A monitoring device and method for the upward and downward movement of a scraper conveyor in a coal mining face

Abstract

The present invention proposes a device for monitoring the upward and downward movement of a scraper conveyor on a coal mining working face, which mainly includes a push stroke sensor, a first laser rangefinder, a second laser rangefinder, a third laser rangefinder, a laser target receiver, and a data analysis device; the push stroke sensor is used to monitor the push stroke of the end hydraulic support push jack; the first laser rangefinder and the second laser rangefinder are used to measure the distance between the front end and the rear end of the end hydraulic support base and the side wall of the tunnel respectively; the third laser rangefinder is used to monitor the horizontal offset of the push rod; by analyzing the monitoring data of the push stroke sensor, the first laser rangefinder, the second laser rangefinder, and the third laser rangefinder, it can be calculated whether the scraper conveyor has upward and downward movement, and the cause of the upward and downward movement can be analyzed.

Description

Technical Field

[0001] The present invention relates to the field of coal, and in particular to a device and method for monitoring the upward or downward movement of a scraper conveyor on a coal mining face. Background Art

[0002] The scraper conveyor is a crucial piece of equipment in coal mining operations. It's primarily used to transport the coal cut by the shearer out of the face. It also serves as the shearer's travel track and the hydraulic support's pull-and-shift fulcrum. The stable operation of the scraper conveyor directly impacts safe production on the face. In actual production, the scraper conveyor is pushed forward by the hydraulic support's push rods. However, due to factors such as the inclination of the coal mining face, uneven floor height, and tilted hydraulic supports, the scraper conveyor can easily experience problems like upward or downward movement, seriously impacting its normal operation.

[0003] At present, the monitoring of the ups and downslope of scraper conveyors is mainly carried out by installing distance measuring devices at the nose and tail of the scraper conveyor. By monitoring the distance between the nose and tail of the scraper conveyor and the side wall of the roadway, it is determined whether the scraper conveyor is ups and downslope. For example, the invention patent with application number 201410103912.1 discloses an automatic control system for the ups and downslope of a conveyor. By installing distance measuring devices at the nose and tail of the scraper conveyor, the distance between the nose and tail of the scraper conveyor and the side wall of the roadway is monitored. However, since the nose and tail of the scraper conveyor are pedestrian passages, frequent pedestrians passing by can easily cause obstruction, affecting the monitoring results. In addition, the surface of the roadway side wall is generally not flat, and the monitoring data of only a single measuring point may produce large errors. By installing distance measuring devices at the nose and tail of the scraper conveyor, only the distance between the nose and tail of the scraper conveyor and the side wall of the roadway can be monitored. This distance is affected by many factors, such as the tilt of the end hydraulic support and the uneven working surface. This method is difficult to analyze the relevant causes. Since the working face may tilt during the mining process, resulting in an increase in the length of the working face, the above method is prone to misjudgment. Patent application number 202121667097.3 discloses a working face straightness and ups and downslope measurement device. By installing a radar ranging device on the end hydraulic support, the distance between the end hydraulic support and the tunnel wall is monitored, and the curvature of the scraper conveyor is monitored in combination with a fiber grating three-dimensional curvature sensor, thereby analyzing the ups and downslope of the scraper conveyor. However, this monitoring method is relatively simple, and it is difficult to conduct a good analysis of whether the scraper conveyor is experiencing ups and downslope.

[0004] Through research and analysis of existing technologies and literature retrieval, it was found that the existing scraper conveyor ups and downslope monitoring technology and equipment are difficult to achieve reliable and efficient monitoring, and urgently need to be improved. Summary of the Invention

[0005] Based on the above problems, the present invention proposes a device and method for monitoring the upward and downward movement of a scraper conveyor on a coal mining working face. By monitoring the relative position relationship and posture between the end hydraulic support and the side wall of the tunnel, the pushing length of the end hydraulic support and the horizontal offset between the pushing rod and the base, it is possible to determine whether the scraper conveyor has experienced upward and downward movement, and whether there is a trend of upward and downward movement.

