Coal and gangue separate mining method
By acquiring information on the distribution of coal and gangue and controlling the cutting position of the mining drum in the coal mine area and gangue area, and by utilizing the rotation and oscillation of the cutting section, layered mining of coal and gangue was achieved, solving the problem of low coal purity caused by coal and gangue mixing, and improving mining efficiency and equipment protection.
Patent Information
- Application Number
- CN202511971034.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-25
- Publication Date
- 2026-02-10
AI Technical Summary
In coal mining, the mixing of coal and gangue results in low coal purity, increases the processing capacity and energy consumption of coal preparation plants, reduces washing accuracy, and poses a risk of equipment failure.
The coal and gangue mining method is adopted. By obtaining information on the distribution of coal and gangue, the cutting position of the mining drum in the coal mine area and the gangue area is controlled. The rotation and swing of the cutting head are used to mine the coal mine and gangue separately in layers to avoid mixed mining.
It achieves the separation of coal and gangue, improves coal purity, reduces wear and maintenance costs of mining equipment, and increases mining efficiency.
Smart Images
Figure CN121497338A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of coal mining technology, and more specifically, to a method for separating coal and gangue mining. Background Technology
[0002] In the field of coal mining, the longwall face, as the core area for coal extraction, often faces contradictions between complex geological conditions and mining efficiency and coal purity. During longwall face operations, the coal seam distribution in the head and tail sections of the scraper conveyor is relatively stable, and coal can be extracted through conventional mining. However, the middle section is easily affected by geological structures such as faults, causing the coal seam to rise above the face, forming a special working condition of mining coal at both ends and mining gangue in the middle, with a large amount of gangue mixed into the raw coal.
[0003] Traditional mining often employs a coal-gangue co-mining model, where coal and gangue are extracted in a single operation and then separated at a coal preparation plant. This model has significant drawbacks: upon arrival at the coal preparation plant, the raw coal, mixed with a large amount of gangue, enters the washing and processing stage. This not only increases the plant's processing capacity and energy consumption, and prolongs the operating cycle, but also increases the risk of equipment failure due to the high hardness of the gangue. Furthermore, it reduces the accuracy of coal washing, ultimately affecting the quality of the final coal. Summary of the Invention
[0004] To address the problem of low coal purity resulting from the mixing of coal and gangue in mining seams, this invention provides a method for separate coal and gangue mining.
[0005] The coal and gangue separation method is applied to a coal and gangue separation machine; the coal and gangue separation machine includes a track, a sliding base, a cutting section, and a mining drum; the sliding base is slidably connected to the track; the cutting section is rotatably connected to the sliding base about a first axis; the mining drum is rotatably connected to the cutting section about a second axis; the first axis is perpendicular to the second axis; the first axis is perpendicular to the length direction of the track;
[0006] The coal and gangue separation mining method includes:
[0007] Obtain information on the distribution of coal and gangue in the mining seam; the mining seam includes coal mining areas and gangue areas;
[0008] The track is advanced toward the mining layer until the distance between the track and the mining layer is less than a first threshold.
[0009] The sliding base is controlled to slide back and forth along the track along a preset trajectory;
[0010] Obtain the position information of the mining drum on the track;
[0011] In response to a coal mining instruction, the cutting position in the coal mining area is determined based on the arrival of the mining drum in the coal mining area; the cutting position is spaced apart from the gangue area;
[0012] Based on the fact that the mining drum has reached the cutting position, the cutting section is controlled to swing so that the mining drum can penetrate deeper into the coal mining area for excavation;
[0013] In response to a coal mining instruction, based on the arrival of the mining drum in the gangue area, the cutting section is controlled to swing so that the mining drum is positioned outside the mining layer.
[0014] In some embodiments, when the distance between the track and the mining layer is less than a threshold, the distance between the first axis and the mining layer is less than a second threshold; the second threshold is greater than the first threshold.
[0015] In some embodiments, when the mining drum is inserted into the mining layer, the length direction of the cutting section is parallel to the track.
[0016] In some embodiments, there are two cutting sections; there are two mining drums; the cutting section corresponds to the mining drum one-to-one; the two cutting sections are distributed at both ends of the sliding base; the mining drum is located at the end of the cutting section away from the sliding base.
