Scraper conveying device for coal mining with limiting structure and method thereof

Abstract

The coal mining scraper conveying device with a limiting structure and the method thereof belong to the technical field of automatic control, and comprise: a main conveying frame which is hinged by multiple middle groove sections, the middle groove sections have side plates, and permanent magnets are fixed on the outer walls of the side plates; a posture constraint system which comprises multiple multi-dimensional limiting sensor seats arranged along the length direction of the main conveying frame and a central controller; wherein the multi-dimensional limiting sensor seats are fixed on the hydraulic support base outside the main conveying frame and are arranged opposite to the side plates of the middle groove sections; the multi-dimensional limiting sensor seat comprises: a mounting base which is fixed on the hydraulic support base. The present application changes the traditional passive post-failure maintenance into predictive maintenance based on data analysis, and improves the reliability of equipment operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation control, and particularly to a coal mining scraper conveying device with a limiting structure and a method thereof. BACKGROUND

[0002] With the development of modern coal mining technology, scraper conveyors are increasingly widely used in coal mining operations. However, due to the long length of the conveyor body and the complex underground working environment, the traditional mechanical limiting device can only provide rigid constraints and cannot real-time sense the running posture of the conveyor.

[0003] Currently, the running state of the conveyor is generally monitored by regular inspection by technical personnel; the technical personnel check the position and shape of the conveyor body by visual inspection or using simple measuring tools, and record the relevant information. The traditional monitoring and maintenance method relies on manual physical inspection and manual recording, which is low in efficiency and may not be able to find problems in real time. When the conveyor interferes with the surrounding equipment or coal wall, it is easy to cause problems such as jamming, increased wear and tear, and even shutdown.

[0004] Therefore, how to timely find the problems of deviation, jamming and collision of the conveyor in operation, and evaluate the long-term impact on the equipment, has become a problem to be solved in the field.

[0005] The above information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore it can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0006] The purpose of the present application is to provide a coal mining scraper conveying device with a limiting structure and a method thereof to solve the problems raised in the above background.

[0007] The technical scheme of the present application comprises: a main conveying frame, which is connected by multiple middle groove segments, the middle groove segments have side plates, and permanent magnets are fixed on the outer walls of the side plates; a posture constraint system, which comprises multiple multi-dimensional limit sensing seats arranged along the length direction of the main conveying frame and a central controller; wherein the multi-dimensional limit sensing seats are fixed on the hydraulic support base outside the main conveying frame and are arranged opposite to the side plates of the middle groove segments; the multi-dimensional limit sensing seat comprises: a mounting base fixed on the hydraulic support base; a sensing head, the working surface of which faces the side plate; a strain gauge beam connected between the mounting base and the sensing head, used for sensing the lateral extrusion force received by the sensing head; a Hall displacement sensor arranged in the sensing head, the sensing surface of which faces the permanent magnet, used for sensing the lateral gap between the sensing head and the side plate; and a piezoelectric shock sheet arranged on the working surface of the sensing head, used for monitoring physical collision.

[0008] Preferably, the bottom of the sensing head is connected with the upper end of the strain gauge beam through a self-aligning spherical joint.

[0009] Preferably, the multi-dimensional limit sensing seat further comprises a signal acquisition box fixed on the mounting base and electrically connected with the Hall displacement sensor, the strain gauge beam and the piezoelectric shock sheet, used for collecting and transmitting sensing signals to the central controller.

[0010] A coal mining method of a coal mining scraper conveying device with a limiting structure, comprising the following steps: collecting multi-dimensional state data, the multi-dimensional state data comprising real-time lateral gap values, static lateral extrusion force data and high-frequency impact signals collected by the multi-dimensional limit sensing seat, and real-time working current collected by a scraper conveyor drive motor; calculating a single-point real-time deviation risk index, the calculation step being used for comparing the instantaneous response stiffness obtained by calculating the change amount from the static lateral extrusion force data and the real-time lateral gap value with a preset reference system stiffness characteristic value, and combining the high-frequency impact signal to identify the current contact state and generate the single-point real-time deviation risk index; identifying a key jamming section, the identification step being used for fitting a global posture curve based on the real-time lateral gap values of all multi-dimensional limit sensing seats, generating a risk index distribution curve based on the single-point real-time deviation risk index, and performing correlation analysis on the curvature maximum point of the global posture curve, the high-value section of the risk index distribution curve and the peak value of the real-time working current to locate the key jamming section.

