Device for collecting state of unmanned working face in real time

Abstract

The utility model belongs to the field of comprehensive coal mining, and relates to a device for acquiring the state of an unmanned working face in real time, which can be used for acquiring the surface state of a coal seam in a fully mechanized coal mining face and providing strategy guidance for subsequent operation of a coal mining machine. The technical scheme comprises a pull rope component and a moving component. The pull rope component is fixed on a plurality of hydraulic supports of a fully mechanized coal mining face and comprises at least one steel wire rope. The moving component is arranged on the steel wire rope, the moving component has the trend of reciprocating operation along the steel wire rope, the moving component comprises a laser radar, and the visual field of the laser radar faces a working face.

Description

Technical Field

[0001] This utility model belongs to the field of integrated coal mining and relates to a device for real-time acquisition of the status of unmanned working faces. Background Technology

[0002] In the fully mechanized mining face, the coal mining machine and hydraulic support work together, and the equipment is operated by on-site personnel, maintaining a high level of operational efficiency and safety.

[0003] In recent years, with the introduction of the concept of unmanned coal mines, workers are far away from the fully mechanized mining face. Therefore, coal mining machines, hydraulic supports, and scraper conveyors need to have a high degree of intelligence. One way to ensure the intelligence of fully mechanized mining equipment is to obtain images of the working face through monitoring and to use big data analysis of the images to provide subsequent operation guidance for the fully mechanized mining equipment.

[0004] However, due to equipment obstruction and dust, the current monitoring system does not capture accurate images of the working face. Therefore, the coal mining machine still needs to react passively to the reaction force it receives in order to adapt to different conditions of the current working face. Overall, the current information collection on the working face cannot provide an effective basis for advance guidance for the precise operation of the coal mining machine. As a result, the coal mining machine cannot adaptively adjust the roller operation in advance based on the changes in coal seam thickness and surface condition of the coal seam. Utility Model Content

[0005] To overcome the shortcomings of the aforementioned related technologies, this utility model proposes a device for real-time acquisition of the status of unmanned working faces. This device can collect the surface status of coal seams in fully mechanized mining faces and provide strategic guidance for the subsequent operation of coal mining machines.

[0006] To achieve the aforementioned technical objectives, this utility model provides a device for real-time acquisition of the status of an unmanned working face. The device comprises a rope-pulling component and a moving component. The rope-pulling component is fixed to multiple hydraulic supports on the fully mechanized mining face and includes at least one steel wire rope. The moving component is mounted on the steel wire rope and has a tendency to reciprocate along the steel wire rope. The moving component includes a lidar, and the lidar's field of view faces the working face.

[0007] The rope-pulling component includes: a fixed base, a support rod, a movable slider, a return spring, and a rope clamping ring. The fixed base is attached to the upper part of the column of the hydraulic support. The support rod is a straight rod and is fixedly connected to the fixed base. The movable slider has a through hole adapted to the support rod, and the movable slider is movably fitted onto the support rod. The return spring is fitted between the fixed base and the support rod. The rope clamping ring is fixedly connected to the lower end of the movable slider, and the wire rope is fixed inside the rope clamping ring.

[0008] Preferably, the rope clamping ring includes a rope buckle and a connector. The rope buckle includes an arc-shaped plate and connecting ears on both sides of the arc-shaped plate. Two rope buckles are connected by bolts, and the steel wire rope is clamped between the arc-shaped plates of the two rope buckles, with the connecting ears remaining horizontal. The connector fixes the connecting ears and the movable slider together.

[0009] Preferably, the moving component includes: a housing, an upper roller, a lower roller, and a driving component. The housing has a horizontal hole through which the wire rope passes. The upper roller is located within the housing above the horizontal hole and tends to rotate around its horizontal center line. An annular groove is provided on the side wall of the upper roller. The lower roller is located within the housing below the horizontal hole and tends to rotate around its horizontal center line. An annular groove is provided on the side wall of the lower roller, and the wire rope passes through both the annular grooves of the upper and lower rollers. The driving component is connected to the lower roller and provides power for its operation.

[0010] Preferably, the driving component includes a stepper motor, a worm gear, and a worm wheel. The stepper motor is fixed to the bottom plate inside the housing. The worm gear is disposed inside the housing and connected by a bearing, and the output shaft of the stepper motor is coaxially and fixedly connected to the worm gear. The worm wheel is disposed inside the housing and is coaxially and fixedly connected to the lower roller, and the worm wheel meshes with the worm gear.

[0011] Preferably, the movable component further includes an encoder, which is fixed inside the housing, and the input shaft of the encoder is coaxially and fixedly connected to the central shaft of the upper roller.

