Vertical feed coal mining system and coal mining method

Abstract

The invention discloses a vertical feed coal mining system and a coal mining method. The vertical feed coal mining system comprises a reversed loader, a hydraulic support, a scraper conveyor, a plurality of single-drum rocker arm type drum coal mining machines and a plurality of mechanical arms, the single-drum rocker arm type drum coal mining machines can move in the arrangement direction of the scraper conveyor, and coal briquettes cut by the single-drum rocker arm type drum coal mining machines are conveyed to the reversed loader through the scraper conveyor. The multiple mechanical arms are arranged on the scraper conveyor at intervals, the multiple mechanical arms correspond to the multiple single-drum rocker arm type drum coal mining machines in a one-to-one mode, the single-drum rocker arm type drum coal mining machines are coupled and positioned with the scraper conveyor through the mechanical arms, vertical feeding is achieved under pushing of the hydraulic support, and therefore the coal mining operation method is greatly simplified, and the coal mining efficiency is improved. The problems that a fully mechanized coal mining face is difficult to level, a scraper machine is difficult to straighten and the like in a traditional beveling feed coal mining process are solved, the mining efficiency of the fully mechanized coal mining face is greatly improved, and meanwhile automation and intelligentization of the fully mechanized coal mining face are better achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent mining of fully mechanized working faces, and in particular to a vertical feed coal mining system and a coal mining method. Background Art

[0002] The intelligent development of coal mines has become the core technological support for promoting the transformation and upgrading of the coal industry and achieving high-quality development. The realization of intelligent unmanned mining in fully mechanized mining faces is the key to the construction of intelligent coal mines. Currently, fully mechanized mining faces mainly use a rocker-type drum shearer to cut and drop coal. Due to the mechanical structure and cutting process of the rocker-type drum shearer, the shearer needs to perform oblique cutting at both ends of the working face. This leads to problems such as complex cutting processes, low cutting speeds, low efficiency, difficulty in leveling the fully mechanized mining face, difficulty in straightening the scraper, frequent failures, and difficulty in intelligent control. These problems make it difficult to achieve normalized intelligent unmanned mining in fully mechanized mining faces, hindering the development of intelligent coal mines. Summary of the Invention

[0003] The present invention is based on the inventor's discovery and understanding of the following facts and problems:

[0004] The traditional rocker-arm drum coal mining machine has many problems when performing oblique cutting at both ends of the fully mechanized mining face, such as low cutting efficiency, difficulty in leveling the fully mechanized mining face, difficulty in straightening the scraper, frequent breakage of the scraper chain and dumbbell pin, and difficulty in achieving unmanned operation.

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, an embodiment of the present invention proposes a vertical feed coal mining system, which has the advantages of simple feed process, high cutting efficiency, low failure rate, and easy realization of normalized intelligent unmanned mining.

[0007] The vertical feed coal mining system of an embodiment of the present invention includes a transfer machine, a hydraulic support, a scraper conveyor, a plurality of single-drum rocker-arm drum coal mining machines and a plurality of mechanical arms. The scraper conveyor is arranged along the extension direction of the coal mining working face, and the single-drum rocker-arm drum coal mining machine is movable along the arrangement direction of the scraper conveyor. The coal blocks cut by the single-drum rocker-arm drum coal mining machine are transported to the transfer machine through the scraper conveyor. The plurality of mechanical arms are arranged on the scraper conveyor at intervals, and the plurality of mechanical arms correspond one-to-one to the plurality of single-drum rocker-arm drum coal mining machines. After the single-drum rocker-arm drum coal mining machine moves to the position of the corresponding mechanical arm, it is coupled to the scraper conveyor through the mechanical arm, so that the hydraulic support drives the single-drum rocker-arm drum coal mining machine to advance vertically when pushing the scraper conveyor in the direction close to the coal mining working face.

[0008] The vertical feed coal mining system of the embodiment of the present invention couples and positions the single-drum rocker-arm drum coal mining machine with the scraper conveyor through a mechanical arm, and realizes vertical feed under the push of the hydraulic support, thereby greatly simplifying the coal mining operation method and eliminating the problems of difficulty in leveling the comprehensive mining working face and difficulty in straightening the scraper in the traditional oblique cutting coal mining process. While greatly improving the mining efficiency of the comprehensive mining working face, it is more conducive to realizing its automation and intelligence.