[0011] Preferably, the generation step of the single-point real-time deviation risk index is further limited to setting the slow drift state as a first risk index interval, setting the active wedging trend state as a second risk index interval, and setting the rigid foreign object wedging locking state or the state of impact as a third risk index interval.

[0012] Preferably, the reference system stiffness characteristic value is calibrated by controlling the movement of the main body conveying frame under no-load conditions and recording the corresponding lateral pressure and displacement relationship during the equipment debugging phase.

[0013] Preferably, the method further comprises a step of calculating a cumulative fatigue damage value, which is calculated based on the fluctuation amplitude and frequency of historical static lateral extrusion force data, combined with a pre-set material stress-life curve model, and using linear cumulative damage theory.

[0014] Preferably, the method further comprises a step of generating maintenance warning information, which generates maintenance warning information containing the specific number of the middle slot segment when the cumulative fatigue damage value reaches a pre-set safety threshold.

[0015] The present application provides a coal mining scraper conveying device with a limiting structure and a method thereof by improvement, which has the following improvements and advantages compared with the prior art.

[0016] 1. By setting the posture constraint system, the problem that the traditional mechanical limiting device in the prior art can only provide rigid constraint and cannot real-time perceive the running posture of the conveyor is solved, the overall perception and precise positioning of the running posture of the scraper conveyor are realized, the traditional passive fault maintenance is changed into predictive maintenance based on data analysis, and the reliability of equipment operation is improved.

[0017] 2. The coal mining method of the present scheme can comprehensively analyze multi-dimensional state data, realize accurate identification and positioning of the jamming problem, fit the real-time lateral gap values of all sensor seats into a global posture curve, and perform correlation analysis combined with the risk index distribution curve and the peak value of the real-time working current of the driving motor, when the curvature maximum point of the global posture curve, the high value section of the risk index and the real-time working current peak value appear at the same time, the system identifies the section as a key jamming section, and realizes accurate positioning of the fault point.

[0018] 3. The present scheme can not only perform instant fault diagnosis, but also perform long-term structural health assessment on the key components of the conveyor, when the cumulative fatigue damage value reaches a pre-set safety threshold, the system can automatically generate maintenance warning information containing the specific number of the middle slot segment. BRIEF DESCRIPTION OF DRAWINGS

[0019] The application will be further explained in connection with the accompanying drawings and embodiments:

[0020] Figure 1 is a schematic diagram of the overall structure of the device;

[0021] Figure 2 is a schematic diagram of the structure of the multi-dimensional limit sensing seat and the central controller;

[0022] Figure 3 is a schematic diagram of the connection structure of the sensing head;

[0023] Figure 4 is a schematic diagram of the method flow structure of the application;

[0024] In the figure: 100, middle groove section; 110, side plate; 200, multi-dimensional limit sensing seat; 210, mounting base; 220, sensing head; 230, Hall displacement sensor; 240, piezoelectric impact sheet; 250, signal acquisition box; 300, central controller. DETAILED DESCRIPTION

[0025] To make the purpose, technical solutions and advantages of the application clearer and more apparent, the application will be further described in detail below in connection with specific embodiments.

