Coal mine automatic mining equipment for self-adaptive adjustment under complex geological conditions

Abstract

The invention relates to the technical field of coal mining equipment, in particular to automatic coal mining equipment for self-adaptive adjustment under complex geological conditions, which comprises a main frame, a geological sensor array, an intelligent control system and a self-adaptive adjustment mechanism. The geological sensor array monitors geological condition changes in real time, and the intelligent control system automatically adjusts the cutting depth, the drilling speed, the pressure and other parameters of the tool bit according to monitoring data. The mining parameters can be automatically adjusted according to geological conditions, manual intervention is avoided, the adaptability and stability of equipment are improved, the mining effect and efficiency are ensured, and the requirements of modern coal mining for efficient and intelligent equipment are met.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mining, and specifically relates to a coal mine automatic mining equipment for adaptive adjustment under complex geological conditions. Background Art

[0002] With the continuous development of coal mining technology, automation and intelligence have become the key directions for improving mining efficiency and safety. Coal mining under complex geological conditions especially requires highly intelligent and adaptive equipment to cope with the changing geological environment and operation requirements. However, the existing coal mine automatic mining equipment still has certain deficiencies in terms of adaptability and stability under complex geological conditions, which limits its application effect in practice.

[0003] After retrieval, a coal mine mining equipment with automatic tool change and its control method with the publication number CN114776290B was published on November 4, 2022. This patent realizes the automatic monitoring and replacement of the tool head by setting electric telescopic rods and pressure sensors in the mining disc, greatly reducing the risk of manual tool head replacement and improving work efficiency. However, this technical solution mainly focuses on the replacement of the tool head and lacks the overall adaptive adjustment function under complex geological conditions, such as the ability to automatically adjust mining parameters in coal seams with different hardness and thicknesses, resulting in the still need for manual intervention in complex geological environments and affecting the overall mining efficiency.

[0004] After retrieval, a rock drilling equipment for coal mining with the publication number CN116771276B was published on November 7, 2023. This patent realizes automatic drilling operations in the mine by providing a rock drilling equipment that can automatically splice drill pipes and connecting columns, improving the convenience and safety of operations. However, this technical solution mainly focuses on the automation of the drilling process and lacks the adaptive adjustment function for complex geological conditions, such as the ability to automatically adjust the drilling speed and pressure in different geological structures, resulting in still problems of low efficiency and difficult operation in the changing geological environment.

[0005] The above problems indicate that the existing coal mine automatic mining equipment still has certain deficiencies in terms of adaptive adjustment function under complex geological conditions, especially in overall adaptive adjustment and intelligent control. Therefore, the present invention provides a coal mine automatic mining equipment for adaptive adjustment under complex geological conditions, aiming to realize the real-time monitoring and adaptive adjustment of geological conditions by integrating a variety of sensors and intelligent control systems, improve mining efficiency and safety, and meet the needs of modern coal mining for efficient and intelligent equipment. Summary of the Invention

[0006] The present invention relates to the technical field of coal mining equipment. More specifically, the present invention relates to a coal mine automatic mining equipment for adaptive adjustment under complex geological conditions.

[0007] A coal mine automatic mining equipment for adaptive adjustment under complex geological conditions can mainly ensure automatic adjustment of mining parameters under complex geological conditions, improving mining efficiency and safety. By integrating a variety of sensors and intelligent control systems, the equipment can monitor changes in geological conditions in real time and automatically adjust mining parameters according to the monitoring data, avoiding manual intervention and improving the adaptability and stability of the equipment.

[0008] After retrieval, in the existing publicly disclosed literature, the patent with the publication number CN114776290B discloses a coal mining equipment with automatic tool change and its control method. The equipment realizes automatic monitoring and replacement of the tool head by setting electric telescopic rods and pressure sensors in the mining disc, greatly reducing the risk of manual tool head replacement and improving work efficiency. However, this technical solution mainly focuses on the replacement of the tool head and lacks the overall adaptive adjustment function under complex geological conditions, such as the ability to automatically adjust mining parameters in coal seams with different hardness and thickness, resulting in the still need for manual intervention in complex geological environments and affecting the overall mining efficiency.

[0009] In addition, the patent with the publication number CN116771276B discloses a rock drilling equipment for coal mining. The equipment realizes automatic drilling operations in the mine by providing a rock drilling equipment that can automatically splice drill strings and connecting columns, improving the convenience and safety of operations. However, this technical solution mainly focuses on the automation of the drilling process and lacks the adaptive adjustment function under complex geological conditions, such as the ability to automatically adjust drilling speed and pressure in different geological structures, resulting in problems of low efficiency and difficult operation in changing geological environments.

