Low coal seam few-person fully mechanized coal mining face mining system and method

Abstract

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.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mining, and particularly relates to a mining system and method for a fully mechanized mining face with few workers in thin coal seams. Background Art

[0002] For some mining areas where the coal seam thickness of the coal mining face is only 0.8 - 1.1 meters, with an average thickness of 1.0 meter and an average dip angle of 22° of the coal seam, the retreating longwall mining method is adopted, and the goaf is treated by the full caving method. However, the existing equipment and mining methods have high labor intensity, low production efficiency and low safety level. In order to improve the coal recovery rate and reduce the loss and waste of coal resources, the applicant conducts research on the fully mechanized mining face in thin coal seams and proposes a mining system and method for a fully mechanized mining face with few workers in thin coal seams to solve the problems in thin coal seam mining. Summary of the Invention

[0003] The purpose of the invention is to provide a mining system and method for a fully mechanized mining face with few workers in thin coal seams, so as to reduce the number of workers in thin coal seam mining and improve the safety level.

[0004] The technical solution adopted by the invention is that a mining system for a fully mechanized mining face with few workers in thin coal seams includes a shearer automatic control system electrically connected to a shearer and a hydraulic support electro-hydraulic control system connected to a hydraulic support. The shearer automatic control system includes an autonomous positioning module and an automatic height adjustment module to realize the transmission of the position information of the shearer and height adjustment. The hydraulic support electro-hydraulic control system realizes the pulling of the hydraulic support, pushing the scraper conveyor, inter-bracket spraying, following the shearer to move the support, and automatically controlling the actions of the hydraulic support, and realizes the remote control of the self-bracket control, adjacent-bracket control, alternate-bracket control, operating state and in-workface ground pressure monitoring. Both the shearer automatic control system and the hydraulic support electro-hydraulic control system are connected to a remote control system through CAN communication.

[0005] Further, a digital encoder is installed on the output shaft of the shearer traction reducer. The digital encoder is connected to the shearer automatic control system. According to the corresponding relationship between the fixed address and the working face, the relative position of the shearer on the working face is determined. An inclination sensor is installed at the output end of the shearer. According to its height adjustment model, the left and right two inclination angles are monitored by the sensor. After signal processing, they are transmitted to the shearer automatic control system for processing, and the known body size parameters are integrated to deduce the mined height data.

[0006] Further, an infrared transmitter is installed on the shearer, and an infrared receiver is installed on the hydraulic support. The infrared transmitter emits digital signals, and the infrared receiver receives the infrared digital signals to monitor the position and direction information of the shearer, realizing the automation of the hydraulic support following the shearer.

[0007] Furthermore, it also includes a video monitoring system which is connected to the remote control system and consists of network cameras, video boxes and video operation consoles. One network camera is installed for every three hydraulic supports. The network camera is installed on the top beam of the hydraulic support, and the irradiation direction is perpendicular to the working face.

[0008] A mining method for a fully mechanized coal mining face with fewer workers in thin coal seams includes the following steps: S1. Send commands to the automatic control system of the shearer through the remote control system, operate and control the spiral drum of the shearer to cut coal, the drum cutting depth is 800 mm, the coal cutting method of the shearer: bidirectional shuttle coal cutting, the front drum cuts the top coal, the rear drum cuts the bottom coal, and cuts through the end coal wall downward (upward); the feed-in method of the shearer: the shearer uses the diagonal cutting method of cutting triangular coal at the head and tail, the feed-in diagonal length is 30 m, and the feed-in depth is 0.8 m.

[0009] S2. After coal cutting, transport the coal through the cooperation of the spiral drum of the shearer and the scraper conveyor; the working face uses an SGZ-764 / 400 scraper conveyor, and the transport lane uses a bridge-type transfer machine and an SSJ-800 belt conveyor to transport the coal.