[0026] Embodiment 1

[0027] Please refer to Figures 1-3 The application provides a coal mining scraper conveying device with a limiting structure, comprising: a main conveying frame, the main conveying frame is hinged by a plurality of middle groove sections 100, the middle groove section 100 has a side plate 110, and a permanent magnet is fixed on the outer wall of the side plate 110; a posture constraint system, the posture constraint system comprises a plurality of multi-dimensional limit sensing seats 200 and a central controller 300 arranged along the length direction of the main conveying frame; wherein the multi-dimensional limit sensing seat 200 is fixed on the hydraulic support base outside the main conveying frame and is arranged opposite to the side plate 110 of the middle groove section 100; the multi-dimensional limit sensing seat 200 comprises: a mounting base 210, the mounting base 210 is fixed on the hydraulic support base; a sensing head 220, the working surface of the sensing head 220 faces the side plate 110; a strain gage beam, the strain gage beam is connected between the mounting base 210 and the sensing head 220 and is used for sensing the lateral extrusion force received by the sensing head 220; a Hall displacement sensor 230, the Hall displacement sensor 230 is arranged in the sensing head 220, the sensing surface thereof faces the permanent magnet and is used for sensing the lateral gap between the sensing head 220 and the side plate 110; a piezoelectric impact sheet 240, the piezoelectric impact sheet 240 is arranged on the working surface of the sensing head 220 and is used for monitoring physical collision.

[0028] In coal mining operations, the scraper conveyor often appears to be excessively curved or serpentine due to its long body and complex working environment. The traditional mechanical limiting device can only provide rigid constraints and cannot sense the running posture of the conveyor in real time, which may cause problems such as jamming, increased wear and tear, and even shutdown when the conveyor interferes with surrounding equipment or coal walls. The embodiment provides a scraper conveying device for coal mining with a limiting structure, which changes this situation by setting up a posture constraint system. The posture constraint system is arranged along the length direction of the main body conveying frame on the hydraulic support base as a stable reference, and multiple multi-dimensional limiting sensor seats 200 are arranged on the hydraulic support base. Each multi-dimensional limiting sensor seat 200 has the ability to sense the state of the main body conveying frame from multiple dimensions. The internal Hall displacement sensor 230 can obtain the lateral gap information in real time by sensing the permanent magnet on the side plate 110 of the middle trough section 100, which reflects the geometric change of the position of the conveyor. The strain gauge beam connected to the sensor head 220 is used to sense the lateral extrusion force, which reflects the stress state when the conveyor contacts the outside. The piezoelectric impact sheet 240 arranged on the working surface of the sensor head 220 is used to monitor whether there is a sudden physical collision. Through this combination, the multi-dimensional limiting sensor seat 200 can comprehensively collect data from three dimensions of displacement, stress and impact, providing basic information for the central controller 300 to accurately judge the running posture of the conveyor, thereby making up for the deficiency of the prior art that only has physical constraints but no state sensing. The central controller 300 can use a Siemens SIMATICS7-1500 series programmable logic controller with high-speed data processing capability. The Hall displacement sensor 230 can use a Honeywell SS490 series linear Hall effect sensor.

[0029] The bottom of the sensor head 220 is connected to the upper end of the strain gauge beam through a self-aligning spherical joint. This connection mode is designed to solve the problem of angle deviation that may occur between the side plate 110 of the middle trough section 100 and the working surface of the sensor head 220 when the main body conveying frame is bent or twisted. If a rigid connection is used, the angle deviation will cause the lateral extrusion force to concentrate on the edge of the sensor head 220, resulting in uneven stress on the strain gauge beam and thus false pressure readings. Therefore, the self-aligning spherical joint allows the sensor head 220 to adaptively adjust its posture within a small range. Its function is to ensure that the working surface of the sensor head 220 can maintain parallel contact with the side plate 110 as much as possible regardless of the slight change in the posture of the middle trough section 100. This design enables the strain gauge beam to more accurately sense the normal extrusion force perpendicular to the working surface, improving the reliability of the static lateral extrusion force data and providing more accurate input for the subsequent risk assessment and state recognition of the central controller 300. The self-aligning spherical joint here is a standard mechanical component, such as the GE series spherical joint bearing of SKF Company, which can realize this function.

[0030] The multi-dimensional limit sensing seat 200 further comprises a signal acquisition box 250 fixed to the mounting base 210 and electrically connected with the Hall displacement sensor 230, the strain gauge beam and the piezoelectric shock sheet 240, for collecting and transmitting the sensing signals to the central controller 300.

