of space mechanism motion,a kinematic model of boom-type roadheader's working mechanism is established and roadheader body of position and attitude parameters is included in this model,to simulate the motion trajectory of the cutting head in the space of the roadway,it represents the shape and size characteristics of the roadway section which is cut,and study how roadheader of position and attitude parameters influence the accuracy of section forming;a kinematic model of roadheader's working mechanism which is established is solved by inverse solution,stroke expressions of piston rod of hoist cylinder and rotary cylinder of roadheader are determined,which provide a theoretical basis for automatic forming of roadway section.Fuzzy PID technology is applied to control the swing speed of roadheader cantalever,it can prevent overloading of the cutting motor and make sure constant power running of cutting motor for roadheader when it runs near rated power.Regarded position monitoring technology,section forming technology and constant power cutting technology of roadheader as a unified system of integration that is interconnected,it helps to promote the development of the cantalever vertical axis roadheader in the direction of intelligence and automation,rapid and accurate tunnelling,efficiency of coal production.