1526results about "Slitting machines" patented technology

The invention discloses an intelligent safety monitoring method and system for coal mine excavation, and belongs to the technical field of coal mine safety, and the method specifically comprises the steps: deploying a plurality of adaptive sensing nodes in an excavation area, each node comprising an environment state collection unit and an equipment vibration collection unit, and collecting environment data and mechanical vibration waveforms respectively; then, according to the position of the mining machine and the tunnel structure change, node physical connection is adjusted to form a dynamic topology network, and when mechanical movement exceeds a threshold value, adjacent nodes are subjected to high-density monitoring; then, synchronously generating a coupling data stream according to the collected data timestamps, inputting the coupling data stream into a pre-constructed model, and predicting the overlap ratio of mechanical vibration abnormity and a target gas accumulation area space; when the overlap ratio exceeds a critical value, an emergency response is triggered, the speed is reduced firstly, inert gas is released, and power is cut off if set duration is continued; and finally, reversely correcting surrounding rock stress parameters in the model according to emergency data. According to the invention, the accuracy and response timeliness of early warning of coal mine disasters are improved.

The invention discloses a heading equipment cutting head position calibration method based on image acquisition, which comprises the following steps: S1, acquiring image data and preprocessing the image data; s2, extracting cutting head feature points, and constructing a two-dimensional feature point set; s3, calculating a three-dimensional coordinate by using perspective transformation, and generating a point cloud set; s4, performing rigid registration on the point cloud set and a standard structure model of the tunneling equipment, and iteratively solving a rotation matrix and a translation vector to obtain pose parameters; s5, simulating change tracks of the feature points in continuous frames, constructing a time consistency constraint, and optimizing pose parameters; s6, the optimized three-dimensional coordinates are converted to a reference coordinate system, space alignment is completed, and a position calibration result is generated; and S7, outputting a calibration result for control instruction generation and path planning. According to the invention, high-precision and non-contact three-dimensional position calibration of the cutting head of the tunneling equipment is realized, and operation automation and control precision are improved.

The invention discloses a mining equipment positioning system and method based on radar, ultra wide band and inertial navigation, and the system is characterized in that a multi-source sensor unit, a data synchronization and collection module and a preprocessing module are connected in sequence, and a state fusion module is connected with the preprocessing module, a UWB ranging error compensation module, a radar motion estimation module and a pose output module; the upper computer is connected with the pose output module; the method comprises the steps of collecting multi-source data; timestamp alignment and format conversion processing are carried out, and feature and speed constraint information extraction is carried out on the point cloud data; fitting correction is carried out on the ranging data by adopting a weighted least square method, and position information is obtained through an error weighted average algorithm; feature matching is carried out, and in combination with a KISS-ICP point cloud registration method, a speed estimation result is obtained; carrying out data fusion, and obtaining a pose estimation result by adopting an extended Kalman filtering algorithm; and outputting equipment position and attitude information. According to the invention, high-precision real-time estimation of the attitude and position information of the mining equipment can be realized.

The invention is applicable to the technical field of coal mine tunneling, and provides a coal mine tunneling working method based on a digital twinning system, which comprises the following steps: S1, constructing a three-dimensional dynamic geological twinning model integrating geological radar, measurement while drilling and optical fiber sensing; s2, in the three-dimensional dynamic geological twinborn model, rock stratum characteristic changes are predicted through a digital twinborn body, and a self-adaptive cutting control instruction is generated; s3, simulating gas diffusion and roof stress distribution in real time while the control instruction is sent out, and triggering a grading early warning mechanism; s4, optimizing cutting parameters and emergency plans in a virtual environment according to early warning conditions, reversely controlling physical equipment, setting geological-equipment two-way closed-loop control, breaking through a traditional one-way data acquisition mode, realizing real-time two-way interaction between a geological model and tunneling equipment, establishing a digital twinning driven tunneling process parameter optimization standard library, and realizing real-time two-way interaction between the geological model and the tunneling equipment. Data support is provided for iteration of the technology, and improvement of coal mine tunneling work is facilitated.

