Propulsion arm device for strip mine environment

Abstract

The invention relates to the technical field of open-pit tailing mining, in particular to a propelling arm device for an open-pit mine environment. The device comprises a plurality of sections of propelling arms, any section of propelling arm comprises a box body, the box body is a cuboid, two spiral bodies with opposite spiral directions are arranged in the box body in parallel, and a conical head and a conical hole are formed in the two ends of each spiral body respectively and used for butt joint positioning and fixing of the adjacent sections of propelling arms; the spiral body hanging bearing seat is used for hanging one end of the spiral body in the box body, and the other end of the spiral body is open; the box body connecting mechanism and the box body connecting tongue plate are arranged at the two ends of the box body and used for achieving mechanical connection of the adjacent sections of propelling arms; the spiral body connecting mechanism is used for connecting the spiral bodies of the adjacent sections of propelling arms, so that power transmission is realized and the coaxiality is ensured; armor cable grooves are formed in the two sides of the upper surface of the box body and used for fixing armored cables. The lower surface of the box body is of a plane structure. The problem that open-air tailing end slope coal pressing cannot be effectively and safely mined is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of open-pit tailings mining, and particularly to a propulsion arm device for an open-pit mine environment. Background Art

[0002] At present, the most widely used end-bang mining method for open-pit tailings in China is the traditional spiral drill end-bang coal mining and the coal shearer supporting unit belt conveyor coal mining. The working process of the spiral drill end-bang coal mining is similar to that of a wooden drill. The spiral drill bit cuts the coal seam, and the mined coal is discharged from the roadway through the opening thread of the drill body. Due to the large diameter of the drill pipe, the mining speed (rotation speed) of the spiral drill is reduced during the cutting process, and the coal is damaged during the process of being transported out of the drill hole, resulting in poor economic benefits. For the coal shearer supporting unit belt conveyor coal mining, its power parts are all at the front end and the middle part. Once a fault occurs during the operation of the equipment, personnel cannot enter the cave for maintenance, which will ultimately cause considerable economic losses. Therefore, a coal mining method that can complete operation and maintenance on the ground outside the end-bank of the open-pit tailings and does not require personnel to enter the goaf can effectively solve the problem of ineffective and unsafe mining of the coal pressed by the end-bank of the open-pit tailings. Summary of the Invention

[0003] The purpose of the present invention is to provide a propulsion arm device for an open-pit mine environment to effectively solve the problem of ineffective and unsafe mining of the coal pressed by the end-bank of the open-pit tailings.

[0004] According to the present invention, there is provided a propulsion arm device for an open-pit mine environment, and the propulsion arm device includes a plurality of sections of propulsion arms. Any section of the propulsion arm includes:

[0005] A box body, which is a cuboid. Two spiral bodies with opposite spiral directions are arranged in parallel in the box body. Conical heads and conical holes are respectively provided at both ends of the spiral bodies for docking positioning and fixing of adjacent sections of the propulsion arms.

[0006] A spiral body hanging bearing seat for hanging one end of the spiral body in the box body, and the other end of the spiral body is open.

[0007] A box body connecting mechanism and a box body connecting tongue plate are provided at both ends of the box body for realizing the mechanical connection of adjacent sections of the propulsion arms and allowing the up-and-down swing angle between adjacent box bodies to be a first preset angle, and the left-and-right swing angle to be less than a second preset angle.

[0008] A spiral body connecting mechanism for connecting the spiral bodies of adjacent sections of the propulsion arms to realize power transmission and ensure coaxiality.

[0009] Armor cable grooves are provided on both sides of the upper surface of the box body for fixing armor cables; the lower surface of the box body is a flat structure.

[0010] The front end of the propulsion arm device is connected to the coal shearer. The coal mined by the coal shearer is transported to the outside of the end slope through the spiral body. After coal mining is completed, the propulsion arm device pulls the coal shearer out of the end slope.

