CN101922290B - Coal-rock interface identification method, identification system and identification probe - Google Patents
Coal-rock interface identification method, identification system and identification probe Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C39/00—Devices for testing in situ the hardness or other properties of minerals, e.g. for giving information as to the selection of suitable mining tools
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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Abstract
In an underground exploitation process of a coal mine, the coal recovery rate needs improving, and a roller bit of a coal mining machine is prevented from cutting roof strata as far as possible so as not to damage equipment or even cause accidents, so an interface of a coal layer and a rock layer needs on-line identification. The invention provides a coal-rock interface identification method, a coal-rock interface identification system and a coal-rock interface identification probe. A specific energy-level high-pressure water jet which can penetrate the coal layer but cannot penetrate the rock layer is jetted to the coal layer above a tunnel, different acting forces of reflected flow reflected by the coal layer or the rock layer on a nozzle are sensed in real time, and a controller judges the distance between the upper end of the roller bit of the coal mining machine and the coal-rock interface to realize automatic heightening control of a rocker arm of the coal mining machine so that the coal exploitation process realizes the goals of high recovery rate, low mechanical abrasion rate, automatic operation and the like. The coal-rock interface identification method, the coal-rock interface identification system and the coal-rock interface identification probe provided by the invention have the advantages of low cost, high adaptability, high reliability, intrinsic safety and the like.
Description
Technical field
The present invention relates to a kind of coal-rock interface identification method, the recognition system based on the method and identification probe.
Background technology
Under coal mine, in recovery process, need to differentiate the interface of coal seam and rock stratum, control on this basis the lifting of rocker arm of coal mining machine.
At present, the control of domestic coal mining machine roller height all adopts manual operation substantially, i.e. the self-dependent vision of coal-winning machine driver and the sense of hearing judges whether cylinder cuts to balkstone and make corresponding adjusting.Yet in practical operation, there is certain distance on driver's eye distance cylinder top, and is full of coal dust on work plane, visibility is extremely low; Meanwhile, cylinder cutting coal seam produces very large noise, after coal seam is cut, constantly hangs down and also produce noise, in addition the mechanical oscillation of coal-winning machine itself, on the work plane of larger space, above-mentioned various noises also can echogenicity, cause both not seeing also and not hearing on work plane, even if veteran coal-winning machine driver is also difficult to be cut at cylinder the moment of balkstone, make rapidly accurate judgement.Therefore for fear of being cut to balkstone, China mostly takes the mode of conservative exploitation now, and actual recovery ratio is lower, and current technical level is also difficult to remaining a large amount of coal resources to carry out secondary recovery, causes the serious wasting of resources.Meanwhile, existing this method of operating has also seriously restricted the raising of coal-face automatization level, so exploitation Coal-Rock Interface Recognition technology is significant.
Coal-Rock Interface Recognition technology is one of key technology realizing coal-winning machine automation.Reliably Coal-Rock Interface Recognition system aspect economic benefit and safety work two, all have advantages of outstanding; it not only can make coal-winning machine have the ability of automatic tracing coal-rock interface; promote colliery down-hole coal excavation automatization level; improve coal mining activity benefit; and can also effectively improve recovery ratio; reduce the spoil that those must remove in coal separation process; improve coal quality and conevying efficiency; alleviate equipment attrition situation; reduce maintenance of equipment amount and downtime; and can make operating personnel away from dangerous work face, realize work plane unmanned etc.
The Coal-Rock Interface Recognition system that instructs radial up-down being applied on coal-winning machine mainly adopts interface level measurement type.From the 1950's, each main coal producer of the world payes attention to the research work in this field further as the U.S., Germany, Britain, Australia etc., some achievements have been formed, for example: the NGR based on coal petrography natural Gamma ray radiation characteristic (Natural Gamma Radiation) sensor method, this method is in product some mine use abroad of theoretical aspect comparative maturity and existing several moulding.This method is the attenuation law after penetrating coal seam according to the gamma-rays in balkstone, by the gamma intensity of measuring after overdamping, determines coal seam thickness, carrys out thus to determine coal-rock interface.The method requires balkstone must contain radioactive element.Therefore the method has good compliance for shale top board (containing radioactive element), for sandstone top board (radioactive element content is less), cannot apply.The method has 50% mine can use the ， U.S. to have 90% mine to use in Britain; Er China only has the mine of 18% left and right to apply, thereby is difficult to promote the use of on a large scale in China.In addition, infrared temperature detection method had also once once been considered to promising interface identification method, and the method is utilized near the surface temperature of the geologic body of highly sensitive infrared thermometer monitoring recovery process intermediate roll pick.Because coal seam and lithosphere exist significant mechanical strength contrast conventionally, the heat that cut different aspects produce is different, causes near the rising degree of the surface temperature of geologic body cylinder pick different, judges whether that accordingly cut is to coal-rock interface.The weak point of the method is to only have when cylinder cuts to rock stratum and just can come into force, and not only can damage cutter, and the spark that cutting rock stratum produces can cause great threat to downhole safety; In addition, atomization mechanism is housed conventionally for cooling to pick and coal seam on coal mining machine roller, also near the real-time Measurement accuracy of geologic body surface temperature cylinder pick has been caused to larger difficulty.In addition, also have some additive methods as artificial gamma-rays method, stress pick analytic approach, vibration analysis method etc., mainly rest at present theoretical research stage, not yet form practical technique and product.