[0010] S3. After completing the current coal cutting, move the shearer, and use the electro-hydraulic control system of the hydraulic support to control the hydraulic support to move forward one by one following the shearer or in groups, but not lag behind by more than 6 frames; the support moving step distance is 0.8 m; under normal circumstances, timely support moving is adopted, the support moving lags behind the rear drum of the shearer by 3 - 7 m, and the end face distance between the front end of the support and the coal wall is not more than 340 mm. When the roof is broken or the spalling is large, the support can be pulled in advance or pulled one by one while cutting; when pulling the support, under normal circumstances, the support lowering amount is 100 - 150 mm; when the roof is broken, support moving with pressure or less lowering and fast moving should be adopted, and the elongation of the jack should be adjusted at any time to keep the top beam and the front end at the same level and in smooth and close contact with the roof; after support moving, the support should be perpendicular to the coal wall of the mining face, and adjust the support if the requirement is not met.

[0011] S4. Push the scraper conveyor upward (downward) so that the bending section of the scraper conveyor is 15 m, the scraper conveyor pushing lags behind the support moving by 10 - 15 m, the support moving lags behind the shearer by 3 - 7 m, and the bending angle of the bending section of the conveyor in the horizontal direction is not more than 3°, and in the vertical direction is not more than 4°.

[0012] Moving the scraper conveyor: The scraper conveyor lags behind the support moving by 10 m - 15 m. After pushing the scraper conveyor, ensure that the distance of the bending section of the scraper conveyor is not less than 15 m, and the bending degree ensures the normal passage of the shearer.

[0013] Further, the working face is supported by ZY3600 / 08 / 18D type shield hydraulic supports. The maximum controlled height of the supports is 1.8 m, the minimum controlled height is 0.8 m, the mining height of the working face is 1.4 m, the cycle progress is 0.8 m, and there are 3 ZYG3800 / 10 / 20D type shield transition hydraulic supports at the head and 2 at the tail. The maximum controlled height of the supports is 2.0 m, and the minimum controlled height is 1.0 m.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: through the intelligent control platform for fully mechanized mining faces, the three-machine linkage control of key production equipment in the fully mechanized mining face is realized, including the automatic control, locking, emergency stop, fault diagnosis, automatic liquid supplementing and data information transmission of hydraulic supports; computer remote communication, centralized control and automatic coordinated control of equipment dynamic operation parameters; functions such as video monitoring of equipment and coal wall in the coal mining face. The production process is automatically completed; the coal mining technology is intelligentized, the data transmission is informatized, and the on-site operators perform production with fewer people, minimizing manual intervention as much as possible, so as to ensure high yield, high efficiency and safe production. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic framework diagram of a mining system for a thin coal seam with fewer people in a fully mechanized coal mining face. DETAILED DESCRIPTION OF THE INVENTION

[0016] The present invention will be further explained below in conjunction with the drawings of the specification, so as to be better understood by those skilled in the art.

[0017] Embodiment 1 As Figure 1 shown, a mining system for a thin coal seam with fewer people in a fully mechanized coal mining face includes a shearer automatic control system electrically connected to the shearer and a hydraulic support electro-hydraulic control system connected to the hydraulic supports. The shearer automatic control system includes an autonomous positioning module and an automatic height adjustment module. Among them, a digital encoder is installed on the output shaft of the shearer traction reducer, and the digital encoder is connected to the shearer automatic control system. Through the corresponding relationship between the fixed address and the working face, the relative position of the shearer in the working face is determined; an inclination sensor is installed at the output end of the shearer. According to its height adjustment model, the left and right inclinations are monitored by the sensor, and after signal processing, they are transmitted to the shearer automatic control system for processing. By integrating the known body size parameters, the mining height data is deduced, and the position information transmission and height adjustment of the shearer are realized through the shearer automatic control system.

[0018] The shearer automatic control system takes a high-performance controller as the core. Based on the variable-frequency speed-regulation electric haulage shearer control system, advanced computer control technology, digital sensor technology, and network CAN communication technology are adopted to realize the intelligent control of the shearer.