[0011] The present invention has at least the following beneficial effects:

[0012] The propulsion arm device of the present invention includes several sections of propulsion arms. Each section of the propulsion arm includes a box body, a spiral body, a spiral body connection mechanism, and a box body connection structure, effectively solving various problems of spiral transportation, connection, and power transmission. Spiral transportation is no longer affected by changes in external factors, connection is automated, and power transmission is made safe; it enables the entire process of end slope coal mining to be carried out without personnel entering the mining cavity, realizing minimally invasive mining of open-pit coal mines, minimizing the stripping area and engineering volume of open-pit coal mines, reducing the environmental damage caused by open-pit coal mining, and minimizing the ecological restoration cycle of open-pit coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0014] Figure 1 It is the front view of the propulsion arm provided by the embodiment of the present invention;

[0015] Figure 2 It is the top view of the propulsion arm provided by the embodiment of the present invention;

[0016] In the figure, 1 is the box body, 2 is the spiral body hanging bearing seat, 3 is the box body connection mechanism, 4 is the box body connection tongue plate, 5 is the spiral body connection mechanism, and 6 is the spiral body. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0018] According to the present invention, a propulsion arm device for an open-pit mine environment is provided. The propulsion arm device includes several sections of propulsion arms, as Figure 1 and 2 shown. Any section of the propulsion arm includes:

[0019] The box body 1 is a cuboid. Inside the box body 1, two helices 6 with opposite helix directions are arranged in parallel. At both ends of the helix 6, a cone head and a cone hole are respectively provided for the docking positioning and fixation of adjacent section propulsion arms. As an optional specific implementation manner, the material of the box body 1 is high-strength steel. Thus, the self-strength of the box body 1 provides the power for the forward and backward movement of the coal mining mechanism at the forefront. Among them, the helix directions of the two helices 6 are one left and one right.

[0020] The helix hanging bearing seat 2 is used to hang one end of the helix 6 inside the box body 1, and the other end of the helix 6 is open. As an optional specific implementation manner, the helix 6 is fixed inside the box body 1 through the helix hanging bearing seat 2, and the helix 6 is a helical shaft. Thus, the box body 1 wraps the two helical shafts inside, solving the problems of coal squeezing and speed reduction during coal mining and other safe and stable operation problems of the helical shaft. As an optional specific implementation manner, one end of each helical shaft is designed to be hung on the propulsion arm box body with a bearing housing, and the other end is open. The docking method of adjacent propulsion arms is that the fixed end docks with the open end of another section, so that the helical shafts are fixed both before and after docking.

[0021] The box body connection mechanism 3 and the box body connection tongue plate 4 are arranged at both ends of the box body 1 to realize the mechanical connection of adjacent section propulsion arms and allow the up-and-down swing angle between adjacent box bodies 1 to be the first preset angle, and the left-and-right swing angle to be less than the second preset angle. As an optional specific implementation manner, the first preset angle is 5°, and the second preset angle is 0.2°. As an optional specific implementation manner, the box body connection mechanism 3 is welded to the box body 1. By inserting the box body connection tongue plate 4 of one of the adjacent two-section propulsion arms into the box body connection mechanism 3 of the other section of the propulsion arm, tongue-and-groove fitting positioning can be achieved, and a continuous box body structure can be formed. Thus, there is also a special connection device between the box bodies 1 of adjacent propulsion arms to realize the docking of the box body 1 and the accuracy control of the propulsion direction. The box body connection mechanism 3 can ensure that the left-and-right swing of the box body in the forward direction is controlled within 0.2° and the up-and-down swing is controlled at about 5° while ensuring sufficient connection strength.

