Coal mining device and method

Abstract

The invention discloses a coal mining device and method.The coal mining device comprises a coal collecting unit, the coal collecting unit comprises a moving module, and the whole mining unit is driven to move through the moving module; the tunneling and mining module is mounted on the moving module, and a preset area of the mine is crushed through the tunneling and mining module; the dustproof spraying module is mounted on the tunneling mining module; the dustproof spraying module comprises a main spraying part, a plurality of spraying heads are arranged on the side face, close to the preset area, of the main spraying part, and the main spraying part communicates with a water source. The dustproof spraying module is directly installed on the tunneling mining module, the main spraying part is arranged close to the preset area of cutting operation, and the multiple spraying heads can conduct real-time spraying at the source where dust is generated. According to the device, dust can be inhibited while the cutting head collides with coal rock to be crushed, dust dissipation is reduced from the source, the dust falling effect is improved, and the dust concentration in the working environment is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mining, in particular to a coal mining device and method BACKGROUND

[0002] In the process of tunneling and mining coal, a large amount of dust will be generated due to the violent collision and crushing of the cutting head with coal and rock. These dust not only seriously threatens the health of underground workers, but also reduces the visibility of the working environment, affecting the operation precision and construction efficiency. At the same time, dust adhering to the surface of the equipment will accelerate the wear and aging of the equipment, increase the maintenance cost, and even may cause dust explosion and other safety hazards, which seriously threatens the safety production of coal mines.

[0003] Various dust reduction measures have been adopted in the prior art, such as setting fixed spray devices near the tunneling working face, using ventilation dust removal systems, etc. However, the fixed spray device is usually installed on the top or side wall of the roadway, and its spray range and angle are fixed, so the dust reduction effect is limited. Although the ventilation dust removal system can carry away part of the dust through airflow, the efficiency is low, and it is easy to cause the dust to spread and spread in the roadway. SUMMARY

[0004] Therefore, in order to solve the above problems, the present application provides a coal mining device and method to suppress dust while the cutting head collides and crushes with coal and rock, reduce dust dispersion from the source, improve dust reduction effect, and reduce dust concentration in the working environment.

[0005] On the one hand, the present application provides a coal mining device, comprising a coal collection unit, the coal collection unit comprising: a moving module for moving the entire mining unit; a tunneling and mining module installed on the moving module for crushing the preset area of the mine; a dust-proof spray module installed on the tunneling and mining module; the dust-proof spray module comprising: a main spray part provided with a plurality of spray heads near the side of the preset area, and the main spray part being in communication with a water source.

[0006] The dust-proof spray module is directly installed on the tunneling and mining module, and the main spray part is provided near the preset area of the cutting operation, and the plurality of spray heads can spray in real time at the source of dust generation. The device can suppress dust while the cutting head collides and crushes with coal and rock, reduce dust dispersion from the source, improve dust reduction effect, and reduce dust concentration in the working environment.

[0007] Further, the dust-proof spray module further comprises: The fixed seat is fixedly installed on the tunneling and mining module; The movable arm is pivotally connected to the fixed seat at one end, and the movable arm is driven to pitch around the pivot shaft of the fixed seat by the sixth power device, and the main spraying part is installed at the end of the movable arm away from the fixed seat.

[0008] The movable arm in the dust-proof spraying module can pitch around the fixed seat by the sixth power device, thereby driving the main spraying part to adjust the spraying angle and range, and the spraying device can be flexibly adjusted according to the dynamic operation state of the tunneling and mining module to adapt to the mining requirements under different coal seam structures and roadway conditions.

[0009] Further, the main spraying part is pivotally connected to the end of the movable arm, and the main spraying part is driven to pitch around the pivot shaft of the movable arm by the fifth power device, and the pitching movement plane of the main spraying part is parallel to the pitching movement plane of the movable arm.

[0010] The main spraying part is driven to pitch around the pivot shaft of the movable arm by the fifth power device, so that the fixed spraying pipe can be finely adjusted based on the movable arm.

[0011] Further, the dust-proof spraying module further comprises a secondary spraying part, which is pivotally connected to both ends of the main spraying part, and the secondary spraying part is driven to pitch around the pivot shaft of the main spraying part by the fourth power device, and the pitching movement plane of the secondary spraying part is perpendicular to the pitching movement plane of the movable arm, and the secondary spraying part is in communication with the water source.

[0012] The newly added secondary spraying part of the dust-proof spraying module is pivotally connected to both ends of the main spraying part, and can pitch around the pivot shaft of the main spraying part by the fourth power device, thereby expanding the spraying range laterally and improving the comprehensiveness of dust reduction.

