Fully mechanized coal mining face expansion safety parallel operation transportation process

Abstract

The invention provides a fully mechanized coal mining face expansion safety parallel operation transportation process, and relates to the technical field of coal mine operation, and the process comprises the following steps: using a crawler-type telescopic support vehicle and suspension-type belt reversed loader combined transportation system; coal cut by the roadheader is directly transferred to an open-off cut stoping scraper conveyor through a transportation system; transportation-installation integrated cooperative control is realized through a transportation path optimization algorithm; the fully-mechanized excavating machine is matched with the crawler-type telescopic support vehicle, the front section of the suspension type belt reversed loader is connected with the fully-mechanized excavating machine reversing frame, up-down and left-right swinging can be achieved, the crawler-type telescopic support vehicle integrates the functions of walking, supporting, transferring and the like, the suspension type belt reversed loader is designed in a telescopic mode, the telescopic stroke is large, continuous conveying is achieved, and conveying efficiency is improved. Compared with the prior art, the tunneling transportation mode in the prior art is changed, one-stop transportation is directly achieved, tunneling coal is directly transported to the mining scraper conveyor which extends after the open-off cut, and time and labor cost for frequently mounting and dismounting transportation equipment are saved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine operations, and in particular to a comprehensive mining working face expansion and parallel operation transportation process. Background Art

[0002] With rapid economic development, society's demand for coal resources continues to increase. In the current fast-paced, high-efficiency era, coal mining efficiency is crucial. Modern coal mining technology has been integrated into the mechanized production model. Fully mechanized coal mining, as a comprehensive mechanized coal mining method in coal mines, has a mechanization application rate of over 95%. However, due to the widespread use of high-power coal mining equipment in mines and the frequent replacement of mining sites, the installation and disassembly of electromechanical equipment in fully mechanized mining working faces has become a weak link restricting coal mining efficiency.

[0003] The equipment installation process from the time the existing fully mechanized mining face is cut through to the time it is put into production is usually as follows: the two chute and cut eye of the working face are connected - the cut eye is opened and expanded by brush - the working face equipment is installed, the belt system of the belt transport lane and the power supply and liquid supply pipelines are installed - commissioning and commissioning. The current "expansion and installation parallel operation" or "expansion and installation integrated operation" adopts a pilot tunnel for cutting the working face, and the expansion and installation are carried out in parallel. The transportation process is that the tunneling machine is followed by a bridge transfer machine, a scraper conveyor and a transport chute belt. This traditional transportation mode has obvious defects. After the excavation is completed, the tunneling bridge transfer machine and the tunneling scraper conveyor need to be dismantled. The frequent installation and dismantling of transportation equipment not only increases the workload and time cost, but also these transportation equipment takes up a lot of space, which brings inconvenience to the installation of the back lane support and affects the direction adjustment of the support. The multi-level transfer leads to low coal transportation efficiency and reduces the construction efficiency of the expansion and installation parallel operation. Therefore, the present invention proposes a comprehensive mining working face expansion and installation parallel operation transportation process to solve the problems existing in the prior art. Summary of the Invention

[0004] In response to the above problems, the present invention proposes a parallel operation and transportation process for expanding the comprehensive mining working face. The parallel operation and transportation process for expanding the comprehensive mining working face adopts a comprehensive mining machine with a crawler telescopic support vehicle. The front section of the suspended belt transfer machine is connected to the comprehensive mining machine's slewing frame, which can realize up and down, left and right swing. The crawler telescopic support vehicle integrates the functions of walking, supporting, and transferring. The suspended belt transfer machine is retractable in design and has a large retractable stroke, realizing continuous transportation, changing the previous excavation and transportation mode, and directly realizing one-stop transportation.

[0005] To achieve the purpose of the present invention, the present invention is implemented through the following technical solutions: a fully mechanized mining face expansion and parallel operation transportation process, comprising the following steps:

[0006] S1: A transport system using a crawler-type telescopic support vehicle and a suspended belt loader;

[0007] S2: Directly transfer the coal cut by the tunnel boring machine to the scraper conveyor for cutting and mining through the transportation system;

[0008] S3: Realize integrated transportation-installation collaborative control through transportation path optimization algorithm.