The vertical feeding coal mining machine comprises a rack, a traction part and a cutting assembly, the traction part is connected with the rack so as to be used for dragging the rack to move, the cutting assembly comprises a roller body and cutting teeth, the roller body comprises a cylinder body, an end disc and an end cover, the end disc is arranged on the cylinder body, and the cutting teeth are arranged on the end disc. The end disc is arranged on the outer circumferential wall of the roller body in a sleeving mode, the end disc and the first end of the roller body are arranged in a flush mode, the end cover is connected with the inner circumferential wall of the roller body, a groove is defined between the end cover and the roller body, the multiple cutting teeth are arranged in the circumferential direction of the center line of the roller body at intervals, and the cutting teeth are arranged in the groove. One part of the plurality of cutting teeth is connected with the end disc, and the other part of the plurality of cutting teeth is connected with the end cover. According to the vertical feeding coal mining machine, the arrangement positions of the cutting picks are optimized, the possibility of abrasion of the cutting picks is reduced, and the cutting efficiency is improved.

The invention relates to a fully mechanized coal mining face respirable dust concentration management limit value determination method, belongs to the technical field of coal mine dust treatment, and is used for solving the problem of inaccurate respirable dust control caused by the fact that a traditional fixed threshold value cannot adapt to a multi-dust-source coupling working condition. The method comprises the following steps: acquiring dust falling efficiency data of multiple dustproof measures, establishing a mathematical model of dustproof parameters and dust concentration, calculating a dynamic management limit value by combining an industrial standard threshold value, and performing self-adaptive adjustment by monitoring and triggering parameters such as spraying pressure and dust removal air volume in real time. Compared with a traditional method, the dynamic limit value enables the respirable dust concentration to be reduced by 40% or above, the multi-measure cooperative dust falling efficiency is improved to 85%, water is saved by 15%-20%, the equipment energy consumption is reduced by 10%, and intelligent and precise dust treatment is achieved.

The invention provides a construction method of a self-adaptive cutting guide control system of a coal mining machine based on digital twinning, and relates to the technical field of self-adaptive cutting of coal mining machines. The method specifically comprises the following steps: designing a complex dirt band thin coal seam coal mining machine cutting state sensing method and a complex dirt band thin coal seam coal mining machine self-adaptive control strategy; the method comprises the following steps: based on a complex dirt band thin coal seam coal mining machine cutting state sensing method and a complex dirt band thin coal seam coal mining machine self-adaptive control strategy, establishing a complex dirt band thin coal seam coal mining machine self-adaptive cutting digital twinborn model for simulating the self-adaptive cutting process of the complex dirt band thin coal seam coal mining machine; and constructing a mechanism characteristic life prediction model driven by a digital model and a digital twinborn monitoring model for the adaptive cutting dynamic reliability of the coal mining machine for the complex dirt band thin coal seam, wherein the model is used for evaluating the reliability of the adaptive cutting process of the coal mining machine for the complex dirt band thin coal seam in real time. According to the invention, the adaptive capacity of the coal mining machine to the complex dirt band thin coal seam can be effectively improved.

The invention discloses an intelligent bottom-along tunneling control method and system for a tunneling and anchoring all-in-one machine, and relates to the technical field of intelligent control, and the method comprises the following steps: obtaining a cutting instruction set for roadway coal rock; according to the cutting instruction set, manual teaching memory is carried out by a worker, and then a memory automatic cutting stage is entered; in the automatic operation process of the digging and anchoring all-in-one machine, the ground penetrating radar obtains monitoring data in real time and carries out noise reduction processing, and therefore clear roadway floor radar image signals are obtained; inputting the obtained roadway floor radar image signal into a preset roadway floor coal seam thickness estimation model to obtain the thickness of the roadway floor remaining coal; the multi-sensor information fusion technology is adopted, cutting medium attributes in the tunneling process of the tunneling and anchoring all-in-one machine are recognized on line, dynamic optimization control is conducted on the cutting action of the tunneling and anchoring all-in-one machine according to the recognition result, and a comprehensive cutting state monitoring and intelligent cutting solution is provided for a roadway tunneling face.