[0010] To overcome the above defects of the prior art, the present invention provides the following technical solution: A coal mine automatic mining equipment for adaptive adjustment under complex geological conditions, including a main frame, a geological sensor array, an intelligent control system, and an adaptive adjustment mechanism. The main frame is used to support the entire equipment. The geological sensor array is arranged at the front end of the main frame and is used to monitor changes in geological conditions in real time. The intelligent control system is connected to the geological sensor array and is used to automatically adjust mining parameters according to the monitoring data. The adaptive adjustment mechanism includes a tool head adjustment mechanism and a drilling adjustment mechanism.

[0011] The described geological sensor array includes a hardness sensor, a thickness sensor, a rock formation structure sensor, and a temperature sensor. These sensors can monitor the hardness, thickness, rock formation structure, and temperature changes of the coal seam in real time. The geological sensor array transmits the collected data to the intelligent control system, and the intelligent control system automatically adjusts parameters such as the cutting depth, drilling speed, and pressure of the cutter head according to the data.

[0012] The described intelligent control system includes a data processing unit, a control unit, and an execution unit. The data processing unit is used to process the data collected by the geological sensor array. The control unit is used to generate control instructions based on the processed data. The execution unit is used to execute the control instructions and drive the cutter head adjustment mechanism and the drilling adjustment mechanism to act.

[0013] The cutter head adjustment mechanism includes a cutter head telescopic device and a cutter head pressure adjustment device. The cutter head telescopic device is used to automatically adjust the cutting depth of the cutter head according to the changes in the hardness and thickness of the coal seam to ensure the cutting effect. The cutter head pressure adjustment device is used to automatically adjust the pressure of the cutter head according to the change in the hardness of the coal seam to prevent equipment damage or low mining efficiency caused by overpressure or underpressure.

[0014] The drilling adjustment mechanism includes a drilling speed adjustment device and a drilling pressure adjustment device. The drilling speed adjustment device is used to automatically adjust the drilling speed according to the changes in the rock formation structure and temperature to ensure the stability and efficiency of the drilling process. The drilling pressure adjustment device is used to automatically adjust the drilling pressure according to the changes in the geological conditions to prevent the drilling hole from deviating or the drill bit from being damaged due to overpressure.

[0015] When this technical solution is in use, the geological sensor array monitors the changes in geological conditions in real time, transmits the collected data to the intelligent control system, and the intelligent control system generates control instructions based on the data and drives the cutter head adjustment mechanism and the drilling adjustment mechanism to act. For example, when it is monitored that the hardness of the coal seam increases, the intelligent control system will automatically adjust the pressure of the cutter head and increase the cutting depth; when it is monitored that the rock formation structure is complex, the intelligent control system will automatically adjust the drilling speed and slow down the drilling process to ensure the stability and safety of the drilling process.

[0016] The technical effects and advantages of the present invention:

[0017] The present invention monitors the changes in geological conditions in real time through a geological sensor array. The intelligent control system automatically generates control instructions based on the monitored data, driving the cutter head adjustment mechanism and the drilling adjustment mechanism to act, and can automatically adjust the mining parameters according to the geological conditions, avoiding manual intervention and improving the adaptability and stability of the equipment. The cutter head adjustment mechanism and the drilling adjustment mechanism can automatically adjust the cutting depth, drilling speed and pressure of the cutter head according to the changes in coal seam hardness, thickness and rock formation structure, ensuring the mining effect and efficiency. In summary, the present invention can achieve automatic mining under complex geological conditions, improve the mining efficiency and safety, and meet the requirements of modern coal mine mining for high-efficiency and intelligent equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. is a front view structural schematic diagram of the coal mine automatic mining equipment of the present invention.

[0019] Figure 2 FIG. is a structural schematic diagram of the geological sensor array of the present invention.

[0020] Figure 3 FIG. is a structural schematic diagram of the internal structure of the intelligent control system of the present invention.

[0021] Figure 4 FIG. is a structural schematic diagram of the cutter head adjustment mechanism of the present invention.

[0022] Figure 5 FIG. is a structural schematic diagram of the drilling adjustment mechanism of the present invention.