[0006] The present invention provides a device for monitoring the upward and downward movement of a scraper conveyor on a coal mining face, comprising:

[0007] A travel sensor, a first laser rangefinder, a second laser rangefinder, a third laser rangefinder, a laser target receiver, and a data analysis device;

[0008] The push stroke sensor is installed on the push jack of the end hydraulic support close to the side wall of the tunnel, and is used to monitor the push stroke of the push jack of the end hydraulic support;

[0009] The first laser rangefinder is installed at the front end of the end hydraulic support base close to the side wall of the tunnel, and is used to measure the distance between the front end of the end hydraulic support base and the side wall of the tunnel;

[0010] The second laser rangefinder is installed at the rear end of the end hydraulic support base close to the side wall of the tunnel, and is used to measure the distance between the rear end of the end hydraulic support base and the side wall of the tunnel;

[0011] The third laser rangefinder is installed at the middle position of the end hydraulic support base, and is used to monitor the horizontal offset of the push rod;

[0012] The laser target receiver is installed on the side wall of the tunnel and is used to receive the laser beams emitted by the first laser rangefinder and the second laser rangefinder, so as to determine the distance from the front end and the rear end of the base of the end hydraulic support to the side wall of the tunnel;

[0013] The data analysis device can be installed on the end hydraulic support or placed near the end hydraulic support, and receive monitoring data from the push stroke sensor, the first laser rangefinder, the second laser rangefinder, and the third laser rangefinder through wired or wireless communication, and perform data analysis.

[0014] Furthermore, the first laser rangefinder, the second laser rangefinder and the third laser rangefinder are arranged perpendicular to the outer side surface of the end hydraulic support base, and the first laser rangefinder and the second laser rangefinder can rotate in the horizontal direction around the installation axis.

[0015] Furthermore, the laser target receiver is installed on the side wall of the tunnel, and the surface of the laser target receiver should be basically parallel to the side of the tunnel to prevent measurement errors caused by unevenness at individual points.

[0016] Furthermore, the data analysis device can calculate whether the scraper conveyor has experienced upward or downward movement by analyzing the measurement values of the travel sensor, the first laser rangefinder, the second laser rangefinder, and the third laser rangefinder.

[0017]

[0018]

[0019] Where, The amount of upward and downward movement of the scraper conveyor caused by the posture change of the end hydraulic support; The amount of upward and downward movement of the scraper conveyor caused by the horizontal deviation of the push jack of the end hydraulic support; is the measurement value of the first laser rangefinder; The vertical distance from the installation position of the first laser rangefinder to the extension of the scraper conveyor; is the angle between AB and BE; is the length of OH, The distance between the third laser rangefinder and the push jack when the push jack is placed in the middle position of the end hydraulic support; is the length of OJ; is the actual measured distance of the third laser rangefinder;

[0020] Compare the calculated results with the design value L.

[0021] like , it indicates that the scraper conveyor has declined;

[0022] like , it indicates that the scraper conveyor is rising;

[0023] like , it indicates that the scraper conveyor has not risen or fallen.

[0024] A method for using the above-mentioned upward and downward movement monitoring device for a scraper conveyor on a coal mining face is characterized by comprising:

[0025] S001, installing the push stroke sensor on the push jack of the end hydraulic support, installing the first laser rangefinder and the second laser rangefinder on the side of the base close to the tunnel sidewall, installing the third laser rangefinder at the middle position of the base, installing the laser target receiver on the tunnel sidewall, and connecting the push stroke sensor, the first laser rangefinder, the second laser rangefinder, and the third laser rangefinder to the data analysis device via wired or wireless communication;

[0026] S002, rotating the first laser rangefinder and the second laser rangefinder in the horizontal direction by a certain angle to measure the shortest distance to the laser target receiver, and uploading the data to the data analysis device;

[0027] S003, collecting monitoring values of the displacement sensor and the third laser rangefinder, and uploading the data to the data analysis device;

[0028] S004, the data analysis device determines whether the scraper conveyor has experienced upward or downward movement through the above-mentioned calculation method, and analyzes the cause of the upward or downward movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the installation of a device for monitoring the upward and downward movement of a scraper conveyor on a coal mining face provided by one embodiment of the present invention;