[0009] In some embodiments, the multiple single-drum rocker-type drum coal mining machines include a first single-drum rocker-type drum coal mining machine and a second single-drum rocker-type drum coal mining machine, and the coal mining working face includes a first part of the coal mining working face and a second part of the coal mining working face arranged along its extension direction. The first single-drum rocker-type drum coal mining machine is used to cut the coal seam of the first part of the coal mining working face, and the second single-drum rocker-type drum coal mining machine is used to cut the coal seam of the second part of the coal mining working face.

[0010] In some embodiments, the multiple robotic arms include a first robotic arm and a second robotic arm, the first robotic arm is arranged at the head of the scraper conveyor, the first single-drum rocker type drum coal mining machine is coupled to the scraper conveyor through the first robotic arm, the second robotic arm is arranged at the tail of the scraper conveyor, and the second single-drum rocker type drum coal mining machine is coupled to the scraper conveyor through the second robotic arm.

[0011] In some embodiments, the single-drum rocker-arm drum coal mining machine includes a traction part, a rotating arm, a cutting drum and a crushing drum, the cutting drum is rotatably connected to the traction part through the rotating arm, and the crushing drum is rotatably connected to the traction part.

[0012] In some embodiments, the diameter of the cutting drum is 1 / 2 to 2 / 3 of the mining height of the coal mining face.

[0013] In some embodiments, the robotic arm includes a base, a telescopic arm, a height-adjusting cylinder and a contact plate. The base is connected to the scraper conveyor, the telescopic arm and the height-adjusting cylinder are respectively rotatably connected to the base, the telescopic arm is rotatably connected to the height-adjusting cylinder, and the contact plate is rotatably connected to the telescopic arm.

[0014] In some embodiments, a flexible member is provided on the end surface of the contact disk.

[0015] An embodiment of the present invention further provides a coal mining method, which is applicable to the vertical feed coal mining system described in any one of the above embodiments.

[0016] The coal mining method according to the embodiment of the present invention includes:

[0017] S001, controlling a first single-drum rocker-arm drum coal shearer to move to a preset position on a first portion of a coal mining working face, and controlling the first single-drum rocker-arm drum coal shearer to couple with a scraper conveyor;

[0018] S002, starting the cutting drum on the first single-drum rocker-type drum shearer, controlling multiple hydraulic supports adjacent to the first single-drum rocker-type drum shearer to jointly push the scraper conveyor toward the first portion of the coal mining face, thereby pushing the cutting drum on the first single-drum rocker-type drum shearer to vertically advance and cut the coal seam;

[0019] S003, performed simultaneously with S002, after the second single-drum rocker-arm drum shearer completes the coal mining operation at the top coal seam of the second partial coal mining working face, the cutting drum of the second single-drum rocker-arm drum shearer is controlled to rotate to the bottom of the second partial coal mining working face and begin cutting the bottom coal seam of the second partial coal mining working face in a direction away from the first partial coal mining working face;

[0020] S004: After the first single-drum rocker-arm drum shearer has vertically advanced, it is controlled to advance toward the second portion of the coal mining working face to cut the top coal seam of the first portion of the coal mining working face. Simultaneously, the scraper conveyor located in the front of the first single-drum rocker-arm drum shearer is sequentially advanced toward the first portion of the coal mining working face, and the hydraulic supports located in the rear of the first single-drum rocker-arm drum shearer are sequentially extended until the first single-drum rocker-arm drum shearer completes the coal mining operation at the top coal seam of the first portion of the coal mining working face.

[0021] S005, after the second single-drum rocker-arm drum coal shearer completes the coal mining operation at the bottom coal seam of the second partial coal mining working face, the second single-drum rocker-arm drum coal shearer moves to a preset position on the second partial coal mining working face, and the second single-drum rocker-arm drum coal shearer is controlled to couple with the scraper conveyor;

[0022] S006: Start the cutting drum on the second single-drum rocker-type shearer, and control multiple hydraulic supports adjacent to the second single-drum rocker-type shearer to jointly push the scraper conveyor toward the second portion of the coal mining face, so as to push the cutting drum on the second single-drum rocker-type shearer to vertically advance and cut the coal seam.