[0009] Further improvements are as follows: the crawler-type telescopic support vehicle includes a suspended belt transfer machine at the front end and a hydraulic support adjustment platform at the rear end; the suspended belt transfer machine is connected to the slewing frame of the tunnel boring machine, with a swing range of ±15° up and down, ±10° left and right, and a telescopic stroke of ≥8m to adapt to changes in the tunnel section; the maximum load capacity of the hydraulic support adjustment platform is ≥100t, and the adjustment accuracy is ≤5°.

[0010] Further improvements are: the support top plate area of ​​the crawler telescopic support vehicle is ≥15㎡, and the support strength is ≥0.8MPa.

[0011] A further improvement is that in S2, the coal flow is continuously transported through the following means: a transport outlet of a fully-mechanized tunneling machine, a suspended belt loader, and a scraper conveyor for cutting and recovering coal.

[0012] A further improvement is that in S3, the transport path optimization algorithm includes the following steps:

[0013] Input parameters: Coordinates of the tunnel boring machine position Pj (xj, yj); Current position of the crawler telescopic support vehicle Pv (xv, yv); Coal flow velocity Vc; Roadway slope θ (0°~15°);

[0014] Calculation logic:

[0015]

[0016] Where: T total : total time; D transfer : Effective transport distance of suspended belt loader (m); L 支架 : Hydraulic support length (m); V v : Moving speed of crawler telescopic support vehicle (0-2m / s); Due to the existence of roadway slope θ, the actual horizontal speed of coal flow is V c ·cosθ;

[0017] Output: Optimal suspension belt loader swing angle α opt The moving trajectory of the crawler telescopic support vehicle is γ(t). By adjusting the angle, D transfer Shortest, reducing coal flow transportation time.

[0018] Further improvement is: when T total >T 设定 When increasing V v and reduce α opt , where T设定 To set the threshold time; through θ, V c Combined with the load of the suspended belt transfer machine, the coal flow blockage risk coefficient is judged. When the coal flow blockage risk coefficient is ≥0.8, the motor of the standby suspended belt transfer machine is started.

[0019] Further improvements are: the transportation system also includes a laser radar and a wireless communication module, the laser radar monitors the tunnel section in real time and automatically adjusts the height of the crawler telescopic support vehicle; the wireless communication module realizes data interconnection between the comprehensive tunneling machine, crawler telescopic support vehicle, and eye-cutting and mining scraper conveyor.

[0020] A further improvement is that the transport system further includes an algorithm for controlling the extension and contraction of the suspended belt loader, and the algorithm formula is:

[0021] ΔL=K×(L+D)-L0

[0022] Among them: ΔL is the extension and contraction amount of the suspended belt loader; K is the correction coefficient, ranging from 1.05 to 1.15, which is used to compensate for errors during transportation; L is the excavation distance of each cycle of the tunnel boring machine; D is the horizontal distance between the eye-cutting scraper conveyor and the initial position of the crawler telescopic support vehicle; L0 is the initial length of the suspended belt loader.

[0023] A further improvement is that the suspended belt transfer machine is equipped with a built-in pressure sensor, which automatically resets when the deflection resistance of the suspended belt transfer machine is greater than 8kN.

[0024] A further improvement is that the transport system is equipped with a safety monitoring module, and the safety monitoring module is used to monitor the tension F of the suspended belt transfer machine in real time. belt , when F belt When the load is greater than 45kN, the cutting speed of the tunnel boring machine will be automatically reduced.

[0025] The beneficial effects of the present invention are:

[0026] 1. The present invention adopts a comprehensive tunneling machine with a crawler-type telescopic support vehicle. The front-end suspended belt transfer machine is connected to the slewing frame of the comprehensive tunneling machine, which can swing up and down and left and right. The crawler-type telescopic support vehicle integrates the functions of walking, supporting, and transferring. The suspended belt transfer machine is retractable and has a large telescopic stroke, which realizes continuous transportation and changes the previous tunneling and transportation mode. It directly realizes one-stop transportation and transports the tunneled coal directly to the recovery scraper conveyor extended after the eye cutting. It avoids the steps of dismantling the tunneling bridge transfer machine and tunneling scraper conveyor after the tunneling is completed in the traditional transportation mode, saving the time and labor costs of frequently installing and dismantling transportation equipment.

[0027] 2. Since the present invention eliminates the need for a bridge-type loader and a scraper conveyor during excavation, it provides sufficient space for the installation of the back lane support, facilitates the adjustment of the support, and greatly improves the working conditions for the support installation.