In sum, up to the present, although the researcher of various countries has proposed all conceptions to coal-rock interface detection system, most schemes are also in research and experimental stage, and its reliability, practicality, safety etc. are not yet fully verified.While is due to the various reasons such as complexity of geological conditions, the scope of application of the recognition technology that some have been applied is severely limited, environment for use slightly changes will deleterious even entirely ineffective, such as: natural Gamma ray method, better for shale top board effect, for sandstone top board, almost can not use.
Summary of the invention
The technical problem that first the present invention will solve is to provide a kind of coal-rock interface identification method, its wide adaptability, can Real time identification coal-rock interface, and for solving systematically coal mining machine rocker arm height, control, make down-hole coal excavation process really realize coal-winning machine automation to provide necessary condition.For this reason, the present invention is by the following technical solutions: described method provides jet near the cylinder of coal-winning machine or in cylinder, spray in described jet coal seam upward, the energy that described jet has can cut and penetrates described coal seam and can not penetrate the lithosphere behind coal seam, and the nozzle of described jet is synchronizeed with cylinder and raise;
The force value of the contrajet that acquisition jet is reflected by described lithosphere to nozzle, and be real-time transmitted to control device, according to the size measuring and calculating cylinder of this active force, whether approached coal-rock interface, as approached coal-rock interface, control rocker arm of coal mining machine and decline;
The medium of described jet can be water; Or take water as main body, and contain additives such as polyacrylamide, polyethylene glycol oxide jar (unit of capacitance) resin.
Adopting on the basis of technique scheme, the present invention also can adopt following further technical scheme: it utilizes contrajet to the active force of nozzle, can make nozzle have to draw back trend or the displacement backward of contracting, and adopts pressure sensor or displacement transducer carry out perception to obtain described force value.
Another technical problem to be solved of the present invention is to provide a kind of said method of can realizing and carries out Coal-Rock Interface Recognition and and then control the Coal-Rock Interface Recognition system of rocker arm of coal mining machine work.For this reason, the present invention by the following technical solutions: it is provided with identification probe, controller; Described identification probe is provided with the jet nozzle that points to coal seam, cylinder top, described jet nozzle be near cylinder or cylinder in and can with cylinder synchronization lifting, described identification probe is provided with the sensing element of pressure sensor or displacement transducer, being used for the contrajet that lithosphere reflected of perception jet after by coal seam retreats the distance of displacement to the active force of described nozzle or perception because this active force makes nozzle, after conversion element is processed, sends signal to controller in real time; Described controller, according to the signal corresponding with contrajet force value of described pressure sensor or displacement transducer, through relatively, is controlled the work of rocker arm of coal mining machine drive unit, and described recognition system is also provided with the adjusting device of jet pressure.
Usually, directly over described nozzle points to or with directly over have certain drift angle, as long as the cylinder of coal-winning machine is when approaching by coal-rock interface behind the coal seam of its digging, the parts that the active force of contrajet can act on nozzle or be connected with nozzle.
Adopting on the basis of technique scheme, the present invention also can adopt following further technical scheme:
Described
identificationprobe is arranged on rocker arm of coal mining machine.
Described recognition system is provided with parallel hinges four connecting rods on rocker arm of coal mining machine, a wherein bar of described four connecting rods is fixed bar, install the needed mount pad of described nozzle be fixed on the bar of described fixed bar in opposite side position on, described rocking arm is another bar in four connecting rods outside above-mentioned two bars.
Described nozzle is stuck on the sensing element of pressure sensor or displacement transducer.
Described sensing element is washer-shaped, and described sensing element is placed on the mount pad of nozzle, and described nozzle has the convex hole perpendicular to injection direction, and described nozzle inserts mount pad through described sensing element, and described convex hole is stuck on described sensing element.