[0013] Further, the mining device further comprises: The sensing unit is configured to obtain dust concentration data; The flow regulating unit is configured to calculate the flow of the main spraying part and the secondary spraying part according to the dust concentration data, and obtain a flow calculation result; The execution control unit is configured to generate a flow regulating signal according to the flow calculation result, and output the flow regulating signal to the coal collection unit to adjust the flow of the dust-proof spraying module.

[0014] Further, the way of calculating the flow of the main spraying part and the secondary spraying part according to the dust concentration data is: ; Wherein, Q is the flow of the main spraying part and the secondary spraying part, and the unit is L / min ; Qmin is the minimum flow rate, unit is L / min ; Q max is the maximum flow rate, unit is L / min ; C is the real-time dust concentration, unit is mg / m ³; C 1 is the first dust concentration threshold, unit is mg / m ³; C 2 is the second dust concentration threshold, unit is mg / m ³; K q is the flow gain coefficient, unit is L*m ³ / mg*min .

[0015] Further, the calculation method of the flow gain coefficient is: .

[0016] The newly added sensing unit of the mining device can obtain real-time dust concentration data, and the flow regulating unit calculates the flow of the main spray part and the auxiliary spray part according to the data. The control execution unit generates a regulating signal to adjust the spray flow according to the calculation result. When the dust concentration is lower than the first threshold, the minimum flow rate is used; when the concentration is between the first and second thresholds, the flow rate increases in proportion to the concentration; when the concentration is higher than the second threshold, the maximum flow rate is used. Therefore, the spray amount can be accurately matched according to the change of the dust concentration, the stability of the dust suppression effect is improved, the waste of water resources is avoided, the cost of dust suppression operation is reduced, and the balance between the dust suppression effect and economy is realized.

[0017] Further, the mining device further comprises a posture adjusting unit; The posture adjusting unit is used to obtain the sensor position, perform dust position weighted average calculation based on the sensor position and the dust concentration, perform active arm pitch angle calculation according to the dust position weighted average calculation result, obtain the active arm pitch angle calculation result, and the control execution unit generates a first motion signal according to the active arm pitch angle calculation result and sends it to the coal collecting unit, so that the coal collecting unit adjusts the pitch angle of the active arm according to the first motion control signal; Calculate the position of the end of the active arm, perform main spray part pitch angle calculation according to the position of the end of the active arm, obtain the main spray part pitch angle calculation result, and the control execution unit generates a second control signal according to the main spray part pitch angle calculation result and sends it to the coal collecting unit, so that the coal collecting unit adjusts the pitch angle of the main spray part according to the second motion control signal; The sub-spraying part pitch angle calculation result is obtained according to the dust position weighted average calculation result, and the execution control unit generates a third control signal according to the sub-spraying part pitch angle calculation result and sends the third control signal to the coal collecting unit, so that the coal collecting unit adjusts the pitch angle of the sub-spraying part according to the third motion control signal.

[0018] The posture adjusting unit calculates the pitch angles of the movable arm, the main spraying part and the sub-spraying part respectively by acquiring the sensor position, combining the dust concentration to perform dust position weighted average calculation, and generating corresponding control signals to adjust the angles of the parts through the execution control unit. This process realizes the tracking of the dust source by the spraying device, the coordinated adjustment of the movable arm, the main spraying part and the sub-spraying part, and the real-time optimization of the spraying posture according to the dynamic changes of the dust distribution, thereby improving the pertinence and efficiency of dust suppression.

[0019] On the other hand, the present application also provides a coal mining method, which uses the above-mentioned coal mining device, and the mining method comprises: The moving module is controlled to move to a preset position of a mine or a mine tunnel, the preset area in the mine or the mine tunnel is broken by the tunneling and mining module, and at the same time, the water source is turned on, and the water source is input into the main spraying part and the sub-spraying part at a minimum preset flow rate, so that the main spraying part and the sub-spraying part spray water mist to the preset area; Real-time dust concentration data is acquired, the flow rates of the main spraying part and the sub-spraying part are calculated according to the dust concentration data, a flow rate adjusting signal is generated according to the flow rate calculation result, and the flow rate adjusting signal is output to the coal collecting unit to adjust the flow rate of the dustproof spraying module; The sensor position is acquired, dust position weighted average calculation is performed based on the sensor position and the dust concentration, movable arm pitch angle calculation is performed according to the dust position weighted average calculation result, a movable arm pitch angle calculation result is obtained, and the execution control unit generates a first motion signal according to the movable arm pitch angle calculation result and sends the first motion signal to the coal collecting unit, so that the coal collecting unit adjusts the pitch angle of the movable arm according to the first motion control signal. The movable arm end position is calculated, main spraying part pitch angle calculation is performed according to the movable arm end position, a main spraying part pitch angle calculation result is obtained, and the execution control unit generates a second control signal according to the main spraying part pitch angle calculation result and sends the second control signal to the coal collecting unit, so that the coal collecting unit adjusts the pitch angle of the main spraying part according to the second motion control signal. The sub-spraying part pitch angle calculation result is obtained according to the dust position weighted average calculation result, and the execution control unit generates a third control signal according to the sub-spraying part pitch angle calculation result and sends the third control signal to the coal collecting unit, so that the coal collecting unit adjusts the pitch angle of the sub-spraying part according to the third motion control signal.