[0017] In some embodiments, determining the feed position of the cutting drum in the coal mining area in response to a coal mining instruction includes:
[0018] In response to a command to mine coal, based on the arrival of the mining drum in the coal mining area, the cutting orientation of the mining drum and the first travel direction of the sliding base are obtained; the cutting orientation is the orientation of the end of the second axis away from the cutting part;
[0019] Determine the angle between the cutting direction and the feed angle of the first travel direction;
[0020] Based on the fact that the feed angle is an acute angle, the position at which the feed distance is the first distance away from the gangue area is determined as the feed position of the coal mine area.
[0021] In some embodiments, based on the fact that the feed angle is an obtuse angle, the position at a second distance away from the gangue area is determined as the feed position in the coal mine area; the second distance is less than the first distance.
[0022] In some embodiments, the second distance is less than 10% of the first distance.
[0023] In some embodiments, the coal and gangue separation mining method further includes:
[0024] Based on the fact that the mining drum extends from the infeed position into the coal mining area, and the infeed angle is an acute angle, the sliding direction of the sliding base is adjusted to a second travel direction; the second travel direction is opposite to the first travel direction;
[0025] Based on the fact that the sliding base slides in the second travel direction until the distance between the mining drum and the gangue area is less than the second distance, the travel direction of the sliding base is adjusted to the first travel direction, and it continues to slide along the preset trajectory.
[0026] In some embodiments, based on the completion of the excavation of the coal mining area, in response to the instruction to mine gangue, the cutting section is controlled to swing so that the mining drum penetrates into the mined ore layer to excavate the remaining area; the mined ore layer also includes a coal-gangue mixed zone; the remaining area includes the gangue zone and the coal-gangue mixed zone.
[0027] In some embodiments, based on the completion of the current mining layer excavation, the sliding base is controlled to stop moving, and the cutting section is controlled to swing so that the mining drum retracts above the track;
[0028] The track is controlled to advance toward the next mining layer until the distance between the track and the mining layer is less than a first threshold.
[0029] Obtain coal and gangue distribution information for the next mining seam;
[0030] The process of controlling the sliding base to slide back and forth along the track along a preset trajectory is repeated until the mining operation is completed.
[0031] To address the problem of low coal purity resulting from the mixing of coal and gangue in mining seams, this invention offers the following advantages:
[0032] By acquiring information on the distribution of coal and gangue in the mining seam and controlling the mining drum to first mine only the coal in the mining area, and then mining the gangue after the coal is mined, the effect of separate coal and gangue mining is achieved. The cutting section's rotation around the first axis allows the mining drum to excavate the softer coal at an inclined angle, while the gangue is mined without inclination, thus significantly reducing wear and tear on the separate coal and gangue mining machine. Furthermore, the cutting section's height adjustment of the mining drum allows the two mining drums to perform layered mining of the coal. Attached Figure Description
[0033] Figure 1 A schematic diagram of the structure of a coal and gangue separating and mining machine according to one embodiment is shown;
[0034] Figure 2A flowchart of a coal and gangue separation method according to one embodiment is shown;
[0035] Figure 3 A front view of one embodiment of a coal and gangue separating and mining machine is shown;
[0036] Figure 4 A top view of a coal gangue separating and mining machine and a coal mining area according to one embodiment is shown;
[0037] Figure 5 A top view of a coal and gangue mining machine and a gangue area according to one embodiment is shown.
[0038] Figure label:
[0039] 10 Coal and gangue mining machine; 11 Track; 12 Sliding base; 13 Cutting section; 14 Mining drum; 141 First tip; 142 Second tip; 15 First axis; 16 Second axis; 20 Mining seam; 21 Coal mining area; 22 Gangue area. Detailed Implementation
[0040] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, and are not intended to imply any limitation on the scope of the disclosure.
[0041] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments and are not intended to limit the indicated devices, elements, or components to having a specific orientation or being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientations or positional relationships; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the terms "installed", "set up", "equipped with", "connected", and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.