Another technical problem to be solved of the present invention is to provide the Coal-Rock Interface Recognition probe of realizing said method.For this reason, the present invention is by the following technical solutions: it is provided with jet nozzle, described identification probe is also provided with the sensing element of pressure sensor or displacement transducer, is used for the contrajet that lithosphere reflected of perception jet after by coal seam the active force of described nozzle or perception are retreated to the distance of displacement because this active force makes nozzle.
Adopting on the basis of technique scheme, the present invention also can adopt following further technical scheme:
Described nozzle is stuck on the sensing element of pressure sensor or displacement transducer.
Described sensing element is washer-shaped, and described sensing element is placed on the mount pad of nozzle, and described nozzle has the convex hole perpendicular to injection direction, and described nozzle inserts mount pad through described sensing element, and described convex hole is stuck on described sensing element.
Water-jet technology is the new technology developing rapidly nearly decades.It take water as working media, nozzle by supercharging equipment and given shape produces high-speed jet bundle, there is high level density, can be for operations such as cleaning, cutting, boring, digging, fragmentations, have clean, without fuel factor, concentration of energy, be easy to control, efficiency is high, cost is low, handling safety, the feature such as easy to use, be specially adapted to severe operational environment, and require strict fire prevention, sensitivity or the dangerous work occasion such as explosion-proof, can effectively improve working environment, reduce and prevent the generation of peril.
Theoretical foundation of the present invention is:
When 1, water jet is under the driving pressure grade in different, the energy having is different, and the cutting therefore producing or crushing effect are also different.Driving pressure is higher, and the energy that current have is higher, and cutting power is stronger, can cut or penetrate harder material;
2, suitably control the energy of water jet, make it penetrate coal seam and can not penetrate the rock stratum behind coal seam, now there will be different phenomenons when jet impulse coal seam and rock stratum.When current are beaten on relatively soft coal seam, coal seam is breakdown, coal cinder falls down, meanwhile, the huge energy of current is almost absorbed, thus the water velocity of hitting behind coal seam diminish rapidly, in addition owing to being irregularly shaped after the fragmentation of coal seam and splashing everywhere, rear, water impact coal seam, at random, can not concentrated to some direction reflections.And after coal seam is all punctured, water jet starts to impact on rock stratum, because the energy shortage of current (can cause erosion to rock stratum to puncture rock stratum, yet be a very slow process), and the quality densification of relative coal seam, rock stratum is smooth, so water impact is reflected back the speed with very large behind rock stratum.Suppose that jet action is in rock layer surface, after reflection, velocity magnitude is constant, for
(due to rock stratum hard and compact, this approximate hypothesis is rational), and the overwhelming majority is to reflect with the antipodal angle of incident direction (being that direction changes 180 degree), and the jet action reflecting forms an impact force on incident jet, and this impact force finally acts on nozzle.By momentum theorem:
In formula,
for the initial velocity of the current that are reflected back,
be 0,
fthe power being subject to for the current that reflect.From active force, equal reaction force principle, in above formula
fvalue just equals the jet action that the reflects impact force on nozzle.Above formula can be reduced to again:
In formula,
f' be the impact force that nozzle is subject to, direction is contrary with jet incident direction;
density for jet media water;
qfor jet volume flow.
Jet is got to behind rock stratum, and nozzle starts to experience gradually the impact force of reflective water flow.Nozzle distance rock stratum is nearer, and the speed loss of jet before being reflected is less, and the speed of impinging earth strata is just larger, the speed being reflected back
also just larger, from above formula, the impact force that the current that reflect cause nozzle is larger.
The present invention utilizes above principle just.Due to the intensity difference of coal seam and lithosphere clearly, therefore easily find a pressure limit, under certain pressure of this scope, the energy that water jet has can cut and penetrate coal seam, but can not cut, penetrates lithosphere.Water jet nozzle is installed near cylinder, and its top and cylinder pick top are substantially on sustained height, and directly over nozzle points to or oblique upper, detailed mounting method is introduced in the specific embodiment.When water jet nozzle raises gradually with rocker arm of coal mining machine, High-Pressure Water constantly punctures fragmentation by the coal seam on its top.When approaching balkstone layer, water jet penetrates the coal seam under balkstone completely, and current start to impact on balkstone.Because the energy shortage of water jet is to penetrate rock, according to the content of theoretical foundation 2, nozzle is subject to downward impact force can be increasing with the rising of rocking arm, the sensing element of pressure sensor or displacement transducer is experienced the suffered contrajet active force of nozzle, signal is real-time transmitted to the controller of recognition system.Because jet pressure adjusting device in the course of work can make jet pressure constant, between nozzle and rock stratum each definite distance must be on pressure sensor a corresponding basic definite force value (in like manner, if employing displacement transducer is a corresponding basic definite shift value).Take pressure sensor as example, suppose that recovery process requires to retain
xcentimetre top coal, when nozzle distance balkstone is
xcentimetre time, pressure sensor must have a substantially definite force value y.When controller, finding the pressure signal that pressure sensor provides reaches
ytime, show that now water jet nozzle is also that cylinder top and balkstone only have
xcentimetre distance, give an order, rocking arm tops out.