[0020] The present application has the following advantages: The dust-proof spray module is directly installed on the tunneling mining module, the main spray part is arranged close to the preset area of the cutting operation, and the plurality of spray heads can spray in real time at the source of dust generation. The device can suppress dust while the cutting head collides and breaks the coal rock, reduce dust dispersion from the source, improve the dust suppression effect, and reduce the dust concentration in the working environment. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural schematic diagram of a coal collecting unit in the mining device; Figure 2 is Figure 1 a side view of the coal collecting unit shown in the figure; Figure 3 is Figure 1 a structural schematic diagram of a dust-proof spray module in the coal collecting unit shown in the figure; Figure 4 is Figure 1 a structural schematic diagram of a tunneling mining module in the coal collecting unit shown in the figure; Figure 5 is Figure 1 a partial structural schematic diagram of a coal collecting unit in the mining device; Figure 6 is Figure 5 a structural schematic diagram of a coal collecting module in the coal collecting unit shown in the figure; Figure 7 is Figure 2 a structural schematic diagram of a supporting leg module in the coal collecting unit shown in the figure; Figure 8 is a logic schematic diagram of a coal mining device; In the figure: 10, sensing unit; 20, coal mining unit; 30, attitude adjusting unit; 40, flow adjusting unit; 50, execution control unit; 100, moving module; 200, tunneling mining module; 210, tunneling drilling machine; 220, telescopic arm; 230, luffing arm; 240, first power device; 250, second power device; 260, third power device; 270, slewing table; 300, dust-proof spray module; 310, fixed seat; 320, movable arm; 330, main spray part; 340, auxiliary spray part; 350, fourth power device; 360, fifth power device; 370, sixth power device; 400, coal collecting module; 410, spade; 420, star wheel disc mechanism; 430, seventh power device; 500, leg module; 510, fixed part; 520, eighth power device; 530, leg; 531, leg nail; 600, conveying module. DETAILED DESCRIPTION

[0022] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar reference numbers represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0023] In this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0024] As described in the background, various dust reduction measures have been adopted in the prior art, such as setting fixed spray devices near the excavation face, using ventilation dust removal systems, etc. However, the fixed spray device is usually installed on the roof or sidewall of the roadway, and its spray range and angle are fixed, so the dust reduction effect is limited; although the ventilation dust removal system can carry away part of the dust through the airflow, the efficiency is low, and it is easy to cause the dust to spread and spread in the roadway.

[0025] Embodiment 1: Therefore, in order to solve the above technical problems existing in the prior art, the present embodiment provides a coal mining device, which comprises a coal collecting unit 20, as shown in Figure 1 , 2 as shown, the coal collecting unit comprises: a moving module 100, which moves the entire mining unit; an excavation mining module 200, which is installed on the moving module and breaks the preset area of the mine through the excavation mining module; a dust-proof spray module 300, which is installed on the excavation mining module; as shown in Figure 3 , the dust-proof spray module comprises: a main spray part 330, which is provided with a plurality of spray heads near the side surface of the preset area, and the main spray part is in communication with a water source.

[0026] Specifically, in the use of the device for coal mining, first control the movement module to drive the whole device to move to the preset position, then the tunneling mining module breaks the preset area of the mine or cave to mine the coal in the preset area, in this process, the water source is opened, water is input to the main spray part at a preset flow rate, the water mist is sprayed in a preset direction through the main spray part to real-time suppress the dust generated in the tunneling process, reduce the dust concentration in the working environment, and reduce the spread of dust in the tunnel.

[0027] In this embodiment, the dustproof spray module is directly installed on the tunneling mining module, and the main spray part is arranged close to the preset area of the cutting operation, and the plurality of spray heads can real-time spray at the source of dust generation. The device can suppress dust while the cutting head collides and breaks the coal rock, reduce dust dispersion from the source, improve the dust suppression effect, and reduce the dust concentration in the working environment.

[0028] In this embodiment, as shown in Figure 3 The dustproof spray module can further include: The fixed seat 310 is fixedly installed on the tunneling mining module; The movable arm 320 is pivotally connected to the fixed seat at one end, and the movable arm is driven to pitch around the pivot shaft of the fixed seat by the sixth power device 370, and the main spray part is installed at the end of the movable arm away from the fixed seat.