[0022] The spiral connection mechanism 5 is used to connect the spirals 6 of adjacent thrust arms to achieve power transmission and ensure coaxiality. As an optional specific implementation, the spiral connection mechanism 5 is welded to both ends of the spiral 6 to lock the tapered hole and the cone head in the tapered hole. For example, the cone head of the spiral 6 of one of the two adjacent thrust arms is inserted into the tapered hole of the spiral of the other thrust arm, and then locked by the spiral connection mechanism 5. As a result, the spiral 6 in the box 1 of each thrust arm is docked and power is transmitted through the spiral connection mechanism 5, ensuring that the power end is always at the outermost side. Each thrust arm that goes deep into the mining hole is a non-powered structure, and the boxes 1 of each independent thrust arm can be interchanged, which solves the problem that the length of the spiral 6 needs to increase with the increase of coal mining depth and the continuation of power, and also avoids the problem of unpredictable power failure maintenance. The spiral connection mechanism 5 is a key component of the propulsion arm. The power transmission of the entire spiral is achieved through the docking and power transmission of the spiral connection mechanism 5 of each section of the propulsion arm. At the same time, the spiral connection mechanism 5 has its own positioning mechanism, which can effectively ensure the coaxiality of the two connected spirals.

[0023] Armor cable grooves are provided on both sides of the upper surface of the box body 1 for fixing armor cables; the lower surface of the box body 1 is a flat structure.

[0024] The front end of the propulsion arm device is connected to the coal mining machine, and the coal mined by the coal mining machine is transported to the outside of the end wall through the spiral body 6. After the coal mining is completed, the propulsion arm device pulls the coal mining machine out of the end wall. Specifically, the front end of the propulsion arm is connected to the unmanned coal mining machine, and the thrust is transmitted to the coal mining machine through its own strength. At the same time, the coal mined by the coal mining machine is transported to the outside of the end wall through the two spiral shafts inside its box body 1; when the coal mining is completed, the propulsion arm will pull the coal mining machine out of the end wall. Therefore, this embodiment uses a special box body 1 to provide a closed conveying pipeline for spiral conveying, which avoids the damage of the spiral equipment to the rockfall and landslide, and can also transmit the external push and pull power to the front end of the coal mining machine.

[0025] In this embodiment, one end of the first propulsion arm is fixed to the discharge port of the coal mining machine, and the other end is connected to the external power mechanism. Under the thrust of the external power mechanism, the coal mining machine is pushed forward to mine coal. When the first propulsion arm is completely pushed into the end gang, the external power mechanism is disengaged from the propulsion arm and withdrawn. Then a new propulsion arm is added through the increase and decrease mechanism. One end of the newly added propulsion arm is connected to the propulsion arm pushed into the end gang, and the other end is connected to the external power mechanism. The connection and power transmission of the spiral are realized through the spiral connection structure 5; the box body 1 of the newly added propulsion arm is connected to the box body connection tongue plate 4 of the first propulsion arm through the box body connection mechanism 3, and then the above action is repeated under the thrust of the external power mechanism, and so on. As the coal mining work proceeds, the number of sections of the connected propulsion arm gradually increases.

[0026] The propulsion arm device of this embodiment includes several sections of propulsion arms. Each section of the propulsion arm includes a box body 1, a spiral body 6, a spiral body connection mechanism 5, and a box body connection structure 3, effectively solving various problems of spiral transportation, connection, and power transmission. Spiral transportation is no longer affected by external factor changes, connection is automated, and power transmission is made safe; enabling the entire process of end-wall coal mining to be carried out without personnel entering the mining cavity, realizing minimally invasive mining of open-pit coal mines, minimizing the stripping area and engineering volume of open-pit coal mines, reducing the environmental damage caused by open-pit coal mining, and minimizing the ecological restoration cycle of open-pit coal mines to the greatest extent.

[0027] As a preferred specific embodiment, the propulsion arm device includes a data processing module and preset type sensors for monitoring the working state of each section of the propulsion arm. The preset type sensors include a torque detection sensor, a vibration detection sensor, a pressure detection sensor, and a temperature detection sensor. As an alternative specific embodiment, the torque detection sensor and the vibration detection sensor of each section of the propulsion arm are arranged at the preset force application point positions of the spiral shaft on the preset side of this section of the propulsion arm, for real-time detection of the torque and vibration amplitude of the spiral shaft. Optionally, the preset side is the left side or the right side, and the preset force application point position is the middle position, or the front end, or the rear end. It should be understood that the positions where the torque detection sensors and the vibration detection sensors of different sections of the propulsion arm are arranged are the same. The pressure detection sensor of each section of the propulsion arm is arranged at the position of the box body connection mechanism 3 of this section of the propulsion arm, for real-time detection of the force condition at the box body connection part. The temperature detection sensor of each section of the propulsion arm is arranged inside the box body connection mechanism 3 of this section of the propulsion arm, for detecting the temperature rise generated by friction during the power transmission process to prevent overheating faults.