[0031] The multi-dimensional limit sensing seat 200 further comprises a signal acquisition box 250 fixed to the mounting base 210, for on-site processing of the original electric signals generated by the Hall displacement sensor 230, the strain gauge beam and the piezoelectric shock sheet 240 in the sensing seat; in the downhole operation environment, the signal transmission distance from the sensor to the central controller 300 is long, and is easily affected by electromagnetic interference, affecting the signal quality. The function of the signal acquisition box 250 is to amplify, filter and analog-digital convert the weak analog signals output by each sensing element, to form standardized digital signals; in this way, the dispersed and easily disturbed analog signal sources are integrated into a stable digital signal output point, and the processed data is transmitted to the central controller 300 through an industrial bus such as a CAN bus or an industrial Ethernet; this effectively improves the anti-interference ability and reliability of data transmission, and also simplifies the wiring structure of the entire system, facilitating field installation and maintenance.

[0032] Embodiment 2

[0033] Please refer to Figure 4 A coal mining method of a coal mining scraper conveyor device with a limit structure, comprising the following steps: collecting multi-dimensional state data, the multi-dimensional state data comprising real-time lateral gap values, static lateral extrusion force data and high-frequency impact signals collected by the multi-dimensional limit sensing seat 200, and real-time working currents collected by a scraper conveyor drive motor; calculating a single-point real-time offset risk index, the calculation step being used to compare the instantaneous response stiffness obtained by calculating the change amount from the static lateral extrusion force data and the real-time lateral gap values with a preset reference system stiffness characteristic value, and combining the high-frequency impact signals to identify the current contact state and generate a single-point real-time offset risk index; identifying a key jamming section, the identification step being used to fit a global attitude curve based on the real-time lateral gap values of all multi-dimensional limit sensing seats 200, and generate a risk index distribution curve based on the single-point real-time offset risk index, and then perform correlation analysis on the curvature maximum point of the global attitude curve, the high-value section of the risk index distribution curve and the peak value of the real-time working current, to locate the key jamming section.

[0034] The coal mining method performs the step of collecting multi-dimensional state data, in which the central controller 300 polls each multi-dimensional limit sensor seat 200 distributed along the conveyor at a fixed frequency, such as 100 times per second, to synchronously obtain real-time lateral gap values reflecting geometric positions, static lateral compression force data reflecting force states, and high-frequency impact signals reflecting sudden events; at the same time, the central controller 300 also collects real-time working current of the driving motor from the conveyor electric control system; this process collects information describing the local physical state and global power consumption of the conveyor, and performs the step of calculating a single-point real-time deviation risk index. The purpose of this step is to distinguish different contact states;

[0035] The central controller 300 synchronously obtains the change amount of the static lateral compression force and the change amount of the real-time lateral gap in an extremely short time window, the length of which can be adapted according to the data collection frequency, such as 100 milliseconds or less, and calculates a physical quantity reflecting the dynamic characteristics of the contact, the instantaneous response stiffness, according to the formula: instantaneous response stiffness ; compares the calculated instantaneous response stiffness with the preset reference system stiffness characteristic value, and performs state recognition in combination with the high-frequency impact signal; if the instantaneous response stiffness is much larger than the reference value, or there is a high-frequency impact signal, it is determined to be a rigid foreign object wedge locking or impact state; if the instantaneous response stiffness is similar to the reference value and the pressure continues to increase rapidly, it is determined to be an active wedge tightening trend state; if there is no obvious change in pressure, it is determined to be a slow drift state; according to the recognized state, a corresponding single-point real-time deviation risk index is generated for the monitoring point.

[0036] The instantaneous response stiffness is compared with the preset reference system stiffness characteristic value; if the instantaneous response stiffness is much larger than the reference value, it indicates that the lateral displacement has basically stopped and the pressure is still rising sharply, which is consistent with the physical characteristics of being stuck by a hard foreign object; if the instantaneous response stiffness is similar to the reference value, it indicates that the contact is the elastic deformation of the conveyor body itself; at this time, if the high-frequency impact signal is triggered, it is directly determined that a physical collision has occurred. Based on the above comparison and judgment, the central controller 300 generates a quantitative single-point real-time deviation risk index for the monitoring point, and performs the step of identifying a key jammed section.