[0029] Specifically, the sixth power device can select a hydraulic cylinder to drive the movable arm to pitch, and in this embodiment, the sixth power device drives the movable arm to rotate, so as to adjust the pitch angle of the main spray part, so as to realize flexible adjustment of the spray device according to the dynamic operation state of the tunneling mining module, to adapt to the mining requirements under different coal seam structures and roadway conditions.

[0030] In this embodiment, the main spray part is pivotally connected to the end of the movable arm, and the main spray part is driven to pitch around the pivot shaft of the movable arm by the fifth power device 360, and the pitch movement plane of the main spray part is parallel to the pitch movement plane of the movable arm.

[0031] Specifically, the fifth power device selects a hydraulic cylinder to drive the main spray part to pitch around the pivot shaft of the movable arm, so as to fine tune the fixed spray pipe based on the movable arm.

[0032] In this embodiment, the dust suppression spray module further includes a secondary spray unit 340, which is pivotally connected to both ends of the main spray unit. The secondary spray unit is driven by a fourth power device to pitch and rotate around its pivot axis with respect to the main spray unit. The pitch and rotation plane of the secondary spray unit is perpendicular to the pitch and rotation plane of the movable arm. The secondary spray unit is connected to a water source.

[0033] Specifically, the fourth power unit can be a hydraulic cylinder. The additional auxiliary spray unit of the dust suppression spray module is pivotally connected to both ends of the main spray unit. The fourth power unit can pitch and rotate around the pivot axis of the main spray unit, which expands the spray range laterally and improves the comprehensiveness of dust suppression.

[0034] In this embodiment, as Figure 4 As shown, the tunneling and mining module may include: Rotary table 270 is rotatably mounted on the mobile module and is driven to rotate by the third power unit 260. The pitch arm 230 is rotatably mounted on the rotary table and is driven to pitch by the first power device 240. The fixed base is fixedly mounted on the pitch arm. Telescopic arm 220, which is fitted inside the pitch arm, is driven to extend and retract via a second power unit 250; Tunneling drilling rig 210, which is installed at the end of the telescopic boom.

[0035] Specifically, when the tunneling direction needs to be adjusted to adapt to the coal seam trend or roadway planning, the third power device drives the slewing table to rotate horizontally around the connecting shaft with the mobile module to align with the preset mining direction. Under the drive of the first power device, the luffing arm can perform luffing motion (i.e., up and down swinging) around the connecting shaft with the slewing table. By adjusting the angle of the luffing arm, different heights of coal seams or mining section requirements can be adapted, for example, when dealing with the top or bottom area of the coal seam, the luffing arm can be raised or lowered to accurately match the working height of the tunneling drill with the target mining horizon. At the same time, since the fixed seat of the dustproof spraying module is directly installed on the luffing arm, the luffing motion of the luffing arm also synchronously drives the entire dustproof spraying module to adjust the height, ensuring that the spraying device always maintains a reasonable distance from the tunneling operation area. The second power device drives the telescopic arm to extend and retract along the axis of the luffing arm. When mining coal seams in deeper areas or away from the device body, the telescopic arm extends outward, driving the tunneling drill installed at the end of the telescopic arm to approach the target mining point; when the operation is completed or the operation position needs to be adjusted, the telescopic arm retracts into the luffing arm, reducing the space occupied by the device and facilitating overall movement or turning. After the slewing table, luffing arm, and telescopic arm are adjusted in place, the tunneling drill installed at the end of the telescopic arm directly contacts the coal and rock, and through its rotation or impact action, it breaks the coal and rock in the preset area, realizing the mining of coal. In this embodiment, the first, second, and third power devices can all be hydraulic cylinders.

[0036] In addition, the mining device can also include a coal collecting module 400 and a conveying module 600, both of which are installed on the mobile module. The coal collecting module collects the coal blocks broken by the tunneling and mining module, and the conveying module sends out the coal collected by the coal collecting module. As shown in Figure 6 The coal collecting module includes a shovel 410, which is disposed below the tunneling and mining module. The shovel is pivotally installed on the mobile module and driven by a seventh power device 430 to perform luffing motion. A material guiding channel is provided on the side of the shovel connected to the mobile module, as shown in Figure 5 The conveying module is connected to the material guiding channel at one end, and a star wheel disc mechanism 420 is provided in the shovel. The star wheel disc mechanism rotates to send the coal to the conveying module through the guiding channel.