[0019] Automation control of shearer, memory cutting system for shearer automation control drum, adding absolute address encoder and inclination sensor, precisely and autonomously positioning the shearer along the working face direction, monitoring the working attitude control of the shearer's body rocker arm cutting height, establishing a position and cutting height database through learning method, realizing automatic height adjustment operation of shearer drum memory cutting; technically transforming the thin coal type electric haulage shearer, adding position detection, realizing the function of automatic height adjustment control for memory cutting, adding remote communication interface, realizing the function of remote centralized monitoring and control.

[0020] Automatic height adjustment for memory cutting: The driver operates the shearer to cut a pass along the coal seam of the working face first. The control system detects parameters such as the position of the shearer and the swing angle of the rocker arm and stores them in the computer, establishing a database of the shearer position and the cutting height of the rocker arm. In subsequent cutting strokes, the computer automatically adjusts the height according to the parameters memorized in the memory. If the coal seam conditions change, manual intervention is used for height adjustment, and at the same time, the adjusted parameters are automatically memorized as the basis for the next pass height adjustment, realizing the automatic height adjustment operation of the shearer drum memory cutting.

[0021] Each hydraulic support is equipped with a pressure sensor, a displacement sensor, a solenoid valve driver, and an infrared receiver. Every 3 supports are equipped with a support controller and two locking buttons. Every six supports are equipped with a power supply box, outputting 12V and 3A. The electro-hydraulic control system of the hydraulic support realizes the functions of pulling the support, pushing the scraper conveyor, spraying between supports, following the shearer to move the support, and automatically controlling the actions of the hydraulic support, realizing the remote control of the support's own control, adjacent support control, alternate support control, operating status, and working face mine pressure monitoring; both the automatic control system of the shearer and the electro-hydraulic control system of the hydraulic support are connected to the remote control system through CAN communication.

[0022] It also includes a video monitoring system, which is connected to the remote control system and includes network cameras, video boxes, and video operation consoles. One network camera is installed on every 3 hydraulic supports, and the network camera is installed on the top beam of the hydraulic support, with the irradiation direction perpendicular to the working face.

[0023] Monitoring center: One set of remote control and video monitoring systems for hydraulic supports, shearers, face conveyors, transfer conveyors, and other equipment are respectively set in the gate belt monitoring center. The staff in the monitoring center can remotely control various actions of the supports according to the video monitoring system. The staff in the monitoring center can remotely control the shearer through the video system and adjust actions such as the drum and traction.

[0024] An infrared transmitter is installed on the shearer, and an infrared receiver is installed on the hydraulic support. The infrared transmitter emits digital signals, and the infrared receiver receives the infrared digital signals to monitor the position and direction information of the shearer, realizing the automation of the hydraulic support following the shearer.

[0025] Embodiment 2 A mining method for a fully mechanized coal mining face with less personnel in thin coal seams, comprising the following steps: S1. Send commands to the automatic control system of the shearer through the remote control system, operate and control the spiral drum of the shearer to cut coal, the drum cutting depth is 800 mm, the coal cutting method of the shearer: two-way shuttle coal cutting, the front drum cuts the top coal, the rear drum cuts the bottom coal, and cuts through the end coal wall downward (upward); S2. After the coal is cut, transport the coal through the cooperation of the spiral drum of the shearer and the scraper conveyor; S3. After completing the current coal cutting, move the shearer, and use the electro-hydraulic control system of the hydraulic support to control the hydraulic support to move forward one by one or in groups following the shearer, but not lag behind 6 frames; S4. Push the scraper conveyor upward (downward) so that the bending section of the scraper conveyor is 15 m, the scraper conveyor pushing lags behind the support moving by 10 - 15 m, the support moving lags behind the shearer by 3 - 7 m, the bending angle of the bending section of the conveyor in the horizontal direction is not greater than 3°, and in the vertical direction is not greater than 4°.

[0026] Furthermore, the knifing method of the shearer: The shearer uses the diagonal cutting method of cutting triangular coal at the head and tail, the knifing diagonal length is 30 m, and the knifing depth is 0.8 m.