[0023] S007, performed simultaneously with S006, after the first single-drum rocker-arm drum shearer completes the coal mining operation at the top coal seam of the first partial coal mining working face, controls the cutting drum of the first single-drum rocker-arm drum shearer to rotate to the bottom of the first partial coal mining working face and begins to cut the bottom coal seam of the first partial coal mining working face in a direction away from the second partial coal mining working face;

[0024] S008, after the second single-drum rocker-arm drum shearer vertically feeds, it is controlled to move toward the direction approaching the first mining face to cut the top coal seam of the second mining face. Simultaneously, the scraper conveyor located in front of the second single-drum rocker-arm drum shearer is sequentially advanced toward the direction approaching the second mining face, and the hydraulic supports located behind the second single-drum rocker-arm drum shearer are sequentially extended until the second single-drum rocker-arm drum shearer completes the mining operation of the top coal seam of the second mining face.

[0025] Repeat steps S001 to S008 to achieve continuous vertical feed coal mining operations.

[0026] In some embodiments, the coupling process of a single-drum rocker-type drum coal shearer and a scraper conveyor includes:

[0027] When the single-drum rocker-arm drum coal mining machine moves to the preset position of the coal mining working face, the rotating arm on the single-drum rocker-arm drum coal mining machine is controlled to make its cutting drum at a preset height, the height adjustment cylinder on the mechanical arm is controlled to make the telescopic arm at a corresponding height, and the contact plate on the telescopic arm is controlled to extend and press against the tail of the cutting drum, so that the single-drum rocker-arm drum coal mining machine is coupled with the scraper conveyor. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of a vertical feed coal mining system according to an embodiment of the present invention.

[0029] Figure 2 It is a schematic diagram of the arrangement of the vertical feed coal mining system on the working face according to an embodiment of the present invention.

[0030] Figure 3 It is a structural schematic diagram of a single-drum rocker-arm drum coal mining machine according to an embodiment of the present invention.

[0031] Figure 4 2 is a schematic structural diagram of a robotic arm according to an embodiment of the present invention.

[0032] Figure 5 It is a process schematic diagram of steps S001 to S002 of an embodiment of the present invention.

[0033] Figure 6 It is a process schematic diagram of steps S003 to S004 of an embodiment of the present invention.

[0034] Figure 7 It is a process schematic diagram of steps S005 to S006 of an embodiment of the present invention.

[0035] Figure 8 It is a process schematic diagram of steps S007 to S008 of an embodiment of the present invention.

[0036] Reference numerals:

[0037] 100-coal mining face, 200-slot, 300-goaf,

[0038] 1-transfer machine, 2-hydraulic support, 3-scraper conveyor, 4-single-drum rocker-type drum coal mining machine, 41a-first single-drum rocker-type drum coal mining machine, 41b-right single-drum rocker-type drum coal mining machine, 42a-second single-drum rocker-type drum coal mining machine, 42b-left single-drum rocker-type drum coal mining machine, 401-traction unit, 402-rotating arm, 403-cutting drum, 404-crushing drum, 5-mechanical arm, 51a-first mechanical arm, 51b-right mechanical arm, 52a-second mechanical arm, 52b-left mechanical arm, 501-base, 502-telescopic arm, 503-heightening cylinder, 504-contact plate. DETAILED DESCRIPTION

[0039] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0040] The vertical feed coal mining system according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0041] like Figures 1-4 As shown, the vertical feed coal mining system of the embodiment of the present invention includes a transfer machine 1, a hydraulic support 2, a scraper conveyor 3, a plurality of single-drum rocker-arm drum coal mining machines 4 and a plurality of mechanical arms 5.

[0042] The transfer machine 1 is responsible for transferring coal from the scraper conveyor 3 to the belt conveyor or other transport equipment in the transport roadway (chute 200). The hydraulic support 2 supports the roof and provides a safe working space for the shearer and scraper conveyor 3. Behind the hydraulic support 2 is the goaf 300. The scraper conveyor 3 directly receives the coal cut by the shearer and transports it to the transfer point at the working face. When the hydraulic support 2 moves forward via the push jack, it drives the scraper conveyor 3 in sync, ensuring the continuity of the coal transportation path.

[0043] The scraper conveyor 3 is arranged along the extension direction of the coal mining working face 100 (eg Figure 2 The single-drum rocker-arm drum coal shearer 4 is movable along the arrangement direction of the scraper conveyor 3, that is, the single-drum rocker-arm drum coal shearer 4 can move left and right on the scraper conveyor 3 to cut coal, and the coal blocks cut by the single-drum rocker-arm drum coal shearer 4 are transported to the transfer machine 1 through the scraper conveyor 3.

