A support-assisted coal mining process and coal mining system
Through the support assisted coal mining system and automatic detection device, the problem of workers unable to walk upright in thin coal seams is solved, the automatic straightening of hydraulic support and the automatic control of coal mining machines are realized, and the efficiency and safety of coal mining are improved.
Patent Information
- Application Number
- CN202010432199.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2020-05-20
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2040-05-20
AI Technical Summary
In thin coal seams, workers cannot walk upright, making it difficult to ensure the straight state of the coal mining working surface, conveyor and hydraulic support, affecting coal mining efficiency and safety.
Coal mining system with support assisted, including coal mining machines, scraper transporters, push links and hydraulic support, combined with gyroscopes, laser range measurement radars and UWB positioning equipment, obtain the profile and trajectory of the coal wall through automatic detection devices, and control the thrust. The oil cylinder and telescopic cylinder realize automatic straightening and downward control of hydraulic support, realizing automatic coal mining.
Automatic coal mining of thin coal seams has been realized, coal mining efficiency and safety has been improved, labor intensity has been reduced, and the "three direct" state has been ensured during coal mining.
Smart Images
Figure CN111577272B_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of coal mining, and in particular relates to a support-assisted coal mining system suitable for a fully mechanized mining working face of a thin coal seam underground in a coal mine. Background Art
[0002] The coal mining technology of the fully mechanized face has been mature, and different coal mining technologies can be used according to the thickness and direction of the coal seam. According to the height, the one-time full-height mining method and the comprehensive top coal caving method can be used. The special one-time full-height mining method has an increasingly wide range of applications, from the original 2 to 4 meters to the one-time full-height large-height mining technology of nearly ten meters. For thin coal seam mining operations, due to the height restrictions, workers usually cannot walk upright along the working face, and sometimes can only crawl, so the labor intensity of workers mining thin coal seams is higher.
[0003] In order to carry out coal mining work efficiently, the comprehensive mining working face is usually required to ensure the "three straights", namely, the working face coal wall is straight, the conveyor is straight, and the hydraulic support is straight. Various detection systems to ensure the "three straights" have been developed for this purpose. Obviously, it is difficult to ensure the "three straights" when carrying out coal mining operations in thin coal seams where workers cannot walk upright. Summary of the invention
[0004] The purpose of the present invention is to overcome the defects in the prior art and provide a coal mining process and system suitable for thin coal seams, which can realize support-assisted coal mining, top and bottom mining control, and vertical feed cutting process.
[0005] The technical solution of the present invention is as follows:
[0006] In a first aspect, the present invention provides a support-assisted coal mining system, comprising: a coal mining machine and a scraper conveyor, wherein a cutting drum is provided at the front side of the coal mining machine, the coal mining machine is arranged on the scraper conveyor, at least three push connecting rods are provided at intervals on the rear side of the scraper conveyor, a push oil cylinder is provided at the rear side of each push connecting rod, a stroke sensor is provided in the push oil cylinder, the rear end of the push oil cylinder is connected to the hydraulic support, when the hydraulic support is propped up, the top of the hydraulic support bears against the top wall of the coal seam, and when it is retracted, it can be dragged by the push oil cylinder; a telescopic oil cylinder is provided on the push connecting rod, a scraper conveyor connecting block is provided on the top of the telescopic oil cylinder, the scraper conveyor connecting block is connected to the scraper conveyor, and the telescopic oil cylinder can lift the scraper conveyor connecting block, thereby adjusting the angle of the scraper conveyor; a track is provided on the scraper conveyor connecting block, and a movable detection device is provided on the track; the track comprises a long track and a short track, and a plurality of short tracks are connected in series to realize the bending of the track; the movable detection device comprises a gyroscope, a laser ranging radar, a UWB positioning device and a wireless communication module.
