Coal mine automatic corner reversing conveying device and method

Abstract

The application discloses a kind of coal mine automation corner reversing conveying device and method, it is related to mine conveying technical field, the conveying device includes: core steering section, for changing the conveying direction of material;Core steering section includes matrix type multi-axis collaborative steering assembly;Intelligent perception control system is electrically connected to multiple independent drive steering rollers;Intelligent perception control system includes material flow sensor for monitoring material flow, multiple respectively for monitoring the operating state of independent drive steering roller motor sensor, and explosion-proof programmable logic controller, explosion-proof programmable logic controller is connected with material flow sensor and multiple motor sensors;Integrated sealing dust suppression structure, covering core steering section.The application is compact and stable conveying with matrix differential steering, realizes flow self-adaptation and fault early warning with intelligent perception system, combined with sealing dust suppression structure, improves the automation level, operating reliability and job environment safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine conveying, in particular to a coal mine automatic corner reversing conveying device and method. BACKGROUND

[0002] In the production and transportation system of coal mines, continuous and efficient material conveying is the key link to ensure the smoothness of the overall operation process. The underground roadway network is complex, and the conveying system often needs to change direction between different roadways to connect the mining working face and the main transportation trunk. Therefore, multi-stage belt conveyor transfer and integrated large-radius turning belt conveyor are commonly used in engineering. In the multi-stage transfer scheme, the material is unloaded from the head of the upper stage conveyor, falls into the lower stage conveyor through the material guide chute and the transfer point, and completes the turning of the path through multi-stage connection. The large-radius turning conveyor forms a huge physical arc through the special design of the rack and the conveyor belt, guiding the material flow to achieve turning. These technical solutions play an indispensable role in mine production as the basis for realizing long-distance and large-quantity continuous conveying of materials.

[0003] However, the inherent defects of the above-mentioned traditional technology are increasingly prominent when dealing with specific working conditions in the space-limited and harsh environment of coal mines, becoming a bottleneck restricting the efficiency and automation level of the conveying system. First, the large-radius turning conveyor occupies a large amount of valuable roadway space due to its large physical turning radius, making it difficult to arrange in narrow or right-angle turning roadways, sometimes even requiring additional roadway excavation, significantly increasing engineering cost and difficulty. Second, during the transfer or turning process, the material is subjected to strong impact due to the dramatic change in speed and direction, which not only causes a large amount of material to be thrown, increasing the cleaning and maintenance burden of the site, but also generates a large amount of dust during the process, seriously deteriorating the underground working environment, threatening personnel health, and forming a potential dust explosion safety hazard. In addition, the continuous and violent impact and friction between the material and the material guide chute and other components greatly accelerate the wear of the equipment, resulting in high component failure rate, short service life, and frequent maintenance. This high failure rate and frequent downtime maintenance seriously affect the continuity and reliability of the conveying system, which is contrary to the modern coal mine's pursuit of automation, few people, and even unmanned high-efficiency production mode. SUMMARY

[0004] The purpose of the present application is to provide a coal mine automatic corner reversing conveying device and method, which solves the problems in the background art.

[0005] To solve the above technical problems, the present application provides a coal mine automatic corner reversing conveying device, which comprises: a core turning section for changing the conveying direction of the material;

[0006] The core turning section comprises a matrix multi-axis cooperative turning assembly;

[0007] The matrix multi-axis cooperative turning assembly is composed of a plurality of independently driven turning rollers arranged in a matrix, and a sealed receiving chassis is arranged below the plurality of independently driven turning rollers;

[0008] An intelligent sensing control system is electrically connected to the plurality of independently driven turning rollers;

[0009] The intelligent sensing control system comprises a material flow sensor for monitoring material flow, a plurality of motor sensors for monitoring the operating state of the independently driven turning rollers, and an explosion-proof programmable logic controller, which is connected to the material flow sensor and the plurality of motor sensors;

[0010] An integrated sealing dust suppression structure covers the core turning section.

[0011] Preferably, each of the independently driven turning rollers is driven by an independent, variable frequency speed adjustable explosion-proof micro motor.

[0012] Preferably, the material flow sensor is a non-contact sensor arranged upstream of the inlet of the core turning section.

[0013] Preferably, the integrated sealing dust suppression structure comprises a steel sealing cover and a plurality of high-pressure atomizing nozzles arranged inside the steel sealing cover, and the high-pressure atomizing nozzles are controlled by the explosion-proof programmable logic controller.