To sum up, the invention provides a kind of coal-rock interface identification method, utilize the method to realize recognition system and identification probe that rocking arm is heightened automatic control, can make progress of coal mining realize high recovery ratio, low mechanical wear, improve the automaticity of coal mining process, effectively improve the safety factor of the scope of operation simultaneously, improve the environment of the scope of operation.
Concrete, technique scheme of the present invention has following features:
1, can using water as probing medium, compare the methods such as gamma-rays method, with low cost, convenient and reliable, handling safety;
2, detection process can not produce spark, without fuel factor, is not therefore subject to the restriction of gas density, can reduce and prevent that peril from occurring;
3, the hardness due to coal seam country rock is generally greater than coal seam, so methods, devices and systems provided by the present invention are applied widely, can not be subject to the impact of other physicochemical characteristics of coal rock layer;
4, retaining the thickness of top coal can be according to the concrete condition adjustment of different mines, and adjusting operation is very easy;
5, detection process does not relate to complicated data processing, can fully guarantee the real-time of result of detection and control decision;
6, because water is flexible media, the strenuous vibration producing in the time of can not producing as mechanical mechanism cutting rock stratum during its impinging earth strata, the strenuous vibration that also effectively reduces pick cutting rock stratum simultaneously may cause the potential danger of the accidents such as landslide;
7, water jet has the effect that cools, cleans dedusting simultaneously, can extend the application life of pick, effectively improves the environment of the scope of operation.
Accompanying drawing explanation
Fig. 1 is the structural representation of Coal-Rock Interface Recognition system.
Fig. 2 is the exploded view of Coal-Rock Interface Recognition probe.
Fig. 3 is the mounting structure partial schematic diagram of Coal-Rock Interface Recognition system on coal-winning machine.
Fig. 4 is Coal-Rock Interface Recognition system complete mounting structure schematic diagram on double-ended shearer.
Fig. 5 is rocker arm of coal mining machine Automatic Height-Adjusting System software flow pattern.
Drawing reference numeral in figure is expressed as follows respectively: 1, Coal-Rock Interface Recognition probe, 2, high pressure water transport pipe, 3, water under high pressure generation equipment, 4, the conversion element of pressure sensor or displacement transducer, 5, controller, 6, nozzle, 7, nozzle convex hole, 8, the sensing element of pressure sensor or displacement transducer, 9, sensing element output signal line, 10, mount pad, 11, the fixedly snap ring of nozzle afterbody, 12～14, the rod member of parallel four-bar linkage, 15, that plays the effect of locking rod member 14 can degree of tightness parts, 16, the water under high pressure valve of right side Coal-Rock Interface Recognition system, 17, the water under high pressure valve of left side Coal-Rock Interface Recognition system, 100, cylinder, 101, cylinder pick, 102, rocking arm, 103, radial up-down hydraulic cylinder, 104, coal-winning machine fuselage, 200, top seam, 300, balkstone layer.
The specific embodiment
1, the selection of water jet driving pressure and nozzle.
The hydraulic parameters of water jet mainly comprises jetting flow pressure, flow or nozzle diameter, power.Wherein, for any water jet system, driving pressure grade of choose reasonable is a critical problem.According to the pertinent literature of water jet, some conventional pressure ratings are as shown in the table.
Conventional water jet pressure grade
| Applicable situation | Driving pressure/MPa |
| Water jet cleaning mine car | 35～70 |
| Water jet cutting coal seam | 35～70 |
| Water jet cutting sandstone or granite | 70～100 |
| Water jet cutting marble or |
100～150 |
| Water jet is in hard rock internal drilling | 250～300 |
As can be seen here, choose one and can cut the driving pressure that penetrates coal seam and can not cut rock stratum and be not difficult, certainly also will be in conjunction with the parameter of nozzle.Different according to the country rock situation of mine, can set different driving pressure values.
According to the pertinent literature of water jet, do not add the following expression that provides of derivation here:
In formula,
for jet velocity, m/s;
pfor jet pressure, MPa;
for jet volume flow, L/min;
dfor jet expansion diameter, mm;
pfor jet power, W.