[0007] In a second aspect, the present invention provides a coal mining process using the support-assisted coal mining system as described above, comprising:
[0008] Step 1: Initialize the position and coordinates of the system;
[0009] Step 2: Make the movable detection device move on the track and obtain its own trajectory and the distance to the coal wall;
[0010] Step 3: Determine the coordinate value of the scraper conveyor in the plane coordinate system and the coal wall contour according to the trajectory of the movable detection device and the distance to the coal wall;
[0011] Step 4: Determine the stroke value of the push cylinder required for alignment according to the coordinate values of the scraper conveyor and the coal wall hub in the plane coordinate system, and control the push cylinder and the hydraulic support to perform alignment;
[0012] Step 5: After the alignment is completed, the hydraulic support is propped up to support the top wall of the coal seam, and the upward and downward mining is controlled by the telescopic cylinder. The scraper conveyor, coal mining machine and cutting drum are pushed forward by the push cylinder to carry out coal mining operations;
[0013] After completing the cutting of the coal wall, repeat steps 2 to 5.
[0014] The method of making the movable detection device move on the track and obtaining its own trajectory and the distance to the coal wall includes: making the movable detection device move forward on the track, scanning the coal wall of the thin coal seam by a laser ranging radar, and obtaining the contour characteristics of the coal wall and the distance from each position of the coal wall contour to the laser radar; recording the trajectory characteristics of the movable detection device along the track by a gyroscope, and the trajectory characteristics include the pitch angle of the track at each sampling point, that is, the pitch angle of the scraper conveyor and the forward and backward displacement of each sampling point on the track on the horizontal plane, that is, the horizontal displacement of the scraper conveyor.
[0015] The method of determining the coordinate values of the scraper conveyor in the plane coordinate system and the coal wall contour based on the trajectory of the movable detection device and the distance to the coal wall includes determining the coordinate values of the horizontal displacement of the scraper conveyor and the distance from each position of the coal wall contour to the laser radar in the plane coordinate system through a UWB positioning device.
[0016] The displacement cylinder stroke value required for alignment is determined according to the coordinate values of the scraper conveyor and the coal wall hub in the plane coordinate system, and the displacement cylinder and the hydraulic support are controlled to perform alignment, including: alignment of the scraper conveyor, alignment of the coal wall and alignment of the hydraulic support.
[0017] The scraper conveyor alignment specifically includes: the movable detection device moves along the alignment direction of the scraper conveyor on the track, and the deviation value Δy from the line parallel to the X-axis is recorded at the sampling point by the gyroscope. After all the sampling point data are recorded, a sampling point is selected as a reference, and the pushing connecting rod and the scraper conveyor are pushed by the pushing cylinder, so that the deviation values of other sampling points along the alignment direction are equal to the deviation value of the reference sampling point, thereby realizing the scraper conveyor alignment.
[0018] The coal wall straightening specifically includes: the movable detection device moves along the straightening direction of the scraper conveyor on the track, and records the deviation value Δy from the parallel line of the X-axis at the sampling point through the gyroscope, and measures the distance y1 between the coal wall at the sampling point and the movable detection device through the laser ranging radar, then the deviation value of the coal wall from the parallel line of the X-axis at each sampling point is "y2=y1+Δy". After all the sampling point data are recorded, a sampling point is selected as a reference, and the vertical feed process is first used to push the pushing connecting rod and the scraper conveyor through the pushing cylinder, thereby controlling the cutting depth of the coal wall of the cutting drum, so that the cutting depth of the coal wall is greater than y2, and the scraper conveyor is pushed by the pushing cylinder to complete the straightening of the scraper conveyor, and finally the next coal wall cutting is completed to achieve the straightening of the coal wall.
[0019] The hydraulic support alignment specifically includes: after the scraper conveyor is aligned, the hydraulic support is pulled forward by the push cylinder so that the elongation of each push cylinder is kept consistent, that is, the hydraulic support is aligned.