[0028] 3. The present invention reduces the transportation equipment during excavation, avoids the trouble caused by frequent installation and disassembly of electromechanical transportation equipment, and at the same time provides sufficient space and position conditions for bracket installation, significantly improving the construction efficiency of parallel expansion and installation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of a crawler-type telescopic support vehicle according to the present invention;

[0030] Figure 2 This is a schematic diagram of the suspended belt transfer machine of the present invention;

[0031] Figure 3 This is a schematic diagram of coal flow transportation according to the present invention. DETAILED DESCRIPTION

[0032] In order to deepen the understanding of the present invention, the present invention will be further described in detail below with reference to the examples. The examples are only used to explain the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0033] Example 1

[0034] according to Figure 1 、 2 As shown in FIG. 3 , this embodiment proposes a parallel operation and transportation process for fully mechanized mining face expansion, including the following steps:

[0035] S1: A combined transport system using a crawler-type telescopic support vehicle and a suspended belt loader. The crawler-type telescopic support vehicle includes a suspended belt loader at the front and a hydraulic support steering platform at the rear. The suspended belt loader is connected to the slewing frame of the tunnel boring machine and has a swing range of ±15° vertically and ±10° horizontally, with a telescopic travel of ≥8m to accommodate changes in tunnel cross-section. The hydraulic support steering platform has a maximum load capacity of ≥100t and a steering accuracy of ≤5°. The crawler-type telescopic support vehicle's supporting roof area is ≥15㎡, with a support strength of ≥0.8MPa.

[0036] The transport system also includes a laser radar and a wireless communication module. The laser radar monitors the tunnel cross-section in real time and automatically adjusts the height of the crawler telescopic support vehicle. The wireless communication module interconnects the tunneling machine, crawler telescopic support vehicle, and cut-eye mining scraper conveyor. The transport system also includes an algorithm for controlling the extension and retraction of the suspended belt loader, and the algorithm formula is:

[0037] ΔL=K×(L+D)-L0

[0038] Wherein: ΔL is the telescopic amount of the suspended belt transfer machine; K is the correction coefficient, ranging from 1.05 to 1.15, used to compensate for errors in the transportation process; L is the excavation distance of each cycle of the tunnel boring machine; D is the horizontal distance between the initial position of the eye-cutting scraper conveyor and the crawler telescopic support vehicle; L0 is the initial length of the suspended belt transfer machine. The suspended belt transfer machine is equipped with a pressure sensor, which automatically resets when the deflection resistance of the suspended belt transfer machine is greater than 8kN. The transportation system is equipped with a safety monitoring module, and the safety monitoring module is used to monitor the tension F of the suspended belt transfer machine in real time. belt , when F belt When the load is greater than 45kN, the cutting speed of the tunnel boring machine will be automatically reduced.

[0039] S2: The coal cut by the tunnel boring machine is directly transferred to the scraper conveyor for cutting and recovering the coal through the transportation system; the coal flow is continuously transported through the following methods: the transport outlet of the tunnel boring machine, the suspended belt transfer machine, and the scraper conveyor for cutting and recovering the coal.

[0040] S3: Realize integrated transportation-installation coordinated control through transportation path optimization algorithm. The transportation path optimization algorithm includes the following steps:

[0041] Input parameters: Coordinates of the tunnel boring machine position Pj (xj, yj); Current position of the crawler telescopic support vehicle Pv (xv, yv); Coal flow velocity Vc; Roadway slope θ (0°~15°);

[0042] Calculation logic:

[0043]

[0044] Where: T total : total time; D transfer : Effective transport distance of suspended belt loader (m); L 支架 : Hydraulic support length (m); V v : Moving speed of crawler telescopic support vehicle (0-2m / s); Due to the existence of roadway slope θ, the actual horizontal speed of coal flow is V c ·cosθ;

[0045] Output: Optimal suspension belt loader swing angle α opt The moving trajectory of the crawler telescopic support vehicle is γ(t). By adjusting the angle, D transfer Shortest, reducing coal flow transportation time.

[0046] When T total >T 设定 When increasing V v and reduce α opt , where T 设定 To set the threshold time; through θ, V cCombined with the load of the suspended belt transfer machine, the coal flow blockage risk coefficient is judged. When the coal flow blockage risk coefficient is ≥0.8, the motor of the standby suspended belt transfer machine is started.