[0027] Furthermore, the support moving step distance is 0.8 m; under normal circumstances, timely support moving is adopted, the support moving lags behind the rear drum of the shearer by 3 - 7 m, the end face distance between the front end of the support and the coal wall is not greater than 340 mm. When the roof is broken or the coal rib spalling is large, the support can be pulled in advance or pulled one by one while cutting; when pulling the support, under normal circumstances, the support lowering amount is 100 - 150 mm; when the roof is broken, support moving with pressure or less lowering and fast moving should be adopted, and the elongation of the jack should be adjusted at any time to keep the top beam and the front end at the same horizontal level, and keep in smooth and close contact with the roof; after the support is moved, the support should be perpendicular to the coal wall of the mining face, and adjust the support if the requirements are not met.

[0028] Furthermore, moving the scraper conveyor: The scraper conveyor lags behind the support moving by 10 m - 15 m. After pushing the scraper conveyor, ensure that the bending section distance of the scraper conveyor is not less than 15 m, and the bending degree ensures the normal passage of the shearer.

[0029] Furthermore, the working face uses ZY3600 / 08 / 18D type support-covering hydraulic supports for support, the maximum controlled height of the support is 1.8 m, the minimum controlled height is 0.8 m, the mining height of the mining face is 1.4 m, the cycle progress is 0.8 m, there are 3 ZYG3800 / 10 / 20D covering type transition hydraulic supports at the head and 2 at the tail, the maximum controlled height of the support is 2.0 m, and the minimum controlled height is 1.0 m.

[0030] The main functions of the equipment of this fully mechanized coal mining face are as follows: (1) Realize the remote control of the working face in the central control room of the gate road; (2)Position monitoring of shearer, automatic memory cutting, and intelligent control; (3)Automatic positioning and pushing of hydraulic supports.

[0031] Through the intelligent control platform of the fully mechanized coal mining face, the three-machine linkage control of the key production equipment on the fully mechanized coal mining face, the automatic control, locking, emergency stop, fault diagnosis, automatic liquid addition, and data information transmission of the hydraulic supports; computer remote communication, centralized control, and automatic coordinated control of the dynamic operation parameters of the equipment; functions such as video monitoring of the equipment and coal wall on the coal mining face. Automatically complete the production process; the coal mining technology is intelligent, the data transmission is informatized, and the on-site operators operate the production with fewer people, minimizing manual intervention, so as to ensure high yield, high efficiency, and safe production.

[0032] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit and principles of the present invention, various deformations and improvements made by those skilled in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A mining system for a fully mechanized coal mining face with reduced manpower in thin coal seams, characterized in that, It includes a shearer automatic control system electrically connected to the shearer and an electro-hydraulic control system of hydraulic supports connected to the hydraulic supports. The shearer automatic control system includes an independent positioning module and an automatic height adjustment module to achieve the transmission of the shearer's position information and height adjustment; the electro-hydraulic control system of hydraulic supports realizes the pulling of hydraulic supports, pushing the scraper conveyor, inter-bracket spraying, following the shearer to move the supports, and automatically controlling the actions of hydraulic supports, and realizes the remote control of the control of the current support, adjacent support, alternate support, operating status, and face strata pressure monitoring; both the shearer automatic control system and the electro-hydraulic control system of hydraulic supports are connected to the remote control system through CAN communication.

2. The fully mechanized mining face mining system with fewer people in thin coal seams according to claim 1, characterized in that, A digital encoder is installed on the output shaft of the shearer traction reducer. The digital encoder is connected to the shearer automatic control system. According to the corresponding relationship between the fixed address and the working face, the relative position of the shearer on the working face is determined; an inclination sensor is installed at the output end of the shearer. According to its height adjustment model, the left and right inclinations are monitored by the sensor, and after signal processing, they are transmitted to the shearer automatic control system for processing, and the known body size parameters are integrated to deduce the cutting height data.