[0020] The advantages and beneficial effects of the present invention are:
[0021] Through the coal mining process described in the present invention, combined with the automatic control of the electro-hydraulic control system, remote automatic control of the coal mining machine and video monitoring and other mature products and technologies, it is possible to realize automatic cutting of the coal mining machine under the condition of automatic environmental perception, automatic straightening of the scraper conveyor, automatic straightening of the hydraulic support and other operations, thereby realizing automated coal mining operations in thin coal seams. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 A schematic top view of a support-assisted coal mining system and a fully mechanized mining working face provided by the present invention;
[0023] Figure 2 A side schematic diagram of a support-assisted coal mining system provided by the present invention.
[0024] Among them: 1. Track; 2. Movable detection device; 3. Push cylinder; 4. Push connecting rod; 5. Scraper conveyor; 6. Coal mining machine; 7. Cutting drum; 8. Telescopic cylinder; 9. Hydraulic support; 10. Scraper conveyor connection block. A is the unmined area; B is the goaf area; C is the area along the supported working face; D is the area to be mined. DETAILED DESCRIPTION
[0025] The invention is further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not used to limit the invention.
[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are 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, and do not indicate or imply 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 a limitation on the present invention.
[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.
[0028] like Figure 1 , 2 As shown, the present invention provides a support-assisted coal mining system, comprising: a coal mining machine 6 and a scraper conveyor 5, wherein a cutting drum 7 is provided at the front side of the coal mining machine 6, the coal mining machine 6 is arranged on the scraper conveyor 5 and can move on the scraper conveyor, at least three push rods 4 are provided at intervals at the rear side of the scraper conveyor 5, and a push cylinder 3 is provided at the rear side of each push rod, and a stroke sensor is provided in the push cylinder, and the rear end of each push cylinder is connected to a hydraulic support 9, and the upper and lower ends of the hydraulic support 9 are respectively provided with a top plate and a bottom plate, and when the hydraulic support is propped up, the top of the hydraulic support is against the top wall of the coal seam, and when the hydraulic support is retracted, the top of the hydraulic support is supported by the top wall of the coal seam. It can be dragged by the push cylinder; the push connecting rod 4 is provided with a telescopic cylinder 8, and a scraper conveyor connecting block 10 is provided on the top of the telescopic cylinder 8. The scraper conveyor connecting block is connected to the scraper conveyor 5. The telescopic cylinder 8 can lift the scraper conveyor connecting block 20, so as to adjust the angle of the scraper conveyor 5; the scraper conveyor connecting block is provided with a track 1, and a movable detection device 2 is provided on the track; the track includes a long track and a short track, and multiple short tracks are connected in series to realize the bending of the track; the movable detection device includes a gyroscope, a laser ranging radar, a UWB positioning device and a wireless communication module.
[0029] The present invention provides a coal mining process using the support-assisted coal mining system as described above, comprising:
[0030] Step 1: Initialize the position and coordinates of the system;
[0031] Step 2: Make the movable detection device 2 move on the track 1 and obtain its own trajectory and the distance to the coal wall;
[0032] Step 3: Determine the coordinate value of the scraper conveyor in the plane coordinate system and the coal wall contour according to the trajectory of the movable detection device 2 and the distance to the coal wall;
[0033] Step 4: Determine the stroke value of the push cylinder required for alignment according to the coordinate values of the scraper conveyor 5 and the coal wall hub in the plane coordinate system, and control the push cylinder 3 and the hydraulic support 9 to perform alignment;
[0034] Step 5: After the alignment is completed, the hydraulic support 9 opens the top to support the top wall of the coal seam, and the telescopic cylinder 8 is used to control the vertical mining, and the push cylinder 4 is used to push the scraper conveyor 6, the coal mining machine 6 and the cutting drum 7 forward to carry out the coal mining operation;
[0035] After completing the cutting of the coal wall, repeat steps 2 to 5.
[0036] The method of making the movable detection device 2 move on the track and obtain its own trajectory and the distance to the coal wall includes: making the movable detection device move forward on the track, scanning the coal wall of the thin coal seam by a laser ranging radar, and obtaining the contour characteristics of the coal wall and the distance from each position of the coal wall contour to the laser radar; recording the trajectory characteristics of the movable detection device along the track by a gyroscope, and the trajectory characteristics include the pitch angle of the track at each sampling point, that is, the pitch angle of the scraper conveyor and the forward and backward displacement of each sampling point on the track on the horizontal plane, that is, the horizontal displacement of the scraper conveyor.