[0028] The data processing module is used to perform the following steps:

[0029] S100, obtaining the torque sequence of the i-th section of the propulsion arm in the target time period; the target time period is a time period with the current moment as the end moment and a length of a preset duration; the value range of i is from 1 to n, and n is the number of sections of the propulsion arm included in the propulsion arm device.

[0030] In this embodiment, the preset duration is an empirical value, such as 10 seconds, or 30 seconds, or 1 minute, or 5 minutes, etc.

[0031] In this embodiment, the torque of the i-th propulsion arm is collected at preset time intervals within the target time period, and these torques form the torque sequence of the i-th propulsion arm within the target time period in chronological order. Among them, the preset time interval is an empirical value, such as 1 second, 2 seconds, or 5 seconds. It should be understood that the vibration amplitude of the i-th propulsion arm is collected at preset time intervals within the target time period, and these vibration amplitudes form the vibration sequence of the i-th propulsion arm within the target time period in chronological order; the pressure of the i-th propulsion arm is collected at preset time intervals within the target time period, and these pressures form the pressure sequence of the i-th propulsion arm within the target time period in chronological order; the temperature of the i-th propulsion arm is collected at preset time intervals within the target time period, and these temperatures form the temperature sequence of the i-th propulsion arm within the target time period in chronological order.

[0032] S200. Obtain the reference torque sequence of the i-th propulsion arm within the target time period according to the torque sequences of the other propulsion arms in the propulsion arm device except the i-th propulsion arm.

[0033] In this embodiment, when the power is transmitted section by section from an external mechanism, due to mechanical friction and connection loss, the torque gradually decreases; in the case where all the propulsion arms of the propulsion arm device are normal, the actual torque of the i-th propulsion arm conforms to the relationship fitted according to the historical torque data under normal conditions with the actual torques of the other propulsion arms in the propulsion arm device except the i-th one; similarly, the vibration amplitude, pressure, and temperature of the i-th propulsion arm also conform to the relationships fitted according to the historical vibration amplitude data, pressure data, and temperature data under normal conditions with the vibration amplitudes, pressures, and temperatures of the other propulsion arms in the propulsion arm device except the i-th one. As an optional specific implementation manner, the reference torque sequence of the i-th propulsion arm within the target time period is [R i,1 , R i,2 , …, R i,j , …, R i,m , where R i,j is the reference torque of the i-th propulsion arm at the j-th acquisition moment within the target time period, and the value range of j is from 1 to m, where m is the number of acquisition moments included in the target time period; R i,j = ∑ k＝1,k≠i (w k,1 × r k,j ), where r k,j is the actual torque of the k-th propulsion arm at the j-th acquisition moment within the target time period, and w k,1 is the torque weight corresponding to the k-th propulsion arm, and the value range of k is from 1 to n and k ≠ i. As a preferred specific implementation manner, w k,1Obtained by fitting historical data, the process includes: obtaining the actual torque of each section of the propulsion arm corresponding to multiple sampling moments when there is no abnormality in the n sections of the propulsion arm device included in the propulsion arm device, and then using the actual torques of the n-1 sections of the propulsion arm other than the i-th section of the propulsion arm as n-1 independent variables respectively, using the actual torque of the i-th section of the propulsion arm as the dependent variable, using the linear equation with multiple variables (including n-1 independent variables) as the equation to be fitted, and finally obtaining the expression of the linear equation with multiple variables. Among them, the coefficient of the independent variable corresponding to the actual torque of the k-th section of the propulsion arm is w k,1 。

[0034] S300. Update the initial torque weight according to the torque similarity between the torque sequence and the reference torque sequence of the i-th section of the propulsion arm in the target time period to obtain the first torque weight of the i-th section of the propulsion arm; the first torque weight is negatively correlated with the torque similarity, and the first torque weight is positively correlated with the initial torque weight.