[0042] In coal mine longwall faces, the coal seams in the head and tail sections of the scraper conveyor are stable and can be mined conventionally. However, the middle section is susceptible to faulting, causing the coal seam to shift upwards. This results in a situation where coal is mined at both ends and gangue is mined in the middle, with a large amount of gangue mixed into the raw coal. Traditional coal and gangue co-mining methods extract coal and gangue in one go and then rely on a coal preparation plant for separation. This not only increases the processing capacity, energy consumption, and operating cycle of the coal preparation plant but also increases the risk of equipment failure and reduces the washing accuracy and coal quality. To solve the problem of low coal purity caused by the mixing of coal and gangue in the 20-mile-long coal seam, this invention provides a coal and gangue separation method.
[0043] Example 1:
[0044] This embodiment provides a method for separating coal and gangue mining, which is applied to, for example... Figure 1 The image shows a coal and gangue separating and mining machine 10; such as Figure 3As shown, the coal gangue mining machine 10 includes a track 11, a sliding base 12, a cutting section 13, and a mining drum 14. The track 11 is laid on the ground of the passageway within the mining area, and the sliding base 12 is slidably connected to the track 11; the length direction of the sliding base 12 is parallel to the track 11. The cutting section 13 is rotatably connected to the sliding base 12 about a first axis 15; the mining drum 14 is rotatably connected to the cutting section 13 about a second axis 16; thus, the mining drum 14 can move with the cutting section 13 connected to the sliding base 12. The first axis 15 is perpendicular to the second axis 16; that is, the mining drum 14 can rotate with the cutting section 13 about the first axis 15. The first axis 15 is perpendicular to the length direction of the track 11; the length direction of the track 11 is approximately straight and is laid along the edge of the mining layer 20.
[0045] like Figure 2 As shown, the coal and gangue separation mining method includes steps S10-S70:
[0046] Step S10: Obtain coal and gangue distribution information for the mining seam 20; the exposed facade of the mining seam 20 within the mining area resembles a wall. The mining seam 20 includes coal mining area 21 (e.g., Figure 4 (as shown) and gangue zone 22 (as shown) Figure 5 As shown), coal mining area 21 and gangue area 22 are arranged adjacent to each other; there can be multiple coal mining areas 21 and gangue areas 22, and the span of each coal mining area 21 and gangue area 22 along the length of track 11 can be different.
[0047] Step S20: Advance the track 11 toward the mining layer 20 until the distance between the track 11 and the mining layer 20 is less than the first threshold. The first threshold is small, so that the sliding base 12 can be close to the mining layer 20 when sliding along the track 11, thereby reducing the amplitude of the swing of the mining drum 14 toward the mining layer 20 during excavation.
[0048] Step S30: Control the sliding base 12 to slide back and forth along the track 11 along a preset trajectory; at this time, the mining drum 14 moves along the preset trajectory with the sliding base 12 and is spaced apart from the mining layer 20.
[0049] Step S40: Obtain the position information of the mining drum 14 on the track 11;
[0050] Step S50: In response to the instruction to mine coal, based on the arrival of the mining drum 14 in the coal mining area 21, determine the cutting position of the cutting section 21; the cutting position can be set within the coal mining area 21, adjacent to the gangue area 22. The cutting position and the gangue area 22 are spaced apart to provide space for the rotation of the cutting section 13 around the first axis 15;
[0051] Step S60: Based on the fact that the mining drum 14 has reached the cutting position, control the cutting part 13 to swing and control the mining drum 14 to rotate so that the mining drum 14 can penetrate into the coal mining area 21 for excavation; at this time, the sliding base 12 slides back and forth along the preset trajectory so that the mining drum 14 can continuously mine the coal in the coal mining area 21 until the mining drum 14 has finished mining the coal in the coal mining area 21 and reaches the gangue area 22.
[0052] Step S70: In response to the instruction to mine coal, based on the arrival of the mining drum 14 at the gangue zone 22, the cutting section 13 is controlled to swing so that the mining drum 14 is positioned outside the mining layer 20. This completes the mining of the coal mining zone 21 in the mining layer 20, without mining the gangue zone 22. Subsequently, the gangue in the gangue zone 22 of the mining layer 20 is collected using the same method, achieving the goal of separating coal and gangue mining. Furthermore, since coal is softer than gangue, this allows for faster coal mining while protecting the mining drum 14, reducing damage to the mining drum 14, thereby improving mining efficiency and reducing maintenance costs.