[0014] Preferably, part of the independently driven turning rollers are of a structure that can be adjusted in angle around a vertical axis for actively guiding the turning of the material flow.

[0015] Also provided is a coal mine automatic corner reversing conveying method, comprising:

[0016] S1, real-time flow data of the material entering the core turning section is obtained in real time by the material flow sensor;

[0017] S2, the explosion-proof programmable logic controller calculates the target operating speed of each independently driven turning roller according to the real-time flow data and a preset turning model, and the target operating speed of the independently driven turning roller located on the inner side of the corner is lower than that of the independently driven turning roller located on the outer side of the corner, so as to form a differential speed;

[0018] S3, the explosion-proof programmable logic controller controls the plurality of independently driven turning rollers to operate at corresponding target operating speeds to realize smooth turning of the material.

[0019] Preferably, the S2 further comprises:

[0020] S21. The explosion-proof programmable logic controller compares the real-time flow data with preset multi-level flow thresholds.

[0021] S22. Based on the comparison results, the explosion-proof programmable logic controller selects a set of corresponding preset operating parameters, which include a reference speed and a differential speed gradient.

[0022] S23. The explosion-proof programmable logic controller calculates the target running speed of each of the independent drive steering rollers based on the preset operating parameters.

[0023] Preferred options also include:

[0024] S4. Real-time operating data of each independent drive steering roller is acquired through the motor sensor;

[0025] S5. The explosion-proof programmable logic controller compares the real-time operating data with a preset health model benchmark value.

[0026] S6. When the difference between the real-time operating data and the health model benchmark value exceeds a preset abnormal threshold, the explosion-proof programmable logic controller sends an alarm signal, which includes the location information of the faulty roller.

[0027] Preferably, after S6, the following is included:

[0028] S7. The explosion-proof programmable logic controller automatically reduces the operating speed of the faulty roller and the rollers in the adjacent area or stops the machine.

[0029] Preferred options also include:

[0030] S8. When the device is started, the explosion-proof programmable logic controller controls the high-pressure atomizing nozzles in the integrated sealed dust suppression structure to perform spraying operations.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. Through the innovative matrix-type multi-axis cooperative steering assembly, a perfect virtual steering arc is equivalent to a dense array of independently driven steering rollers in a very small physical space. By applying precise speed differences to the independently driven steering rollers at different positions, the material flow is flexibly and gradually guided to change direction. This fundamentally eliminates the huge space occupation and severe impact problems caused by physical turns or rigid obstructions in traditional solutions. It significantly reduces material spillage, impact dust generation, and wear of guiding components, achieving a balance between compact space and smooth conveying.

[0033] 2. A complete intelligent sensing and adaptive control system has been constructed. The size of the incoming material flow can be predicted in advance through non-contact sensors. The controller can dynamically adjust the running speed and differential speed gradient of the entire turning area based on real-time flow data and preset models. This allows the conveying capacity of the device to actively adapt to the fluctuations in the upstream material flow, avoiding energy waste during off-peak periods and the risk of accumulation and blockage during peak periods. It ensures that the material flow can maintain an efficient, economical and uninterrupted operating state under any working conditions, achieving a unity of high continuity and high controllability in the conveying process.

[0034] 3. A proactive equipment health management and fault early warning mechanism has been established. By monitoring the operating data of each independent drive unit in real time and comparing it with the baseline model under healthy conditions, abnormal signs can be identified before a fault occurs. Once a potential risk is detected, it can not only immediately issue an alarm signal containing the precise location of the fault, but also automatically execute protective intervention measures such as speed reduction or shutdown, effectively preventing the fault from escalating. This shift from post-maintenance to pre-warning mode has greatly improved the operational reliability of the equipment in harsh environments and extended its service life.

[0035] 4. It achieves dual high-efficiency dust suppression by combining source control and process capture. The low-impact flexible steering characteristics fundamentally reduce the amount of dust generated. The integrated steel sealed outer cover completely isolates the entire operation process from the external environment, eliminating the channels for dust spillage. At the same time, the controlled-start internal high-pressure atomizing spray system can effectively capture and settle the trace suspended dust generated in the work space, ensuring the cleanliness of the work environment and the inherent safety of the production process in all aspects. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the overall structure of the device;

[0038] Figure 2 This is a schematic diagram of an integrated sealing and dust suppression structure;

[0039] Figure 3 This is a schematic diagram of the top structure of the matrix multi-axis cooperative steering assembly;

[0040] Figure 4 This is a schematic diagram of the bottom structure of the matrix multi-axis coordinated steering assembly;

[0041] Figure 5 This is a schematic diagram of the support structure for the matrix multi-axis coordinated steering assembly;

[0042] Figure 6 This is a schematic diagram of an independently driven steering roller.