[0044] A plurality of mechanical arms 5 are arranged at intervals on the scraper conveyor 3, and the plurality of mechanical arms 5 correspond to a plurality of single-drum rocker-arm drum coal shearers 4 one by one. After the single-drum rocker-arm drum coal shearer 4 moves to the position of the corresponding mechanical arm 5, the single-drum rocker-arm drum coal shearer 4 is temporarily coupled with the scraper conveyor 3 through the mechanical arm 5, so that the hydraulic support 2 moves toward the direction close to the coal mining working face 100 (such as Figure 2 When the scraper conveyor 3 is pushed (in front of the center), the single-drum rocker-arm drum coal mining machine 4 is driven to feed vertically.

[0045] The vertical feed coal mining system of the embodiment of the present invention couples and positions the single-drum rocker-arm drum coal mining machine 4 with the scraper conveyor through the mechanical arm 5, and realizes vertical feed under the push of the hydraulic support 2, thereby greatly simplifying the coal mining operation method, eliminating the problems of difficulty in leveling the comprehensive mining working face and difficulty in straightening the scraper in the traditional oblique cutting coal mining process, and while greatly improving the mining efficiency of the comprehensive mining working face, it is more conducive to realizing its automation and intelligence.

[0046] In some embodiments, as Figure 1 and Figure 2 As shown, the plurality of single-drum rocker-arm shearers 4 include a first single-drum rocker-arm shearer 41a and a second single-drum rocker-arm shearer 42a. The coal mining face 100 includes a first portion of the coal mining face and a second portion of the coal mining face arranged along its extension direction. The plurality of robotic arms 5 include a first robotic arm 51a and a second robotic arm 52a.

[0047] For a more intuitive description, the following sections will be divided into left and right sections. The first single-drum rocker-arm shearer 41a is the right single-drum rocker-arm shearer 41b, and the second single-drum rocker-arm shearer 42a is the left single-drum rocker-arm shearer 42b. The first mining face is the right half, and the second mining face is the left half. The first robotic arm 51a is the right robotic arm 51b, and the second robotic arm 52a is the left robotic arm 52b.

[0048] The right single-drum rocker-type shearer 41b is used to cut the coal seam in the right half of the mining face, while the left single-drum rocker-type shearer 42b is used to cut the coal seam in the left half of the mining face. The right robotic arm 51b is located at the head of the scraper conveyor 3. The right single-drum rocker-type shearer 41b is coupled to the scraper conveyor 3 via the right robotic arm 51b, enabling vertical feed. The left robotic arm 52b is located at the tail of the scraper conveyor 3. The left single-drum rocker-type shearer 42b is coupled to the scraper conveyor 3 via the left robotic arm 52b, enabling vertical feed.

[0049] In some embodiments, as Figure 3As shown, the single-drum rocker-arm drum coal shearer 4 includes a traction portion 401 , a rotating arm 402 , a cutting drum 403 and a crushing drum 404 .

[0050] One end of the rotating arm 402 is connected to the traction unit 401, allowing it to rotate around the connection point to adjust the coal cutting height of the cutting drum 403. The other end of the rotating arm 402 is connected to the cutting drum 403, which can also rotate around the connection point to cut the coal seam. The crushing drum 404 is hingedly connected to the traction unit 401 and can be adjusted in height. The crushing drum 404 can crush large lumps of coal.

[0051] Among them, Figure 1 and Figure 2 As shown, the right single-drum rocker arm type drum coal shearer 41b and the left single-drum rocker arm type drum coal shearer 42b are arranged opposite to each other.

[0052] Optionally, the diameter of the cutting drum 403 is 1 / 2 to 2 / 3 of the mining height of the coal mining face 100, so that the cutting drum 403 can complete a cutting operation of one pitch by reciprocating twice. For example, the first time the top coal seam is cut, and the second time the bottom coal seam is cut, thereby reducing the generation of large coal lumps. Of course, the reverse is also possible.