[0053] like Figure 5 As shown, the mining drum 14 includes a first tip 141 and a second tip 142. The first tip 141 is located on the side of the mining drum 14 closer to the first axis 15, and the second tip 142 is located on the side of the mining drum 14 away from the first axis 15. Since coal is softer than gangue, when mining the coal first, the cutting section 13 rotates around the first axis 15, allowing the mining drum 14, which is connected to the cutting section 13 rotating around the second axis 16, to contact and rotate with the coal in the mining area 21 at a certain angle. That is, after the mining drum 14 begins to rotate around the second axis 16, the first tip 141 can be used to mine the coal first. As the cutting section 13 rotates around the first axis 15 toward the mining area 21 until the second axis 16 is perpendicular to the length direction of the track 11, the second tip 142 also participates in the mining. After the second axis 16 is perpendicular to the length direction of the track 11, the sliding base 12 moves along the preset trajectory toward the gangue area 22, so that the side of the mining drum 14 where the second tip 142 is located can mine the coal. After the coal in the coal mining area 21 is mined, the mining drum 14 is retracted to achieve cutter retraction. Then the sliding base 12 slides unidirectionally to the next coal mining area 21 along the preset trajectory, and repeats the cutting and retraction actions until all the coal mining areas 21 in the mining layer 20 corresponding to the position of the track 11 are mined in this way, so that only the gangue area 22 remains to be mined in the mining layer 20.
[0054] Because the gangue is relatively hard, the angle required for the mining drum 14 to mine it is relatively high. At the beginning of the mining of the gangue zone 22, since all the coal in the ore layer 20 has been mined, the gangue zone 22 protrudes beyond the adjacent coal zone 21. Based on this, after mining the last coal zone 21, there is no need to retract the cutter; simply slide the base 12 in the reverse direction along a preset trajectory to directly mine the gangue zone 22 from one side of the mining drum 14 where the first tip 141 is located. This allows the high angle requirement for the mining drum 14 to mine the gangue to be met by rotating the cutting section 13 around the first axis 15.
[0055] In this embodiment, the cutting section 13 can be composed of two parts: a first part and a second part. The first part and the second part are rotatably connected about a third axis parallel to the second axis 16. The first part is rotatably connected to the sliding base 12 about a first axis 15, and the second part is rotatably connected to the mining drum 14 about the second axis 16. This allows the mining drum 14 to rotate about the first axis 15 and swing about the third axis simultaneously through the relative rotation of the first and second parts, thereby adjusting the height of the mining drum 14 relative to the sliding base 12 and thus adjusting the height of the mining drum 14 during the mining process. This allows the mining drum 14 to penetrate deep into the coal mine area 21 for excavation, and then, with height adjustment and the movement of the sliding base 12 along a preset trajectory, the mining drum 14 can complete the mining of the coal at the current excavation position of the track 11.
[0056] Furthermore, when the distance between the track 11 and the mining layer 20 is less than a threshold, the distance between the first axis 15 and the mining layer 20 is less than a second threshold; the second threshold is greater than the first threshold. That is, the distance between the first axis 15 and the mining layer 20 is greater than the distance between the track 11 and the mining layer 20. This ensures that during the swinging of the cutting part 13 around the first axis 15, the cutting part 13 always cuts between itself and the mining layer 20, avoiding collision between the two.
[0057] Furthermore, such as Figure 4 As shown, with the mining drum 14 deeply embedded in the ore layer 20, the length direction of the cutting section 13 is parallel to the track 11. Since the mining drum 14 and the cutting section 13 are rotatably connected around a second axis 16, which is perpendicular to the length direction of the cutting section 13, the cutting section 13 can swing around a first axis 15 until its length direction is parallel to the track 11. This allows the mining drum 14 to be perpendicular to the ore layer 20 for excavation.