[0037] The seventh power device is started, the shovel is turned down around the connecting shaft of the moving module, the cutting edge of the shovel is attached to the ground or the bottom of the coal seam, an inclined collecting surface is formed, the broken coal blocks are shovelled up or directly received by the moving of the moving module, and meanwhile the star wheel disc mechanism starts to rotate. The blades of the star wheel disc will contact and push the coal blocks in turn, the coal blocks scattered in the shovel are orderly pushed to the guide channel on the side of the connecting side of the shovel and the moving module, enter the conveying module, the coal blocks are conveyed outward along the preset path by the conveying module, and the whole process from collecting to conveying of the broken coal is finally completed.

[0038] In addition, as shown in Figure 1 , 2 , the mining device can further include a support leg module 500 which is integrally installed at the tail of the moving module, as shown in Figure 7 , the support leg module can include: a fixed part 510 which is fixedly installed at the tail of the moving module; a support leg 530 which is pivotally connected with the fixed part and is driven by an eighth power device 520 to rotate in a pitching manner, and a leg nail 531 is fixed on the contact surface of the support leg and the ground.

[0039] When the mining device needs to perform the tunneling operation, the eighth power device is started to drive the support leg to rotate around the connecting shaft of the fixed part towards the ground until the support leg contacts the ground and forms a certain supporting angle. At this time, the support leg is changed from the retracted state to the supporting state, and when the mining device needs to move to another position, the eighth power device drives the support leg to rotate away from the ground to retract the support leg, thereby reducing the obstruction during the movement of the device and facilitating the flexible transfer of the whole device by the moving module. The leg nail is fixed on the contact surface of the support leg and the ground, and when the support leg contacts the ground and provides support, the leg nail can be embedded into the surface layer of the ground, especially in the relatively soft or uneven roadway in the underground, thereby increasing the friction and engagement force between the support leg and the ground. The overall stability of the device during the high-intensity operations such as tunneling and breaking is enhanced, and the risk of affecting the operation accuracy or causing safety hazards due to the shaking of the device is reduced.

[0040] Embodiment 2 Since the current spray flow is relatively fixed, and the dust concentration is not constant during the coal mining process, the spray intensity cannot be flexibly adjusted according to the change of the dust concentration under the fixed flow, which leads to the fact that the dust falling is not timely in the moment of sudden increase of the dust concentration, and the dust concentration in the operation area exceeds the standard in a short time. Based on this, the mining device described in embodiment 1 is further improved in this embodiment.

[0041] As shown in Figure 8 , the mining device can further include: a sensing unit 10 for acquiring dust concentration data; The flow regulation unit 40 is configured to calculate the flow of the main spray part and the auxiliary spray part according to the dust concentration data, and obtain a flow calculation result; The execution control unit 50 is configured to generate a flow regulation signal according to the flow calculation result, and output the flow regulation signal to the coal collection unit to adjust the flow of the dust-proof spray module.

[0042] In the embodiment, the calculation of the flow of the main spray part and the auxiliary spray part according to the dust concentration data is as follows: ; Wherein, Q is the flow of the main spray part and the auxiliary spray part, and the unit is L / min ; Q min is the minimum flow, and the unit is L / min ; Q max is the maximum flow, and the unit is L / min ; C is the real-time dust concentration, and the unit is mg / m ³; C 1 is the first dust concentration threshold, and the unit is mg / m ³; C 2 is the second dust concentration threshold, and the unit is mg / m ³; K q is the flow gain coefficient, and the unit is L*m ³ / mg*min .

[0043] The calculation of the flow gain coefficient is as follows: .

[0044] In the embodiment, the dust concentration data can be obtained in real time by the newly added sensing unit. The flow regulation unit calculates the flow of the main spray part and the auxiliary spray part according to the data. The execution control unit generates a regulation signal according to the calculation result to adjust the spray flow. When the dust concentration is lower than the first threshold, the minimum flow is used. When the dust concentration is between the first threshold and the second threshold, the flow increases in proportion to the increase of the concentration. When the dust concentration is higher than the second threshold, the maximum flow is used. Therefore, the spray amount can be accurately matched according to the change of the dust concentration, the stability of the dust reduction effect is improved, the waste of water resources is avoided, the cost of the dust reduction operation is reduced, and the balance between the dust reduction effect and the economy is achieved.

[0045] In the embodiment, the sensing unit includes at least one sensor for detecting the dust concentration.

[0046] Wherein, the calculation of the real-time dust concentration is as follows: ​ in, i For the number of sensors; C i For the first i Dust concentration data collected by each sensor, in units of mg / m ³; ω i For the first i The weights of dust concentration data collected by each sensor.

[0047] In addition, the sum of the weights of all dust concentration data collected by the sensors is 1, and the higher the concentration, the greater its weight.