3. The fully-mechanized coal mining face mining system with few workers in thin coal seams according to claim 1, characterized in that, An infrared transmitter is installed on the shearer, and an infrared receiver is installed on the hydraulic support. The digital signal is transmitted by the infrared transmitter, and the infrared receiver receives the infrared digital signal to monitor the position and direction information of the shearer, realizing the automation of the hydraulic support following the shearer.

4. The fully mechanized mining face mining system with few workers in thin coal seams according to claim 1, characterized in that, It also includes a video monitoring system. The video monitoring system is connected to the remote control system and includes network cameras, video boxes, and video operation consoles. One network camera is installed for every three hydraulic supports. The network camera is installed on the top beam of the hydraulic support, and the irradiation direction is perpendicular to the working face.

5. A mining method for a fully mechanized coal mining face with fewer workers in thin coal seams according to any one of claims 1-4, characterized in that, It includes the following steps: S1. Send a command to the shearer automatic control system through the remote control system to operate and control the shearer's spiral drum to cut coal. The drum cutting depth is 800 mm. The coal cutting method of the shearer is: two-way shuttle coal cutting. The front drum cuts the top coal, and the rear drum cuts the bottom coal, cutting through the end coal wall downward (upward); S2. After the coal is cut, the coal is transported by the cooperation of the shearer's spiral drum and the scraper conveyor; S3. After completing the current coal cutting, move the shearer, and use the electro-hydraulic control system of the hydraulic support to control the hydraulic support to move forward one by one following the shearer or in groups, but not lag behind by more than 6 supports; S4. Push the scraper conveyor upward (downward) so that the bending section of the scraper conveyor is 15 m. The scraper conveyor is pushed 10 - 15 m behind the support movement, and the support movement lags behind the shearer by 3 - 7 m. The bending angle of the bending section of the conveyor is not more than 3° in the horizontal direction and not more than 4° in the vertical direction.

6. The mining method for a fully mechanized coal mining face with less personnel in thin coal seams according to claim 5, characterized in that, The coal loading method of the shearer: The shearer uses the method of cutting triangular coal at the head and tail for oblique cutting coal loading. The oblique cutting length is 30 m, and the cutting depth is 0.8 m.

7. A mining method for a fully mechanized coal mining face with fewer workers in thin coal seams according to claim 5, characterized in that, The support advancing interval is 0.8 m. Under normal circumstances, timely support advancing is adopted, with the support advancing lagging behind the rear drum of the shearer by 3 to 7 m. The end face distance between the front end of the support and the coal wall shall not be greater than 340 mm. When the roof is broken or the spalling is severe, the support can be advanced in advance or one support can be advanced after cutting one coal cut. When advancing the support, under normal circumstances, the support lowering amount is 100 to 150 mm. When the roof is broken, the support shall be advanced with pressure or with less lowering and faster advancing, and the elongation of the jack shall be adjusted at any time to keep the top beam and the front end at the same level and in smooth and close contact with the roof. After the support is advanced, the support shall be perpendicular to the coal wall of the working face. If the requirement is not met, the support shall be adjusted.

8. A mining method for a fully mechanized coal mining face with few workers in thin coal seams according to claim 5, characterized in that, Advancing the scraper conveyor: The scraper conveyor lags behind the support advancing by 10 m to 15 m. After advancing the scraper conveyor, ensure that the distance of the curved section of the scraper conveyor is not less than 15 m, and the curvature ensures the normal passage of the shearer.

9. A mining method for a fully mechanized coal mining face with few workers in thin coal seams according to claim 5, characterized in that, The working face is supported by ZY3600 / 08 / 18D type shield hydraulic supports. The maximum controlled height of the support is 1.8 m, and the minimum controlled height is 0.8 m. The mining height of the working face is 1.4 m, and the cycle progress is 0.8 m. There are 3 supports at the head and 2 supports at the tail, which are ZYG3800 / 10 / 20D type shield transition hydraulic supports. The maximum controlled height of the support is 2.0 m, and the minimum controlled height is 1.0 m.

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