[0058] Furthermore, such as Figure 3As shown, there are two cutting sections 13 and two mining drums 14; the cutting sections 13 and mining drums 14 correspond one-to-one; the two cutting sections 13 are distributed at both ends of the sliding base 12; the mining drum 14 is located at the end of the cutting section 13 away from the sliding base 12.
[0059] In this embodiment, the two mining drums 14 have different overall dimensions, namely a large-diameter mining drum 14 and a small-diameter mining drum 14, respectively. The larger mining drum 14 has higher mining efficiency. The larger mining drum 14 can execute the excavation command before the smaller mining drum 14. After the larger mining drum 14 has mined most of the coal in the same coal mining area 21 with higher efficiency, the smaller mining drum 14 can be used to mine and clear the remaining coal along the way. Furthermore, due to the smaller size of the smaller mining drum 14, the ground between the mined layer 20 and the track 11 can be leveled, thereby facilitating the advancement of the track 11 toward the mined layer 20 in the next mining cycle.
[0060] In other embodiments, the larger mining drum 14 and the smaller mining drum 14 may be configured as a front mining drum 14 and a rear mining drum 14, respectively, with the front mining drum 14 executing the excavation command before the rear mining drum 14.
[0061] In other embodiments, the larger mining drum 14 and the smaller mining drum 14 are at different heights in the direction of the first axis 15, thereby enabling layered mining of the coal mining area 21.
[0062] Further, step S50 includes steps S51-S53:
[0063] Step S51: In response to the instruction to mine coal, based on the arrival of the mining drum 14 in the coal mining area 21, obtain the cutting orientation of the mining drum 14 and the first travel direction of the sliding base 12; the cutting orientation is the orientation of the end of the second axis 16 away from the cutting part 13;
[0064] Step S52: Determine the angle between the cutting direction and the first travel direction, where the angle can be acute or obtuse.
[0065] Step S53: Based on the acute angle of the feed angle, the position at the first distance away from the gangue zone 22 is determined as the feed position of the coal mine area 21. Here, the first distance is relatively small, and the first travel direction is from the feed position towards the direction away from the gangue zone 22.
[0066] This allows the cutting section 13 to swing once towards the coal mining area 21, with the cutting angle being acute, after the larger mining drum 14 rotates. This ensures the second axis 16 is perpendicular to the coal mining area 21, and then the sliding base 12 is controlled to travel in the first direction. The larger mining drum 14 then begins excavation from its entry position and continues mining along the predetermined first direction until it reaches the gangue area 22. This allows for the complete mining of coal within the same coal mining area 21 along the first direction after only one entry command, avoiding the inefficiency caused by multiple reciprocating slides of the sliding base 12 along the track 11, thus improving the efficiency of coal and gangue separation. Furthermore, due to the smaller initial distance, a larger proportion of coal within the same coal mining area 21 can be mined with only one excavation command. This larger proportion can be 80%.
[0067] Furthermore, step S53 can also be: based on the obtuse angle of the cutting infeed, the position at the second distance away from the gangue area 22 is determined as the cutting position of the coal mining area 21; the second distance is less than the first distance. This allows the smaller mining drum 14 to swing until its second axis 16 is perpendicular to the length direction of the track 11 when it cuts from the second distance away from the gangue area 22 during the process of the larger mining drum 14 cutting along the first travel direction to reach the gangue area 22. Then, it can mine the coal between the two cutting positions corresponding to the second and first distances, and clear any remaining coal along the path mined by the larger mining drum 14. Since the second distance is less than the first distance, this further increases the proportion of coal mining within the same coal mining area 21 under a single excavation command, which can be increased to 90%.
[0068] Furthermore, the second distance is less than 10% of the first distance. This allows for a further increase in the proportion of coal mined from the same coal mining area 21 under a single excavation command, by setting the larger and smaller mining drums 14 and the two feed positions corresponding to the first and second distances respectively. This proportion can be increased to 95%. This significantly improves the efficiency of the coal and gangue separator 10 in mining coal. It also results in a very low coal content in the gangue subsequently extracted from the gangue area 22, meaning the gangue has high purity, thus achieving the goal of separating coal and gangue collection.