The invention discloses a low seam few-person fully mechanized coal mining face mining system and method, the system comprises a coal mining machine automatic control system and a hydraulic support electrohydraulic control system, the coal mining machine automatic control system realizes position information transmission and height adjustment of a coal mining machine; the hydraulic support electro-hydraulic control system achieves hydraulic support pulling, pushing and sliding, machine following and support moving and automatic control over actions of the hydraulic support, and the remote control system conducts three-machine linkage control over key production equipment of the fully mechanized coal mining face, automatic control, locking, sudden stop, fault diagnosis, automatic liquid supplementing and data information transmission on the hydraulic support. Coal face equipment has the functions of coal wall video monitoring and the like, and the production process is automatically completed; the coal mining process is intelligent, data transmission is informationized, and on-site operators operate and produce with few persons, so that manual intervention is reduced as much as possible, and high-yield, efficient and safe production is ensured.

The invention discloses a mining-while-digging earthquake advanced detection system based on distributed optical fiber acoustic sensing. Relates to the technical field of seismic exploration. On the basis of a distributed optical fiber acoustic sensing technology, mining-while-digging seismic detection of a working face is realized by utilizing vibration generated by cutting a coal rock stratum by mining machinery. In the production process, the detector collects vibration data of mining machinery and transmits the vibration data to the server through a network; optical cables are arranged on two sides of a coal face upper and lower crossheading or two sides of a driving face roadway; the demodulator emits pulse laser and transmits the pulse laser to the working face optical cable through the industrial looped network or the independent fiber core, vibration of measuring points at equal intervals of the optical cable is measured, and a measuring data packet is returned to the demodulator through the industrial looped network or the independent fiber core; the demodulator demodulates vibration waveform data and uploads the vibration waveform data to the server; server data processing software carries out noise reduction processing on the waveform, then stores and images the waveform, carries out real-time intelligent interpretation, and realizes detection of a geological structure and an abnormal area in front of a working face.

The invention discloses an ultra-long working face mining method which comprises the following steps: S1, moving a first coal mining machine to a first end, forming a second notch in the middle of an ultra-long working face by utilizing a self-notching machine at the same time, and enabling a second coal mining machine to enter the second notch; s2, the first coal mining machine cuts coal from the first end to the second notch, and the second coal mining machine cuts coal from the second notch to the second end; s3, a first notch is formed in the middle of the super-long working face through the self-notching machine, the first coal mining machine enters the first notch after cutting through the coal wall, and the second coal mining machine moves to the second end after cutting through the coal wall; s4, the first coal mining machine cuts coal from the first notch to the first end, and the second coal mining machine cuts coal from the second end to the first notch; and S5, the step S1 to the step S4 are repeated, and mining of the ultra-long working face is achieved. According to the mining method for the ultra-long working face, the coal mining machine can enter the coal wall to normally cut coal in the middle of the ultra-long working face without adopting a beveling feed mode, so that the advancing speed of the ultra-long working face is increased.

The invention discloses a multi-sensor fusion-based driving and anchoring all-in-one machine operation state detection method and system, and relates to the technical field of mining equipment, and the method comprises the steps: monitoring a driving and anchoring all-in-one machine in real time through a multi-sensor terminal, and obtaining hydraulic, mechanical and electrical monitoring sequences with operation node identifiers; constructing a credible state grid space according to the operation control decision; guiding anomaly detection according to the node identifier to obtain a ternary anomaly detection result; after historical fault deduction is combined, a bolter miner coupling fault prediction model is introduced for prediction, and a detection map is obtained. The technical problems that in the operation process of an existing digging and anchoring all-in-one machine, multi-sensing data are isolated, the anomaly detection precision is low, and multi-dimensional fault trend deduction cannot be achieved are solved, multi-source data fusion analysis of the digging and anchoring all-in-one machine is achieved, the anomaly detection accuracy of the digging and anchoring all-in-one machine is improved, and the fault probability of the digging and anchoring all-in-one machine is lowered. And the technical effect of accurate fault prediction of the digging and anchoring all-in-one machine is realized.

The invention discloses an underground large-water mine fine ore recovery technology, and relates to the technical field of fine ore recovery. The method comprises the steps that S1, underground equipment is prepared and arranged; s2, collecting fine ore in the stope; s3, ore screening and material preparation; s4, determining the diameter of the pipeline; s5, calculating the pressure loss of the pipeline; s6, stirring and modifying the ore pulp; and S7, ore screening and wastewater recycling. The process belongs to active recovery of the fine ore, all the fine ore produced in the mine can be recovered, the intermediate transportation and crushing steps of the recovered fine ore are omitted, and the problem that the ore slurry formed after the fine ore meets water blocks a draw shaft and a drainage channel is solved. And the fine ore is directly recovered and passes through the crushing stage, so that the loss of the fine ore in the transportation process is effectively reduced, and the resource recovery rate is greatly improved. Compared with the prior art, fine ore can be actively recycled, and the recycling efficiency is high. Equipment used in the process is more flexible, and there is no need to excavate more laneway projects for treating the fine ore.