[0037] This step aims to locate the problem from a global perspective. The central controller 300 will perform polynomial interpolation on all real-time lateral gap values of the multi-dimensional limit position sensing seat 200. Cubic spline interpolation or higher-order polynomial interpolation can be used to ensure that the fitted global attitude curve has continuous curvature at each point, thereby accurately locating the curvature maximum point and fitting a continuous global attitude curve that intuitively represents the overall bending shape of the conveyor. At the same time, connect the single-point real-time deviation risk index of all monitoring points to generate a risk index distribution curve. By calculating the curvature of the global attitude curve, the most severe physical bending position of the conveyor can be found, which is the curvature maximum point. When a certain curvature maximum point is in a section, its corresponding risk index distribution curve also shows a high value, and the real-time working current of the driving motor peaks at the same time. The high correlation of these three phenomena indicates that the excessive bending and high stress contact at this point have caused the increase in the running resistance of the conveyor. The system therefore identifies this section as a key jamming section, achieving accurate positioning of the fault point.

[0038] The generation step of the single-point real-time deviation risk index is further defined as follows: the slow drift state is set as the first risk index interval, the active wedging tendency state is set as the second risk index interval, and the rigid foreign object wedging locking state or the state of impact is set as the third risk index interval.

[0039] The generation step of the single-point real-time deviation risk index is further defined to map the calculated numerical risk index to an explicit and instructive physical state description.

[0040] This index is a quantitative safety indicator used to comprehensively evaluate the real-time deviation and contact state of the scraper conveyor at a specific monitoring point, thereby identifying potential jamming or collision risks. The index is generated by comparing the calculated instantaneous response stiffness with the pre-set reference system stiffness characteristic value and combining high-frequency impact signals. The numerical value represents the severity of the contact state, and the risk state is divided into three intervals: slow drift, active wedging tendency, and rigid foreign object wedging locking / impact, which are used to trigger different levels of warning and maintenance instructions.

[0041] The central controller 300 classifies according to the recognition result in the calculation of the single-point real-time offset risk index step as follows: when the instantaneous response stiffness is close to the reference value, and the static lateral extrusion force has no obvious change or slowly increases, it is determined to be a slow drift state, which corresponds to the first risk index interval, for example, set to 0.0-0.4, indicating that the conveyor is in normal or low-risk operation. When the instantaneous response stiffness is close to the reference value, but the static lateral extrusion force shows a sustained rapid increase trend, it is determined to be a wedge-in tendency state, which corresponds to the second risk index interval, for example, set to 0.4-0.8, indicating that there is a developing jam risk that needs attention. When the instantaneous response stiffness is much larger than the reference value, or a high-frequency impact signal is monitored, it is determined to be a rigid foreign object wedge-in locking state or an impact state, which corresponds to the third risk index interval, for example, set to 0.8-1.0, indicating that a serious jam or collision event has occurred, which needs to be handled immediately; through such interval division, the risk level is clear, providing a clear decision basis for subsequent automatic control or manual intervention.

[0042] The reference system stiffness characteristic value is calibrated by controlling the movement of the main conveying frame under no-load conditions during the equipment debugging stage and recording the corresponding lateral pressure and displacement relationship.

[0043] The reference system stiffness characteristic value is obtained during the debugging stage after the equipment is installed, and the purpose is to establish a reference standard describing the normal elastic properties of the conveyor itself. The specific calibration process is as follows: under the no-load condition that the scraper chain is not running, an external hydraulic pushing device is used to apply a lateral pushing force to the main conveying frame at a slow and controllable speed to make it move laterally; during this process, the central controller 300 synchronously records the lateral pressure data measured by the strain gage beam on all multi-dimensional limit position sensor seats 200 and the displacement data measured by the Hall displacement sensor 230. By analyzing the corresponding relationship between this series of pressure and displacement, a characteristic curve representing the inherent stiffness of the conveyor structure can be obtained. The reference system stiffness characteristic value is one or more key parameters extracted from this curve; this calibration process provides a reliable and actual condition-compliant comparison reference for the subsequent instantaneous response stiffness calculation, enabling the system to effectively distinguish between normal body elastic contact and abnormal rigid object jamming.