[0030] Figure 2 This is a monitoring schematic diagram of a device for monitoring the upward and downward movement of a scraper conveyor on a coal mining face provided by one embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the scraper conveyor sliding down due to the unequal distances measured by the first laser rangefinder and the second laser rangefinder;

[0032] Figure 4 This is a schematic diagram of the scraper conveyor moving upward due to the unequal distances measured by the first laser rangefinder and the second laser rangefinder;

[0033] Figure 5 This is a schematic diagram of the scraper conveyor moving upwards due to the distances measured by the first laser rangefinder and the second laser rangefinder being less than the preset values;

[0034] Figure 6 This is a schematic diagram of the scraper conveyor sliding down due to the distances measured by the first laser rangefinder and the second laser rangefinder being greater than the preset values;

[0035] Figure 7 This is a calculation diagram of the upward and downward movement of the scraper conveyor due to the change in the posture of the end hydraulic support;

[0036] Figure 8 This is a calculation diagram of the upward and downward movement of the scraper conveyor due to the horizontal deviation of the end hydraulic support push jack;

[0037] Figure 9 This is a flow chart of the method of using the upward and downward sliding monitoring device of the scraper conveyor at the coal mining working face. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that in the description of the present invention, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to simplify the description of the present invention. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0039] Reference Figure 1-6 The present invention proposes a device for monitoring the upward and downward movement of a scraper conveyor on a coal mining face, comprising:

[0040] Push travel sensor 1, first laser rangefinder 2, second laser rangefinder 3, third laser rangefinder 4, laser target receiver 5, data analysis device 6, see Figure 1 As shown;

[0041] The push stroke sensor 1 is installed on the push jack of the end hydraulic support close to the side wall of the tunnel, and is used to monitor the push stroke of the end hydraulic support push jack. Figure 2 As shown;

[0042] Specifically, the push stroke sensor 1 is generally placed inside the push jack of the hydraulic support, and monitors the push stroke of the push jack by means of calipers or wire distance measurement;

[0043] The first laser rangefinder 2 is installed at the front end of the end hydraulic support base close to the side wall of the tunnel, and is used to measure the distance between the front end of the end hydraulic support base and the side wall of the tunnel;

[0044] The second laser rangefinder 3 is installed at the rear end of the end hydraulic support base close to the side wall of the tunnel, and is used to measure the distance between the rear end of the end hydraulic support base and the side wall of the tunnel;

[0045] The third laser rangefinder 4 is installed in the middle position of the end hydraulic support base. Figure 1 As shown, it is used to monitor the horizontal offset of the push rod;

[0046] Specifically, the end hydraulic support is connected to the scraper conveyor through a push rod. If the scraper conveyor rises or falls, it will mainly manifest in the following situations: the first is that the posture of the end hydraulic support changes, see Figure 3-6 As shown, the present invention uses the first laser rangefinder 2 and the second laser rangefinder 3 to monitor the distance between the end hydraulic support base and the side wall of the tunnel, thereby judging the change of the hydraulic support posture; for example, Figure 3If the distance of the first laser rangefinder 2 remains unchanged or increases, and the distance of the second laser rangefinder 3 decreases, it indicates that the scraper conveyor has slipped, and the working surface is not perpendicular to the side wall of the roadway, that is, the working surface has deviated during the advancement process; Figure 4 If the distance of the first laser rangefinder 2 decreases and the distance of the second laser rangefinder 3 remains unchanged or increases, it indicates that the scraper conveyor is moving upward and the working surface is not perpendicular to the side wall of the roadway, that is, the working surface is offset during the advancement process; Figure 5 If the distance of the first laser rangefinder 2 decreases, the distance of the second laser rangefinder 3 also decreases, which indicates that the scraper conveyor is moving upward. Based on the relative relationship between the two, it can be determined whether the working surface is perpendicular to the side wall of the roadway. Figure 6 If the distance of the first laser rangefinder 2 increases, and the distance of the second laser rangefinder 3 also increases, it indicates that the scraper conveyor has slipped. Based on the relative relationship between the two, it can be determined whether the working surface is perpendicular to the side wall of the tunnel. In addition, since the end hydraulic support is connected to the scraper conveyor through a push rod, and the push rod can be offset at a certain horizontal angle, the third laser rangefinder 4 can monitor whether the push rod of the end hydraulic support has horizontally deviated. Combined with the monitoring results of the push stroke sensor 1, it can be determined whether the scraper conveyor has slipped upward or downward.