[0035] In this embodiment, the initial torque weight is preset, which represents the weight of torque in abnormal judgment. When setting the initial torque weight, the difference between the actual torque of the i-th section of the propulsion arm and the reference torque obtained according to the actual torques of other sections of the propulsion arm is not referred to. As an optional specific implementation manner, the default initial weight is set to the mean value, that is, the initial torque weight = the initial vibration weight = the initial pressure weight = the initial temperature weight = 0.25; or the initial weight is determined according to expert experience. As an optional specific implementation manner, the first torque weight of the i-th section of the propulsion arm is the product of the initial torque weight of the i-th section of the propulsion arm and y i ,y i =1-x i ,x i is the torque similarity between the torque sequence and the reference torque sequence of the i-th section of the propulsion arm in the target time period. In this embodiment, the torque similarity is between 0 and 1. Those skilled in the art know that any method for determining the similarity between sequences in the prior art falls within the protection scope of the present invention. Optionally, the mean value of the absolute values of the differences at all the same acquisition moments of the two sequences is normalized, and then the difference between 1 and the result after normalization is determined as the similarity of the two sequences.

[0036] S400. Obtain the target torque weight, target vibration weight, target pressure weight and target temperature weight of the i-th section of the propulsion arm according to the first torque weight, first vibration weight, first pressure weight and first temperature weight of the i-th section of the propulsion arm.

[0037] As an optional specific implementation manner, the target torque weight of the i-th section of the propulsion arm is the ratio of the first torque weight of the i-th section of the propulsion arm to the first weight of the i-th section of the propulsion arm, and the first weight of the i-th section of the propulsion arm is the sum of the first torque weight, first vibration weight, first pressure weight and first temperature weight of the i-th section of the propulsion arm.

[0038] In this embodiment, the target vibration weight of the i-th propulsion arm is the ratio of the first vibration weight of the i-th propulsion arm to the first weight of the i-th propulsion arm, the target pressure weight of the i-th propulsion arm is the ratio of the first pressure weight of the i-th propulsion arm to the first weight of the i-th propulsion arm, and the target temperature weight of the i-th propulsion arm is the ratio of the first temperature weight of the i-th propulsion arm to the first weight of the i-th propulsion arm.

[0039] In this embodiment, the process of obtaining the first vibration weight, the first pressure weight, and the first temperature weight of the i-th propulsion arm is similar to the process of obtaining the first torque weight of the i-th propulsion arm as described above, and will not be elaborated here.

[0040] S500. Determine whether the i-th propulsion arm is abnormal according to the target torque weight, the target vibration weight, the target pressure weight, and the target temperature weight of the i-th propulsion arm, the torque sequence of the i-th propulsion arm in the target time period, the vibration sequence of the i-th propulsion arm in the target time period, the pressure sequence of the i-th propulsion arm in the target time period, the temperature sequence of the i-th propulsion arm in the target time period, and the prediction sequence of the i-th propulsion arm in the target time period.

[0041] In this embodiment, the prediction sequence of the i-th propulsion arm in the target time period includes the torque prediction sequence of the i-th propulsion arm in the target time period, the vibration prediction sequence of the i-th propulsion arm in the target time period, the pressure prediction sequence of the i-th propulsion arm in the target time period, and the temperature prediction sequence of the i-th propulsion arm in the target time period. S500 includes:

[0042] S510. Obtain the first similarity of the i-th propulsion arm in the target time period according to the torque sequence of the i-th propulsion arm in the target time period and the torque prediction sequence of the i-th propulsion arm in the target time period, and determine the product of the first abnormality degree and the target torque weight as the target torque abnormality degree of the i-th propulsion arm in the target time period; the first abnormality degree is the difference between 1 and the first similarity.