[0044] The method further includes a step of calculating a cumulative fatigue damage value, which is calculated based on the fluctuation amplitude and frequency of historical static lateral extrusion force data, combined with a pre-set material stress-life curve model, using linear cumulative damage theory.

[0045] The method further includes a step of calculating a cumulative fatigue damage value, which is aimed at evaluating the long-term structural health of the conveyor key components, and achieving an extension from immediate fault diagnosis to long-term life prediction;

[0046] The value is a cumulative quantified health indicator for assessing the degree of structural fatigue of the middle trough section 100 of the scraper conveyor under long-term cyclic loading, reflecting the remaining life and failure risk of the component, which is calculated based on the fluctuation amplitude and frequency of historical static lateral extrusion force data, combined with a pre-set material stress-life curve model, using linear cumulative damage theory, such as Miner's rule. The purpose of the model and theory is to assess the degree of fatigue damage and remaining life of the material according to the cyclic stress it is subjected to in actual operation without destructive testing.

[0047] The middle trough section 100 of the main conveying frame will continue to be subjected to cyclically varying lateral extrusion forces caused by body bending and external collisions during long-term operation, which will cause the material to fatigue. In this step, the central controller 300 will continuously record and store the historical values of the static lateral extrusion force data at each monitoring point. By analyzing these historical data, the amplitude and frequency of each pressure change, i.e. the fluctuation amplitude and frequency, are identified. The controller calls a pre-set stress-life curve model for the material of the middle trough section 100, such as Q345 steel, which describes the fatigue life of the material under different stress amplitudes. Combined with linear cumulative damage theory, such as Miner's rule, the damage caused by pressure cycles of different amplitudes is quantified and linearly superimposed. Through this calculation process, the cumulative fatigue damage value corresponding to each monitoring point position can be obtained, which quantifies the degree of structural fatigue at that position.

[0048] The method further includes a step of generating maintenance warning information, which is used to generate maintenance warning information containing the specific number of the middle trough section 100 when the cumulative fatigue damage value reaches a pre-set safety threshold.

[0049] The method also includes a step of generating maintenance warning information, which is an application extension of the step of calculating cumulative fatigue damage value, aiming to convert the fatigue assessment result into an active maintenance action instruction; the central controller 300 continuously monitors the cumulative fatigue damage values of each monitoring point obtained by the step of calculating cumulative fatigue damage value in the background; the system pre-sets a safety threshold based on the material fatigue limit and considering a safety factor, the value range of the safety factor can be selected between 1.5 and 2.5 according to the coal mine safety regulations or the equipment design standard, to balance the sensitivity of the warning and the effective service life of the equipment. When the cumulative fatigue damage value of any monitoring point grows and reaches a certain proportion, for example 75%, of the pre-set safety threshold, the system automatically triggers the warning mechanism. At this time, it generates a maintenance warning information; the content of this information is specific, and clearly points out the specific number of the middle trough section 100 with fatigue risk and its position in the conveyor; the information can be sent to the upper monitoring system or mobile terminal, reminding the maintenance personnel to pay attention to the specific section; this step makes the maintenance of the equipment change from the traditional passive post-failure maintenance to the predictive maintenance based on data analysis, which helps to check or replace the structure before the actual damage occurs, thereby improving the reliability of the equipment operation.