The invention discloses a coal mining machine dust source tracking intelligent dust removal method and system integrated with a hydraulic support, and belongs to the technical field of coal mine dust removal. The system comprises a wet dust collector arranged on the inner side of a hydraulic support shield beam, a telescopic air duct on a top beam and a control system. The wet dust collector is connected with the telescopic air duct through a dust suction pipeline arranged in the support, and a dust suction opening of the telescopic air duct is driven by the lifting mechanism to ascend and descend and suck dust dynamically along with a roller of the coal mining machine. The control system obtains position signals of the coal mining machine, adjusts the position of a dust suction opening and controls the dust remover to be started and stopped, and precise dust source treatment is achieved. According to the method, the dust source is tracked circularly by recognizing the coal cutting state of the coal cutter and dynamically adjusting the height of a dust suction inlet and operation of a fan. The support structure is used for protecting equipment from being smashed and damaged, the device adapts to thin and medium-thickness coal seam space, the dust removal efficiency and reliability are remarkably improved, the dust concentration and the maintenance cost are reduced, miner health and operation safety are guaranteed, and wide application prospects are achieved.

A mixed feed efficient mining method includes the steps that firstly, an air way, a machine way and a cutting hole are formed, a coal pillar is reserved at the left end of a working face, the length of the reserved coal pillar is larger than that of a single-drum coal mining machine, a machine nest is formed in the right side of the reserved coal pillar, and the length of the machine nest is not smaller than the sum of the length of a double-drum coal mining machine and the length of beveling feed; the single-drum coal mining machines are arranged in the roadways at the two ends of the fully mechanized coal mining face, the double-drum coal mining machines are arranged on the scraper conveyor at the machine nest section, when the double-drum coal mining machines run to be close to the left end or the right end of the fully mechanized coal mining face, reverse beveling feeding is directly carried out for next coal cutting, and it is not needed that coal is cut back and forth after conventional beveling feeding is carried out; coal pillars left at the two ends of the working face are cut by the two-end single-drum coal mining machine through vertical feeding, coal mining at the two ends and the middle section of the working face is achieved at the same time, the mining efficiency is greatly improved, the number of arranged working faces is reduced, the labor time of workers is shortened, and the economic benefits of enterprises are increased.

The invention discloses movable ore extraction equipment with a dust falling function, and relates to the technical field of plate type ore extraction, the movable ore extraction equipment comprises a heading machine body, a driving mechanism is mounted on one side of the heading machine body, and a cutting head is fixedly connected to one side of the driving mechanism. The pretreatment device is arranged, a first motor reversely runs, a percussion drill body is far away from ore, at the moment, an expansion cracking device body begins to move towards the direction of the ore, after the expansion cracking device body reaches a designated position, a corresponding hydraulic cylinder is started, the expansion cracking device body is pushed to go deep into a drill hole, then the expansion cracking device body is started, cracks in the ore are expanded through hydraulic pressure, and thus the ore is fractured. And after expansion cracking is completed, the first motor is started again, so that the expansion cracking device body is reset to the initial position, the pretreatment mode effectively reduces the strength of ore, the follow-up operation of the cutting head is smoother, the overall working efficiency of mining equipment is improved, meanwhile, the abrasion of the cutting head is reduced, and the service life of the cutting head is prolonged.

The invention discloses an intelligent control method and system for a tunneling path of a tunneling machine, and relates to the technical field of tunneling machine control, and the method comprises the steps: building a tunneling space risk distribution model; performing hierarchical surrounding collision detection on the tunneling space risk distribution model, and constructing a safe tunneling motion space model; performing tunneling path planning on the safe tunneling motion space model, and building a first tunneling path planning domain; performing overrun feedback optimization on the first tunneling path planning domain, and establishing a second tunneling path planning domain; joint optimization is carried out, and a tunneling path optimization result is determined; and performing tunneling path tracking control on the tunneling machine. The technical problems of poor safety and low efficiency of tunneling operation caused by insufficient risk prejudgment of the tunneling area and insufficient consideration of technical parameters and tunneling targets of the tunneling machine in path planning in the prior art are solved, accurate path tracking control of the tunneling machine is realized, and the tunneling efficiency is improved. And the technical effects of safety and high efficiency of tunneling operation are improved.