[0053] Furthermore, the cutting drum 403 can be designed with its structure and pick arrangement according to the coal rock hardness and mine conditions, targeting the requirements of vertical feed working conditions;

[0054] Furthermore, traction section 401 is not subject to the constraints of traditional shearers requiring a minimal body. Depending on operating conditions, structural components, transmission components, and related motor power can be increased and reinforced, further improving coal mining efficiency and reliability. Alternatively, traction section 401 can be equipped with devices and equipment that are inconvenient to add to traditional shearers, such as a crushing device, an intelligent control center, and a sensor control center, further enhancing the intelligence and sustained stability of coal mining operations.

[0055] In some embodiments, as Figure 4 As shown, the robotic arm 5 includes a base 501 , a telescopic arm 502 , a height adjustment cylinder 503 and a contact plate 504 .

[0056] The base 501 is provided with through-holes and positioning holes for attachment to the scraper conveyor. The base 501 is equipped with hinged ears that are articulated to the telescopic arm 502 and the height adjustment cylinder 503, respectively. The extension and retraction of the height adjustment cylinder 503 allows the upper end of the telescopic arm 502 to swing. A cylinder within the telescopic arm 502 pushes and pulls the contact plate 504 back. The rear end of the contact plate 504 is connected to the telescopic rod on the telescopic arm 502 via a ball joint, ensuring full contact between the contact plate 504 and the cutting drum 403.

[0057] Among them, Figure 1 and Figure 2 As shown, the right robotic arm 51b and the left robotic arm 52b are arranged opposite to each other.

[0058] Furthermore, in order to avoid stress concentration and damage to the cutting drum 403 , a flexible member, such as a flexible pad such as a rubber pad, is provided at the front end of the contact plate 504 .

[0059] Furthermore, the right robotic arm 51b and the left robotic arm 52b can be designed with structural adjustments and increased degrees of freedom according to usage conditions.

[0060] In summary, the vertical feed coal mining system of the embodiment of the present invention, the right single-drum rocker arm drum coal mining machine and the left single-drum rocker arm drum coal mining machine can respectively realize vertical feed at the two ends of the coal mining working face with the assistance of the right robotic arm and the left robotic arm.

[0061] It completely abandons the oblique cutting method in the traditional fully mechanized coal mining process, and thus completely avoids a series of engineering problems caused by the oblique cutting method, such as low efficiency of oblique cutting (for a fully mechanized mining working face of general length, the oblique cutting process usually takes up about half of the coal mining operation time), difficulty in leveling and straightening the working face (because the coal mining machine will swing left and right on the scraper during oblique cutting, causing jamming), and difficulty in straightening the scraper (this bending will form a vicious circle, the cumulative error will become larger and larger, and this will cause a series of other problems, such as plastic elongation or breakage of the scraper chain due to overload, increased wear of the scraper due to jamming, and breakage of the scraper dumbbell pin).

[0062] In addition, the oblique cutting process requires repeatedly pushing the scraper conveyor, which can easily cause the following problems: causing the equipment to bend and deform, affecting the stability of the bracket and the quality of the roof support (the empty top area of ​​the oblique cutting increases, the exposure time of the roof is prolonged, and the risk of spalling and roof collapse is aggravated); if the pseudo-oblique adjustment is improper during the oblique cutting process, it may cause the scraper conveyor to rise or fall, and abnormal displacement may occur, which will cause the bracket base to shift, causing the bracket to be squeezed, stacked, or even fall, seriously affecting production safety.

[0063] In an embodiment of the present invention, two right single-drum rocker-type drum coal mining machines and left single-drum rocker-type drum coal mining machines are respectively used, and the two can operate independently. Although compared with the double-drum rocker-type coal mining machine, there are also two cutting drums performing cutting operations at the same time, but unlike the double-drum rocker-type cutting drum coal mining machine, which needs to shorten the traction part as much as possible, the single-drum rocker-type drum coal mining machine does not have much restriction on the length of the traction part, which means that whether it is cutting power, traction power, pump station power, and some confined space structural parts and transmission parts, they can be increased and strengthened in design, thereby greatly improving the efficiency of coal mining operations, and crushing devices, intelligent control centers, sensor control centers, etc. can be preferably added to the traction part. Some devices and new equipment that conventional coal mining machines want to add but cannot add can be preferably added.