[0043] Figure 7 This is a flowchart of the method steps in Example 2.

[0044] 100. Matrix multi-axis coordinated steering assembly; 101. Independent drive steering rollers; 102. Sealed support chassis; 103. Explosion-proof micro motor; 200. Intelligent sensing and control system; 201. Material flow sensor; 202. Motor sensor; 203. Explosion-proof programmable logic controller; 300. Integrated sealed dust suppression structure; 301. Steel sealed outer cover; 302. High-pressure atomizing nozzle. Detailed Implementation

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0046] Example 1:

[0047] Please see Figures 1-6 The present invention provides an automated corner reversing conveying device for coal mines, comprising: a core turning section for changing the conveying direction of materials;

[0048] The core steering section includes a matrix multi-axis cooperative steering assembly 100;

[0049] The matrix multi-axis cooperative steering assembly 100 is composed of multiple independent drive steering rollers 101 arranged in a matrix, and a sealed support chassis 102 is provided below the multiple independent drive steering rollers 101.

[0050] The intelligent sensing and control system 200 is electrically connected to the multiple independent drive steering rollers 101;

[0051] The intelligent sensing and control system 200 includes a material flow sensor 201 for monitoring material flow, a plurality of motor sensors 202 for monitoring the operating status of the independent drive steering roller 101, and an explosion-proof programmable logic controller 203, wherein the explosion-proof programmable logic controller 203 is connected to the material flow sensor 201 and the plurality of motor sensors 202 respectively.

[0052] An integrated sealed dust suppression structure 300 covers the core steering section;

[0053] To address the problems of large space occupation, easy material spillage, high dust levels, and severe equipment wear in existing underground coal mine conveying systems at corners, this embodiment provides an automated corner reversing conveying device for coal mines. This device can achieve compact space, large angle, and smooth material turning between upstream and downstream conveyors.

[0054] The core of the device is the core steering section, whose key internal structure is a matrix-type multi-axis cooperative steering assembly 100. This assembly has an array of multiple independently driven steering rollers 101 densely arranged within a rigid frame, replacing the traditional large-radius physical turning structure, thereby significantly reducing the physical space occupied by the device. Below the array of independently driven steering rollers 101, there is an integrally formed sealed receiving chassis 102, which is used to receive and guide fine particulate materials that may leak from the gaps between the rollers, ensuring the lossless transport of materials.

[0055] The operation of the device is regulated by an intelligent sensing and control system 200. The system controls the operation of each independent drive steering roller 101 through electrical connection. The system includes a material flow sensor 201 to monitor the amount of material entering the device; multiple motor sensors 202 to monitor the load and speed of each independent drive steering roller 101 and other operating statuses. The data collected by these sensors are all transmitted to the central controller of the system, namely an explosion-proof programmable logic controller 203.

[0056] In addition, to cope with the harsh high-dust environment in coal mines, the entire core turning section is covered by an integrated sealed dust suppression structure 300, which effectively isolates the equipment operation from the external environment, suppresses dust overflow, and ensures the stability of equipment operation and the safety of the working environment.

[0057] Each of the aforementioned independent drive steering rollers 101 is driven by an independent, variable frequency speed-regulating explosion-proof micro motor 103;

[0058] In this embodiment, the driving method of the above-mentioned device is specifically described; each independent drive steering roller 101 in the matrix multi-axis cooperative steering assembly 100 is powered by an independent explosion-proof micro motor 103; specifically, a 0.75kW explosion-proof permanent magnet synchronous servo motor can be selected and connected to the corresponding independent drive steering roller 101 through a coupling; the motor controller is connected to the main explosion-proof programmable logic controller 203;

[0059] The adoption of this independent drive method with one roller per machine, and the selection of variable frequency speed-regulating motors, aims to endow the intelligent sensing and control system 200 with the ability to independently, accurately, and quickly adjust the speed of each independently driven steering roller 101. This is the basis for the differential speed control function necessary to achieve smooth material steering. The explosion-proof programmable logic controller 203 can send different frequency commands to each motor, causing it to rotate at different speeds. At the same time, the selection of explosion-proof motors meets the basic requirements of safety production regulations for dangerous environments such as high gas and high dust in underground coal mines, ensuring the inherent safety of the device.

