Intelligent gob-side entry protection device and method for mining face dynamic pressure area

Abstract

The invention belongs to the technical field of gob-side entry protection, and discloses an intelligent gob-side entry protection device and method for a mining face dynamic pressure area. The intelligent heavy-load removing, transporting and installing robot for the mine further comprises a crawler machine, a stand column is fixedly installed on the upper surface of the crawler machine, a first electric sliding block is slidably connected to the outer wall of a first sliding rail, and a carrying plate is fixedly installed on the upper surface of the first electric sliding block; the intelligent gob-side entry protection device comprises a carrying plate, a plurality of second sliding rails are fixedly mounted on the front side of the carrying plate, second electric sliding blocks are slidably connected to the outer walls of the second sliding rails, and a bearing plate is fixedly mounted on the front sides of the second electric sliding blocks. The gob-side reinforced roadway protection support does not need to be manually removed, transported and installed in the gob-side reinforced roadway protection of the mining face dynamic pressure area, operation can be conducted on the mine ground, and therefore benefits and safety are greatly improved, and a certain supporting effect is achieved for national intelligent mine construction.

Description

Technical Field

[0001] The present invention belongs to the technical field of goaf-side tunnel protection, and specifically relates to an intelligent goaf-side tunnel protection device and method in a dynamic pressure zone of a mining face. Background Art

[0002] The promotion and application of "N00 or 110 method" in the field of coal mining requires the implementation of goaf protection, but the existing goaf protection technology has the following problems: ① The slow completion speed of goaf protection affects the production capacity of the working face, which is not conducive to the construction of high-yield and high-efficiency face; ② The support operation of the goaf protection dynamic pressure zone is difficult and the deformation of the goaf protection support is large; ③ The reinforcement and filling of the protection is large and the cost is high, and the risk factors of safe operation are not completely eliminated. Therefore, the intelligent goaf protection method in the dynamic pressure zone of the mining face is one of the effective technical ways to improve the production efficiency of coal mine resources and carry out high-quality goaf protection, and it is also one of the important research directions for the application of new methods in coal mining.

[0003] At present, there are three main technologies for protecting the tunnel along the goaf in domestic coal mines: the first is the flexible mold tunnel protection technology; the second is the combined tunnel protection technology of strong anchor cables such as cutting tops and expansion + supporting columns; the third is the tunnel protection technology of artificial piers and frame materials. These three tunnel protection technologies along the goaf have problems such as slow tunnel protection speed or high cost of using many people, great difficulty in comprehensive implementation and affecting production efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent goaf-side tunnel protection device and method in a dynamic pressure zone of a mining face in order to solve the above problems, comprising:

[0005] Hydraulic support;

[0006] An intelligent heavy-load removal and transportation safety robot for mines, the intelligent heavy-load removal and transportation safety robot for mines also includes a crawler, a column is fixedly installed on the upper surface of the crawler, a connecting plate is fixedly installed between two of the columns, a plurality of first slide rails are fixedly installed on the upper surface of the connecting plate, a first electric slider is slidably connected to the outer wall of the first slide rail, a transport plate is fixedly installed on the upper surface of the first electric slider, a plurality of second slide rails are fixedly installed on the front side of the transport plate, a second electric slider is slidably connected to the outer wall of the second slide rail, and a supporting plate is fixedly installed on the front side of the second electric slider;

[0007] The remote controller, the hydraulic support and the mine intelligent heavy-load evacuation and transportation safety robot are all connected to the remote controller signal.

[0008] The intelligent goaf-side tunnel protection method in the dynamic pressure zone of the mining face comprises the following steps:

[0009] S1: Transport the hydraulic support, the mine intelligent heavy-load removal and transportation robot and the remote controller to the coal mine site;

[0010] S2: In the dynamic pressure zone where the goaf needs to be protected, install the hydraulic support to set the pressure on the roadway roof according to the design of the relevant position of the reinforced support, install the mine intelligent heavy-load evacuation and transportation robot at the end of the dynamic pressure zone along the goaf, install the remote controller at the working face exit support and connect it to the mine 10G industrial network;

[0011] S3: Connect the safety power supply and hydraulic pipeline system of each working point on site, set and debug the control boundary values ​​of hydraulic support, mine intelligent heavy-load removal and transportation safety robot and remote controller, and realize the upload and download of their respective perception and boundary joint control status parameters;