[0064] At the same time, after greatly improving the cutting efficiency of the coal mining working face, it can also bring the following benefits: avoid the advance support pressure peak area from shifting to the shallow part of the coal body due to insufficient working face advancement speed, and the stress gradient changes more violently, thereby inducing problems such as deformation of the tunnel surrounding rock, bottom drum or coal pillar instability; avoid the coal wall from being exposed to the advance support pressure for a long time, and the plastic zone expansion is accelerated, thereby causing the risk of large-scale spalling; avoid slow advancement causing the roof rock layer to continue to bear bending deformation, the crushing range is expanded, and then cause local roof collapse or gangue leakage accidents; avoid the roof deterioration caused by repeated support of the hydraulic support 2 due to insufficient advancement speed and extended single-cycle operation time of the working face, forming a vicious circle, and ultimately leading to the risk of roof crushing or major accidents.

[0065] After the coal mining machine realizes vertical cutting, the present invention can easily keep the coal mining working face smooth and straight, and greatly simplifies the coal mining operation process steps, which is more conducive to realizing unmanned, automated and intelligent comprehensive mining working face, thereby reducing manpower, increasing efficiency and improving safety.

[0066] The scraper pushing process of the present invention is before the coal mining machine cutting process, so that the frame pulling process can be directly placed after the coal mining machine cutting operation. Compared with the traditional coal mining machine cutting operation, which requires the scraper pushing process to be performed first and then the frame pulling process to complete the support, instant frame pulling is achieved, and there is no need to set up a hydraulic support telescopic top beam. This reduces the support load of the hydraulic support while achieving instant support, which is safer and more reliable.

[0067] The present invention is a revolutionary advancement in fully mechanized coal mining methods and processes. The present invention requires only a few changes or additions to devices and equipment, and can be easily implemented with appropriate modifications to existing coal mining equipment. It has the characteristics of large-scale popularization and applicability, and has extremely high economic and social benefits.

[0068] The coal mining method according to an embodiment of the present invention will be described below with reference to the accompanying drawings. The coal mining method according to the embodiment of the present invention is applicable to the vertical feed coal mining system in any of the above embodiments.

[0069] The coal mining method of the embodiment of the present invention includes steps S001 to S008, wherein S001 to S002 are as follows: Figure 5 As shown, S003~S004 Figure 6 As shown, S005~S006 are as follows Figure 7 As shown, S007~S008 are as follows Figure 8 shown.

[0070] S001, control the right single-drum rocker-arm drum coal mining machine 41b to move along the scraper conveyor 3 to the preset position at the right end of the right half of the coal mining working face, control the rotating arm 402 on the right single-drum rocker-arm drum coal mining machine 41b to make its cutting drum 403 at a preset height, control the height adjustment cylinder 503 on the mechanical arm 5 to make the telescopic arm 502 at a corresponding height, control the contact plate 504 on the telescopic arm 502 to extend, so that the contact plate 504 rests against the tail of the cutting drum 403, thereby coupling the right single-drum rocker-arm drum coal mining machine 41b with the scraper conveyor 3.

[0071] S002, turn on the cutting drum 403 on the right single-drum rocker-arm drum coal mining machine 41b, put it in a working cutting state, control the multiple hydraulic supports 2 adjacent to the right single-drum rocker-arm drum coal mining machine 41b to jointly and slowly push the scraper conveyor 3 forward, and then push the cutting drum 403 on the right single-drum rocker-arm drum coal mining machine 41b forward to cut the coal seam, realizing vertical feed.

[0072] S003 is carried out synchronously with S002. After the left single-drum rocker-arm drum coal mining machine 42b completes the coal mining operation of the top coal seam of the left half of the coal mining working face, the cutting drum 403 of the left single-drum rocker-arm drum coal mining machine 42b is controlled to rotate to the bottom of the left half of the coal mining working face, and starts to move to the left to cut the bottom coal seam of the left half of the coal mining working face.

[0073] S004, after the right single-drum rocker-arm drum coal mining machine 41b achieves vertical feed, it is controlled to move to the left to cut the top coal seam of the right half of the coal mining working face. At the same time, the scraper conveyor 3 at the front of its moving direction is pushed forward in an orderly manner, and the hydraulic support 2 at the rear of its moving direction is pulled one by one in sequence until the right single-drum rocker-arm drum coal mining machine 41b completes the coal mining operation of the top coal seam of the right half of the coal mining working face.

[0074] Similarly, S005~S008 are symmetrical with S001~S004.