[0060] The material flow sensor 201 is a non-contact sensor and is located upstream of the inlet of the core turning section;

[0061] In this embodiment, the setting of the material flow sensor 201 is described in detail. The material flow sensor 201 is installed on the conveyor frame upstream of the device inlet, for example, 1.5 meters away from the device inlet docking section. The purpose of this setting is to sense the material flow that is about to enter the device in advance, so as to provide reaction time for the explosion-proof programmable logic controller 203 to predict and adjust the speed.

[0062] The sensor is a non-contact sensor, specifically a laser cross-section scanner, a lidar sensor, or an ultrasonic sensor. Using a non-contact measurement method avoids direct contact between the sensor and the coal material, thus preventing sensor damage or measurement inaccuracies caused by material impact, wear, or adhesion. This improves the reliability and long-term stability of the system under harsh operating conditions. The sensor continuously scans the material accumulation section on the upstream conveyor belt and transmits the calculated instantaneous volumetric flow rate data wirelessly or via wired connection to the explosion-proof programmable logic controller 203.

[0063] The integrated sealed dust suppression structure 300 includes a steel sealed outer cover 301 and a plurality of high-pressure atomizing nozzles 302 disposed inside the steel sealed outer cover 301. The high-pressure atomizing nozzles 302 are controlled by the explosion-proof programmable logic controller 203.

[0064] In this embodiment, the specific composition of the integrated sealing dust suppression structure 300 is described; the structure consists of two parts working together.

[0065] The first part is the steel sealing cover 301; it is made of Q235 steel plate with a thickness of 5mm, for example, and completely covers the entire core turning section and the entrance and exit docking part to form a physically sealed space. Its function is to prevent the spread of dust to the external roadway environment from the source.

[0066] The second part consists of multiple high-pressure atomizing nozzles 302 installed inside the outer casing. These nozzles are evenly arranged on the top inner wall of the sealed outer casing along the material's movement path within the device. The nozzles are connected to a high-pressure water source via pipelines, and their opening and closing are controlled by solenoid valves, which are in turn controlled by instructions from an explosion-proof programmable logic controller 203. When the device starts conveying materials, the explosion-proof programmable logic controller 203 controls the nozzles to spray out a fine water mist. The water mist can effectively capture and settle the trace suspended dust generated by the material movement, adhering it to the material surface to achieve efficient internal dust suppression.

[0067] The structure of the independently driven steering roller 101 is such that its angle can be finely adjusted around the vertical axis, which is used to actively guide the steering of the material flow;

[0068] In this embodiment, an optional structure for enhancing the guiding effect is provided; the steering roller 101 is partially or completely driven independently, and in addition to being able to rotate around its own central axis to convey materials, its support structure is also designed to be able to deflect within a small range and controllable angle around an axis perpendicular to the ground.

[0069] This deflection is not a free swing, but is precisely calculated by the explosion-proof programmable logic controller 203 according to the preset steering model and driven by a micro servo mechanism or stepper motor. The explosion-proof programmable logic controller 203 will coordinately control the deflection angle of these independently driven steering rollers 101 to ensure that there is no mechanical interference between adjacent rollers and to form a smooth virtual guide arc together. Its technical function is that, in addition to guiding the material through speed difference, it also guides the direction of material flow more actively and gently through fine adjustment of physical angle, further reducing the internal stress of the material when turning, making the turning process smoother.

[0070] Example 2:

[0071] This invention also provides an automated corner-switching conveying method for coal mines, comprising:

[0072] S1. The material flow sensor 201 acquires real-time flow data of the material entering the core turning section.

[0073] S2. The explosion-proof programmable logic controller 203 calculates the target running speed of each of the independent drive steering rollers 101 based on the real-time flow data and the preset steering model. The target running speed of the independent drive steering rollers 101 located on the inner path of the corner is lower than the target running speed of the independent drive steering rollers 101 located on the outer path of the corner, so as to form a differential speed.

[0074] S3. The explosion-proof programmable logic controller 203 controls multiple independent drive steering rollers 101 to run at corresponding target running speeds to achieve smooth material turning.

[0075] This embodiment describes the core control method for achieving smooth material redirection;

[0076] In step S1, a material flow sensor 201 installed upstream of the device, such as a laser cross-section scanner, continuously scans the coal cross-sectional profile on the conveyor belt, calculates the material volume per unit time through a built-in algorithm, thereby obtaining real-time flow data, and transmits the data to the explosion-proof programmable logic controller 203.