[0012] S4: When the advancement of the working face reaches the set value each time, the remote controller calculates the boundary and notifies the mine intelligent heavy-load removal and safety robot to perform intelligent operation and verification after it meets the standard;

[0013] S5: After the mine intelligent heavy-load removal and transportation safety robot performs three-dimensional scanning of the walking route and the last number frame of each hydraulic support and calculates the boundaries to meet the standards, it will notify the hydraulic support to lower the last number frame to the set height after the anti-fall function is in place, and intelligently drag the lowered last frame to the loading platform of the mine intelligent heavy-load removal and transportation safety robot and fix it;

[0014] S6: The mine intelligent heavy-load removal and transportation robot intelligently walks to the exit under the working face to set the position of the reinforced lane protection for three-dimensional scanning and boundary calculation. After meeting the standard, the hydraulic support frame with the last number on the loading platform is intelligently pushed to the position of the reinforced lane protection, and then the frame with the last number is notified to be intelligently raised to the set pressure of the lane roof. Each identification code frame of the intelligent lane protection support hydraulic support uploads the set enhanced support perception parameters to the ground command center, and professionals analyze and determine whether remote intervention is needed;

[0015] S7: Repeat steps 3-6 along the mining advancement direction of the mining face until the tunnel protection along the mining face is completed.

[0016] In a preferred embodiment, a scanner is fixedly mounted on the upper front end of the transport plate.

[0017] Through the above technical solution, the hydraulic support is scanned and identified by a scanner.

[0018] In a preferred embodiment, a three-dimensional scanner is fixedly installed on the top of the transport plate.

[0019] Through the above technical solution, the tunnel protection position is scanned by a three-dimensional scanner to ensure that the hydraulic support moves to the required position.

[0020] In a preferred embodiment, a mounting groove is provided on one side of the column, a cylinder is fixedly installed inside the mounting groove, and a fixing plate is fixedly installed at the end of the cylinder.

[0021] Through the above technical solution, when the hydraulic support is transported between two columns, the cylinder is extended to fix the two fixing plates to the left and right sides of the hydraulic support respectively, thereby fixing the hydraulic support to prevent it from moving during transportation.

[0022] In a preferred embodiment, the outer wall of the fixing plate is provided with friction patterns.

[0023] Through the above technical solution, the friction force between the positioning plate and the hydraulic support is improved by arranging friction lines on the outer wall of the fixed plate.

[0024] In a preferred embodiment, a number identification code is fixedly installed on the outer wall of the hydraulic support.

[0025] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: the present invention proposes an intelligent goaf-side tunnel protection device and method in the dynamic pressure zone of the mining face.

[0026] In the reinforced tunnel protection along the dynamic pressure zone of the mining face, there is no need for manual removal, transportation and installation of the tunnel protection reinforcement supports, and operations can also be carried out on the mine ground. This not only greatly improves efficiency and safety, but also plays a certain supporting role in the construction of national smart mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of the mine intelligent heavy-load evacuation and transportation robot in the present invention;

[0029] Figure 3 It is the front view of the intelligent heavy-load evacuation and transportation robot for mines in the present invention.

[0030] Markings in the figure: 1-hydraulic support; 2-mine intelligent heavy-load evacuation and safety robot; 201-crawler; 202-column; 203-connecting plate; 204-first slide rail; 205-first electric slide block; 206-transporting plate; 207-second slide rail; 208-second electric slide block; 209-supporting plate; 210-barcode scanner; 211-3D scanner; 212-installation slot; 213-cylinder; 214-fixed plate; 3-remote controller. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The following will be combined Figure 1-3 An intelligent goaf-side tunnel protection device and method for a dynamic pressure zone of a mining face according to an embodiment of the present invention are described in detail.

