CN109595032B - Self-moving type multidirectional rapid roadway filling device - Google Patents
Self-moving type multidirectional rapid roadway filling device Download PDFInfo
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Abstract
The invention relates to a self-moving multidirectional rapid roadway filling device, which comprises: the walking crawler belt is arranged at the bottom of the body assembly and is driven by a walking hydraulic motor; a tamping structure is arranged at the lower front side of the body assembly; a rotary platform is arranged in front of the body assembly; a filling gangue throwing belt machine is arranged on the rotary platform; the body assembly is also provided with an intermediate transfer belt conveyor; the body assembly is also connected with a bridge type transfer belt conveyor through a connecting rod, and the other end of the bridge type transfer belt conveyor is connected to a telescopic gangue conveyor; the walking hydraulic motor, the tamping hydraulic motor, the rotating hydraulic motor, the gangue throwing hydraulic motor and the transferring hydraulic motor are communicated with the master controller in a wireless mode.
Description
Technical Field
The invention belongs to the technical field of underground coal mine roadway filling equipment, and particularly relates to a self-moving type multidirectional rapid roadway filling device.
Background
In the underground mining process of a coal mine, gangue filling treatment needs to be carried out on an underground roadway. The gangue filling device in the prior art has the following problems: the waste rock filling machine cannot walk by itself and cannot be tamped immediately after the waste rock is filled, so that the filled waste rock shakes; the throwing waste rock filling belt conveyor in the filling device is difficult to adjust up, down, left and right in the filling process, the filling rate is low, and the filling effect is poor. This is a disadvantage of the prior art.
Therefore, aiming at the defects in the prior art, the self-moving multidirectional rapid roadway filling device is provided; it is very necessary to solve the above-mentioned defects in the prior art.
Disclosure of Invention
The present invention is directed to a self-moving type multidirectional fast roadway filling device, which solves the above-mentioned problems.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a from multidirectional quick tunnel filling device of formula that moves which characterized in that includes:
the walking crawler belt is arranged at the bottom of the body assembly and is driven by a walking hydraulic motor;
a tamping structure is arranged at the lower front side of the body assembly and comprises a tamping hydraulic motor, the tamping hydraulic motor is connected to a tamping hydraulic cylinder through a hydraulic pipeline, and the output end of the tamping hydraulic cylinder is connected with a tamping beam; tamping the filled gangue;
a rotary platform is arranged in front of the body assembly, the rotary platform is connected with a left rotary hydraulic cylinder and a right rotary hydraulic cylinder, and the left rotary hydraulic cylinder and the right rotary hydraulic cylinder are connected to a rotary hydraulic motor through hydraulic pipelines; the rotary hydraulic motor drives the left rotary hydraulic cylinder and the right rotary hydraulic cylinder to realize the rotary control of the rotary platform;
a filling gangue throwing belt machine is arranged on the rotary platform and comprises a high-speed belt machine, a gangue throwing hydraulic cylinder is arranged at the bottom of the high-speed belt machine and is connected to a gangue throwing hydraulic motor through a pipeline; the rotation of the rotary platform drives the high-speed belt conveyor to rotate in the horizontal direction, and the gangue throwing hydraulic cylinder drives the high-speed belt conveyor to move vertically, so that gangue can be filled without dead corners, and the filling efficiency and quality of the gangue are improved;
the body assembly is also provided with an intermediate transfer belt conveyor, the intermediate transfer belt conveyor comprises a common belt conveyor and a transfer hydraulic cylinder, the rear end of the common belt conveyor is fixed on the body assembly through a connecting shaft, the middle part of the common belt conveyor is fixed on the body assembly through the transfer hydraulic cylinder, and the front end of the common belt conveyor is connected to a filling gangue throwing belt machine; the transfer hydraulic cylinder is connected to a transfer hydraulic motor through a hydraulic pipeline;
the body assembly is also connected with a bridge type transfer belt conveyor through a connecting rod, and the other end of the bridge type transfer belt conveyor is connected to a telescopic gangue conveyor; the filling waste rock conveyed by the telescopic waste rock conveyor is unloaded to the middle transfer belt conveyor through the bridge type transfer belt conveyor, and then is conveyed to the filling waste rock throwing belt conveyor to throw waste rock and fill;
the walking hydraulic motor, the tamping hydraulic motor, the rotating hydraulic motor, the gangue throwing hydraulic motor and the transferring hydraulic motor are communicated with the master controller in a wireless mode.