[0012] Preferably, the pull rope component includes two steel wire ropes, which are arranged in parallel and fixedly connected to the movable slider. The movable component includes two horizontal holes, which are arranged in parallel. There are two upper rollers and two lower rollers, one upper roller above each horizontal hole and one lower roller below each horizontal hole. A worm gear is disposed between the two lower rollers.

[0013] The beneficial effects of this utility model are as follows:

[0014] This utility model uses steel wire rope, which can adapt to the frequent movement of multiple hydraulic supports during fully mechanized mining operations, and facilitates the reciprocating movement of the lidar between the fully mechanized mining faces via the steel wire rope.

[0015] This invention employs a pull rope component, which can keep the wire rope taut through a return spring, while preventing the wire rope from loosening when the hydraulic support moves, thus maintaining the stability of the lidar on the horizontal plane. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a side view of the present invention.

[0018] Figure 2 This is a front structural view of the present invention;

[0019] Figure 3 This is a structural diagram of the rope-pulling component of this utility model;

[0020] Figure 4 This is a structural diagram of the movable component of this utility model;

[0021] Figure 5 This is a structural diagram of the upper roller of this utility model;

[0022] Figure 6 This is a diagram showing the state of the wire rope of this utility model during operation with the hydraulic support. Detailed Implementation

[0023] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0025] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more. Example

[0026] like Figure 1 and Figure 2 As shown, some embodiments of this utility model provide a device for real-time acquisition of the status of an unmanned working face. The device includes: a rope-pulling component 1 and a moving component 2. The rope-pulling component 1 is fixed to multiple hydraulic supports on the fully mechanized mining face, and includes at least one steel wire rope 11. The moving component 2 is disposed on the steel wire rope 11, and has a tendency to reciprocate along the steel wire rope 11. The moving component 2 includes a lidar 21, and the field of view of the lidar 21 faces the working face.

[0027] The rope-pulling component 1 includes: a fixed base 12, a support rod 13, a movable slider 14, a return spring 15, and a rope clamping ring 16. The fixed base 12 is attached to the upper part of the hydraulic support column, and a strong magnet can be provided on the fixed base for magnetic attraction. The support rod 13 is a straight rod and is fixedly connected to the fixed base 12. The movable slider 14 has a through hole adapted to the support rod 13, and the movable slider 14 is movably fitted onto the support rod 13. The return spring 15 is fitted between the fixed base 12 and the support rod 13. The rope clamping ring 16 is fixedly connected to the lower end of the movable slider 14, and the wire rope 11 is fixed inside the rope clamping ring 16.

[0028] The rope clamping ring 16 includes a rope buckle and a connector. The rope buckle includes an arc-shaped plate and connecting ears on both sides of the arc-shaped plate. Two rope buckles are connected by bolts, and the steel wire rope 11 is clamped between the arc-shaped plates of the two rope buckles, while the connecting ears remain horizontal. The connector fixes the connecting ears and the movable slider 14 together.

[0029] The moving component 2 includes a housing 22, an upper roller 23, a lower roller 24, and a driving component 25. The housing 22 has a horizontal hole through which the wire rope 11 passes. The upper roller 23 is located within the housing 22 above the horizontal hole and tends to rotate around its horizontal centerline. An annular groove is provided on the side wall of the upper roller 23. The lower roller 24 is located within the housing 22 below the horizontal hole and tends to rotate around its horizontal centerline. An annular groove is provided on the side wall of the lower roller 24, and the wire rope 11 passes through both the annular grooves of the upper roller 23 and the lower roller 24. The driving component 25 is connected to the lower roller 24 and provides power for its operation.

[0030] The driving component 25 includes a stepper motor, a worm gear 251, and a worm wheel 252. The stepper motor is fixed to the bottom plate inside the housing 22. The worm gear 251 is disposed inside the housing 22 and connected by bearings, and the output shaft of the stepper motor is coaxially and fixedly connected to the worm gear 251. The worm wheel 252 is disposed inside the housing 22, and the worm wheel 252 is coaxially and fixedly connected to the lower roller 24, and the worm wheel 252 meshes with the worm gear 251.

[0031] The movable component 2 also includes an encoder 26, which is fixed inside the housing 22. The input shaft of the encoder 26 is coaxially and fixedly connected to the central shaft of the upper roller 23.

[0032] The operation process of this utility model is as follows:

[0033] During the operation of a fully mechanized mining face, the hydraulic supports move forward one by one as the working face moves forward, and the goaf behind is filled in. The device described in this application for real-time acquisition of the unmanned working face status is installed on the upper part of the hydraulic support column, which can acquire images of the working face in real time, while avoiding interference with the movement of workers.