[0043] As an optional specific implementation manner, an exponential smoothing algorithm is used to obtain the torque prediction sequence of the i-th propulsion arm in the target time period; in this embodiment, the torque of the i-th propulsion arm before the target time period is data under normal conditions, and the torque prediction sequence of the i-th propulsion arm in the target time period obtained by using the smoothing algorithm based on these data is the torque sequence of the i-th propulsion arm in the target time period under normal conditions. Those skilled in the art know that the process of using the exponential smoothing algorithm to obtain the prediction sequence is a prior art and will not be elaborated here.

[0044] In this embodiment, the first similarity is between 0 and 1. Those skilled in the art know that any method for determining the similarity between sequences in the prior art falls within the protection scope of the present invention, and will not be elaborated herein.

[0045] S520, obtain the second similarity of the i-th propulsion arm in the target time period according to the vibration sequence of the i-th propulsion arm in the target time period and the vibration prediction sequence of the i-th propulsion arm in the target time period, and determine the product of the second abnormality and the target vibration weight as the target vibration abnormality of the i-th propulsion arm in the target time period; the second abnormality is the difference between 1 and the second similarity.

[0046] As an optional specific implementation manner, an exponential smoothing algorithm is used to obtain the torsional vibration prediction sequence of the i-th propulsion arm in the target time period. Those skilled in the art know that the process of obtaining the prediction sequence using the exponential smoothing algorithm is the prior art, and will not be elaborated herein.

[0047] In this embodiment, the second similarity is between 0 and 1. Those skilled in the art know that any method for determining the similarity between sequences in the prior art falls within the protection scope of the present invention, and will not be elaborated herein.

[0048] S530, obtain the third similarity of the i-th propulsion arm in the target time period according to the pressure sequence of the i-th propulsion arm in the target time period and the pressure prediction sequence of the i-th propulsion arm in the target time period, and determine the product of the third abnormality and the target pressure weight as the target pressure abnormality of the i-th propulsion arm in the target time period; the third abnormality is the difference between 1 and the third similarity.

[0049] As an optional specific implementation manner, an exponential smoothing algorithm is used to obtain the pressure prediction sequence of the i-th propulsion arm in the target time period. Those skilled in the art know that the process of obtaining the prediction sequence using the exponential smoothing algorithm is the prior art, and will not be elaborated herein.

[0050] In this embodiment, the third similarity is between 0 and 1. Those skilled in the art know that any method for determining the similarity between sequences in the prior art falls within the protection scope of the present invention, and will not be elaborated herein.

[0051] S540, obtain the fourth similarity of the i-th propulsion arm in the target time period according to the temperature sequence of the i-th propulsion arm in the target time period and the temperature prediction sequence of the i-th propulsion arm in the target time period, and determine the product of the fourth abnormality and the target temperature weight as the target temperature abnormality of the i-th propulsion arm in the target time period; the fourth abnormality is the difference between 1 and the fourth similarity.

[0052] As an alternative specific implementation, an exponential smoothing algorithm is used to obtain the temperature prediction sequence of the i-th propulsion arm in the target time period. Those skilled in the art are aware that the process of using the exponential smoothing algorithm to obtain the prediction sequence is prior art and will not be elaborated here.

[0053] In this embodiment, the fourth similarity is between 0 and 1. Those skilled in the art are aware that any method for determining the similarity between sequences in the prior art falls within the protection scope of the present invention and will not be elaborated here.

[0054] S550, if the sum of the target torque abnormality degree, the target vibration abnormality degree, the target pressure abnormality degree, and the target temperature abnormality degree of the i-th section of the propulsion arm in the target time period is greater than or equal to the preset abnormality threshold, it is determined that the i-th section of the propulsion arm is abnormal.

[0055] In this embodiment, if the sum of the target torque abnormality degree, the target vibration abnormality degree, the target pressure abnormality degree, and the target temperature abnormality degree of the i-th section of the propulsion arm in the target time period is less than the preset abnormality threshold, it is determined that the i-th section of the propulsion arm is not abnormal.