Visible, jet power is the function of nozzle diameter and driving pressure, and many to the large sensitive of the variation comparison pressure of nozzle diameter of jet power.Therefore need to be according to concrete coal rock layer situation, by test, comprehensive selection driving pressure and nozzle diameter, can penetrate coal seam and can not penetrate the lithosphere behind coal seam to reach water jet, and energy efficiency is higher simultaneously, and impact force changes the effect easily measuring.In allowed limits, make nozzle diameter larger, the variation of impact force more easily measures so as far as possible.
2, Coal-Rock Interface Recognition system forms and identifying.
Coal-Rock Interface Recognition system is provided with identification probe 1, controller 5; Described identification probe is provided with the jet nozzle of points upwards, described jet nozzle be near cylinder or cylinder in and can with cylinder synchronization lifting, described identification probe is provided with the sensing element of pressure sensor or displacement transducer, being used for the contrajet that lithosphere reflected of perception jet after by coal seam retreats the distance of displacement to the active force of described nozzle or perception because this active force makes nozzle, after the conversion element of sensor is processed, sends signal to controller in real time; Described controller, according to the signal corresponding with contrajet force value of described pressure sensor or displacement transducer, through relatively, is controlled the work of rocker arm of coal mining machine drive unit, and described recognition system is also provided with the adjusting device of jet pressure.
As shown in Figure 1, drawing reference numeral 1 is Coal-Rock Interface Recognition probe, and drawing reference numeral 2 is high pressure water transport pipe, and drawing reference numeral 3 is water under high pressure generation equipment, and drawing reference numeral 4 is the conversion element of pressure sensor or displacement transducer, and drawing reference numeral 5 is controller.Wherein, the adjusting device that water under high pressure generation equipment 3 contains jet pressure, has the function that jet pressure regulates.
Fig. 2 is the exploded view of Coal-Rock Interface Recognition system identification probe 1.As shown in Figure 2, nozzle 6 is stuck in by the nozzle convex hole 7 perpendicular to injection direction on the sensing element 8 of pressure sensor or displacement transducer, and sensing element 8 is connected with conversion element 4 by sensing element output signal line 9.Sensing element 8 is washer-shaped, is placed on the mount pad 10 of nozzle.Nozzle 6 is successively through after sensing element 8 and mount pad 10, and the fixedly snap ring 11 by nozzle afterbody is fixed on mount pad 10.Mount pad 10 is fixed on rod member 12.
As shown in Figure 3, Coal-Rock Interface Recognition probe 1 is arranged near cylinder 100 by a mechanism that keeps direction, make the nozzle 6 in identification probe 1 can point to the direction of required injection all the time, directly over this direction is generally or with directly over have the oblique upper of certain drift angle, as long as the cylinder of coal-winning machine is when approaching by coal-rock interface behind the coal seam of its digging, the parts that the active force of contrajet can act on nozzle or be connected with nozzle.Keep the mechanism of direction to introduce in next trifle.Nozzle 6 tops and cylinder pick 101 tops are substantially on sustained height.When water jet nozzle 6 raises gradually with coal mining machine roller 100, High-Pressure Water constantly punctures fragmentation by the coal seam on its top.When approaching balkstone layer 300, water jet penetrates the top seam under balkstone 200 completely, and current start to impact on balkstone layer 300.Because the energy shortage of water jet is to penetrate rock, according to the content of theoretical foundation 2, nozzle is subject to downward impact force can be increasing with the rising of rocking arm 102.The power that nozzle 6 is subject to passes to the sensing element 8 of pressure sensor or displacement transducer by the convex hole 7 on it, then by conversion element 4, be real-time transmitted to controller 5.Constant pressure due to water jet supercharging device in the course of work, between nozzle and rock stratum each definite distance must be on pressure sensor a corresponding basic definite force value (in like manner, if employing displacement transducer is a corresponding basic definite shift value).Take pressure sensor as example, suppose that recovery process requires to retain
xcentimetre top coal retains thickness, when nozzle tip apart from balkstone is
xcentimetre time, pressure sensor must have a substantially definite force value
y.When controller, finding the pressure signal that pressure sensor provides reaches
ytime, show that now water jet nozzle is also that cylinder top and balkstone only have
xcentimetre distance, give an order, rocking arm 102 tops out.
Obviously, if there is difference in height a little less than cylinder pick 101 tops in nozzle tip
zcentimetre, force value
yshould take nozzle tip apart from balkstone as
centimetre time pressure sensor measured value be as the criterion.
3, the design that keeps the mechanism of direction.