[0075] S005. After the left single-drum rocker-arm drum coal mining machine 42b completes the coal mining operation at the bottom coal seam of the left half of the coal mining working face, the rotating arm 402 on it is controlled to rotate upward so that its cutting drum 403 is at a preset height. The height adjustment cylinder 503 on the left mechanical arm 52b is controlled to make the telescopic arm 502 at a corresponding height. The contact plate 504 on it is controlled to extend so that the contact plate 504 is against the tail of the cutting drum 403, thereby coupling the left single-drum rocker-arm drum coal mining machine 42b with the scraper conveyor 3.

[0076] S006, turn on the cutting drum 403 on the left single-drum rocker-arm drum coal mining machine 42b, put it in a working cutting state, control the multiple hydraulic supports 2 adjacent to the left single-drum rocker-arm drum coal mining machine 42b to jointly and slowly push the scraper conveyor 3 forward, and then push the cutting drum 403 on the left single-drum rocker-arm drum coal mining machine 42b forward to cut the coal seam, realizing vertical feed.

[0077] S007 is carried out synchronously with S006. After the right single-drum rocker-arm drum coal mining machine 41b completes the coal mining operation of the top coal seam of the right half of the coal mining working face, the cutting drum 403 of the right single-drum rocker-arm drum coal mining machine 41b is controlled to rotate to the bottom of the right half of the coal mining working face, and starts to move to the right to cut the bottom coal seam of the right half of the coal mining working face.

[0078] S008. After the left single-drum rocker-arm drum coal mining machine 42b realizes vertical feed, it is controlled to move to the right to cut the top coal seam of the left half of the coal mining working face. At the same time, the scraper conveyor 3 at the front of its moving direction is pushed forward in an orderly manner, and the hydraulic support 2 at the rear of its moving direction is pulled one by one in sequence until the left single-drum rocker-arm drum coal mining machine 42b completes the coal mining operation of the top coal seam of the left half of the coal mining working face.

[0079] Repeat steps S001 to S008 to achieve continuous vertical feed coal mining operations.

[0080] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0082] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0083] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0084] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0085] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A vertical feed coal mining system, characterized in that: It includes a transfer machine, a hydraulic support, a scraper conveyor, a plurality of single-drum rocker-arm drum coal mining machines and a plurality of mechanical arms. The scraper conveyor is arranged along the extension direction of the coal mining working face. The single-drum rocker-arm drum coal mining machine is movable along the arrangement direction of the scraper conveyor. The coal blocks cut by the single-drum rocker-arm drum coal mining machine are transported to the transfer machine through the scraper conveyor. The plurality of mechanical arms are arranged on the scraper conveyor at intervals. The plurality of mechanical arms correspond one-to-one to the plurality of single-drum rocker-arm drum coal mining machines. After the single-drum rocker-arm drum coal mining machine moves to the position of the corresponding mechanical arm, it is coupled to the scraper conveyor through the mechanical arm, so that the hydraulic support drives the single-drum rocker-arm drum coal mining machine to feed vertically when pushing the scraper conveyor toward the coal mining working face.

2. The vertical feed coal mining system according to claim 1, characterized in that: The multiple single-drum rocker-type drum coal mining machines include a first single-drum rocker-type drum coal mining machine and a second single-drum rocker-type drum coal mining machine. The coal mining working face includes a first part of the coal mining working face and a second part of the coal mining working face arranged along its extension direction. The first single-drum rocker-type drum coal mining machine is used to cut the coal seam of the first part of the coal mining working face, and the second single-drum rocker-type drum coal mining machine is used to cut the coal seam of the second part of the coal mining working face.

3. The vertical feed coal mining system according to claim 2, characterized in that: The multiple robotic arms include a first robotic arm and a second robotic arm. The first robotic arm is arranged at the head of the scraper conveyor, and the first single-drum rocker-arm drum coal mining machine is coupled to the scraper conveyor through the first robotic arm. The second robotic arm is arranged at the tail of the scraper conveyor, and the second single-drum rocker-arm drum coal mining machine is coupled to the scraper conveyor through the second robotic arm.

4. The vertical feed coal mining system according to any one of claims 1 to 3, characterized in that: The single-drum rocker-arm drum coal mining machine includes a traction part, a rotating arm, a cutting drum and a crushing drum. The cutting drum is rotatably connected to the traction part through the rotating arm, and the crushing drum is rotatably connected to the traction part.

5. The vertical feed coal mining system according to claim 4, characterized in that: The diameter of the cutting drum is 1 / 2 to 2 / 3 of the mining height of the coal mining face.