[0077] In step S2, after receiving the real-time flow data, the explosion-proof programmable logic controller 203 calls a preset steering model for the current corner angle (e.g., 90°). The core objective of this model is to precisely control the linear velocity of each independent drive steering roller 101 so that the entire material flow moves at a uniform and controlled equivalent angular velocity. Complete a smooth turn around a virtual turning center O;

[0078] Specifically, the calculation logic of this steering model is as follows:

[0079] The controller is based on real-time volumetric flow rate (unit: ), the preset average accumulation thickness of materials in the turning area (Unit: m) and the effective width of the turning lane (Unit: m) Estimate the target forward velocity required for the material flow at the centerline of the turning area. (Unit: m / s); the relationship is as follows:

[0080] ;

[0081] This indicates the target forward velocity required for the material flow at the centerline of the turning zone (unit: m / s).

[0082] Real-time volumetric flow rate (unit: );

[0083] Indicates the preset average stacking thickness of the material in the turning area (unit: m);

[0084] Indicates the effective width of the turning lane (unit: m);

[0085] Based on the equivalent turning radius of the centerline (Unit: m) can be used to calculate the equivalent target angular velocity required for the entire material flow to complete the turn. (Unit: rad / s); The correct physical relationship is:

[0086] ;

[0087] This represents the equivalent target angular velocity (unit: rad / s) required for the entire material flow to complete the turn.

[0088] This indicates the target forward velocity required for the material flow at the centerline of the turning zone (unit: m / s).

[0089] The equivalent turning radius (in meters) represents the centerline of the turning area.

[0090] Based on the above relationships, the controller can adjust its operation based on real-time traffic data. Dynamically calculate the required target angular velocity :

[0091] ;

[0092] This represents the equivalent target angular velocity (unit: rad / s) required for the entire material flow to complete the turn.

[0093] Real-time volumetric flow rate (unit: );

[0094] Indicates the preset average stacking thickness of the material in the turning area (unit: m);

[0095] Indicates the effective width of the turning lane (unit: m);

[0096] The equivalent turning radius (in meters) represents the centerline of the turning area.

[0097] The target angular velocity It will be based on real-time traffic data The changes are dynamically adjusted; subsequently, the explosion-proof programmable logic controller 203 adjusts the value of the matrix at any position according to the following formula. Independent drive steering rollers Calculate the target linear velocity that it must achieve. :

[0098] ;

[0099] The target linear velocity (unit: m / s);

[0100] For this independent drive steering roller The perpendicular distance to the virtual turning center O, i.e., their respective equivalent turning radius (unit: m).

[0101] Using this formula, the controller drives each independent steering roller. Calculate the precise target velocity;

[0102] The explosion-proof programmable logic controller 203 calculates a specific target running speed for each independent drive steering roller 101 in the matrix. The calculation result will naturally form a speed field: the independent drive steering roller 101 located on the inner path of the corner (with a small equivalent radius) is assigned a lower target speed, while the independent drive steering roller 101 located on the outer path of the corner (with a large equivalent radius) is assigned a higher target speed. The roller speed in the middle area has a smooth gradient transition, thus forming the differential speed necessary for smooth steering.

[0103] In step S3, the explosion-proof programmable logic controller 203 sends the target running speed command to the independent drive motor corresponding to each independent drive steering roller 101 through the electrical control unit; each motor executes the command precisely, and the drive roller matrix operates in coordination with the calculated speed field, thereby flexibly and gradually changing the direction of the material flow and realizing smooth and impact-free corner conveying.

[0104] S2 is followed by:

[0105] S21. The explosion-proof programmable logic controller 203 compares the real-time flow data with preset multi-level flow thresholds.

[0106] S22. Based on the comparison results, the explosion-proof programmable logic controller 203 selects a set of corresponding preset operating parameters, which include a reference speed and a differential speed gradient.

[0107] S23. The explosion-proof programmable logic controller 203 calculates the target operating speed of each of the independent drive steering rollers 101 based on the preset operating parameters.

[0108] In a preferred embodiment, a more specific and easily implemented flow-adaptive speed control method is provided for the speed calculation process in step S2. This method does not require real-time solving of complex fluid dynamics models, but instead uses a hierarchical lookup table approach for efficient control. The specific steps are as follows:

[0109] S21, the explosion-proof programmable logic controller 203 will process the real-time flow data obtained by the material flow sensor 201. With preset multi-level traffic thresholds (e.g.) , , ) for comparison;

[0110] S22. Based on the comparison results, the explosion-proof programmable logic controller 203 selects a set of corresponding preset operating parameters from a preset parameter library; for example, if If so, select the low flow rate parameter group; if If so, select the medium flow rate parameter set; each set of preset operating parameters includes a reference angular velocity. and / or a differential gradient coefficient ;

[0111] S23. The explosion-proof programmable logic controller 203 calculates the target operating speed for each independent drive steering roller 101 based on the selected operating parameters. For example, a selected reference angular velocity can be used directly. And according to the formula The calculation is performed; in this way, the overall operating speed of the device can be automatically adjusted in stages according to the amount of material coming in. While ensuring conveying efficiency, it effectively avoids the risk of wasting energy at low loads and causing accumulation and blockage due to insufficient speed at high loads. It has high practicality and robustness.

