【導讀】采高范圍：—煤層傾角：Y<40&#176;液壓支架的選擇配套布置；局不會有什么大的變動。而采煤機作為采煤作業(yè)的主要機械，它的性能對生。產率有重大影響，因此當前仍需對采煤機進行大力研究。本文介紹了采煤機。截割部減速器最后一級用的是行星齒輪結構，這一做法減。行選型，然后進行總傳動比的計算和分配，完成了齒輪模數(shù)和齒數(shù)的選擇；對傳動裝置運動參數(shù)進行計算，通過計算得知各軸的轉速、功率以及轉矩；變形情況，然后對鎬型截齒破損原因進行了分析并提出相關改進建議。本設計的創(chuàng)新點：使用了兩個惰輪來增加搖臂長度。提出相關改進建議。

　　

【正文】 . The automatic adjustment height of the drum is the key technology of the shearer’s automation. In order to realize the automatic adjustment height of the drum in the shearer, Artificial Immune theory was used to carry out selfadaptive memory cutting of the shearer in this paper. The methods of the path memory and data processing, selfadaptive cutting and manual amendment were researched in detail. Preliminary experiment has been done on the MG900/2210WD shearer that was produced by Xi’an Coal Mining Machinery Company. The experimental result shows that selfadaptive memory cutting of the shearer based on Artificial immune is feasible and the control precision satisfies the demand of production. Keywords： shearer。 artificial immune。 sheearer。 selfadaptive memory cutting。 adjust height I. INTRODUCTION Shearer is the key equipment in the fully mechanized longwall coal mining face, it is necessary and important to realize the automation of the shearer that is the precondition to realize the automation of the fully mechanized longwall coal mining face. It is well known that the key technology to realize the automation of shearer is the automatic adjustment height of drum in the shearer. At present, there are two kinds of methods which are adopted to realize the automatic adjustment height of drum including coalrock interface identification and memory cutting. Coalrock interface identification usually uses r ray, electromagic wave, vibration signal and other sensor information to identify coal and rock as mentioned in [1] and [2]. The abovementioned methods are 中國礦業(yè)大學徐海學院 2021 屆本科生畢業(yè)論文 22used to identify whether or not shearer cut rock, but application effect is not ideal in practice because of the plicated and unpredictable geological conditions in the coal mining face. Memory cutting uses the strategy of teaching and playback which is widely used in the robot control, it avoids the difficult problem of coalrock interface identification. JOY and DBT have already researched the shearer with memory cutting function, but this kind of shearer doesn’t work well in coal mine. If the geological condition changes, the shearer still works along the memorized cutting path, the drum will cut rock which may destroy the drum or take place severe accident. In order toresolve disadvantages of the abovementioned two kinds of methods, the selfadaptive memory cutting technology based on Artificial Immune is researched in this paper, and the automatic adjustment height of drum is realized. 中國礦業(yè)大學徐海學院 2021 屆本科生畢業(yè)論文 23II. MODEL OF THE SHEARER MEMORY CUTTING BASED ON ARTIFICIAL IMMUNE THEORY A. Work Flow of the Shearer Memory Cutting The main working process of the shearer includes movement of the haulage unit and the vertical movement of the rocker arm, as shown in the . When the shearer cuts the roof rock, floor rock and fault rock, it should adjust the arm’s height to avoid the damage of the cutting drum. In the process of memory cutting, the shearer follows the cutting path that the operator guided for the first time. When the geological conditions change drastically in the fully mechanized longwall coal mining face, the memorized path is not correspondent with the real condition, and the drum maybe cut rock. In order to solve this problem, the selfadaptive memory cutting technology based on Artificial Immune was presented in this paper, which can make the drum adjust its height automatically under the changed geological conditions, and record the new path that will be used for the next time. B. The Shearer Memory Cutting Model Based on ArtificialImmune Shearer’s memory cutting based on Artificial Immune is divided into three parts including path memory and data processing, selfadaptive cutting and manual amendment. 1) In the stage of path memory and data processing, the operator guides the shearer to work along the mining face, he Shearer memories the cutting path and the important cutting parameters. 2) In the process of selfadaptive cutting, the shearer moves and cuts 中國礦業(yè)大學徐海學院 2021 屆本科生畢業(yè)論文 24automatically according to the memorized path. The Shearer can automatically identify whether it cut the rock. If the shearer cut the rock, the corresponding control strategy must be done to deal with it. 3) When the shearer has already cut the rock, and it couldn’t resolve the problem by the selfadaptive adjustment, manual amendment is utilized. The operator should guide the shearer to break away the troubles, and the shearer records the new path at the same time. When the shearer cuts this point again next time, it will cut the coal mining face by the recorded new cutting parameters. The immune system is the basic biologic defense system which fights back the aggression of bacteria, viruses and other pathogenic factors to protect the selfbody, its function is to recognize the cells in the body, classify them into self and nonself, and then it will utilize the proper defense mechanism to removal nonself , as mentioned in [3]. Artificial immune system is the selfadaptive system which simulates the function and model of biological immune system and it is used to solve plex problem in the automatic control system. Combining the theory of Artificial Immune and negative selection algorithm which was mentioned in [4] with the actual situation of the shearer, this paper put forward Artificial Immune model of memory cutting of the shearer. The self, antibody, antigen and vaccine respectively correspond to normal state, abnormal state, unknown state variables of acquisition and state variables by manual amendment, the memory cutting model based on Artificial Immune was shown in . In this model, the path memory and data processing corresponds to the mature process of self and antibody, th