[0023] The reference numerals are: 1, main frame; 2, geological sensor array; 3, intelligent control system; 4, cutter head adjustment mechanism; 5, drilling adjustment mechanism; 6, hardness sensor; 7, thickness sensor; 8, rock formation structure sensor; 9, temperature sensor; 10, data processing unit; 11, control unit; 12, execution unit; 13, cutter head telescopic device; 14, cutter head pressure adjustment device; 15, drilling speed adjustment device; 16, drilling pressure adjustment device. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The present invention provides a coal mine automatic mining equipment for adaptive adjustment under complex geological conditions. By integrating a variety of sensors and an intelligent control system, it can monitor the changes in geological conditions in real time and automatically adjust the mining parameters according to the monitored data, thereby improving the mining efficiency and safety. The following is a detailed description of the specific embodiments of the present invention with reference to the accompanying drawings.

[0025] As Figure 1As shown in the figure, the automatic coal mining equipment of the present invention includes a main frame 1, a geological sensor array 2, an intelligent control system 3, a cutter head adjustment mechanism 4, and a drilling adjustment mechanism 5. The main frame 1 serves as the support structure of the entire equipment and is designed as a high-strength steel frame to ensure sufficient stability and load-bearing capacity under complex geological conditions. The geological sensor array 2 is arranged at the front end of the main frame 1 and is used to monitor the hardness, thickness, rock layer structure, and temperature changes of the coal seam in real time. The intelligent control system 3 is connected to the geological sensor array 2, responsible for receiving the data collected by the sensors and generating control instructions to drive the cutter head adjustment mechanism 4 and the drilling adjustment mechanism 5 to act. The cutter head adjustment mechanism 4 and the drilling adjustment mechanism 5 are respectively used to adjust the cutting depth, pressure of the cutter head, and the drilling speed and pressure to adapt to different geological conditions.

[0026] The specific structure of the geological sensor array 2 is as Figure 2 shown, which includes a hardness sensor 6, a thickness sensor 7, a rock layer structure sensor 8, and a temperature sensor 9. These sensors achieve real-time monitoring of the coal seam characteristics through high-precision sensing technology. The hardness sensor 6 adopts the piezoelectric principle and determines the hardness value of the coal seam by measuring the pressure response of the coal seam to the probe; the thickness sensor 7 is based on the ultrasonic reflection principle and calculates the thickness of the coal seam by emitting ultrasonic signals and receiving the time difference of the reflected signals; the rock layer structure sensor 8 uses electromagnetic wave scanning technology to analyze the crack distribution and rock layer stratification inside the coal seam; the temperature sensor 9 uses a thermistor element to monitor the temperature change of the coal seam in real time. These sensors transmit the collected data to the intelligent control system 3 to provide a basis for subsequent parameter adjustment.

[0027] The internal structure of the intelligent control system 3 is as Figure 3 shown, which consists of a data processing unit 10, a control unit 11, and an execution unit 12. The data processing unit 10 is responsible for preprocessing and analyzing the received sensor data, and uses the Kalman filter algorithm to denoise and smooth the data to improve the accuracy of the data. The control unit 11 generates control instructions based on the processed data, and its core algorithm is based on the fuzzy logic control theory. By establishing a fuzzy rule base between the input variables (such as coal seam hardness, thickness, rock layer structure, and temperature) and the output variables (such as cutter head cutting depth, pressure, drilling speed, and pressure), the dynamic adjustment of the mining parameters is realized. After receiving the control instructions, the execution unit 12 controls the actions of the cutter head adjustment mechanism 4 and the drilling adjustment mechanism 5 through driving motors and hydraulic systems. For example, when the hardness of the coal seam increases, the control unit 11 will generate instructions to increase the cutter head pressure and cutting depth according to the fuzzy rule base, and the execution unit 12 will drive the cutter head pressure adjustment device 14 and the cutter head telescopic device 13 through the hydraulic system to complete the corresponding adjustment.

[0028] The specific structure of the cutter head adjustment mechanism 4 is as Figure 4As shown in the figure, it includes a cutter head telescopic device 13 and a cutter head pressure regulating device 14. The cutter head telescopic device 13 uses a stepping motor to drive a lead screw mechanism, and precisely adjusts the cutting depth of the cutter head by controlling the rotation angle of the motor. The cutter head pressure regulating device 14 realizes dynamic pressure adjustment through a hydraulic cylinder. The piston rod of the hydraulic cylinder is connected to the cutter head, and the force exerted by the cutter head on the coal seam is adjusted by changing the pressure of the hydraulic oil. For example, when the hardness sensor 6 detects a significant increase in the hardness of the coal seam, the intelligent control system 3 generates an instruction to increase the cutter head pressure. The execution unit 12 extends the piston rod of the hydraulic cylinder by controlling the output pressure of the hydraulic pump, thereby increasing the pressure of the cutter head on the coal seam and ensuring the cutting effect.