[0112] Also includes:

[0113] S4. Real-time operating data of each independent drive steering roller 101 is acquired in real time through the motor sensor 202;

[0114] S5. The explosion-proof programmable logic controller 203 compares the real-time operating data with the preset health model benchmark value.

[0115] S6. When the difference between the real-time operating data and the health model benchmark value exceeds a preset abnormal threshold, the explosion-proof programmable logic controller 203 sends an alarm signal, which includes the location information of the faulty roller.

[0116] This embodiment adds a method for fault prediction and health management of equipment;

[0117] In step S4, the motor sensor 202 integrated inside each independent drive motor or its driver monitors the motor's operating data in real time, such as output current, temperature or vibration frequency, and sends this data to the explosion-proof programmable logic controller 203.

[0118] In step S5, the explosion-proof programmable logic controller 203 internally stores a device health model; this health model is a multidimensional function or lookup table constructed based on the physical characteristics of the motor, describing the correlation between various parameters during its normal operation. Specifically, for each independent drive motor, the current consumed during normal operation depends primarily on its current output torque and operating speed; therefore, the health model can be expressed as:

[0119] ;

[0120] It is the expected healthy current value of the motor under the current operating conditions (unit: A);

[0121] It is the real-time motor speed (unit: rpm) fed back by the motor sensor (202) or its driver.

[0122] It is the real-time output torque of the motor (unit: N·m) fed back by the same sensor.

[0123] The health model The data baseline was established during the initial commissioning phase of the equipment by comprehensively collecting "speed-torque-current" data of all motors at various operating points under no-load and different load levels, and after data fitting and calibration. During real-time comparison, the controller uses the real-time motor current collected by the sensors. According to real-time rotation speed and real-time torque Through health models Calculated expected health current value Conduct continuous comparisons;

[0124] The model records the baseline or range of normal operating data for each motor under different speed and load conditions; the explosion-proof programmable logic controller 203 continuously compares the operating data of each motor received in real time with the baseline value of its health model under the current operating conditions.

[0125] In step S6, the explosion-proof programmable logic controller 203 sets an abnormal judgment condition, which includes an abnormal threshold and a duration. For example, the abnormal threshold is set to "real-time current exceeds 50% of the health reference value", and the duration is "3 seconds". When the explosion-proof programmable logic controller 203 detects the difference between the data of a certain motor and the reference value, and exceeds the set abnormal threshold after meeting the duration requirement, the system determines that the motor or its driven independent drive steering roller 101 is abnormal, possibly due to jamming or bearing damage. At this time, the explosion-proof programmable logic controller 203 will immediately generate and send an alarm signal to the monitoring interface in the central control room. The signal clearly includes the specific row and column number of the abnormal independent drive steering roller 101 in the matrix, so as to facilitate maintenance personnel to quickly and accurately locate it.

[0126] S6 is followed by:

[0127] S7. The explosion-proof programmable logic controller 203 automatically reduces the operating speed of the faulty roller and the rollers in the adjacent area or stops the machine.

[0128] This embodiment adds an automated safety protection action after a fault alarm;

[0129] After the explosion-proof programmable logic controller 203 determines the fault and sends an alarm signal in step S6, the system will immediately execute step S7; the explosion-proof programmable logic controller 203 will automatically send a speed reduction or shutdown command to the motor of the independent drive steering roller 101 that is determined to be faulty, as well as the motors in its surrounding adjacent area (e.g., the 9 independent drive steering rollers 101 in a 3x3 area centered on the fault point).

[0130] The technical purpose of performing this step is to prevent the escalation of faults through proactive and automated intervention. For example, a motor overload caused by a large foreign object getting stuck may lead to motor burnout, roller damage, or even belt tearing if not handled in time. By automatically reducing speed or stopping the machine, time can be gained for on-site personnel to handle the situation, preventing minor faults from escalating into serious production accidents and improving the operational reliability and safety of the entire conveying system.