[0069] Further, step S60 includes steps S61-S62:
[0070] Step S61: Based on the fact that the mining drum 14 has moved deeper into the coal mine area 21 from the infeed position and the infeed angle is acute, adjust the sliding direction of the sliding base 12 to the second travel direction; the second travel direction is opposite to the first travel direction.
[0071] Step S62: Based on the sliding base 12 sliding in the second travel direction until the distance between the mining drum 14 and the gangue zone 22 is less than the second distance, the travel direction of the sliding base 12 is adjusted to the first travel direction, and it continues to slide along the preset trajectory. The distance and speed of the sliding base 12 sliding in the second travel direction, and the rotational speed of the cutting section 13 around the first axis 15 are related. Because the distance between the cutting position and the gangue zone 22 is small, the mining drum 14, while sliding with the sliding base 12 in the second travel direction and swinging around the first axis 15 to a position where the second axis 16 is perpendicular to the mined layer 20, has a distance less than the second distance between it and the gangue zone 22. At this point, the sliding base 12 stops and adjusts its travel direction to the first travel direction, then continues mining along the preset trajectory towards the first travel direction. This allows the sliding base 12 to complete the mining of the coal in the second travel direction with only a short distance of sliding in the second travel direction after excavation, thereby improving mining efficiency.
[0072] In this embodiment, since the feed angle is acute, the coal ore is first rotaryly cut by the first tip 141 near the second travel direction. Simultaneously, the mining drum 14 slides with the sliding base 12 in the second travel direction. This allows the coal ore in the second travel direction to be mined through the first tip 141 and one side of the mining drum 14 where the first tip 141 is located, thus avoiding damage to the cutting tool caused by the travel direction being opposite to the cutting direction of the cutting tip of the mining drum 14. When the sliding base 12 slides towards the first travel direction, the coal ore in the first travel direction is mined through one side of the mining drum 14 where the second tip 142 is located, which also protects the cutting tool. In other words, the cutting tip of the mining drum 14 near the travel direction preferentially contacts the ore layer 20 to be mined, thereby preventing damage to the cutting tool due to the travel direction being opposite to the cutting direction of the cutting tip.
[0073] Furthermore, a coal and gangue separation mining method also includes step S80;
[0074] Step S80: Based on the completion of excavation in coal mining area 21, in response to the command to mine gangue, the cutting section 13 is controlled to swing, so that the mining drum 14 penetrates into the mining layer 20 to excavate the remaining area; the mining layer 20 also includes a coal-gangue mixed area; the remaining area includes gangue area 22 and a coal-gangue mixed area. In this way, after the gangue in gangue area 22 is mined out, gangue with higher purity can be obtained, thereby realizing the separate mining of coal and gangue. Finally, after the coal-gangue mixed area is mined out, it is transported or separated, thus completing the mining of the mining layer 20 corresponding to the location of track 11.
[0075] Furthermore, a coal and gangue separation mining method also includes step S90, which includes steps S91-S94, as detailed below:
[0076] Step S91: Based on the completion of the current mining layer 20, control the sliding base 12 to stop moving and control the cutting part 13 to swing so that the mining drum 14 is brought together above the track 11; this can avoid the cutting part 13 and the mining drum 14 from colliding with the mining layer 20 and causing damage during the subsequent advancement of the track 11 toward the next mining layer 20.
[0077] Step S92: Control the track 11 to advance toward the next mining layer 20 until the distance between the track 11 and the mining layer 20 is less than the first threshold;
[0078] Step S93: Obtain coal and gangue distribution information for the next mining seam 20;
[0079] Step S94: Return to the step of controlling the sliding base 12 to slide back and forth along the track 11 along the preset trajectory and repeat until the mining work is completed.
[0080] Those skilled in the art will understand that the above embodiments are specific examples of implementing this disclosure, and in practical applications, various changes can be made in form and detail without departing from the scope of this disclosure.
