Automated support shifting equipment and method for flexible shield supports in steeply inclined thin and medium-thick coal seams

Abstract

The present invention discloses an automatic support shifting device and method for flexible shielding supports in steeply inclined thin and medium-thick coal seams, including a support transportation unit and a support disassembly unit. During the advancement of the working face and support shifting and support: as the coal mining working face advances, the overall flexible shielding support slides downward along the inclined direction of the coal mining working face under the action of the gravity of the caving gangue in the goaf; first, use the support loading and unloading unit provided at the end of the working face transportation roadway to disassemble the shifted flexible shielding support and transport it to the mine car; after the mine car transports the disassembled flexible shielding support to the end of the working face return airway, then use the support loading and unloading unit provided at the end of the working face return airway to reload the flexible shielding support. The present invention solves the technical problems of low intelligence level and low efficiency in the current mining of steeply inclined thin and medium-thick coal seams, and further realizes the automatic disassembly and assembly process of the flexible shielding support, reduces the labor intensity of workers, and improves the production efficiency of the working face.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mining machinery and equipment, and particularly relates to an automatic support moving equipment and method for flexible shielding supports in steeply inclined thin and medium-thick coal seams. Background Art

[0002] Steeply inclined coal seams are widely distributed in the northwest and southwest regions of China, and most of the steeply inclined coal seams are scarce coal types such as high-quality coking coal and anthracite. However, due to the too large dip angle, occurrence conditions and complex coal-forming environment of steeply inclined coal seams, their mining is difficult. At present, the relatively advanced mining method for steeply inclined thin coal seams in the northwest and southwest regions of China is the flexible shielding support coal mining method.

[0003] The support system of the coal mining face using the flexible shielding support coal mining method is stable, has small investment and is easy to operate. A coal planer is used for coal cutting and a flexible shielding support is used for support in the coal mining face. However, when using a flexible shielding support for support, generally relying on the mine pressure to push the support in the working face, the overall flexible shielding support will slide towards one end of the working face transportation roadway in the direction parallel to the coal mining face. There will be a part of the flexible shielding support left over at the end of the working face transportation roadway, and a part of the flexible shielding support will be lacking at the end of the working face return airway, and it will become more and more serious as the working face advances.

[0004] The existing treatment measure is manual-assisted support moving: first disassemble the redundant flexible shielding support at the lower end of the working face, and then transport it to the upper end of the working face through the working face transportation roadway, the uphill roadway and the working face return airway. The whole process of the assisted support moving is cumbersome and complex, the working environment is harsh, the safety hazard is large, and the support moving efficiency is low. Moreover, the support moving method under this method is dominated by manual labor, with a large labor intensity and low mining efficiency, and it cannot well handle the technical problems encountered in the mining of steeply inclined thin and medium-thick coal seams, and it is difficult to meet the requirements of high intelligent level and high production and efficiency in coal mining. Summary of the Invention

[0005] The present invention provides an automatic support moving equipment and method for flexible shielding supports in steeply inclined thin and medium-thick coal seams to solve the technical problems of low intelligent level and low efficiency in the existing technology for the mining of steeply inclined thin and medium-thick coal seams, and further achieve the purpose of automatically disassembling and assembling the flexible shielding support, reducing the labor intensity of workers and improving the production efficiency of the working face.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows: an automatic support moving equipment for flexible shielding supports in steeply inclined thin and medium-thick coal seams, including a support loading and unloading unit and a support transportation unit;

[0007] The support loading and unloading unit includes a moving track laid on the base of the self-moving end support and a manipulator assembled on the moving track; and at least one corresponding support loading and unloading unit is provided on each of the self-moving end supports at the end of the working face transportation roadway and the end of the working face return airway;

[0008] The support transportation unit includes the mine car tracks laid along the working face transportation roadway, the upcast roadway, and the working face return airway, and the mine cars assembled on the mine tracks.

[0009] As a limitation of the present invention, in the coal mining face where the equipment is applied, multiple flexible shield supports are connected in series by ring chains and positioning pins to form an integral flexible shield support;

[0010] Among them, the positioning pin on each flexible shield support includes a pin for limiting the ring chain and a signal receiver for controlling the ejection or locking of the pin.

[0011] As a further limitation of the present invention, a signal transmitter wirelessly communicatively connected to the signal receiver is provided at the working end of the manipulator.

[0012] As a further limitation of the present invention, the signal receivers correspond to the flexible shield supports one by one and are numbered.

