悬臂式掘进机自动截割技术研究

Study on Automatic Cutting Technology of Boom-type Roadheader

为实现煤矿掘进工作面的自动化作业,对悬臂式掘进机断面自动截割成形的需求日趋明显。采用截割臂升降、回转、伸缩油缸内置位移传感器的方式,对掘进机炮头位置坐标进行研究,再增加惯导系统获取机身位姿信息,采用PLC和微处理器相结合的方式实现掘进机软件控制系统开发,从而实现掘进机的自动截割。

To realize automatic operation of coal mine excavation face,the demand of boom-type roadheader to automatic cutting and forming of the cross section is becoming more and more obviously.The space position of the cutting head was studied by means of the displacement sensors built into the lift cylinder,slew cylinder and telescopic cylinders of the cutting arm,furtherly,the pose information of voadheader body was obtained by adding inertial navigation system.Used PLC and MCU tegether to develop the software control system,so as to relalize the automatic cutting of roadheader.