[0047] Example 2

[0048] according to Figure 1 、 2 As shown in FIG. 3 , this embodiment proposes a parallel operation and transportation process for fully mechanized mining face expansion:

[0049] Application scenario: 1203 working face of a certain mine, with a coal seam inclination of 18°, a tunnel section width of 5.2m and a height of 3.8m, and a hydraulic support weight of 85t.

[0050] Transportation system deployment

[0051] The front section of the crawler telescopic support vehicle (model ZLJ-100) is equipped with a suspended belt loader (1.2m belt width, 2×75kW power), which is articulated with the slewing frame of the tunnel boring machine (EBZ-260) with a swing range of ±15° / ±10°.

[0052] Continuous transport control

[0053] The tunnel boring machine cuts the coal wall, and the coal flows through the first transport (speed 1.8m / s) → suspended loader (speed 2.0m / s) → eye-cutting and mining scraper (SGZ-1000).

[0054] Transport route optimization algorithm input parameters:

[0055] Pj(10.5,3.2), Pv(8.0,2.8), Vc=1.8m / s, θ=18°, L bracket=4.5m, Vv=1.5m / s.

[0056] Algorithm output: α opt =12°, the trajectory of the support vehicle moves forward at a constant speed along the center line of the tunnel.

[0057] Support-installation coordination

[0058] The sliding support device moves forward 0.6m, the support vehicle moves back 1.2m synchronously, and the hydraulic support is installed to the designed position through the adjustment platform (accuracy ±3°).

[0059] Verify data:

[0060]

[0061] Example 3

[0062] according to Figure 1 、 2 As shown in FIG. 3 , this embodiment proposes a parallel operation and transportation process for fully mechanized mining face expansion:

[0063] Application scenario: 3301 working face of a certain mine, with a coal seam inclination of 32°, a tunnel section width of 5.5m and a height of 4.2m, and a hydraulic support weight of 120t.

[0064] Transportation system deployment

[0065] The crawler telescopic support vehicle (model ZLJ-120) is equipped with a double-suspension loader (total belt width 1.6m, power 2×90kW), which is articulated with the slewing frame of the tunnel boring machine (EBZ-315) with a swing range of ±12° / ±8°.

[0066] Continuous transport control

[0067] The tunnel boring machine cuts the coal wall, and the coal flows through a single conveyor (speed 1.6m / s) → a double conveyor (speed 2.2m / s) → a cutting and mining scraper (SGZ-1200).

[0068] Transport route optimization algorithm input parameters:

[0069] Pj(15.0,4.0), Pv(12.5,3.5), Vc=1.6m / s, θ=32°, L bracket=5.0m, Vv=1.2m / s.

[0070] Algorithm output: α opt =8°, the trajectory of the support vehicle moves forward in a serpentine manner along the lower wall of the tunnel.

[0071] Support-installation coordination

[0072] The sliding support device moves forward 0.8m, the support vehicle moves back 1.5m synchronously, and the hydraulic support is installed to the designed position through the adjustment platform (accuracy ±4°).

[0073] Verify data:

[0074]

[0075] The present invention uses a tunnel boring machine in combination with a crawler-type telescopic support vehicle. The front-end suspended belt transfer machine is connected to the tunnel boring machine's slewing frame, allowing it to swing up and down and left and right. The crawler-type telescopic support vehicle integrates the functions of traveling, supporting, and transferring. The suspended belt transfer machine is retractable and has a large telescopic stroke, realizing continuous transportation. This changes the previous tunneling and transportation mode and directly realizes one-stop transportation, directly transporting the tunneled coal to the recovery scraper conveyor connected after the eye cutting. This avoids the steps of removing the tunneling bridge transfer machine and tunneling scraper conveyor after tunneling is completed in the traditional transportation mode, saving the time and labor costs of frequently installing and removing transportation equipment. Moreover, since the bridge transfer machine and scraper conveyor are eliminated during tunneling, sufficient space is provided for the installation of the back-alley support, facilitating the adjustment of the support, and greatly improving the working conditions for the support installation. At the same time, the transportation equipment during tunneling is reduced, avoiding the trouble caused by the frequent installation and disassembly of electromechanical transportation equipment. At the same time, sufficient space and location conditions are provided for the support installation, significantly improving the construction efficiency of the parallel operation of expansion and installation.