[0013] The present invention also discloses an automatic support moving method for flexible shield supports in steeply inclined thin and medium-thick coal seams, including the following steps carried out in sequence:

[0014] S1. Arranging the support transportation unit: laying the mine car tracks along the working face transportation roadway, the upcast roadway, and the working face return airway, and assembling the mine cars on the mine tracks;

[0015] S2. Arranging the support loading and unloading unit: laying tracks on the bases of the self-propelled end supports at the working face transportation roadway end and the working face return airway end respectively, and assembling manipulators on the tracks so that the manipulators can move back and forth along the self-propelled end supports;

[0016] S3. Working face advancement and support moving: As the coal mining face advances, the integral flexible shield support slides downward along the inclination direction of the coal mining face under the action of the gravity of the caved gangue in the goaf; using the support loading and unloading unit arranged at the working face transportation roadway end to remove the downward-sliding flexible shield support and transport it to the mine car; after the mine car transports the removed flexible shield support to the working face return airway end, then using the support loading and unloading unit arranged at the working face return airway end to reload the flexible shield support.

[0017] As a limitation of the present invention, in step S3, the process of removing the downward-sliding flexible shield support is as follows:

[0018] The manipulator approaches the downward-sliding flexible shield support and the signal transmitter at the working end emits a signal. After the signal receiver on the downward-sliding flexible shield support receives the corresponding signal, it controls the pin to eject, and the downward-sliding flexible shield support is separated from the integral flexible shield support.

[0019] As a further limitation of the present invention, in step S3, the process of reloading the downward-moving flexible shielding support is as follows:

[0020] After the manipulator grabs the downward-moving flexible shielding support on the mine car and places it on one side of the overall flexible shielding support, the endless chain on the outside of the overall flexible shielding support is placed at the pin position of the downward-moving flexible shielding support. At the same time, the signal transmitter at the working end of the manipulator emits a signal. After the signal receiver of the downward-moving flexible shielding support receives the corresponding signal, it controls the pin to lock, and the downward-moving flexible shielding support is reloaded onto the overall flexible shielding support.

[0021] As another limitation of the present invention, at least two self-moving end supports are respectively arranged at the working face transportation roadway end and the working face return airway end, and a support loading and unloading unit is assembled on each self-moving end support.

[0022] Due to the adoption of the above technical solution, compared with the prior art, the beneficial effects obtained by the present invention are as follows:

[0023] The present invention constructs a mechanized automatic disassembly and assembly system for the flexible shielding support mining working face in steeply inclined thin and medium-thick coal seams, innovates the flexible shielding support transportation system and transportation mode in the flexible shielding support coal mining working face in steeply inclined thin and medium-thick coal seams, no longer disassembles and transports manually, greatly reduces the auxiliary processes, reduces the labor intensity, and improves the safety of operators. The present invention is convenient for realizing automatic and mechanized unmanned operation, improves the mining efficiency, and provides conditions for the intelligent mining of this type of coal seam.

[0024] Furthermore, the present invention uses the self-moving end support as the carrier of the manipulator. While playing its function of maintaining the stability of the roof of the end roadway of the coal mining working face and making there be enough column-free space at the end of the coal mining working face, it can also drive the manipulator to move forward as the coal mining working face advances. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The following further describes the present invention in detail with reference to the drawings and specific embodiments.

[0026] Figure 1 It is the plane layout diagram of the flexible shielding support working face in steeply inclined thin and medium-thick coal seams in Embodiment 1 of the present invention;

[0027] Figure 2 It is the structural schematic diagram of the flexible shielding support in Embodiment 1 of the present invention;

[0028] Figure 3 It is the structural schematic diagram of the self-moving end support in Embodiment 1 of the present invention;

[0029] Figure 4 It is the process flow diagram of Embodiment 2 of the present invention;

[0030] In the figure: 1, working face transportation roadway; 2, working face return airway; 3, upcast roadway; 4, self - moving end support; 5, integral flexible shielding support; 6, mine car; 7, mine car track; 8, movable track; 9, manipulator; 10, positioning pin; 11, round link chain; 12, flexible shielding support. Specific embodiments

[0031] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustration and understanding of the present invention, and are not used to limit the present invention.

[0032] Embodiment 1: An automatic support - moving device for flexible shielding supports in steeply inclined thin and medium - thick coal seams

[0033] This embodiment includes a support loading and unloading unit and a support transportation unit. Taking the application in the working face of flexible shielding supports in steeply inclined thin and medium - thick coal seams as an example, the specific structure of this embodiment will be elaborated:

[0034] As Figure 1 shown, at least two self - moving end supports 4 are respectively arranged at the end of the working face transportation roadway and the end of the working face return airway, which are used to maintain the roof of the end roadway of the coal mining face, so as to have enough column - free space at the working face end. In this embodiment, at least one support loading and unloading unit is correspondingly arranged on each of the above - mentioned self - moving end supports 4. Taking the self - moving end support 4 as a carrier, the support loading and unloading unit can move forward with the advancement of the coal mining face.