[0037] The coordinate values of the scraper conveyor 5 and the coal wall contour in the plane coordinate system are determined based on the trajectory of the movable detection device 2 and the distance to the coal wall, including determining the coordinate values of the horizontal displacement of the scraper conveyor and the distance from each position of the coal wall contour to the laser radar in the plane coordinate system through a UWB positioning device.
[0038] The displacement cylinder stroke value required for alignment is determined according to the coordinate values of the scraper conveyor 5 and the coal wall hub in the plane coordinate system, and the displacement cylinder and the hydraulic support are controlled to perform alignment, including: alignment of the scraper conveyor, alignment of the coal wall and alignment of the hydraulic support.
[0039] The scraper conveyor alignment specifically includes: the movable detection device moves along the alignment direction of the scraper conveyor on the track, and the deviation value Δy from the line parallel to the X-axis is recorded at the sampling point by the gyroscope. After all the sampling point data are recorded, a sampling point is selected as a reference, and the pushing connecting rod and the scraper conveyor are pushed by the pushing cylinder, so that the deviation values of other sampling points along the alignment direction are equal to the deviation value of the reference sampling point, thereby realizing the scraper conveyor alignment.
[0040] The coal wall straightening specifically includes: the movable detection device moves along the straightening direction of the scraper conveyor on the track, and records the deviation value Δy from the parallel line of the X-axis at the sampling point through the gyroscope, and measures the distance y1 between the coal wall at the sampling point and the movable detection device through the laser ranging radar, then the deviation value of the coal wall from the parallel line of the X-axis at each sampling point is "y2=y1+Δy". After all the sampling point data are recorded, a sampling point is selected as a reference, and the vertical feed process is first used to push the pushing connecting rod and the scraper conveyor through the pushing cylinder, thereby controlling the cutting depth of the coal wall of the cutting drum, so that the cutting depth of the coal wall is greater than y2, and the scraper conveyor is pushed by the pushing cylinder to complete the straightening of the scraper conveyor, and finally the next coal wall cutting is completed to achieve the straightening of the coal wall.
[0041] The hydraulic support alignment specifically includes: after the scraper conveyor is aligned, the hydraulic support is moved forward by pulling the push cylinder so that the elongation of each push cylinder is kept consistent, that is, the hydraulic support is aligned.
[0042] The above examples of the present invention are described in detail, but the above contents are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from this are still within the protection scope of the invention.
Claims
1. A coal mining process using a support-assisted coal mining system, the support-assisted coal mining system comprising a coal mining machine and a scraper conveyor, wherein a cutting drum is provided at the front side of the coal mining machine, the coal mining machine is arranged on the scraper conveyor, and the coal mining machine moves on the scraper conveyor; at least three push rods are provided at intervals at the rear side of the scraper conveyor, and a push cylinder is provided at the rear side of each push rod, and a stroke sensor is provided in the push cylinder, and the rear end of the push cylinder is connected to a hydraulic support, and the top of the hydraulic support is against the top wall of the coal seam when it is propped up, and can be moved by the push cylinder when it is retracted. Dragging; a telescopic oil cylinder is provided on the push connecting rod, a scraper conveyor connecting block is provided on the top of the telescopic oil cylinder, the scraper conveyor connecting block is connected to the scraper conveyor, and the telescopic oil cylinder lifts the scraper conveyor connecting block to adjust the angle of the scraper conveyor; a track is provided on the scraper conveyor connecting block, and a movable detection device is provided on the track; the track includes a long track and a short track, and a plurality of short tracks are connected in series to realize the bending of the track; the movable detection device includes a gyroscope, a laser ranging radar, a UWB positioning device and a wireless communication module; it is characterized in that, The coal mining process steps include: Step 1: Initialize the position and coordinates of the system; Step 2: Make the movable detection device move on the track and obtain its own trajectory and the distance to the coal wall; Step 3: Determine the coordinate value