The invention belongs to the field of coal mine dust removal, and relates to a coal mining machine onboard integrated efficient dust remover and a filtering method thereof, an air inlet, a nozzle, a multi-stage filter screen, a corrugated plate demister, a centrifugal fan and other components are integrated to form an efficient dust removal system. During operation, dust-containing air enters through the air inlet, water mist is sprayed out of the nozzles to preliminarily wet dust, and then the dust with different particle sizes is effectively captured through multi-stage filtration of the coarse-efficiency filter screen, the medium-efficiency filter screen and the high-efficiency filter screen. And then the air is dehydrated by a demister, and clean air is discharged by a centrifugal fan. The equipment is provided with a dust cleaning brush and a differential pressure sensor, the filter screen can be automatically cleaned, and the filtering effect is guaranteed. The system has the advantages of efficient dust fall, water saving, environmental protection, intelligent monitoring, compact structure and convenient maintenance, can obviously reduce the dust concentration of the working face, improves the working environment, ensures the health of miners, and is a preferable scheme for dust control of the fully mechanized coal mining working face.

The invention discloses a fully-mechanized face mining method based on mining and exploring at the same time. The method is implemented according to the following steps that a data monitoring substation is arranged, and stress and micro-seismic data are received from an underground stress monitoring system; current stope stress and roof and floor conditions are obtained through stress and micro-seismic data, and a working face is guided to advance; the method comprises the following steps: establishing a transparent geologic model by using coal seam geologic information and three-dimensional space information of a working face, fusing spatial position information and working state information of fully-mechanized coal mining equipment into the transparent geologic model to obtain a mining data model, and controlling a coal mining machine by combining inertial navigation and a coal mining machine cutting curve correction model; and along with advancing of the working face, new geological information is obtained, the steps 1-3 are repeated, and the mining data model is dynamically updated. By means of the real-time dynamic monitoring and exploring while mining technology, geological exploration, data analysis and inertial navigation are integrated, sub-meter advanced high-precision exploration, geological model dynamic updating and self-adaptive planning mining are achieved, geological prediction accuracy is improved, and real-time geological navigation and stable guarantee are provided.

The present invention belongs to the technical field of roadheader loading, and specifically relates to a chain-belt combined active loading mechanism. It includes a scraper plate body, a scraper chain, a belt redirecting roller, a discharging device, a tensioning device, a conveyor belt and a redirecting drive device. The scraper plate body is the main frame, and the redirecting drive device is installed at the front end of the scraper plate body. Belt redirecting rollers are respectively installed on both sides of the rear end of the scraper plate body. Tensioning devices are respectively installed on both sides inside the scraper plate body, and the telescopic ends of the tensioning devices are connected to the corresponding belt redirecting rollers. A scraper chain is arranged on the upper surface of the middle part of the scraper plate body, and the front end of the scraper chain is connected to the redirecting drive device fixed on the scraper plate body. The rear end of the scraper chain passes through the scraper conveyor and is connected to the drive motor. Both ends of the redirecting drive device are respectively connected to the belt redirecting rollers through two conveyor belts. Two discharging devices are symmetrically arranged on the upper surfaces of both sides of the scraper plate body, and the bottom of the discharging device is in contact with the upper surface of the conveyor belt. The present invention solves the problems of low loading efficiency or the existence of loading dead zones.

The invention discloses a plane mining system and method.The plane mining system comprises at least two process well sections, the two process well sections can be communicated with each other through excavation and communication of an excavation well section or a communication mining area, the inner diameter of each process well section is smaller than 2 m, the vertical depth of each process well section is larger than 50 m, and the total well depth of each process well section is larger than 100 m; the length-diameter ratio of the process well is greater than 100; and the plane mining device can be conveyed to an operation starting position through the process well and can perform ore mining operation in the communication mining area and / or the communication mining well section and / or the process well section communicated with the communication mining well section. According to the invention, remote operation of an ore bed can be realized under a non-excavation condition, two-dimensional plane transformation of a stratum is realized, and an effect of spatial three-dimensional excavation under remote operation is achieved.