[0047] The laser target receiver 5 is installed on the side wall of the tunnel and is used to receive the laser beams emitted by the first laser rangefinder 2 and the second laser rangefinder 3, so as to determine the distance from the front end and the rear end of the base of the end hydraulic support to the side wall of the tunnel;

[0048] Specifically, since the sidewalls of the tunnel are generally uneven, if the distance from the end hydraulic support base to the tunnel sidewall is directly measured by a laser rangefinder, misjudgment may occur; the laser target receiver 5 is installed on the tunnel sidewall, and the surface of the laser target receiver 5 should be basically parallel to the side of the tunnel to prevent measurement errors caused by unevenness at individual points;

[0049] The data analysis device 6 can be installed on the end hydraulic support or placed near the end hydraulic support, and receive the monitoring data of the displacement sensor 1, the first laser rangefinder 2, the second laser rangefinder 3, and the third laser rangefinder 4 through wired or wireless communication, and perform data analysis.

[0050] The first laser rangefinder 2, the second laser rangefinder 3, and the third laser rangefinder 4 are arranged perpendicular to the outer side surface of the end hydraulic support base, and the first laser rangefinder 2 and the second laser rangefinder 3 can rotate in the horizontal direction around the installation axis;

[0051] Specifically, since the posture of the end hydraulic support changes, the base and the side wall of the tunnel will no longer be parallel, but will present a certain angle. In order to measure the shortest distance from the first laser rangefinder 2, the second laser rangefinder 3 to the laser target receiver 5, that is, the laser beams emitted by the first laser rangefinder 2, the second laser rangefinder 3 are perpendicular to the laser target receiver 5, the first laser rangefinder 2, the second laser rangefinder 3 should be rotated at a certain angle in the horizontal direction. The mounting axes of the first laser rangefinder 2 and the second laser rangefinder 3 designed in the present invention are perpendicular to the upper surface of the base of the end hydraulic support, which can meet the requirement that the first laser rangefinder 2 and the second laser rangefinder 3 rotate at a certain angle in the horizontal direction.

[0052] By measuring the shortest distance from the first laser rangefinder 2, the second laser rangefinder 3 to the laser target receiver 5, the up-and-down movement of the scraper conveyor caused by the change in the posture of the end hydraulic support can be calculated. Figure 7 As shown;

[0053] Specifically, let the installation position of the first laser rangefinder 2 be point A, the installation position of the second laser rangefinder 3 be point B, the shortest distance landing point of the first laser rangefinder 2 on the laser target receiver 5 be point D, and the shortest distance landing point of the second laser rangefinder 3 on the laser target receiver 5 be point E, then let the length of AD be , the length of BE is , the length of AB is ;in 、 is the actual measured length of the first laser rangefinder 2 and the second laser rangefinder 3, is a fixed value;

[0054] Assuming that the push rod of the end hydraulic support is perpendicular to the length direction of the scraper conveyor, the intersection of the extended BA line and the outer edge of the scraper conveyor is point C. Then the length of AC is determined by the fixed section length of the scraper conveyor and the extended length of the push rod of the end hydraulic support, where the extended length of the push rod of the end hydraulic support is measured by the push stroke sensor 1 and is set to ; The fixed section length of the scraper conveyor is set to ; Let the length of AC be ,but ;

[0055] Let the angle between AB and BE be , the distance from point C to point F is ,but:

[0056]

[0057]

[0058] In addition, the push jack of the end hydraulic support may deviate horizontally after being extended, which will also cause the scraper conveyor to rise and fall to a certain extent. Figure 8 As shown;

[0059] Assuming that the pushing fulcrum of the end hydraulic support is O, and the intersection point from the pushing jack to the extension of the scraper conveyor is H, the length of OH is OH section is mainly composed of the fixed section length of the push jack , the extension length measured by the displacement sensor 1 , Fixed section length of scraper conveyor The sum of the two is ;