[0033] Example:

[0034] An intelligent goaf-side tunnel protection device and method in a dynamic pressure zone of a mining face, comprising:

[0035] A hydraulic support 1, wherein a number identification code is fixedly installed on the outer wall of the hydraulic support 1;

[0036] The mine intelligent heavy-load removal and transportation safety robot 2 also includes a crawler machine 201, a column 202 is fixedly installed on the upper surface of the crawler machine 201, a connecting plate 203 is fixedly installed between the two columns 202, a plurality of first slide rails 204 are fixedly installed on the upper surface of the connecting plate 203, a first electric slider 205 is slidably connected to the outer wall of the first slide rail 204, a transport plate 206 is fixedly installed on the upper surface of the first electric slider 205, a plurality of second slide rails 207 are fixedly installed on the front side of the transport plate 206, a second electric slider 208 is slidably connected to the outer wall of the second slide rail 207, a supporting plate 209 is fixedly installed on the front side of the second electric slider 208, a scanner 210 is fixedly installed on the upper end of the front side of the transport plate 206, the hydraulic support 1 is scanned and identified by the scanner 210, and the top of the transport plate 206 is fixedly installed A three-dimensional scanner 211 is installed, and the position of the tunnel protection is scanned by the three-dimensional scanner 211, so as to ensure that the hydraulic support 1 moves to the required position, and the equipment is moved to the end of the tunnel protection to be strengthened by the crawler machine 201. At this time, the first electric slider 205 works to push the transport plate 206 outward along the first slide rail 204, and moves the supporting plate 209 to the bottom of the hydraulic support 1. The supporting plate 209 is driven by the second electric slider 208 to move upward along the second slide rail 207, so as to lift the hydraulic support 1 at the end. At this time, the first electric slider 205 drives the transport plate 206 equipped with the hydraulic support 1 to reset, and the equipment equipped with the hydraulic support 1 is moved to the front side of the tunnel protection to be strengthened by the crawler machine 201. Repeat the above operation to move the hydraulic support 1 to the position of the tunnel protection to be strengthened and fix it, and notify the support to complete the lifting and supporting action;

[0037] A mounting groove 212 is provided on one side of the column 202, a cylinder 213 is fixedly installed inside the mounting groove 212, and a fixing plate 214 is fixedly installed at the end of the cylinder 213. When the hydraulic support 1 is transported between the two columns, the cylinder 213 is extended to fix the two fixing plates 214 to the left and right sides of the hydraulic support 1, thereby fixing the hydraulic support 1 to prevent it from moving during transportation. The outer wall of the fixing plate 214 is provided with friction lines, and the friction between the positioning plate and the hydraulic support 1 is improved by providing the friction lines on the outer wall of the fixing plate 214.

[0038] The remote controller 3 , the hydraulic support 1 and the mine intelligent heavy-load removal and safety robot 2 are all connected to the remote controller 3 by signal.

[0039] The intelligent goaf-side tunnel protection method in the dynamic pressure zone of the mining face includes the following steps:

[0040] S1: Transport the hydraulic support, the mine intelligent heavy-load removal and transportation robot and the remote controller to the coal mine site;

[0041] S2: In the dynamic pressure zone where the goaf needs to be protected, install the hydraulic support to set the pressure on the roadway roof according to the design of the relevant position of the reinforced support, install the mine intelligent heavy-load evacuation and transportation robot at the end of the dynamic pressure zone along the goaf, install the remote controller at the working face exit support and connect it to the mine 10G industrial network;

[0042] S3: Connect the safety power supply and hydraulic pipeline system of each working point on site, set and debug the control boundary values ​​of hydraulic support, mine intelligent heavy-load removal and transportation safety robot and remote controller, and realize the upload and download of their respective perception and boundary joint control status parameters;

[0043] S4: When the advancement of the working face reaches the set value each time, the remote controller calculates the boundary and notifies the mine intelligent heavy-load removal and safety robot to perform intelligent operation and verification after it meets the standard;

[0044] S5: After the mine intelligent heavy-load removal and transportation safety robot performs three-dimensional scanning of the walking route and the last number frame of each hydraulic support and calculates the boundaries to meet the standards, it will notify the hydraulic support to lower the last number frame to the set height after the anti-fall function is in place, and intelligently drag the lowered last frame to the loading platform of the mine intelligent heavy-load removal and transportation safety robot and fix it;

[0045] S6: The mine intelligent heavy-load removal and transportation robot intelligently walks to the exit under the working face to set the position of the reinforced lane protection for three-dimensional scanning and boundary calculation. After meeting the standard, the hydraulic support frame with the last number on the loading platform is intelligently pushed to the position of the reinforced lane protection, and then the frame with the last number is notified to be intelligently raised to the set pressure of the lane roof. Each identification code frame of the intelligent lane protection support hydraulic support uploads the set enhanced support perception parameters to the ground command center, and professionals analyze and determine whether remote intervention is needed;

[0046] S7: Repeat steps 3-6 along the mining advancement direction until the protection tunnel along the mining face is completed.