6. The vertical feed coal mining system according to claim 4, characterized in that: The robotic arm includes a base, a telescopic arm, a height-adjusting cylinder and a contact plate. The base is connected to the scraper conveyor, the telescopic arm and the height-adjusting cylinder are rotatably connected to the base respectively, the telescopic arm is rotatably connected to the height-adjusting cylinder, and the contact plate is rotatably connected to the telescopic arm.

7. The vertical feed coal mining system according to claim 6, characterized in that: A flexible member is provided on the end surface of the contact disc.

8. A coal mining method, characterized in that: The coal mining method is applicable to the vertical feed coal mining system according to any one of claims 1 to 7, and the coal mining method comprises: S001, controlling a first single-drum rocker-arm drum coal shearer to move to a preset position on a first portion of a coal mining working face, and controlling the first single-drum rocker-arm drum coal shearer to couple with a scraper conveyor; S002, starting the cutting drum on the first single-drum rocker-type drum shearer, controlling multiple hydraulic supports adjacent to the first single-drum rocker-type drum shearer to jointly push the scraper conveyor toward the first portion of the coal mining face, thereby pushing the cutting drum on the first single-drum rocker-type drum shearer to vertically advance and cut the coal seam; S003, performed simultaneously with S002, after the second single-drum rocker-arm drum shearer completes the coal mining operation at the top coal seam of the second partial coal mining working face, the cutting drum of the second single-drum rocker-arm drum shearer is controlled to rotate to the bottom of the second partial coal mining working face and begin cutting the bottom coal seam of the second partial coal mining working face in a direction away from the first partial coal mining working face; S004: After the first single-drum rocker-arm drum shearer has vertically advanced, it is controlled to advance toward the second portion of the coal mining working face to cut the top coal seam of the first portion of the coal mining working face. Simultaneously, the scraper conveyor located in the front of the first single-drum rocker-arm drum shearer is sequentially advanced toward the first portion of the coal mining working face, and the hydraulic supports located in the rear of the first single-drum rocker-arm drum shearer are sequentially extended until the first single-drum rocker-arm drum shearer completes the coal mining operation at the top coal seam of the first portion of the coal mining working face. S005, after the second single-drum rocker-arm drum coal shearer completes the coal mining operation at the bottom coal seam of the second partial coal mining working face, the second single-drum rocker-arm drum coal shearer moves to a preset position on the second partial coal mining working face, and the second single-drum rocker-arm drum coal shearer is controlled to couple with the scraper conveyor; S006: Start the cutting drum on the second single-drum rocker-type shearer, and control multiple hydraulic supports adjacent to the second single-drum rocker-type shearer to jointly push the scraper conveyor toward the second portion of the coal mining face, so as to push the cutting drum on the second single-drum rocker-type shearer to vertically advance and cut the coal seam. S007, performed simultaneously with S006, after the first single-drum rocker-arm drum shearer completes the coal mining operation at the top coal seam of the first partial coal mining working face, controls the cutting drum of the first single-drum rocker-arm drum shearer to rotate to the bottom of the first partial coal mining working face and begins to cut the bottom coal seam of the first partial coal mining working face in a direction away from the second partial coal mining working face; S008, after the second single-drum rocker-arm drum shearer vertically feeds, it is controlled to move toward the direction approaching the first mining face to cut the top coal seam of the second mining face. Simultaneously, the scraper conveyor located in front of the second single-drum rocker-arm drum shearer is sequentially advanced toward the direction approaching the second mining face, and the hydraulic supports located behind the second single-drum rocker-arm drum shearer are sequentially extended until the second single-drum rocker-arm drum shearer completes the mining operation of the top coal seam of the second mining face. Repeat steps S001 to S008 to achieve continuous vertical feed coal mining operations.

9. The coal mining method according to claim 8, characterized in that: The coupling process of the single-drum rocker-arm drum shearer and the scraper conveyor includes: When the single-drum rocker-arm drum coal mining machine moves to the preset position of the coal mining working face, the rotating arm on the single-drum rocker-arm drum coal mining machine is controlled to make its cutting drum at a preset height, the height adjustment cylinder on the mechanical arm is controlled to make the telescopic arm at a corresponding height, and the contact plate on the telescopic arm is controlled to extend and press against the tail of the cutting drum, so that the single-drum rocker-arm drum coal mining machine is coupled with the scraper conveyor.

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