[0060] When the push jack is placed in the middle of the end hydraulic support, the distance between the third laser rangefinder 4 and the push jack is , and at this time the vertical landing point of the third laser rangefinder 4 on the push jack is J, see Figure 8 As shown, the length of OJ is ;

[0061] The actual measurement distance of the third laser rangefinder 4 is , the upward and downward movement of the scraper conveyor caused by the displacement of the push rod of the end hydraulic support for:

[0062]

[0063] Since the up-and-down amount of the scraper conveyor is mainly composed of two parts, namely the posture change of the end hydraulic support and the horizontal deviation of the push jack, the approximate result can be obtained by adding the two together. The calculated result is compared with the design value L.

[0064] like , it indicates that the scraper conveyor has declined;

[0065] like , it indicates that the scraper conveyor is rising;

[0066] like , it indicates that the scraper conveyor has not risen or fallen.

[0067] Since the present invention analyzes the ups and downslides of the scraper conveyor by monitoring the posture of the end hydraulic support, the calculation results can well analyze the causes of the ups and downslides, for example:

[0068] like ,and or , it indicates that the equipment as a whole has risen or fallen. At this time, the working surface is basically vertical to the side wall of the roadway and there is no deviation. There is no need to adjust the working surface.

[0069] like , it means that the working face head advances faster, while the tail advances slower. Due to the faster head advance, the scraper conveyor has risen or fallen;

[0070] like , it means that the advance of the machine head on the working face is slow, and the advance of the machine tail is fast. Due to the slow advance of the machine head, the scraper conveyor has risen or fallen.

[0071] Reference Figure 9 The present invention also proposes a method for monitoring whether a scraper conveyor on a coal mining working face is sliding up and down by using the above-mentioned device for monitoring the sliding up and down of the scraper conveyor on the coal mining working face, comprising:

[0072] S001, install the push stroke sensor 1 on the push jack of the end hydraulic support, install the first laser rangefinder 2 and the second laser rangefinder 3 on the side of the base close to the tunnel sidewall, install the third laser rangefinder 4 at the mid-range position of the base, install the laser target receiver 5 on the tunnel sidewall, and connect the push stroke sensor 1, the first laser rangefinder 2, the second laser rangefinder 3, and the third laser rangefinder 4 to the data analysis device 6 via wired or wireless communication;

[0073] Specifically, the data analysis device 6 should be placed near the end hydraulic support to facilitate data reception; in addition, the laser target receiver 5 should be parallel to the overall outer surface of the tunnel side wall to prevent the unevenness of individual points from affecting data collection;

[0074] S002, rotating the first laser rangefinder 2 and the second laser rangefinder 3 in the horizontal direction by a certain angle, measuring the shortest distance to the laser target receiver 5, and uploading the data to the data analysis device 6;

[0075] Specifically, since the first laser rangefinder 2 and the second laser rangefinder 3 can both rotate in the horizontal direction, the distances between the first laser rangefinder 2 and the second laser rangefinder 3 and the laser target receiver 5 are monitored in real time during the rotation process, and the shortest distance is obtained. At this time, the first laser rangefinder 2 and the second laser rangefinder 3 are in a vertical state with the laser target receiver 5.

[0076] S003, collecting monitoring values of the displacement sensor 1 and the third laser rangefinder 4, and uploading the data to the data analysis device 6;

[0077] S004, the data analysis device 6 determines whether the scraper conveyor has experienced upward or downward movement through the above-mentioned calculation method, and analyzes the cause of the upward or downward movement.

[0078] The above description is only the principle and preferred embodiment of the present invention. It should be noted that for those skilled in the art, several other variations can be made based on the principle of the present invention, which should also be considered as the scope of protection of the present invention.