[0047] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent goaf-side tunnel protection device in the dynamic pressure zone of a mining face, characterized in that: include: Hydraulic support (1); A mine intelligent heavy-load evacuation and transportation safety robot (2), the mine intelligent heavy-load evacuation and transportation safety robot (2) also includes a crawler (201), a column (202) is fixedly installed on the upper surface of the crawler (201), a connecting plate (203) is fixedly installed between two of the columns (202), a plurality of first slide rails (204) are fixedly installed on the upper surface of the connecting plate (203), a first electric slider (205) is slidably connected to the outer wall of the first slide rail (204), a transport plate (206) is fixedly installed on the upper surface of the first electric slider (205), a plurality of second slide rails (207) are fixedly installed on the front side of the transport plate (206), a second electric slider (208) is slidably connected to the outer wall of the second slide rail (207), and a supporting plate (209) is fixedly installed on the front side of the second electric slider (208); A remote controller (3), the hydraulic support (1) and the mine intelligent heavy-load removal and safety robot (2) are both connected to the remote controller (3) by signal; The intelligent goaf-side tunnel protection method in the dynamic pressure zone of the mining face comprises the following steps: S1: Transport the hydraulic support, the mine intelligent heavy-load removal and transportation robot and the remote controller to the coal mine site; S2: In the dynamic pressure zone where the goaf needs to be protected, install the hydraulic support to set the pressure on the roadway roof according to the design of the relevant position of the reinforced support, install the mine intelligent heavy-load evacuation and transportation robot at the end of the dynamic pressure zone along the goaf, install the remote controller at the working face exit support and connect it to the mine 10G industrial network; S3: Connect the safety power supply and hydraulic pipeline system of each working point on site, set and debug the control boundary values ​​of hydraulic support, mine intelligent heavy-load removal and transportation safety robot and remote controller, and realize the upload and download of their respective perception and boundary joint control status parameters; S4: When the advancement of the working face reaches the set value each time, the remote controller calculates the boundary and notifies the mine intelligent heavy-load removal and safety robot to perform intelligent operation and verification after it meets the standard; S5: After the mine intelligent heavy-load removal and transportation safety robot performs three-dimensional scanning of the walking route and the last number frame of each hydraulic support and calculates the boundaries to meet the standards, it will notify the hydraulic support to lower the last number frame to the set height after the anti-fall function is in place, and intelligently drag the lowered last frame to the loading platform of the mine intelligent heavy-load removal and transportation safety robot and fix it; S6: The mine intelligent heavy-load removal and transportation robot intelligently walks to the exit under the working face to set the position of the reinforced lane protection for three-dimensional scanning and boundary calculation. After meeting the standard, the hydraulic support frame with the last number on the loading platform is intelligently pushed to the position of the reinforced lane protection, and then the frame with the last number is notified to be intelligently raised to the set pressure of the lane roof. Each identification code frame of the intelligent lane protection support hydraulic support uploads the set enhanced support perception parameters to the ground command center, and professionals analyze and determine whether remote intervention is needed; S7: Repeat steps 3-6 along the mining advancement direction of the mining face until the tunnel protection along the mining face is completed.

2. The intelligent goaf-side tunnel protection device in the dynamic pressure zone of the mining face according to claim 1, characterized in that: A scanner (210) is fixedly mounted on the upper front end of the transport plate (206).

3. The intelligent goaf-side tunnel protection device in the dynamic pressure zone of a mining face according to claim 1, characterized in that: A three-dimensional scanner (211) is fixedly mounted on the top of the transport plate (206).

4. The intelligent goaf-side tunnel protection device in the dynamic pressure zone of a mining face according to claim 1, characterized in that: A mounting groove (212) is provided on one side of the column (202), a cylinder (213) is fixedly mounted inside the mounting groove (212), and a fixing plate (214) is fixedly mounted at the end of the cylinder (213).

5. An intelligent goaf-side tunnel protection device in a dynamic pressure zone of a mining face as claimed in claim 4, characterized in that: The outer wall of the fixing plate (214) is provided with friction patterns.

6. The intelligent goaf-side tunnel protection device in the dynamic pressure zone of the mining face as claimed in claim 4, characterized in that: A number identification code is fixedly mounted on the outer wall of the hydraulic support (1).

Images