The tunneling and anchoring all-in-one machine shield system comprises a shield mechanism, the shield mechanism comprises a main frame body, a sliding top plate and a front probing piece, the sliding top plate is in sliding connection with the main frame body, and the front probing piece is used for driving the sliding top plate to move front and back; the sliding frame assembly is arranged between the main frame body and the sliding top plate, and the sliding frame assembly is in sliding connection with the sliding top plate; the wing ceiling assemblies are arranged on the two sides of the sliding top plate; the top end of the temporary supporting piece is connected with the left end and the right end of the sliding frame assembly, and the temporary supporting piece is telescopic; the top end of the supporting rod assembly is connected with the left side and the right side of the main frame body. The shield system can be arranged on the tunneling and anchoring integrated machine, the sliding top plate and the wing-unfolding ceiling assembly can stretch into an unsupported empty roof area in front of a tunneling working face in advance to form a temporary protection barrier, zero-empty-roof-distance advance supporting operation of a tunneling head-on is achieved, adaptability and reliability of underground tunneling operation to top plate control are improved, and the construction period is shortened. And safe and efficient operation of tunneling operation is ensured.

The invention discloses an intelligent mining crushing robot control method based on working condition identification, and relates to the technical field of mining equipment automation control, and the method comprises the following steps: building a wireless communication system in advance, carrying out vehicle end remote driving configuration adjustment, and configuring a working condition identification system and an environment acquisition system; the centralized control center collects data of the working condition recognition system and the environment collection system in real time and carries out operation task control of the vehicle end. According to the method, through accurate working condition identification and efficient path planning, the ore position can be quickly found, the optimal driving path can be planned, and the invalid running time of equipment in a well is shortened; meanwhile, efficient crushing of different ores is ensured through reasonable crushing action decision, the overall efficiency of ore crushing operation is remarkably improved, the energy consumption and abrasion of equipment are effectively reduced through the optimized crushing action frequency and duration and the strategy of adjusting the crushing strength according to the hardness of the ores, the service life of the equipment is prolonged, and the production cost is reduced. And the operation cost is reduced.

A three-coal-mining-machine efficient mining method includes the steps that firstly, an air way, a machine way and a cut hole are formed, notches are formed in the two ends of the cut hole in advance, and the length of the notches is not smaller than the sum of the length of a single-drum coal mining machine and the length of a double-drum coal mining machine; the front portions of the two ends of the working face are beveled, fed and pre-cut to form machine nests through the two single-drum coal mining machines, a roof is supported through the lagging supporting support and the timely supporting support, and the requirement for the width of a roadway can be lowered by adopting the beveled feeding mode of the single-drum coal mining machines; in addition, the single-drum coal mining machines on the two sides perform pre-cutting operation at the two ends of the working face and the double-drum coal mining machine perform coal cutting operation in the middle of the working face synchronously, and after the double-drum coal mining machine enters a left-end or right-end machine nest, the double-drum coal mining machine directly performs reverse beveling feeding for next coal cutting, so that the mining efficiency of the working face is improved; the working face arrangement number is reduced, the labor time of workers is shortened, and the economic benefits of enterprises are increased.

The invention discloses a coal cutter roller control device and method integrating elastic wave and infrared temperature measurement, and relates to the technical field of safe mining of deep mine coal, and the coal cutter roller control device integrating elastic wave and infrared temperature measurement mainly comprises an elastic wave detection module and an infrared monitoring module. The elastic wave detection module is used for detecting a coal seam thickness value and a coal-rock interface layer position and controlling a roller of the coal mining machine to rise and fall; the infrared monitoring module is used for collecting temperature data and obtaining and storing a temperature threshold value. The coal mining machine roller control device integrating elastic wave and infrared temperature measurement and the control method can adapt to complex construction environments and severe geological conditions, and the safety and efficiency of deep mine coal mining are improved.