[0131] Also includes:

[0132] S8. When the device is started, the explosion-proof programmable logic controller 203 controls the high-pressure atomizing nozzle 302 in the integrated sealed dust suppression structure 300 to perform spraying operation.

[0133] This embodiment adds an auxiliary dust suppression method that works in conjunction with the main conveying process;

[0134] In step S8, the working logic of the high-pressure atomizing nozzle 302 is described; the solenoid valve of the spray system is linked with the main control system of the device; when the operator starts the entire corner reversing conveyor and the main motor and the independent drive steering roller 101 motor start running, the explosion-proof programmable logic controller 203 will simultaneously issue a command to open the solenoid valve of the high-pressure atomizing nozzle 302 and start spraying water mist into the sealed outer cover; correspondingly, when the device stops, the explosion-proof programmable logic controller 203 will also simultaneously close the solenoid valve and stop spraying.

[0135] This linkage control method ensures that dust suppression measures only operate during operations where materials are being transported and dust may be generated, and stop when the equipment is idle. This achieves effective use of water resources and also ensures full coverage of the dust suppression function. Together with the low-impact steering structure, it achieves the best dust control effect.

[0136] Compared with existing technologies, the automated corner reversing conveyor device and method for coal mines provided in this solution have the following significant advantages and technological advancements:

[0137] First, it achieves smooth turning within a compact space, fundamentally resolving the inherent contradiction between space occupation and conveying stability in traditional solutions. Existing technologies rely on large-radius turning belt conveyors, which are physically enormous and difficult to adapt to narrow coal mine roadways. This solution utilizes a matrix-type multi-axis cooperative steering assembly 100, replacing the bulky physical turning structure with a dense array of independently driven steering rollers 101. By applying different target running speeds to the independently driven steering rollers 101 located on the inner and outer paths of the corner, a precise differential speed is formed, thereby creating an equivalent, impact-free virtual turning arc within a very small physical area. This design directly results in the material's kinetic energy being smoothly guided rather than rigidly blocked, significantly reducing material spillage, impact dust generation, and wear rate of the guiding components.

[0138] Secondly, it establishes an intelligent adaptive adjustment capability for the conveying process, unifying high continuity and high controllability. Traditional conveyors operate at a fixed speed, which cannot cope with changing material flow rates and is prone to blockages during peak periods or wasted energy during off-peak periods. The intelligent sensing control system 200 of this solution can acquire real-time flow data in advance through a non-contact material flow sensor 201 installed upstream. Based on this data, the explosion-proof programmable logic controller 203 compares the preset multi-level flow thresholds and automatically selects and matches a set of operating parameters that include a base speed and differential speed gradient. As a result, the overall conveying capacity of the device can dynamically and proactively adapt to fluctuations in the incoming material volume, ensuring that the material flow remains in an efficient, economical, and less prone to blockage operation without interruption.

[0139] Third, a proactive fault warning and health management system has been established, significantly improving the operational reliability of the equipment in harsh environments. Existing equipment maintenance is mostly reactive, requiring post-failure repairs, which are costly. This solution uses motor sensors 202 distributed throughout each independent drive steering roller 101 to collect real-time operating data such as current and vibration. An explosion-proof programmable logic controller 203 continuously compares this data with preset health model benchmark values. Once the difference exceeds a preset abnormal threshold, the system not only immediately issues an alarm signal containing precise faulty roller location information but also automatically executes protective actions, slowing down or stopping the faulty roller and adjacent rollers. A significant technological advancement lies in this shift from reactive maintenance to proactive warning, which greatly reduces the probability of serious accidents and extends the equipment's lifespan.

[0140] Fourth, this solution achieves dual high-efficiency dust suppression by combining source control and end-of-pipe capture, ensuring a clean and safe working environment. The low-impact steering characteristic of this solution first reduces the amount of dust generated at the source. Based on this, the integrated sealed dust suppression structure 300 completely isolates the entire steering process from the external environment through its robust steel sealed outer casing 301. Simultaneously, the high-pressure atomizing nozzles 302, controlled by the explosion-proof programmable logic controller 203, spray fine water mist during equipment operation, efficiently capturing and settling any trace dust that may be generated internally. The sealed receiving chassis 102 below the independently driven steering roller 101 ensures leak-free transport of fine particulate materials. The synergistic effect of this series of structures elevates the dust suppression effect to a new level, which is of great significance for protecting personnel health and meeting safe production requirements.