[0035] Specifically as Figure 3 shown, the support loading and unloading unit includes a movable track 8 laid on the base of the self - moving end support 4 and a manipulator 9 assembled on the movable track 8. Among them, the sensing element in the manipulator 9 has the function of self - powered digital signal wireless transmission and is communicatively connected to the support controller through an industrial Ethernet. Further, a signal transmitter for transmitting signals to the flexible shielding support 12 is provided at the working end of the manipulator 9.

[0036] It should be noted here that in the working face of flexible shielding supports in steeply inclined thin and medium - thick coal seams applying this embodiment, a plurality of flexible shielding supports 12 arranged in the coal mining face are connected in series through round link chains 11 and positioning pins 10 to form an integral flexible shielding support 5. Among them, the positioning pin = 10 has a structure similar to an intelligent lock core, including a pin for limiting the round link chain 11 and a signal receiver for controlling the pin to spring open or lock, and the signal receiver can be wirelessly communicatively connected to the signal transmitter at the working end of the manipulator 9. In order to be able to automatically identify each flexible shielding support 12, in this embodiment, the signal receivers on all flexible shielding supports 12 are numbered, and the signal receiver numbers on the same flexible shielding support 12 are the same.

[0037] Further, positioning pins 10 are provided on the top beam, the shield beam, and the tail beam of each flexible shield support 12. For details, see Figure 2 .

[0038] As Figure 1 shown, the support transportation unit includes a mine car track 7 laid along the working face transportation roadway 1 → the uphill roadway 3 → the working face return airway 2 and mine cars 6 assembled on the mine track.

[0039] Embodiment 2 An automatic support moving method for flexible shield supports in steeply inclined thin and medium-thick coal seams

[0040] This embodiment applies the automatic support moving equipment for flexible shield supports in steeply inclined thin and medium-thick coal seams disclosed in Embodiment 1, including the following steps carried out in sequence:

[0041] I. Layout of the roadway system

[0042] Layout parallel working face transportation roadways and working face return airways along the coal seam strike; layout a working face cut-through, and layout a flexible shield support coal mining working face in a dip pseudo-inclined manner; layout an uphill roadway connecting the working face transportation roadway and the working face return airway in front of the coal mining working face.

[0043] II. Layout of the automatic support moving equipment

[0044] Layout the support transportation unit: Lay a mine car track along the working face transportation roadway → the uphill roadway → the working face return airway, and assemble mine cars on the mine track;

[0045] Layout the support loading and unloading unit: Lay tracks on the bases of the self-advancing end supports at the ends of the working face transportation roadway and the working face return airway, and assemble manipulators on the tracks so that the manipulators can move back and forth along the self-advancing end supports.

[0046] III. Working face advancement, support moving and support

[0047] When the coal mining working face advances, the integral flexible shield support moves along the advancing direction of the coal mining working face under the action of the gravity of the caving gangue in the goaf, and at the same time slides downward along the inclined direction of the coal mining working face;

[0048] First, use the support loading and unloading unit arranged at the end of the working face transportation roadway to disassemble the lower flexible shield support and transport it to the mine car. Specifically: Control the manipulator on the self-advancing end support to move on the moving track to approach and grab the lower flexible shield support (hereinafter referred to as the currently numbered support), and at the same time, the signal transmitter at the working end of the manipulator emits a signal; after the signal receiver on the currently numbered support receives the corresponding signal, control the pin to pop open, and the ring chain disengages from the currently numbered support, so that the currently numbered support is separated from the integral flexible shield support;

[0049] Then, the manipulator carries the separated current numbered support and walks on the moving track until the removed current numbered support is transported to the mine car; the mine car is transported along the working face transportation roadway, the uphill roadway, and the working face return airway on the mine car track to the end of the working face return airway.

[0050] Finally, use the support loading and unloading unit set at the end of the working face return airway to reload the current numbered support. Specifically: control the manipulator to grab the current numbered support on the mine car and move on the moving track to place the current numbered support on one side of the integral flexible shielding support; after data processing and analysis, the manipulator places the ring chain outside the integral flexible shielding support at the pin position of the current numbered support, and at the same time, the signal transmitter at the working end of the manipulator emits a signal; after the signal receiver of the current numbered support receives the corresponding signal, it controls the pin to lock, so that the current numbered support is reloaded on the integral flexible shielding support. Thus, the automatic disassembly and assembly process of the flexible shielding support for the entire working face is completed.