With reference to Fig. 1,2,3.Rocking arm 102 is that the fixed support of take on coal-winning machine is the center of circle, does movement in a curve and complete lifting action under the telescopic action of hydraulic cylinder 103.Therefore, if Coal-Rock Interface Recognition probe 1 and nozzle 6 thereof are fixedly mounted on to rocking arm top,, when radial up-down, water jet nozzle direction is the top, tunnel of points upwards all the time, but do movement in a curve with rocking arm, make recognition system cisco unity malfunction.Therefore, must design Yi Ge mechanism, when rocking arm is done camber line lifting action, Coal-Rock Interface Recognition in the above of dress probe 1 and nozzle 6 thereof be points upwards or have the oblique upper of a certain drift angle all the time, with assurance system, works.
The present invention utilizes parallel hinges quadric chain to realize this function.Parallel hinges quadric chain is a kind of special shape of kink four bar linkage, and opposite side is parallel between two.As shown in Figure 3, rod member 12,13,14 and the common formation parallel hinges of rocking arm 102 quadric chain.Rocking arm 102 in Fig. 3 is straight, actual rocker arm of coal mining machine is owing to considering that the factors such as reasonability of stress distribution may not be straight, by making rod member 13 parallel with the line of rocking arm 102 two ends pin joints, even rod member 12 and 14 is equal in length, rod member 12,13,14 and rocking arm 102 still form parallel hinges quadric chain.Wherein rod member 14 is by being fixed by degree of tightness parts 15, and when coal-winning machine is worked, position and the direction of rod member 14 all immobilize, and can not rotate; During shutdown, can will be able to unclamp by degree of tightness parts 15, the angle of adjusting rod member 14 is then locked, the different oblique angles in coal seam when adapting to oblique seam mining.As parallel hinges quadric chain wherein the rocking arm 102 of a bar under the effect of hydraulic cylinder 103, do movement in a curve, when radial up-down, according to the principle of parallel hinges quadric chain, rod member 12 all the time with rod member 14 keeping parallelisms; The mount pad 10 of nozzle 6 is fixed on (as shown in Figure 2) on rod member 12, so just guaranteed water jet nozzle 6 point to all the time directly over or with directly over be the oblique upper of certain required drift angle, make system can adapt to the various operating modes such as oblique seam mining, obtain desirable duty.
4, the installation of recognition system on double-ended shearer.
What comprehensive mechanical coal mining generally adopted at present is double-ended shearer, the installation question of this joint narration Coal-Rock Interface Recognition system on double-ended shearer.
During due to double-ended shearer operation, normally front roll cuts top coal, and back roll cuts ground coal.Generally speaking, only need a set of Coal-Rock Interface Recognition system of front roll in running order, so two cover Coal-Rock Interface Recognition systems can share one group of water under high pressure generation equipment 3, as shown in Figure 4.When coal-winning machine is advanced to the right, right side cylinder implements to cut top coal as front roll, and left side cylinder is implemented to cut ground coal as back roll, so valve 16 is opened, valve 17 is closed, right side Coal-Rock Interface Recognition system works.When coal-winning machine right lateral is prepared to turn back to tunnel end, left side cylinder raises and implements to cut top coal as front roll, right side cylinder reduces as back roll implements to cut ground coal, now first open valve 17, then valve-off 16, right side Coal-Rock Interface Recognition system quits work, and left side Coal-Rock Interface Recognition system starts.When coal-winning machine left lateral is prepared to turn back to tunnel end, repeat the handover operation of above-mentioned left and right recognition system.During switching right and left recognition system, both sides valve 16 and 17 can not be closed simultaneously, in order to avoid water under high pressure generation equipment is caused to enormous impact.A two valves 16 herein and 17 also available three way cock substitute, and realize similarly opening valve and operating with valve-off.
5, the recycling of water and water saving scheme.
In less, the more smooth scope of operation of the gradient, water jet injection for a long time can cause in the situation that alluvial, the especially injection flow of water is larger.Clayey ore bed is subject to may causing a series of problem after the immersion of water, and the U.S. two hydraulic mines just once occurred and caused the accident of mine disaster of landslide because of water alluvial.In addition, because the long injection of water jet in operation process will consume many water resources.So consider from safety and two angles of saving, can injection water be done suitable recycling and be recycled.Recovery scheme is fairly simple, and when after ponding situation, being taken away with special-purpose pump appears in the scope of operation, the water source that can be used as recognition system after sedimentation and multistage filtering is utilized again.So not only guaranteed safety but also saved resource.
An other optional water saving scheme is, nozzle is inject high pressure current just when rocker arm of coal mining machine rises that cylinder pick approaches balkstone layer soon simultaneously only, and other constantly (as: in rocker arm of coal mining machine decline process or cylinder pick away from balkstone layer time) stop inject high pressure current.