Claims

1. A device for monitoring the upward and downward movement of a scraper conveyor on a coal mining face, characterized in that: It includes a travel sensor, a first laser rangefinder, a second laser rangefinder, a third laser rangefinder, a laser target receiver, and a data analysis device; The push stroke sensor is installed on the push jack of the end hydraulic support close to the side wall of the tunnel, and is used to monitor the push stroke of the push jack of the end hydraulic support; The first laser rangefinder is installed at the front end of the end hydraulic support base close to the side wall of the tunnel, and is used to measure the distance between the front end of the end hydraulic support base and the side wall of the tunnel; The second laser rangefinder is installed at the rear end of the end hydraulic support base close to the side wall of the tunnel, and is used to measure the distance between the rear end of the end hydraulic support base and the side wall of the tunnel; The third laser rangefinder is installed at the middle position of the end hydraulic support base, and is used to monitor the horizontal offset of the push rod; The first laser rangefinder and the second laser rangefinder can rotate in the horizontal direction around the installation axis; The laser target receiver is installed on the side wall of the tunnel and is used to receive the laser beams emitted by the first laser rangefinder and the second laser rangefinder, so as to determine the distance from the front end and the rear end of the base of the end hydraulic support to the side wall of the tunnel; The data analysis device can be installed on the end hydraulic support or placed near the end hydraulic support, and receive monitoring data from the push stroke sensor, the first laser rangefinder, the second laser rangefinder, and the third laser rangefinder through wired or wireless communication, and perform data analysis.

2. The device for monitoring the upward and downward movement of a scraper conveyor on a coal mining face according to claim 1, characterized in that: The first laser rangefinder, the second laser rangefinder and the third laser rangefinder are arranged perpendicular to the outer side surface of the end head hydraulic support base.

3. The device for monitoring the upward and downward movement of a scraper conveyor on a coal mining face according to claim 1, characterized in that: The laser target receiver is installed on the side wall of the tunnel, and the surface of the laser target receiver should be basically parallel to the side of the tunnel to prevent measurement errors caused by unevenness at individual points.

4. The device for monitoring the upward and downward movement of a scraper conveyor on a coal mining face according to claim 1, characterized in that: The data analysis device can calculate whether the scraper conveyor has experienced upward or downward movement by analyzing the measurement values of the travel sensor, the first laser rangefinder, the second laser rangefinder, and the third laser rangefinder. l7=l1-l6×cosα Where, l7 is the amount of upward and downward movement of the scraper conveyor caused by the posture change of the end hydraulic support; l 14 is the amount of upward and downward movement of the scraper conveyor caused by the horizontal offset of the push jack of the end hydraulic support; l1 is the measurement value of the first laser rangefinder; l6 is the vertical distance from the installation position of the first laser rangefinder to the extension of the scraper conveyor; α is the angle between AB and BE; l8 is the length of OH, l 10 is the distance between the third laser rangefinder and the push jack when the push jack is placed in the middle position of the end hydraulic support; l 11 is the length of OJ; l 12 is the actual measured distance of the third laser rangefinder; Compare the calculated results with the design value L. If L>l7+l 14 , it indicates that the scraper conveyor has declined; If L <l7+l 14 , it indicates that the scraper conveyor is rising; If L = l7 + l 14 , it indicates that the scraper conveyor has not risen or fallen.

5. A method for using the device for monitoring the upward and downward movement of a scraper conveyor on a coal mining face according to claim 4, characterized in that: include: S001, installing the push stroke sensor on the push jack of the end hydraulic support, installing the first laser rangefinder and the second laser rangefinder on the side of the base close to the tunnel sidewall, installing the third laser rangefinder at the middle position of the base, installing the laser target receiver on the tunnel sidewall, and connecting the push stroke sensor, the first laser rangefinder, the second laser rangefinder, and the third laser rangefinder to the data analysis device via wired or wireless communication; S002, rotating the first laser rangefinder and the second laser rangefinder in the horizontal direction by a certain angle to measure the shortest distance to the laser target receiver, and uploading the data to the data analysis device; S003, collecting monitoring values of the displacement sensor and the third laser rangefinder, and uploading the data to the data analysis device; S004, the data analysis device compares L with l7+l 14 The relationship between the size of the scraper conveyor is used to determine whether the scraper conveyor is sliding up and down, and to analyze the reasons for the sliding up and down, where L is the design value of the working surface; l7 is the amount of sliding up and down of the scraper conveyor caused by the posture change of the end hydraulic support; l 14 It is the amount of upward and downward movement of the scraper conveyor caused by the horizontal deviation of the push jack of the end hydraulic support.

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