[0034] When the coal mining machine cuts along the working face, the moving component 2 described in this application acquires images of the coal and rock cross-section formed immediately after the coal mining machine cuts along the rope member 1. Specifically, the stepper motor drives the lower roller 24 through the worm gear 251 and worm wheel 252. The upper roller 23 and the lower roller 24 allow the moving component 2 to be mounted on the rope member 1, and the rotation of the lower roller 24 causes the moving component 2 to slide along the wire rope 11. At the same time, the lidar 21 acquires the corresponding coal and rock cross-section data (cloud points). Subsequently, the server generates a 3D model based on the cloud points, which can provide guidance strategies for the subsequent operation of the coal mining machine.

[0035] In this application, to prevent the wire rope 11 from being dragged in an arc due to insufficient tension or from breaking due to insufficient length when the hydraulic supports move forward one by one, the rope pulling component 1 adopts a return spring 15 and a moving slider 14. Specifically, when the hydraulic support moves forward, the moving slider 14 is pulled by other hydraulic supports located at the rear. The moving slider 14 on the forward-moving hydraulic support is pulled by the wire rope 11 to move towards the corresponding column of the hydraulic support, so that the entire wire rope 11 forms an arc shape and can remain taut, which facilitates the stability of the moving component 2 in the height direction. Example

[0036] like Figures 1 to 6 As shown, compared to Embodiment 1, the rope-pulling component 1 in this embodiment includes two steel wire ropes 11, which are arranged in parallel and fixedly connected to the movable slider 14. The movable component 2 includes two horizontal holes arranged in parallel. There are two upper rollers 23 and two lower rollers 24, with one upper roller 23 above each horizontal hole and one lower roller 24 below each horizontal hole. A worm gear 252 is disposed between the two lower rollers 24.

[0037] In this embodiment, two steel wire ropes 11 are used, and the moving component 2 runs along the two steel wire ropes 11. This can improve the stability of the moving component 2, avoid shaking when the moving component 2 moves, and improve the accuracy of the images acquired by the lidar 21.

[0038] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0039] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A device for real-time acquisition of the status of an unmanned working face, characterized in that, include: A rope-pulling component, which is fixed to multiple hydraulic supports on the fully mechanized mining face, and the rope-pulling component includes at least one wire rope; A moving component, which is mounted on a steel wire rope and has a tendency to reciprocate along the steel wire rope, includes a lidar with its field of view facing the working surface. The pull rope component includes: A fixed base, wherein the fixed base is attached to the upper part of the column of the hydraulic support; A support rod, which is a straight rod, is fixedly connected to the fixed base; A movable slider is provided with a through hole adapted to the support rod, and the movable slider is movably fitted onto the support rod; A return spring is fitted between the support rod and the movable slider; A rope clamping ring is fixedly connected to the lower end of the movable slider, and the wire rope is fixed inside the rope clamping ring.

2. The device for real-time acquisition of the status of an unmanned working face according to claim 1, characterized in that, The rope clamping ring includes: A rope buckle, comprising an arc-shaped plate and connecting ears on both sides of the arc-shaped plate, two rope buckles being connected by bolts, with a steel wire rope pressed between the arc-shaped plates of the two rope buckles, and the connecting ears being kept horizontal; A connector that securely connects the connecting lug and the movable slider.

3. The device for real-time acquisition of the status of an unmanned working face according to claim 2, characterized in that, The movable component includes: The outer casing has a horizontal hole through which the steel wire rope passes. An upper roller is disposed inside the housing above the horizontal hole. The upper roller has a tendency to rotate around its horizontal center line. An annular groove is provided on the side wall of the upper roller. The lower roller is disposed inside the housing below the horizontal hole. The lower roller has a tendency to rotate around its horizontal center line. An annular groove is provided on the side wall of the lower roller. The wire rope passes through the annular groove of the upper roller and the annular groove of the lower roller. A drive unit is connected to the lower roller and provides power for the operation of the lower roller.

4. The device for real-time acquisition of the status of an unmanned working face according to claim 3, characterized in that, The driving component includes: A stepper motor, which is fixed to the bottom plate inside the housing; A worm gear is disposed inside the housing and connected by a bearing, and the output shaft of the stepper motor is coaxially and fixedly connected to the worm gear. A worm gear is disposed inside the housing and is coaxially and fixedly connected to the lower roller, and the worm gear meshes with the worm.

5. The device for real-time acquisition of the status of an unmanned working face according to claim 4, characterized in that, The movable component also includes an encoder, which is fixed inside the housing, and the input shaft of the encoder is coaxially and fixedly connected to the central shaft of the upper roller.

6. The device for real-time acquisition of the status of an unmanned working face according to claim 5, characterized in that, The pull rope component includes two steel wire ropes, which are arranged in parallel and both are fixedly connected to the movable slider. The movable component includes two horizontal holes arranged in parallel. There are two upper rollers and two lower rollers, with one upper roller above each horizontal hole and one lower roller below each horizontal hole. The worm gear is positioned between the two lower rollers.

Images