[0051] Repeat step three to achieve the automatic support moving of the flexible shielding support coal mining face in steeply inclined thin and medium-thick coal seams.

[0052] It should be supplemented and explained that in this embodiment, a set of self-moving end supports (No. I self-moving end support and No. II self-moving end support) are provided at both the end of the working face return airway and the end of the working face transportation roadway. When the coal mining face advances, the support moving process of the self-moving end supports at the end of the working face return airway and the end of the working face transportation roadway is as follows: the No. I self-moving end support lowers the support, the No. II self-moving end support normally supports the roof, the No. I self-moving end support starts to move forward, and after the No. I self-moving end support reaches the designated position and raises the support to normally support the roof; the No. II self-moving end support starts to lower the support, the No. I self-moving end support normally supports the roof, the No. II self-moving end support starts to move forward, and after the No. II self-moving end support reaches the designated position and raises the support to normally support the roof. Repeat to achieve the automatic forward movement of the self-moving end supports at the end of the working face transportation roadway and the end of the working face return airway.

[0053] It should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the above embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic moving device for flexible shielding supports in steeply inclined thin and medium-thick coal seams, characterized by: It includes a bracket loading and unloading unit and a bracket transport unit; The bracket loading and unloading unit includes a movable track laid on the base of the self-moving end head bracket and a manipulator assembled on the movable track; and the bracket loading and unloading unit is provided with at least one corresponding to each of the self-moving end head brackets at the transport lane end and the return air lane end of the working face; The support transport unit includes a mine car track laid along the working face transport lane, uphill lane, and working face return air lane, and a mine car assembled on the mine car track; In the coal mining face where this equipment is used, multiple flexible shielding supports are connected in series through round-link chains and positioning pins to form an integral flexible shielding support. Wherein, the positioning pins on each flexible shielding bracket include a pin for limiting the circular link chain and a signal receiver for controlling the pin to be ejected or locked; The working end of the manipulator is provided with a signal transmitter which is wirelessly connected to the signal receiver.

2. The automatic moving device for flexible shielding supports for steeply inclined thin and medium-thick coal seams according to claim 1 is characterized by: The signal receivers and the flexible shielding brackets correspond one to one and are numbered.

3. A method for automatically moving a flexible shield support in steeply inclined thin and medium-thick coal seams, characterized by: It includes the following steps, performed in sequence: S1. Arrange the support transport unit: lay the mine car track along the working face transport lane, uphill lane, and working face return air lane, and assemble the mine car on the mine car track; S2. Arrange the bracket loading and unloading unit: Lay tracks on the bases of the self-moving end brackets at the transport lane end and the return air lane end of the working face, and assemble a manipulator on the tracks so that the manipulator can move back and forth along the self-moving end brackets; S3. Working face advances, support frame removal: As the coal mining working face advances, the integral flexible shielding frame slides downward along the inclination direction of the coal mining working face under the action of the gravity of the collapsed waste rock in the goaf; the downward-moving flexible shielding frame is removed by the support loading and unloading unit provided at the end of the working face transport lane and transported to the mine car; after the mine car transports the removed flexible shielding frame to the end of the working face return air lane, the flexible shielding frame is reloaded by the support loading and unloading unit provided at the end of the working face return air lane; In step S3, the process of removing the downwardly-moved flexible shielding support is as follows: The manipulator approaches the downward flexible shielding bracket and the signal transmitter at the working end transmits a signal. After the signal receiver on the downward flexible shielding bracket receives the corresponding signal, the control pin is ejected, and the downward flexible shielding bracket is separated from the overall flexible shielding bracket. In step S3, the process of reloading and moving the flexible shielding bracket downward is as follows: After the manipulator grabs the lower flexible shielding bracket on the mine car and places it to one side of the overall flexible shielding bracket, it places the circular link chain on the outside of the overall flexible shielding bracket on the pin position of the lower flexible shielding bracket. At the same time, the signal transmitter at the working end of the manipulator transmits a signal, and the signal receiver of the lower flexible shielding bracket receives the corresponding signal and controls the pin to lock, and the lower flexible shielding bracket is reloaded on the overall flexible shielding bracket.

4. The automatic moving method of the flexible shield support for steeply inclined thin and medium-thick coal seams according to claim 3 is characterized by: At least two self-moving end head supports are arranged at the transport lane end and the return air lane end of the working face respectively, and each self-moving end head support is equipped with a support loading and unloading unit.

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