[0029] The specific structure of the drilling adjustment mechanism 5 is as Figure 5 shown in the figure. It includes a drilling speed adjustment device 15 and a drilling pressure adjustment device 16. The drilling speed adjustment device 15 uses a variable-frequency motor to drive the drilling mechanism and realizes dynamic adjustment of the drilling speed by changing the speed of the motor. The drilling pressure adjustment device 16 also uses a hydraulic system to control the force exerted by the drill bit on the rock formation by adjusting the pressure of the hydraulic cylinder. For example, when the rock formation structure sensor 8 detects that there are many fractures or the structure of the rock formation is complex, the intelligent control system 3 generates an instruction to reduce the drilling speed and pressure. The execution unit 12 slows down the drilling process by reducing the speed of the variable-frequency motor and the output pressure of the hydraulic system to prevent the drill hole from deviating or the drill bit from being damaged.

[0030] In practical applications, the working process of the coal mine automatic mining equipment of the present invention is as follows: First, the geological sensor array 2 continuously monitors the hardness, thickness, rock formation structure, and temperature changes of the coal seam, and transmits the collected data to the intelligent control system 3. The data processing unit 10 preprocesses and analyzes the received data, removes noise, and extracts key features. The control unit 11 generates control instructions based on the processed data. For example, when the hardness sensor 6 detects a rapid increase in the hardness of the coal seam from a lower value, the control unit 11 generates an instruction to increase the cutter head pressure and cutting depth, and at the same time generates an instruction to reduce the drilling speed and pressure. After receiving the control instructions, the execution unit 12 controls the actions of the cutter head adjustment mechanism 4 and the drilling adjustment mechanism 5 by driving the motor and the hydraulic system. The cutter head telescopic device 13 adjusts the cutting depth of the cutter head by driving the lead screw mechanism with a stepping motor, and the cutter head pressure regulating device 14 adjusts the pressure of the cutter head through a hydraulic cylinder; the drilling speed adjustment device 15 adjusts the drilling speed through a variable-frequency motor, and the drilling pressure adjustment device 16 adjusts the drilling pressure through a hydraulic system. Throughout the process, the intelligent control system 3 continuously receives new sensor data and dynamically adjusts the control instructions to ensure that the equipment is always in the best working state.

[0031] To further illustrate the actual application effect of the present invention, the following describes it in combination with a specific scenario. Suppose the coal seam thickness of a certain coal mine is 2 meters, with a relatively low initial hardness. However, as the mining depth increases, the hardness of the coal seam gradually rises, and at the same time, the rock stratum structure becomes complex and the temperature increases. In the initial stage of mining, the geological sensor array 2 detects that the coal seam has a relatively low hardness and a uniform thickness. The intelligent control system 3 generates instructions for a relatively low cutter head pressure and a relatively shallow cutting depth, and at the same time generates instructions for a relatively high drilling speed and a relatively low drilling pressure to improve the mining efficiency. As the mining depth increases, the hardness sensor 6 detects a significant increase in the hardness of the coal seam, the thickness sensor 7 detects a gradual decrease in the coal seam thickness, the rock stratum structure sensor 8 detects an increase in the rock stratum fissures, and the temperature sensor 9 detects an increase in the temperature. The intelligent control system 3 generates instructions to increase the cutter head pressure and the cutting depth according to these changes, and at the same time generates instructions to reduce the drilling speed and pressure. The execution unit 12 completes the corresponding adjustments by driving the cutter head adjustment mechanism 4 and the drilling adjustment mechanism 5 to ensure that the equipment can still operate efficiently and stably under complex geological conditions.

[0032] In addition, the present invention also introduces an adaptive learning algorithm to further improve the intelligent level of the equipment. The adaptive learning algorithm is based on historical data and real-time data, predicts the change trend of geological conditions through a machine learning model, and adjusts the mining parameters in advance. For example, when the equipment continuously detects a gradual increase in the hardness of the coal seam in a certain area, the adaptive learning algorithm will predict that the hardness of the coal seam will continue to increase in the next period of time and generate instructions to increase the cutter head pressure and the cutting depth in advance, thereby reducing the response time of the equipment and improving the mining efficiency.