6, rocker arm of coal mining machine Automatic Height-Adjusting.
Coal-Rock Interface Recognition system based on above-mentioned, can realize rocker arm of coal mining machine Automatic Height-Adjusting.The hardware device that embodiment relates to has: above-mentioned Coal-Rock Interface Recognition system and the hydraulic system of responsible radial up-down.
The basic thought of embodiment is: Coal-Rock Interface Recognition system injection water jet; in rocking arm uphill process; when cylinder and roof strata distance reaches the reservation thickness of setting; controller can monitor at once and give an order to hydraulic system; rocking arm starts to decline; when rocking arm drops to after extreme lower position, and hydraulic system starts rocking arm, to rising, to enter next circulation.The Decision Control process of controller is realized by software.
Before the exploitation of certain tunnel, first determine country rock type and the hardness in this tunnel, can be by the method for field trial, determine that one group can penetrate coal seam and can not penetrate the water jet pressure grade of lithosphere and select suitable nozzle.Then, retain as required the thickness of top coal, the threshold value of pressure sensor (or displacement transducer) is determined in field experiment.When nozzle and rock stratum distance just reaches while retaining thickness, record the now output valve of sensor, and by the Decision Control software of this value writing controller.If nozzle tip exists difference in height a little less than cylinder pick 101 tops, the parameter that top coal retains thickness should increase above-mentioned difference in height and recompense.
The Decision Control software flow pattern of controller 5 as shown in Figure 5.First control system carries out system initialization after starting, and then starts water under high pressure generation equipment 3, and recognition system starts injection water jet, and controller 5 starts to read in the data of pressure sensor (or displacement transducer) immediately.When the distance of cylinder and rock stratum reaches top coal reservation thickness, when the data of sensor reach threshold value, controller is given an order to hydraulic system at once, and hydraulic cylinder 103 shrinks, and rocking arm 102 starts to decline.Rocking arm starts to rise after dropping to extreme lower position, enters next circulation.
The above-mentioned specific embodiment is used for the present invention that explains; be only the preferred embodiments of the present invention; rather than limit the invention; in the protection domain of spirit of the present invention and claim; any modification that the present invention is made, be equal to replacement, improvement etc., all fall into protection scope of the present invention.
Claims (10)
1. coal-rock interface identification method, it is characterized in that described method provides jet near the cylinder of coal-winning machine or in cylinder, spray in described jet coal seam upward, the energy that described jet has can cut and penetrates described coal seam and can not penetrate the lithosphere behind coal seam, and the nozzle of described jet is synchronizeed with cylinder and raise; The medium of described jet can be water or take water as main body;
The force value of the contrajet that acquisition jet is reflected by described lithosphere to nozzle, and be real-time transmitted to control device, according to the size measuring and calculating cylinder of this active force, whether approached coal-rock interface, as approached coal-rock interface, control rocker arm of coal mining machine and decline.
2. coal-rock interface identification method as claimed in claim 1, it is characterized in that it utilizes contrajet to the active force of nozzle, can make nozzle have to draw back trend or the displacement backward of contracting, adopts pressure sensor or displacement transducer carry out perception to obtain described force value.
3. the Coal-Rock Interface Recognition system that realizes method described in claim 1, is characterized in that it is provided with identification probe, control device; Described identification probe is provided with the jet nozzle of points upwards, described jet nozzle be near cylinder or cylinder in and can with cylinder synchronization lifting, described identification probe is provided with the sensing element of pressure sensor or displacement transducer, being used for the contrajet that lithosphere reflected of perception jet after by coal seam retreats the distance of displacement to the active force of described nozzle or perception because this active force makes nozzle, and in real time signal is sent to control device; Described control device is according to the signal corresponding with contrajet force value of the signal corresponding with contrajet force value of described pressure sensor or displacement transducer, through comparing, control the work of rocker arm of coal mining machine drive unit, described recognition system is also provided with the adjusting device of jet pressure.
4. Coal-Rock Interface Recognition system as claimed in claim 3, is characterized in that described identification probe is arranged on rocker arm of coal mining machine.
5. Coal-Rock Interface Recognition system as claimed in claim 4, it is characterized in that it provides parallel hinges four connecting rods on rocker arm of coal mining machine, a wherein bar of described four connecting rods is fixed bar (14), the needed mount pad of described nozzle is installed and is fixed on described fixed bar on the bar (12) in opposite side position, described rocking arm is another bar except the bar (12) of fixed bar (14) and fixing described mount pad in four connecting rods.
6. the Coal-Rock Interface Recognition system as described in claim 3,4 or 5, is characterized in that described nozzle is stuck on the sensing element of pressure sensor or displacement transducer.