Claims
1. A method for separating coal and gangue mining, characterized in that, The coal and gangue separation mining method is applied to a coal and gangue separation mining machine; the coal and gangue separation mining machine includes a track, a sliding base, a cutting section, and a mining drum; the sliding base is slidably connected to the track; the cutting section is rotatably connected to the sliding base about a first axis; the mining drum is rotatably connected to the cutting section about a second axis; the first axis is perpendicular to the second axis; The first axis is perpendicular to the length direction of the track; The coal and gangue separation mining method includes: Obtain information on the distribution of coal and gangue in the mining seam; the mining seam includes coal mining areas and gangue areas; The track is advanced toward the mining layer until the distance between the track and the mining layer is less than a first threshold. The sliding base is controlled to slide back and forth along the track along a preset trajectory; Obtain the position information of the mining drum on the track; In response to a coal mining instruction, the cutting position in the coal mining area is determined based on the arrival of the mining drum in the coal mining area; the cutting position is spaced apart from the gangue area; Based on the fact that the mining drum has reached the cutting position, the cutting section is controlled to swing so that the mining drum can penetrate deeper into the coal mining area for excavation; In response to a coal mining instruction, based on the arrival of the mining drum in the gangue area, the cutting section is controlled to swing so that the mining drum is positioned outside the mining layer.
2. The method for coal and gangue separation mining according to claim 1, characterized in that, When the distance between the track and the mining layer is less than a threshold, the distance between the first axis and the mining layer is less than a second threshold; the second threshold is greater than the first threshold.
3. The method for coal and gangue separation mining according to claim 2, characterized in that, With the mining drum deeply inserted into the mining layer, the length direction of the cutting section is parallel to the track.
4. The method for coal and gangue separation mining according to claim 1, characterized in that, There are two cutting sections; there are two mining drums; each cutting section corresponds to one mining drum; the two cutting sections are distributed at both ends of the sliding base; the mining drum is located at the end of the cutting section away from the sliding base.
5. A method for coal and gangue separation mining according to claim 4, characterized in that, The step of responding to a coal mining instruction and determining the feed position of the cutting drum in the coal mining area based on the arrival of the mining drum in the coal mining area includes: In response to a command to mine coal, based on the arrival of the mining drum in the coal mining area, the cutting orientation of the mining drum and the first travel direction of the sliding base are obtained; the cutting orientation is the orientation of the end of the second axis away from the cutting part; Determine the angle between the cutting direction and the feed angle of the first travel direction; Based on the fact that the feed angle is an acute angle, the position at which the feed distance is the first distance away from the gangue area is determined as the feed position of the coal mine area.
6. A method for coal and gangue separation mining according to claim 5, characterized in that, Based on the fact that the feed angle is an obtuse angle, the position at a second distance away from the gangue area is determined as the feed position in the coal mine area; the second distance is less than the first distance.
7. A method for coal and gangue separation mining according to claim 6, characterized in that, The second distance is less than 10% of the first distance.
8. A method for coal and gangue separation mining according to claim 6, characterized in that, The coal and gangue separation mining method also includes: Based on the fact that the mining drum extends from the infeed position into the coal mining area, and the infeed angle is an acute angle, the sliding direction of the sliding base is adjusted to a second travel direction; the second travel direction is opposite to the first travel direction; Based on the fact that the sliding base slides in the second travel direction until the distance between the mining drum and the gangue area is less than the second distance, the travel direction of the sliding base is adjusted to the first travel direction, and it continues to slide along the preset trajectory.
9. A method for separating coal and gangue mining according to claim 1, characterized in that, Based on the completion of the excavation of the coal mining area, in response to the instruction to mine gangue, the cutting section is controlled to swing so that the mining drum penetrates into the mining layer to excavate the remaining area; the mining layer also includes a coal-gangue mixed zone; the remaining area includes the gangue zone and the coal-gangue mixed zone.
10. A method for coal and gangue separation mining according to claim 9, characterized in that, Based on the completion of the current mining layer excavation, control the sliding base to stop moving, and control the cutting part to swing so that the mining drum retracts above the track; The track is controlled to advance toward the next mining layer until the distance between the track and the mining layer is less than a first threshold. Obtain coal and gangue distribution information for the next mining seam; The process of controlling the sliding base to slide back and forth along the track along a preset trajectory is repeated until the mining operation is completed.