[0048] In addition, the mining device may also include a posture adjustment unit 30; The attitude adjustment unit is used to acquire the sensor position, perform a weighted average calculation of the dust position based on the sensor position and dust concentration, calculate the pitch angle of the movable arm based on the weighted average calculation result of the dust position, obtain the pitch angle calculation result of the movable arm, and execute the control unit to generate a first motion signal based on the pitch angle calculation result of the movable arm and send it to the coal collection unit so that the coal collection unit can adjust the pitch angle of the movable arm according to the first motion control signal. The position of the end of the movable arm is calculated, and the pitch angle of the main spray section is calculated based on the position of the end of the movable arm. The pitch angle calculation result of the main spray section is obtained, and the execution control unit generates a second control signal based on the pitch angle calculation result of the main spray section and sends it to the coal acquisition unit so that the coal acquisition unit adjusts the pitch angle of the main spray section according to the second motion control signal. The pitch angle of the secondary spray section is calculated based on the weighted average calculation result of the dust position. The control unit generates a third control signal based on the pitch angle calculation result of the secondary spray section and sends it to the coal acquisition unit so that the coal acquisition unit can adjust the pitch angle of the secondary spray section according to the third motion control signal.

[0049] In this embodiment, the attitude adjustment unit acquires the sensor position and performs a weighted average calculation of dust position based on the dust concentration. Based on this, it calculates the pitch angles of the movable arm, main spray section, and auxiliary spray section, and then generates corresponding control signals through the execution control unit to adjust the angles of each component. This process enables the spray device to track the dust source and coordinate the adjustment of the movable arm, main spray section, and auxiliary spray section. It can optimize the spray attitude in real time according to the dynamic changes in dust distribution, improving the targeting and efficiency of dust suppression.

[0050] Specifically, the method for calculating the weighted average of dust location based on sensor location and dust concentration is as follows: ; in, The dust position weighted average calculation result is used to calculate the active arm pitch angle as follows: X i 、 Y i 、 Z i The coordinate value of the i-th sensor.

[0051] The active arm pitch angle is calculated according to the dust position weighted average calculation result as follows: ; Wherein, θ 1 is the active arm pitch angle calculation result.

[0052] The active arm end position is calculated as follows: ; Wherein, L is the effective length of the active arm, in meters. X tip 、 Z tip The active arm end position is calculated as follows: x 、 z The axis coordinate.

[0053] The main spray part pitch angle is calculated according to the active arm end position as follows: ; Wherein, θ 2 is the main spray part pitch angle calculation result.

[0054] The secondary spray part pitch angle is calculated according to the dust position weighted average calculation result as follows: ; ; Wherein, θ 3 is the left secondary spray part pitch angle calculation result; θ 4 is the right secondary spray part pitch angle calculation result; K is the angle gain, in rad / m ; the negative sign indicates that the left pipe rotates in the negative Y direction.

[0055] Example 3: This example is based on Example 2 and provides a coal mining method using the coal mining device of claim 8, the mining method comprising: The mobile module is moved to a preset position of the mine or the mine tunnel, the eighth power device is started to drive the supporting leg to rotate around the connecting shaft with the fixed part to the ground, until the supporting leg contacts the ground and forms a certain supporting angle, so that the supporting leg changes from the retracted state to the supporting state, and the seventh power device is started to drive the shovel to flip downward around the connecting shaft with the mobile module, so that the cutting edge of the shovel is attached to the ground or the bottom of the coal seam.

[0056] The third power device drives the rotating table to rotate horizontally around the connecting shaft with the mobile module to align with the preset mining direction, and the first power device drives the luffing arm to perform luffing motion around the connecting shaft with the rotating table to adjust the angle of the luffing arm.

[0057] Then the second power device drives the telescopic arm to extend or retract along the axis of the luffing arm, and drives the heading drill mounted at the end of the telescopic arm to approach the target mining point, the heading drill mounted at the end of the telescopic arm directly contacts the coal rock, and breaks the coal rock in the preset area through its rotation or impact action, at the same time, the water source is opened, and the water source is input into the main spray part and the auxiliary spray part at a minimum preset flow rate, so that the main spray part and the auxiliary spray part spray water mist to the preset area; In the process of breaking, the coal blocks directly received by the falling material are pushed by the blades of the star wheel disc in sequence, and the coal blocks scattered in the shovel are orderly pushed to the material guide channel on the side of the connection between the shovel and the mobile module, and then enter the conveying module, and the conveying module conveys the coal blocks outward along the preset path; The flow acquisition unit acquires real-time dust concentration data, calculates the flow of the main spray part and the auxiliary spray part according to the dust concentration data, generates a flow adjustment signal according to the flow calculation result, and outputs the flow adjustment signal to the coal acquisition unit to adjust the flow of the dustproof spray module; At the same time, the attitude adjustment unit acquires the sensor position, performs dust position weighted average calculation based on the sensor position and the dust concentration, performs active arm luffing angle calculation according to the dust position weighted average calculation result, acquires the active arm luffing angle calculation result, and the execution control unit generates a first motion signal according to the active arm luffing angle calculation result and sends the first motion signal to the coal acquisition unit, so that the coal acquisition unit adjusts the luffing angle of the active arm according to the first motion control signal; The end position of the active arm is calculated, the main spray part luffing angle calculation is performed according to the end position of the active arm, the main spray part luffing angle calculation result is obtained, the execution control unit generates a second control signal according to the main spray part luffing angle calculation result and sends the second control signal to the coal acquisition unit, so that the coal acquisition unit adjusts the luffing angle of the main spray part according to the second motion control signal; The sub-spray part pitch angle calculation result is obtained by calculating the sub-spray part pitch angle according to the dust position weighted average calculation result, and the control unit generates a third control signal according to the sub-spray part pitch angle calculation result and sends it to the coal collection unit, so that the coal collection unit adjusts the pitch angle of the sub-spray part according to the third motion control signal.