7. Coal-Rock Interface Recognition system as claimed in claim 6, it is characterized in that described sensing element is washer-shaped, described sensing element is placed on the mount pad of nozzle, described nozzle has the convex hole perpendicular to injection direction, described nozzle inserts mount pad through described sensing element, and described convex hole is stuck on described washer-shaped sensing element.
8. realize the Coal-Rock Interface Recognition probe of method described in claim 1, it is characterized in that it is provided with jet nozzle, described identification probe is also provided with the sensing element of pressure sensor or displacement transducer, is used for the contrajet that lithosphere reflected of perception jet after by coal seam the active force of described nozzle or perception are retreated to the distance of displacement because this active force makes nozzle.
9. Coal-Rock Interface Recognition probe as claimed in claim 8, is characterized in that described nozzle is stuck on the sensing element of pressure sensor or displacement transducer.
10. Coal-Rock Interface Recognition as claimed in claim 9 is popped one's head in, it is characterized in that described sensing element is washer-shaped, described sensing element is placed on the mount pad of nozzle, described nozzle has the convex hole perpendicular to injection direction, described nozzle inserts mount pad through described sensing element, and described convex hole is stuck on described washer-shaped sensing element.
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| CN201010251520.1A CN101922290B (en) | 2010-08-12 | 2010-08-12 | Coal-rock interface identification method, identification system and identification probe |
| PCT/CN2011/074240 WO2012019474A1 (en) | 2010-08-12 | 2011-05-18 | Method, system, and probe for recognizing coal-rock interface |
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| CN201010251520.1A CN101922290B (en) | 2010-08-12 | 2010-08-12 | Coal-rock interface identification method, identification system and identification probe |
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| CN101922290B (en) * | 2010-08-12 | 2014-01-29 | 浙江大学 | Coal-rock interface identification method, identification system and identification probe |
| CN103452556B (en) * | 2012-08-31 | 2015-12-23 | 中国煤炭科工集团太原研究院 | Continuous miner frequency conversion traveling control device |
| CN104564157A (en) * | 2014-12-19 | 2015-04-29 | 中国矿业大学(北京) | Coal and rock character recognition sensing device applicable to putting and falling of top coal at fully mechanized caving face |
| CN104695957B (en) * | 2015-02-15 | 2016-06-15 | 山东科技大学 | A kind of coal mining machine roller Automatic Height-Adjusting System and method of work thereof |
| CN104695953B (en) * | 2015-02-15 | 2016-06-15 | 山东科技大学 | A kind of coalcutter and method of work thereof realizing horizon control |
| US10180336B2 (en) * | 2016-01-15 | 2019-01-15 | Joy Global Underground Mining Llc | Support structure for rotary sensor |
| CN107387060A (en) * | 2017-09-11 | 2017-11-24 | 中国矿业大学 | One kind instructs fully mechanized mining machine top coal recovery method |
| CN107575226B (en) * | 2017-09-29 | 2019-07-05 | 辽宁工程技术大学 | A kind of coal petrography hardness level online recognition cutterhead and application method |
| CN109539963B (en) * | 2019-01-16 | 2021-01-26 | 珠海市精实测控技术有限公司 | Vibration displacement testing method based on momentum theorem |
| CN113339074B (en) * | 2021-07-16 | 2023-07-25 | 国能神东煤炭集团有限责任公司 | Comprehensive mining working face coal rock identification detection system |
| CN114017119B (en) * | 2021-10-27 | 2023-06-20 | 国能神东煤炭集团有限责任公司 | Coal seam thickness detection equipment and control method thereof |
| CN114017022B (en) * | 2021-11-08 | 2023-08-25 | 中国煤炭科工集团太原研究院有限公司 | Tunneling and anchoring machine and tunneling system |
| CN114017020A (en) * | 2021-11-08 | 2022-02-08 | 中国煤炭科工集团太原研究院有限公司 | Tunneling system and tunneling and anchoring machine thereof |
| CN114033414B (en) * | 2021-11-08 | 2023-08-25 | 中国煤炭科工集团太原研究院有限公司 | Tunnel tunneling system |
| CN114352275B (en) * | 2021-12-06 | 2024-04-09 | 北京天玛智控科技股份有限公司 | Underground coal mining method |
| CN114961863B (en) * | 2022-05-31 | 2023-02-28 | 中国矿业大学 | Fully mechanized coal mining face coal-rock interface identification method based on natural gamma rays |
| CN118030063A (en) * | 2024-04-15 | 2024-05-14 | 太原科技大学 | Coal-rock boundary line identification device based on improvement YOLOv s and use method |
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