[0076] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully mechanized mining face expansion and parallel operation transportation process, characterized in that: The following steps are involved: S1: A transport system using a crawler-type telescopic support vehicle and a suspended belt loader; S2: Directly transfer the coal cut by the tunnel boring machine to the scraper conveyor for cutting and mining through the transportation system; S3: Realize integrated transportation-installation collaborative control through transportation path optimization algorithm.

2. The method for parallel operation and transportation of fully mechanized mining face expansion and installation according to claim 1 is characterized in that: The crawler-type telescopic support vehicle includes a suspended belt transfer machine at the front end and a hydraulic support adjustment platform at the rear end. The suspended belt transfer machine is connected to the slewing frame of the tunnel boring machine, with a swing range of ±15° up and down and ±10° left and right, and a telescopic stroke of ≥8m to adapt to changes in the tunnel section; the maximum load capacity of the hydraulic support adjustment platform is ≥100t, and the adjustment accuracy is ≤5°.

3. The parallel operation and transportation process for fully mechanized mining face expansion and installation according to claim 2 is characterized by: The support top plate area of ​​the crawler-type telescopic support vehicle is ≥15 m2, and the support strength is ≥0.8 MPa.

4. The parallel operation and transportation process for fully mechanized mining face expansion according to claim 1 is characterized by: In S2, the coal flow is continuously transported through the following means: the transport outlet of the fully-mechanized tunnel boring machine, the suspended belt loader, and the eye-cutting scraper conveyor.

5. The parallel operation and transportation process for fully mechanized mining face expansion according to claim 1 is characterized by: In S3, the transport path optimization algorithm includes the following steps: Input parameters: Coordinates of the tunnel boring machine position Pj (xj, yj); Current position of the crawler telescopic support vehicle Pv (xv, yv); Coal flow velocity Vc; Roadway slope θ (0°~15°); Calculation logic: Where: T total : total time; D transfer : Effective transport distance of suspended belt loader (m); L 支架 : Hydraulic support length (m); V v : Moving speed of crawler telescopic support vehicle (0-2m / s); Due to the existence of roadway slope θ, the actual horizontal speed of coal flow is V c ·cosθ; Output: Optimal suspension belt loader swing angle α opt The moving trajectory of the crawler telescopic support vehicle is γ(t). By adjusting the angle, D transfer Shortest, reducing coal flow transportation time.

6. The parallel operation and transportation process for fully mechanized mining face expansion and installation according to claim 5, characterized in that: When T total >T 设定 When increasing V v and reduce α opt , where T 设定 To set the threshold time; through θ, V c Combined with the load of the suspended belt transfer machine, the coal flow blockage risk coefficient is judged. When the coal flow blockage risk coefficient is ≥0.8, the motor of the standby suspended belt transfer machine is started.

7. The parallel operation and transportation process for fully mechanized mining face expansion according to claim 1 is characterized by: The transportation system also includes a laser radar and a wireless communication module. The laser radar monitors the tunnel section in real time and automatically adjusts the height of the crawler telescopic support vehicle; the wireless communication module realizes data interconnection between the comprehensive tunneling machine, the crawler telescopic support vehicle, and the eye-cutting and mining scraper conveyor.

8. The parallel operation and transportation process for fully mechanized mining face expansion and installation according to claim 7 is characterized by: The transport system also includes an algorithm for controlling the extension and contraction of the suspended belt loader, and the algorithm formula is: ΔL=K×(L+D)-L0 Among them: ΔL is the extension and contraction amount of the suspended belt loader; K is the correction coefficient, ranging from 1.05 to 1.15, which is used to compensate for errors during transportation; L is the excavation distance of each cycle of the tunnel boring machine; D is the horizontal distance between the eye-cutting scraper conveyor and the initial position of the crawler telescopic support vehicle; L0 is the initial length of the suspended belt loader.

9. The parallel operation and transportation process for fully mechanized mining face expansion and installation according to claim 8, characterized in that: The suspended belt transfer machine is equipped with a built-in pressure sensor, which automatically resets when the deflection resistance of the suspended belt transfer machine exceeds 8kN.

10. The parallel operation and transportation process for fully mechanized mining face expansion and installation according to claim 9, characterized in that: The transport system is equipped with a safety monitoring module, and the safety monitoring module is used to monitor the tension F of the suspended belt transfer machine in real time. belt , when F belt When the load is greater than 45kN, the cutting speed of the tunnel boring machine will be automatically reduced.

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