[0050] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, not to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A scraper conveyor device for coal mining with a limiting structure, characterized in that, include: The main conveying frame is formed by hinged multiple central groove segments (100), each central groove segment (100) having a side plate (110), and a permanent magnet is fixed on the outer wall of the side plate (110); the attitude constraint system includes multiple multi-dimensional limit sensor seats (200) arranged along the length direction of the main conveying frame and a central controller (300); wherein the multi-dimensional limit sensor seats (200) are fixed to the outside of the main conveying frame. The multi-dimensional limiting sensor base (200) is located on the hydraulic support base of the part and is disposed opposite to the side plate (110) of the middle groove section (100); the multi-dimensional limiting sensor base (200) includes: a mounting base (210), which is fixed to the hydraulic support base; a sensing head (220), the working surface of which faces the side plate (110); and a strain gauge beam, which connects the mounting base (210) and the sensing head (220) for use in... The sensor head (220) is subjected to lateral compressive force. The bottom of the sensor head (220) is connected to the upper end of the strain gauge beam through a self-aligning ball joint. The self-aligning ball joint ensures that the working surface of the sensor head (220) can maintain parallel contact with the side plate (110) as much as possible. A Hall displacement sensor (230) is disposed inside the sensor head (220), with its sensing surface facing the permanent magnet, for sensing the lateral gap between the sensor head (220) and the side plate (110). A piezoelectric impact plate (240) is disposed on the working surface of the sensor head (220) for monitoring physical collisions. The instantaneous response stiffness obtained by calculating the change in static lateral compressive force data and real-time lateral gap value is compared with the preset reference system stiffness characteristic value, and combined with high-frequency impact signal to identify the current contact state and generate a single-point real-time offset risk index.

2. The scraper conveyor device for coal mining with a limiting structure according to claim 1, characterized in that, The multidimensional limiting sensor base (200) also includes a signal acquisition box (250), which is fixed to the mounting base (210) and electrically connected to the Hall displacement sensor (230), the strain gauge beam and the piezoelectric impact plate (240) for acquiring and transmitting sensing signals to the central controller (300).

3. A coal mining method using a scraper conveyor with a limiting structure, applied to the scraper conveyor with a limiting structure as described in claim 1, characterized in that... The process includes the following steps: collecting multi-dimensional state data, which includes real-time lateral clearance value, static lateral extrusion pressure data, and high-frequency impact signal collected by the multi-dimensional limit sensor seat (200), as well as real-time operating current collected by the scraper conveyor drive motor; calculating a single-point real-time offset risk index, wherein the calculation step is used to compare the instantaneous response stiffness obtained from the change in the static lateral extrusion pressure data and the real-time lateral clearance value with a preset reference system stiffness characteristic value, and combine it with the high-frequency impact signal to identify the current contact state and generate the single-point real-time offset risk index; The identification step involves using the real-time lateral clearance values ​​of all multi-dimensional limit sensor seats (200) to fit and generate a global attitude curve, and generating a risk index distribution curve based on the single-point real-time offset risk index. Then, the curvature maxima of the global attitude curve, the high-value segments of the risk index distribution curve, and the peak value of the real-time operating current are correlated and analyzed to locate the key jamming section.

4. A coal mining method using a scraper conveyor with a limiting structure as described in claim 3, characterized in that, The steps for generating the single-point real-time offset risk index are further defined as follows: the slow drift state is set as the first risk index range, the active wedging trend state is set as the second risk index range, and the rigid foreign object wedging and locking state or the impact state is set as the third risk index range.

5. A coal mining method using a scraper conveyor with a limiting structure according to claim 3, characterized in that, The stiffness characteristic value of the reference system is obtained by calibrating the main conveying frame under no-load conditions during the equipment commissioning phase and recording the corresponding lateral pressure and displacement relationship.

6. A coal mining method using a scraper conveyor with a limiting structure according to claim 3, characterized in that, The method further includes a step of calculating the cumulative fatigue damage value, which is used to calculate the value based on the fluctuation amplitude and frequency of the historical static lateral extrusion pressure data and in combination with a preset material stress-life curve model, using linear cumulative damage theory.

7. A coal mining method using a scraper conveyor with a limiting structure according to claim 6, characterized in that, The method further includes a step of generating maintenance warning information, which is used to generate maintenance warning information containing a specific number of the middle slot segment (100) when the cumulative fatigue damage value reaches a preset safety threshold.

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