Automatic section cutting and forming control of longitudinal-axial-roadheaders

To reduce the useless driving workload and volume of filling and improve excavating efficiency,method of laneway section automatic forming control of longitudinal-axial-roadheaders was presented.Firstly,mine laneway section automatically cutting process was developed according to actual conditions of coal mine.Then,carried out the kinematical analysis of the automatic section forming control,having the analysis of the swing mechanism work,the spatial position of cutting head and the geometric analysis of its mechanical structure.The geometrical relationship formulas were worked out among the cutter head spatial position coordinate,expansion increment of the hydraulic cylinders and swinging angles of the cantilever.The results show that the control mode of directly measuring swing angles of cutting head is more simple and effective.The method proposed was put in practice in EBZ160 and EBZ200 boom-type roadheaders,and the effect of experiment is very nice,laying a foundation for further study position detection and direction correction of roadheader.