Research on the Optimization of Cutting Path of Cantilever Roadheader in Large Section Excavation

Abstract

Coal is an important resource for China and even for the whole world. With the improvement of mechanization, automation and intelligence of coal mining equipment in China, there has been an imbalance between the speed of mining and of excavating. Adopting efficient cutting paths is beneficial to improving roadway excavation efficiency and alleviating the imbalance between mining and excavation. In this paper, taking the 12307 belt roadway of Wangjialing Coal Mine as the research background, the geomechanical parameters and distribution characteristics of the surrounding rock were observed and studied, and the test results of in-situ stress, surrounding rock structure and surrounding rock strength were obtained. Based on the test results, a numerical model was established, and the stress and displacement distribution law of the surrounding rock of the roadway under different cutting paths were analyzed, and two optimal cutting paths were proposed based on the actual situation, and industrial tests were carried out. The test results show that using the “snake” cutting path from bottom to top, the roadway section forming effect is good, and a single cycle excavation takes 34 min, which verified the effectiveness of the cutting path design. On the basis of specific engineering geological conditions, excavation equipment and technology, combined with experimental testing, numerical simulation and other methods, the roadway excavation cutting path can be optimized, and the research results can provide a reference for the design of cutting paths for coal mine excavation roadways with the same geological conditions.

Research on Path Planning and Control Method for Secondary Autonomous Cutting of Cantilever Roadheader in a Large-Section Coal Roadway

“…The upper ordinate h 1 h upper = 3550 and the lower ordinate h 1 h lower = 0 were substituted into Equation (16) and Equation (17) to calculate the θ 2 , and θ 2 was then substituted into Formula (10c) to calculate the corresponding cutting head center coordinates z 1 h upper and z 1 h lower , and the vertical coordinates of inflection points 1~4 could be obtained. In the left half of the roadway, the abscissa of the inflection point was symmetrical; therefore, only the abscissa of one inflection point needed be calculated.…”

“…Su et al established the cutting model of a trapezium roadway interface, determined the inflexion point position of cutting with an approximate iteration method, and simulated it with the MATLAB software, greatly improving the cutting shaping effect of the roadway [16]. Hu et al simulated the change law of stress and displacement of the surrounding rock of a roadway under different cutting paths by using FLAC 3D, and determined the optimal cutting path in combination with the actual situation in the mine [17]. Xu et al established the spatial pose model of a cantilever roadheader by using the D-H parameter method, deduced the spatial pose matrix of roadheader and cutting head, determined the coordinates of the inflection point of the cutting path, and finally simulated it with MATLAB [18].…”

Health status Monitoring of cutting arm of Anchor excavator based on Digital Twin

“…After more than 20 years of development, digital twin technology has been applied in all walks of life, especially in engineering related fields.In recent years, many scholars are trying to combine digital twin technology with the concept of intelligent mine.In terms of remote control of fully mechanized mining and tunneling operations, References [4][5] analyzed the current working conditions of the mining face, pointed out the shortcomings and challenges in the mining face, and proposed the overall framework for the development of intelligent mines driven by digital twins.In the aspect of mine equipment maintenance and intelligent control, Reference [6] built a predictive maintenance system of complex mine equipment based on digital twin technology in Unity, and carried out experimental verification with shearer as the research object, which provided a method for the research of predictive maintenance method of mine equipment.References [7][8][9][10][11] have studied the intelligent control of the working face, the intelligent positioning of the equipment, the collision detection method between the equipment, the digital twin-driven tunneling robot control system, and the tunneling robot cutting control method, and have achieved remarkable results.…”