The invention discloses a precise dust fall and explosion suppression control method for a fully mechanized coal mining face and a combined type electric ball valve, and relates to the technical field of automatic control. The method comprises the following steps: step 1, an intelligent control device synchronously issues a sampling trigger instruction to a dust monitoring assembly, a spray monitoring assembly and a vibration monitoring assembly; when the three sequences simultaneously meet the preset trigger conditions, generating a trigger event and a control starting point; 2, dividing service areas based on a valve group topology table, determining a target service area, and obtaining a candidate sequence from far to near according to the connection sequence of the valve group topology table and a combined manifold; and 3, the target valve position sequence and the action window are issued to a soft opening and closing curve generator so as to drive an execution motor speed reduction self-locking mechanism in each electric ball valve unit. According to the invention, through collaborative optimization in three aspects of monitoring, scheduling and execution, limitations in triggering accuracy, multi-valve coupling control and execution reliability in the prior art are broken through.

The invention provides a digging and anchoring all-in-one machine temporary supporting system with a dynamic empty top distance adjusting mechanism, which comprises a temporary supporting assembly, the temporary supporting assembly comprises a main frame body, and a telescopic sliding top plate is arranged at the front end of the main frame body; the wing-unfolding ceiling assemblies are arranged on the two sides of the sliding top plate, each wing-unfolding ceiling assembly comprises a self-adaptive top plate, one end of each self-adaptive top plate is connected with one side of the sliding top plate, and a telescopic arc-shaped protection plate is arranged at the front end of each self-adaptive top plate; and the top end of the temporary supporting piece is connected with the bottom of the sliding top plate. The temporary supporting system can be arranged on a tunneling and anchoring integrated machine, the sliding top plate extends out to support a coal rock layer on the top of a tunneling face, the arc-shaped protection plate can extend into an unsupported empty roof area in front of a tunneling working face in advance to form a temporary protection barrier, and zero empty roof distance advance supporting operation of a tunneling head-on is achieved.

The invention provides a control method of fully-mechanized coal mining equipment and a coal mining machine, and relates to the technical field of coal mining machinery control. The control method of the fully-mechanized coal mining equipment is applied to a coal mining machine and comprises the following steps: acquiring running state information of the coal mining machine; according to the operation state information of the coal mining machine, a target hydraulic support to be cooperatively controlled is determined from multiple hydraulic supports, and the multiple hydraulic supports and the coal mining machine are located on the same working face; based on the transmission channel between the coal mining machine and the target hydraulic support, first information is sent to the target hydraulic support, and the first information is used for the target hydraulic support to determine cooperative action. According to the technical scheme, the cooperative efficiency between the coal mining machine and the hydraulic support can be improved, and then the mining efficiency is improved.

The utility model provides a heading machine. The heading machine comprises a machine body; the first rotating part is arranged at the front end of the machine body; the cutting assembly is connected with the first rotating part and can swing up and down under the action of the first rotating part; the first detection assembly is connected with the first rotating part and is used for detecting the lifting amplitude of the cutting assembly; the control assembly is connected with the first detection assembly and used for determining the final lifting amplitude of the cutting assembly according to the detection result of the first detection assembly; wherein the first detection assembly comprises a first gear which is connected with the first rotating part and can synchronously rotate along with the first rotating part; the second gear is meshed with the first gear; the first angle sensor is connected with the second gear and used for converting the rotation angle of the second gear into an electric signal and sending the electric signal to the control assembly. The heading machine can stably measure the lifting amplitude of the cutting assembly of the heading machine with high precision.

The invention relates to the technical field of mining, in particular to a taper angle self-sharpening type high-strength mining cutting pick and a gradient manufacturing method thereof.The taper angle self-sharpening type high-strength mining cutting pick and the gradient manufacturing method thereof.The taper angle self-sharpening type high-strength mining cutting pick comprises the following steps that S1, raw materials are selected and pretreated; gradient composite manufacturing of the cone-angle self-sharpening high-strength mining cutting pick is achieved, different parts of the cutting pick adapt to specific requirements of different parts through gradient change of material performance, the abrasion resistance and impact resistance of the cutting pick are remarkably improved, in addition, the cutting edge of the cone-angle self-sharpening high-strength mining cutting pick is designed to be conical, and the cutting edge of the cone-angle self-sharpening high-strength mining cutting pick is not prone to deformation. Due to the geometrical shape, in the cutting process of the cutting pick, friction and impact can be generated between the conical edge of the cutting pick and rock, even if abrasion occurs, abrasion materials on the edge can fall off due to the dynamic effect, a new sharp edge is exposed, and due to the mechanism, the cutting pick can continuously keep efficient cutting performance under the severe working condition.