[0058] When the target mining point or the target direction of coal collection is completed, the telescopic arm is retracted into the pitch arm, and then the above process is repeated.

[0059] In this embodiment, the coal on the ground can also be scooped up by moving the module forward.

[0060] In this embodiment, the way to calculate the flow of the main spray part and the sub-spray part according to the dust concentration data is: ; Wherein, Q is the flow of the main spray part and the sub-spray part, and the unit is L / min ; Q min is the minimum flow, and the unit is L / min ; Q max is the maximum flow, and the unit is L / min ; C is the real-time dust concentration, and the unit is mg / m ³ C 1 is the first dust concentration threshold, and the unit is mg / m ³ C 2 is the second dust concentration threshold, and the unit is mg / m ³ K q is the flow gain coefficient, and the unit is L*m ³ / mg*min .

[0061] The calculation method of the flow gain coefficient is: .

[0062] Wherein, the calculation method of the real-time dust concentration is: ; Wherein, i is the number of sensors; C i is the dust concentration data collected by the i th sensor, and the unit is mg / m ³ ω i is the weight of the dust concentration data collected by the i th sensor.

[0063] In addition, the sum of the weights of the dust concentration data collected by all sensors is 1, and the greater the concentration, the greater the weight.

[0064] In the present embodiment, the dust position weighted average calculation based on the sensor position and the dust concentration is as follows: ; wherein, is the dust position weighted average calculation result, X i 、 Y i 、 Z i is the coordinate value of the i-th sensor.

[0065] The activity arm pitch angle calculation according to the dust position weighted average calculation result is as follows: ; wherein, θ 1 is the activity arm pitch angle calculation result.

[0066] The activity arm end position calculation is as follows: ; wherein, L is the effective length of the activity arm, in meters; X tip 、 Z tip is the x 、 z axis coordinate of the activity arm end.

[0067] The main spray part pitch angle calculation according to the activity arm end position is as follows: ; wherein, θ 2 is the main spray part pitch angle calculation result.

[0068] The secondary spray part pitch angle calculation according to the dust position weighted average calculation result is as follows: ; ; wherein, θ 3 is the left secondary spray part pitch angle calculation result; θ 4 is the right secondary spray part pitch angle calculation result; K is the angle gain, in rad / m ; the negative sign indicates that the left tube rotates in the negative Y direction.

[0069] The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to persons of skill in the art, and, while certain modifications are discussed, it is desired to be protected in accordance with the spirit and scope of the application. Therefore, the application is not limited to the specific embodiments shown and described, but only by the scope of the appended claims, unless otherwise specified.

Claims

1. A coal mining apparatus, comprising a coal collection unit, characterized in that, The coal extraction unit includes: The mobile module drives the entire mining unit to move. A tunneling and mining module is installed on a mobile module and is used to crush a predetermined area of ​​the mine. Dust suppression spray module, which is installed on the tunneling and mining module; The dust suppression spray module includes: The main spray section has multiple spray heads on its side near the preset area, and the main spray section is connected to a water source.

2. The coal mining apparatus according to claim 1, characterized in that, The dust suppression spray module also includes: A mounting base, which is fixedly installed on the tunneling and mining module; The movable arm is pivotally connected to the fixed base at one end. The sixth power device drives the movable arm to pitch and rotate around the pivot axis between it and the fixed base. The main spray unit is installed at the end of the movable arm away from the fixed base.

3. A coal mining apparatus according to claim 2, characterized in that, The main spray unit is pivotally connected to the end of the movable arm. The fifth power device drives the main spray unit to pitch around its pivot axis with the movable arm. The pitch motion plane of the main spray unit is parallel to the pitch motion plane of the movable arm.