[0141] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. An automated corner-changing conveyor device for coal mines, characterized in that, include: The core steering section is used to change the direction of material conveying; The core steering section includes a matrix multi-axis cooperative steering assembly (100). The matrix multi-axis cooperative steering assembly (100) consists of multiple independent drive steering rollers (101) arranged in a matrix, and a sealed support chassis (102) is provided below the multiple independent drive steering rollers (101). The intelligent sensing and control system (200) is electrically connected to the plurality of the independently driven steering rollers (101). The intelligent sensing and control system (200) includes a material flow sensor (201) for monitoring material flow, a plurality of motor sensors (202) for monitoring the operating status of the independent drive steering roller (101), and an explosion-proof programmable logic controller (203). The explosion-proof programmable logic controller (203) is connected to the material flow sensor (201) and the plurality of motor sensors (202). An integrated sealed dust suppression structure (300) covers the core steering section; The conveying method steps of the conveying device are as follows: S1. Real-time flow data of materials entering the core turning section is obtained in real time through the material flow sensor (201); S2. The explosion-proof programmable logic controller (203) calculates the target operating speed of each of the independent drive steering rollers (101) based on the real-time flow data and the preset steering model; specifically, the explosion-proof programmable logic controller (203) calculates the target operating speed of each of the independent drive steering rollers (101) based on the real-time flow data, i.e., the real-time volumetric flow rate. The preset average stacking thickness of materials in the turning area Effective width of the turning channel and the equivalent turning radius of the centerline of the turning area According to the formula Calculate the equivalent target angular velocity required for the entire material flow to complete the turn. Subsequently, the explosion-proof programmable logic controller (203) follows the formula The target running linear velocity of each independent drive steering roller (101) in the matrix is ​​calculated. ,in The vertical distance from the independent drive steering roller to the virtual turning center; the target running speed of the independent drive steering roller (101) located on the inner path of the corner is lower than the target running speed of the independent drive steering roller (101) located on the outer path of the corner, so as to form a differential speed; S3. The explosion-proof programmable logic controller (203) controls multiple independent drive steering rollers (101) to run at the corresponding target running speed to achieve smooth material turning; S2 is followed by: S21, The explosion-proof programmable logic controller (203) compares the real-time flow data with preset multi-level flow thresholds; S22. Based on the comparison results, the explosion-proof programmable logic controller (203) selects a set of corresponding preset operating parameters, which include a reference speed and a differential speed gradient. S23, The explosion-proof programmable logic controller (203) calculates the target operating speed of each of the independent drive steering rollers (101) based on the preset operating parameters.

2. The automated corner reversing conveyor device for coal mines according to claim 1, characterized in that, Each of the aforementioned independent drive steering rollers (101) is driven by an independent, variable frequency speed-regulating explosion-proof micro motor (103).

3. The automated corner reversing conveyor device for coal mines according to claim 1, characterized in that, The material flow sensor (201) is a non-contact sensor and is located upstream of the inlet of the core turning section.

4. The automated corner reversing conveyor device for coal mines according to claim 1, characterized in that, The integrated sealed dust suppression structure (300) includes a steel sealed outer cover (301) and a plurality of high-pressure atomizing nozzles (302) disposed inside the steel sealed outer cover (301), the high-pressure atomizing nozzles (302) being controlled by the explosion-proof programmable logic controller (203).

5. The automated corner reversing conveyor device for coal mines according to claim 1, characterized in that, The structure of the partially driven steering roller (101) is such that the angle can be finely adjusted around the vertical axis, which is used to actively guide the steering of the material flow.

6. A method for automated corner-switching conveying in coal mines, applied to the automated corner-switching conveying device for coal mines as described in any one of claims 1-5, characterized in that, Also includes: S4. Real-time operating data of each of the independent drive steering rollers (101) is acquired in real time through the motor sensor (202); S5. The explosion-proof programmable logic controller (203) compares the real-time operating data with the preset health model benchmark value; S6. When the difference between the real-time operating data and the health model benchmark value exceeds the preset abnormal threshold, the explosion-proof programmable logic controller (203) sends an alarm signal, which includes the location information of the faulty roller.

7. A method for automated corner-changing conveying in coal mines according to claim 6, characterized in that, S6 is followed by: S7. The explosion-proof programmable logic controller (203) automatically reduces the operating speed of the faulty roller and the rollers in the adjacent area or stops the machine.

8. A method for automated corner-changing conveying in coal mines according to claim 7, characterized in that, Also includes: S8. When the device is started, the explosion-proof programmable logic controller (203) controls the high-pressure atomizing nozzle (302) in the integrated sealed dust suppression structure (300) to perform spraying operations.

Images