[0056] As an alternative specific implementation, the preset abnormality threshold is an empirical value.

[0057] The target weight in this embodiment is dynamically adjusted according to the similarity between the actual data and the reference data, which can more accurately reflect the importance of each parameter in judging abnormalities under the current working conditions and is conducive to timely detecting abnormalities. For example, if the temperature of a certain robotic arm is abnormal, the target temperature weight of this robotic arm increases compared with the initial temperature weight, and the corresponding target torque abnormality degree increases significantly, resulting in the sum of the target torque abnormality degree, the target vibration abnormality degree, the target pressure abnormality degree, and the target temperature abnormality degree of this section of the propulsion arm being greater than or equal to the abnormality threshold, which is conducive to quickly detecting abnormalities.

[0058] Although some specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration and not for limiting the scope of the present invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A propelling arm device for an open-pit mine environment, characterized in that, The described propulsion arm device includes several sections of propulsion arms. Any one section of the propulsion arm includes: A box body (1), the box body (1) is a cuboid, and two helices (6) with opposite helix directions are arranged in parallel in the box body (1). The two ends of the helix (6) are respectively provided with a taper head and a taper hole for docking positioning and fixing of adjacent sections of the propulsion arm; A helix hanging bearing seat (2) for hanging one end of the helix (6) inside the box body (1), and the other end of the helix (6) is open; A box body connecting mechanism (3) and a box body connecting tongue plate (4) are arranged at both ends of the box body (1) for realizing mechanical connection of adjacent sections of the propulsion arm and allowing the upper and lower swing angles between adjacent box bodies (1) to be a first preset angle, and the left and right swing angles to be less than a second preset angle; A helix connecting mechanism (5) for connecting the helices (6) of adjacent sections of the propulsion arm to realize power transmission and ensure coaxiality; Armor cable grooves are provided on both sides of the upper surface of the box body (1) for fixing armor cables; the lower surface of the box body (1) is a flat structure; The front end of the propulsion arm device is connected to a shearer. The coal mined by the shearer is transported to the outside of the end wall through the helix (6). After coal mining is completed, the propulsion arm device pulls the shearer out of the end wall.

2. The propulsion arm device for open-pit mine environment according to claim 1, wherein The first preset angle is 5°, and the second preset angle is 0.2°.

3. The propulsion arm device for open-pit mine environment according to claim 1, wherein The propulsion arm device includes a data processing module and preset type sensors for monitoring the working state of each section of the propulsion arm. The preset type sensors include a torque detection sensor, a vibration detection sensor, a pressure detection sensor, and a temperature detection sensor; the data processing module is used to perform the following steps: S100, obtaining the torque sequence of the i-th section of the propulsion arm in the target time period; the target time period is a time period with the current moment as the end moment and a preset duration; the value range of i is from 1 to n, and n is the number of sections of the propulsion arm included in the propulsion arm device; S200, obtaining the reference torque sequence of the i-th section of the propulsion arm in the target time period according to the torque sequences of the other propulsion arms except the i-th section of the propulsion arm in the propulsion arm device; S300, updating the initial torque weight according to the torque similarity between the torque sequence of the i-th section of the propulsion arm in the target time period and the reference torque sequence to obtain the first torque weight of the i-th section of the propulsion arm; The first torque weight is negatively correlated with the torque similarity, and the first torque weight is positively correlated with the initial torque weight; S400, obtaining the target torque weight, target vibration weight, target pressure weight, and target temperature weight of the i-th section of the propulsion arm according to the first torque weight, first vibration weight, first pressure weight, and first temperature weight of the i-th section of the propulsion arm; S500, judging whether the i-th section of the propulsion arm is abnormal according to the target torque weight, target vibration weight, target pressure weight, target temperature weight of the i-th section of the propulsion arm, the torque sequence of the i-th section of the propulsion arm in the target time period, the vibration sequence of the i-th section of the propulsion arm in the target time period, the pressure sequence of the i-th section of the propulsion arm in the target time period, the temperature sequence of the i-th propulsion arm in the target time period, and the prediction sequence of the i-th propulsion arm in the target time period.