[0033] In summary, the present invention realizes the adaptive adjustment function under complex geological conditions by integrating the geological sensor array 2, the intelligent control system 3, the cutter head adjustment mechanism 4 and the drilling adjustment mechanism 5. The geological sensor array 2 monitors the changes in the coal seam characteristics in real time. The intelligent control system 3 generates control instructions according to the monitoring data. The cutter head adjustment mechanism 4 and the drilling adjustment mechanism 5 adjust the cutting depth, pressure of the cutter head and the drilling speed and pressure according to the instructions, so as to ensure that the equipment can operate efficiently and stably under different geological conditions. The present invention not only improves the efficiency and safety of coal mine mining, but also meets the requirements of modern coal mine mining for efficient and intelligent equipment, and has important application value and popularization prospects.

Claims

1. An automatic coal mining device for adaptive adjustment under complex geological conditions, comprising a main frame (1), a geological sensor array (2), an intelligent control system (3), a cutter head adjustment mechanism (4) and a drilling adjustment mechanism (5), characterized in that: The main frame (1) is used to support the entire device; The geological sensor array (2) is arranged at the front end of the main frame (1) and is used to monitor changes in geological conditions in real time. The geological sensor array (2) comprises a hardness sensor (6), a thickness sensor (7), a rock layer structure sensor (8) and a temperature sensor (9); The intelligent control system (3) is connected to the geological sensor array (2) and is used to generate control instructions according to the monitoring data. The intelligent control system (3) comprises a data processing unit (10), a control unit (11) and an execution unit (12); The cutter head adjustment mechanism (4) comprises a cutter head telescopic device (13) and a cutter head pressure adjustment device (14); The drilling adjustment mechanism (5) comprises a drilling speed adjustment device (15) and a drilling pressure adjustment device (16).

2. The automatic coal mining equipment according to claim 1, characterized in that: The hardness sensor (6) adopts the piezoelectric principle and is used to measure the hardness of the coal seam; The thickness sensor (7) is based on the ultrasonic reflection principle and is used to measure the thickness of the coal seam; The rock formation structure sensor (8) uses electromagnetic wave scanning technology to analyze the distribution of cracks and stratification inside the rock formation; The temperature sensor (9) adopts a thermistor element and is used to monitor the temperature change of the coal seam.

3. The automatic coal mining equipment according to claim 1, characterized in that: The data processing unit (10) is used to process the data collected by the geological sensor array (2) and use a Kalman filter algorithm to perform denoising and smoothing processing; The control unit (11) is used to generate control instructions according to the processed data, and uses fuzzy logic control theory to generate control instructions; The execution unit (12) is used to execute control instructions and control the actions of the cutter head adjustment mechanism (4) and the drilling adjustment mechanism (5) through a drive motor and a hydraulic system.

4. The automatic coal mining equipment according to claim 1, characterized in that: The cutter head retractable device (13) uses a stepping motor to drive a lead screw mechanism, and adjusts the cutting depth of the cutter head by controlling the rotation angle of the motor; The cutter head pressure regulating device (14) realizes dynamic pressure adjustment through a hydraulic cylinder, the piston rod of the hydraulic cylinder is connected to the cutter head, and the force exerted by the cutter head on the coal seam is adjusted by changing the pressure of the hydraulic oil.

5. The automatic coal mining equipment according to claim 1, characterized in that: The drilling speed adjustment device (15) uses a variable frequency motor to drive the drilling mechanism, and dynamically adjusts the drilling speed by changing the rotation speed of the motor; The drilling pressure regulating device (16) controls the force exerted by the drill bit on the rock formation by regulating the pressure of the hydraulic cylinder.

6. The automatic coal mining equipment according to claim 1, characterized in that: The intelligent control system (3) also introduces an adaptive learning algorithm, which predicts the changing trend of geological conditions through a machine learning model based on historical data and real-time data, and adjusts mining parameters in advance.

7. The automatic coal mining equipment according to claim 1, characterized in that: The sensors of the geological sensor array (2) are connected to the intelligent control system (3) via wired or wireless means to transmit data in real time.

8. The automatic coal mining equipment according to claim 1, characterized in that: The intelligent control system (3) also includes a storage unit, which is used to store data collected by the geological sensor array (2) and generated control instructions.

9. The automatic coal mining equipment according to claim 1, characterized in that: The execution actions of the cutter head adjustment mechanism (4) and the drilling adjustment mechanism (5) are closed-loop controlled through a feedback mechanism, thereby ensuring the accuracy and stability of the actions.

10. The automatic coal mining equipment according to claim 1, characterized in that: The main frame (1) is made of high-strength steel material to ensure sufficient stability and load-bearing capacity under complex geological conditions.

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