4. A coal mining apparatus according to claim 3, characterized in that, The dust suppression spray module also includes a secondary spray unit, which is pivotally connected to both ends of the main spray unit. The secondary spray unit is driven by a fourth power device to pitch and rotate around its pivot axis with respect to the main spray unit. The pitch and rotation plane of the secondary spray unit is perpendicular to the pitch and rotation plane of the movable arm. The secondary spray unit is connected to a water source.

5. A coal mining apparatus according to claim 4, characterized in that, The mining apparatus also includes: The sensing unit is used to acquire dust concentration data; The flow regulation unit is used to calculate the flow rate of the main spray section and the auxiliary spray section based on the dust concentration data, and obtain the flow calculation results; The execution control unit is used to generate a flow adjustment signal based on the flow calculation results, and output the flow adjustment signal to the coal acquisition unit to adjust the flow of the dust suppression spray module.

6. A coal mining apparatus according to claim 5, characterized in that, The method for calculating the flow rates of the main spray section and the auxiliary spray section based on dust concentration data is as follows: ； in, Q Flow rate of main spray section and auxiliary spray section, in units of L / min ; Q min Minimum flow rate, unit: L / min ; Q max Maximum flow rate, unit: L / min ; C Real-time dust concentration, unit: mg / m ³; C 1 represents the first dust concentration threshold, in units of... mg / m ³; C 2 represents the second dust concentration threshold, in units of... mg / m ³; K q This is the flow gain coefficient, in units of... L*m ³ / mg*min .

7. A coal mining apparatus according to claim 5, characterized in that, The flow gain coefficient is calculated as follows: 。 8. A coal mining apparatus according to claim 5, characterized in that, The mining device also includes an attitude adjustment unit; The attitude adjustment unit is used to acquire the sensor position, perform a weighted average calculation of the dust position based on the sensor position and dust concentration, calculate the pitch angle of the movable arm based on the weighted average calculation result of the dust position, obtain the pitch angle calculation result of the movable arm, and execute the control unit to generate a first motion signal based on the pitch angle calculation result of the movable arm and send it to the coal collection unit so that the coal collection unit can adjust the pitch angle of the movable arm according to the first motion control signal. The position of the end of the movable arm is calculated, and the pitch angle of the main spray section is calculated based on the position of the end of the movable arm. The pitch angle calculation result of the main spray section is obtained, and the execution control unit generates a second control signal based on the pitch angle calculation result of the main spray section and sends it to the coal acquisition unit so that the coal acquisition unit adjusts the pitch angle of the main spray section according to the second motion control signal. The pitch angle of the secondary spray section is calculated based on the weighted average calculation result of the dust position. The control unit generates a third control signal based on the pitch angle calculation result of the secondary spray section and sends it to the coal acquisition unit so that the coal acquisition unit can adjust the pitch angle of the secondary spray section according to the third motion control signal.

9. A coal mining method, characterized in that, The mining method uses a coal mining apparatus according to any one of claims 1 to 8, and the mining method includes: The control module moves to a preset position in the mine or tunnel, the tunneling module breaks up the preset area in the mine or tunnel, and at the same time the water source is turned on. The water source is input into the main spray unit and the auxiliary spray unit at the minimum preset flow rate so that the main spray unit and the auxiliary spray unit spray water mist onto the preset area. The system acquires real-time dust concentration data, calculates the flow rate of the main spray section and the auxiliary spray section based on the dust concentration data, generates a flow rate adjustment signal based on the flow rate calculation result, and outputs the flow rate adjustment signal to the coal acquisition unit to adjust the flow rate of the dust suppression spray module. The sensor position is obtained, and a weighted average calculation of the dust position is performed based on the sensor position and dust concentration. The pitch angle of the movable arm is calculated based on the weighted average calculation result of the dust position. The control unit generates a first motion signal based on the pitch angle calculation result of the movable arm and sends it to the coal collection unit so that the coal collection unit adjusts the pitch angle of the movable arm according to the first motion control signal. The position of the end of the movable arm is calculated, and the pitch angle of the main spray section is calculated based on the position of the end of the movable arm. The pitch angle calculation result of the main spray section is obtained, and the execution control unit generates a second control signal based on the pitch angle calculation result of the main spray section and sends it to the coal acquisition unit so that the coal acquisition unit adjusts the pitch angle of the main spray section according to the second motion control signal. The pitch angle of the secondary spray section is calculated based on the weighted average calculation result of the dust position. The control unit generates a third control signal based on the pitch angle calculation result of the secondary spray section and sends it to the coal acquisition unit so that the coal acquisition unit can adjust the pitch angle of the secondary spray section according to the third motion control signal.

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