4. The propulsion arm device for open-pit mine environment according to claim 3, characterized in that, The prediction sequence of the i-th propulsion arm in the target time period includes the torque prediction sequence of the i-th propulsion arm in the target time period, the vibration prediction sequence of the i-th propulsion arm in the target time period, the pressure prediction sequence of the i-th propulsion arm in the target time period, and the temperature prediction sequence of the i-th propulsion arm in the target time period. S500 includes: S510, obtaining the first similarity of the i-th section of the propulsion arm in the target time period according to the torque sequence of the i-th section of the propulsion arm in the target time period and the torque prediction sequence of the i-th propulsion arm in the target time period, and determining the product of the first abnormality and the target torque weight as the target torque abnormality of the i-th section of the propulsion arm in the target time period; the first abnormality is the difference between 1 and the first similarity; S520, obtaining the second similarity of the i-th section of the propulsion arm in the target time period according to the vibration sequence of the i-th section of the propulsion arm in the target time period and the vibration prediction sequence of the i-th propulsion arm in the target time period, and determining the product of the second abnormality and the target vibration weight as the target vibration abnormality of the i-th section of the propulsion arm in the target time period; the second abnormality is the difference between 1 and the second similarity; S530, obtaining the third similarity of the i-th section of the propulsion arm in the target time period according to the pressure sequence of the i-th section of the propulsion arm in the target time period and the pressure prediction sequence of the i-th propulsion arm in the target time period, and determining the product of the third abnormality and the target pressure weight as the target pressure abnormality of the i-th section of the propulsion arm in the target time period; the third abnormality is the difference between 1 and the third similarity; S540, obtaining the fourth similarity of the i-th section of the propulsion arm in the target time period according to the temperature sequence of the i-th section of the propulsion arm in the target time period and the temperature prediction sequence of the i-th propulsion arm in the target time period, and determining the product of the fourth abnormality and the target temperature weight as the target temperature abnormality of the i-th section of the propulsion arm in the target time period; the fourth abnormality is the difference between 1 and the fourth similarity; S550, if the sum of the target torque abnormality, the target vibration abnormality, the target pressure abnormality, and the target temperature abnormality of the i-th section of the propulsion arm in the target time period is greater than or equal to the preset abnormality threshold, it is determined that the i-th section of the propulsion arm is abnormal.

5. The propulsion arm device for open-pit mine environment according to claim 4, characterized in that, Obtain the reference torque sequence of the i-th propulsion arm in the target time period as [R i,1 , R i,2 , …, R i,j , …, R i,m , where R i,j is the reference torque of the i-th propulsion arm at the j-th acquisition moment in the target time period, and the value range of j is from 1 to m, where m is the number of acquisition moments included in the target time period; R i,j = ∑ k＝1,k≠i (w k,1 × r k,j ), where r k,j is the actual torque of the k-th propulsion arm at the j-th acquisition moment in the target time period, and w k,1 is the torque weight corresponding to the k-th propulsion arm, and the value range of k is from 1 to n, and k ≠ i.

6. The propulsion arm device for open-pit mine environment according to claim 3, characterized in that, The first torque weight of the i-th propulsion arm is the product of the initial torque weight of the i-th propulsion arm and y i where y i = 1 - x i and x i is the torque similarity between the torque sequence and the reference torque sequence of the i-th propulsion arm during the target time period.

7. The propulsion arm device for open-pit mine environment according to claim 3, characterized in that, The target torque weight of the i-th section of the propulsion arm is the ratio of the first torque weight of the i-th section of the propulsion arm to the first weight of the i-th section of the propulsion arm, and the first weight of the i-th section of the propulsion arm is the sum of the first torque weight, the first vibration weight, the first pressure weight, and the first temperature weight of the i-th section of the propulsion arm.

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