Research On Section Forming Technology Of Longitudinal Roadheader

Longitudinal roadheader is a key equipment as tunneling in coal mines,its position and attitude and the forming quality of the roadway are closely related.The cutting of the roadway still depends on the manual operation,the existence of low accuracy of roadway section forming,the operator labor intensity,poor working environment and other issues,Problems mentioned above seriously restrict the high efficiency and high yield of coal.In this paper,aiming at the problem of poor positioning of roadheader in coal mine underground,according to the transformation relation of any point on rigid body in different space coordinate systems,the hardware and software design of the monitoring system are completed,real-time acquisition of position and attitude parameters of roadheader fuselage in roadway coordinates is realized.According to,the composition principle of the longitudinal roadheader,the working characteristics of cutting mechanism of longitudinal roadheader are analyzed.information acquisition system based on roadheader is designed,and the hardware and software design of the acquisition system are completed,which realized remote monitoring of roadheader operation status.In the light of problem that cutting load of roadheader varies sharply,the swing speed of roadheader cantilever is control by PID control technology,it can avoid overload and underload of cutting motor caused by drastic change of cutting load of roadheader and make sure the operation of cutting motor of roadheader under rated power,accordingly,the constant power operation of the cutting motor of the roadheader can be realized.Position and attitude monitoring technology is a premise of automatic section forming of roadheader,information acquisition technology is a prerequisite for realizing intelligent cutting of roadheader,constant power cutting technology is beneficial to efficiency of automatic section forming of roadheader.Combining position and attitude monitoring development of longitudinal roadheader towards unmanned and intellectualization operation,rapid section forming realization of coal mine roadway,high efficiency and high yield of coal.