of the scraper conveyor in the plane coordinate system and the coal wall contour according to the trajectory of the movable detection device and the distance to the coal wall; Step 4: Determine the stroke value of the push cylinder required for alignment according to the coordinate values of the scraper conveyor and the coal wall contour in the plane coordinate system, and control the push cylinder and the hydraulic support to perform alignment, including: alignment of the scraper conveyor and alignment of the coal wall; The scraper conveyor alignment comprises: the movable detection device moves along the alignment direction of the scraper conveyor on the track, and the deviation value Δy from the line parallel to the X-axis is recorded at the sampling point by the gyroscope. After all the sampling point data are recorded, a sampling point is selected as a reference, and the pushing connecting rod and the scraper conveyor are pushed by the pushing oil cylinder, so that the deviation values of other sampling points along the alignment direction are equal to the deviation value of the reference sampling point, thereby realizing the alignment of the scraper conveyor; The coal wall straightening method comprises: the movable detection device moves along the straightening direction of the scraper conveyor on the track, records the deviation value Δy from the parallel line of the X-axis at the sampling point by the gyroscope, measures the distance y1 between the coal wall at the sampling point and the movable detection device by the laser ranging radar, and the deviation value y2 of the coal wall from the parallel line of the X-axis at each sampling point is y1=y1+Δy, after all the sampling point data are recorded, selects a sampling point as a reference, firstly uses the vertical feed process, pushes the push connecting rod and the scraper conveyor by the push cylinder, and then controls the cutting depth of the coal wall of the cutting drum, so that the cutting depth of the coal wall is greater than y2, pushes the scraper conveyor by the push cylinder, and then completes the straightening of the scraper conveyor, and finally completes the cutting of the next coal wall to achieve the straightening of the coal wall; Step 5: After the alignment is completed, the hydraulic support is propped up to support the top wall of the coal seam, and the upward and downward mining is controlled by the telescopic cylinder. The scraper conveyor, coal mining machine and cutting drum are pushed forward by the push cylinder to carry out coal mining operations; After completing the cutting of the coal wall, repeat steps 2 to 5.
2. A coal mining process using a support-assisted coal mining system according to claim 1, characterized in that: The method of making the movable detection device move on the track and obtaining its own trajectory and the distance to the coal wall comprises: The movable detection device is moved on the track, and the thin coal seam coal wall is scanned by the laser ranging radar to obtain the contour characteristics of the coal wall and the distance from each position of the coal wall contour to the laser ranging radar; The trajectory characteristics of the movable detection device running along the track are recorded by a gyroscope. The trajectory characteristics include the pitch angle of the track at each sampling point, that is, the pitch angle of the scraper conveyor, and the forward and backward displacement of each sampling point on the track on the horizontal plane, that is, the horizontal displacement of the scraper conveyor.
3. The coal mining process using a support-assisted coal mining system according to claim 1, characterized in that: The method of determining the coordinate values of the scraper conveyor in the plane coordinate system and the coal wall contour according to the trajectory of the movable detection device and the distance to the coal wall includes determining the coordinate values of the horizontal displacement of the scraper conveyor and the distance from each position of the coal wall contour to the laser ranging radar in the plane coordinate system through a UWB positioning device.
4. The coal mining process using a support-assisted coal mining system according to claim 1, characterized in that: The method of determining the stroke value of the push cylinder required for alignment according to the coordinate values of the scraper conveyor and the coal wall contour in the plane coordinate system, and controlling the push cylinder and the hydraulic support to align, also includes: aligning the hydraulic support.
5. A coal mining process using a support-assisted coal mining system according to claim 4, characterized in that: The hydraulic support straightening specifically includes: After the scraper conveyor is aligned, the hydraulic support is moved forward by pulling the push cylinder so that the extension of each push cylinder remains consistent, thus achieving the alignment of the hydraulic support.