Preferably, the walking hydraulic motor, the tamping hydraulic motor, the rotating hydraulic motor, the gangue throwing hydraulic motor, the transferring hydraulic motor and the master controller are in wireless communication through the following methods:
s1: positioning the optimal node, specifically comprising the following steps:
s1.1: calculating the deviation distance of all communication nodes relative to the space position by the formula (1):
in the formula, the number of all idle communication nodes is denoted by pem, the number of all communication nodes is denoted by q, and pef is pem-qx0.1;
s1.2: the communication service field of the cluster head communication node is set, and the formula is as follows:
in the formula, the number of serving cluster heads of cluster head nodes in an area covered by a wireless transmission network is higher than 30 and is represented by nufll; q is used for measuring all communication nodes in the kth cluster headkRepresents;
s1.3: grouping data nodes in the area;
s1.4: calculating communication node ratios respectively for different groups;
s1.5: determining an optimal communication node by combining the communication node ratio value in S1.4;
s2: establishing a weighted multicast number by combining the optimal communication node in the S1.4; q (X) represents the number of the determined optimal communication nodes in the step S1.5, and xkRepresenting the connectivity of the data between the optimal communication nodes by hp(v) Spatial coordinates representing the communication terminal, denoted by xpRepresenting the p data branch, and lambda represents an influence factor corresponding to lambda;
the specific construction steps are as follows:
s2.1: setting:
s2.2: screening the optimal communication nodes acquired by the communication network, and setting the current optimal communication nodes to be able to use xkDescribing, if k is 0, then step S2.3 is performed, otherwise let X beh＝XV；
S2.3: searching out all optimal communication nodes in the whole communication network, if nt(xk) If the communication node is more than 0, the relationship between the optimal communication node and the neighborhood optimal communication node is represented as:
the communication constraint conditions are as follows:
s2.4: if P (X)V) If < P (X), returning to the step S2.2 for calculation, otherwise, ending the operation.
Preferably, the master controller is further connected with a data memory; used for storing relevant data in the construction process.
Preferably, the data storage device stores data by adopting the following steps:
s1, building a database model, specifically comprising:
s1.1, constructing a distributed grid model for data storage by adopting a 3 x 3 grid topological structure, extracting a data characteristic distribution gradient diagram, and obtaining quantitative distribution vector values of data storage in a database, wherein the quantitative distribution vector values are respectively as follows:
wherein m is the embedding dimension of the data storage space;
s1.2, defining R1 and R2 as characteristic distribution areas of a database storage distribution space, collecting data characteristic sequences transmitted by a master controller in a link layer,
the vector quantization codebook is set according to the data feature sequence as follows:
defining the initial value of the memory element as:
s1.3, in a link layer, coding training is carried out on data sent by a master controller, and a vector mode for acquiring information flow is as follows:
x(t)＝(x0(t)，x1(t)，…，xk-1(t))T；
s1.4, according to the cross distribution cloud storage data structure, obtaining the following distances of all classification storage nodes in the constructed database:
wherein ω isj＝(ω0j，ω1j，…，ωk-1，j)TQuantizing the weights for the vector;
s1.5, obtaining and outputting the quantized feature coded data:
wherein,
s2, the step of data clustering processing specifically comprises the following steps:
s2.1, in a link layer, performing self-adaptive feature matching operation on data transmitted by a master controller, and acquiring a data clustering center according to a statistical feature classification algorithm;
s2.2, in a link layer, carrying out segmented fusion fuzzy clustering processing on data transmitted by the master controller to obtain a fuzzy membership function;
s2.3, compressing and combining redundant storage data in the storage space, matching and detecting dynamic output data of a link layer, performing discrete scheduling data regression, and hierarchically fusing data transmitted by the master controller; and realizing the feature compression of data storage.
The invention has the advantages of realizing the self-moving of the whole mechanism, accelerating the moving speed and saving time, labor and time. The automatic filling system is provided with the tamping device, so that the filled waste rock is more compact, the amount of the filled waste rock is increased, and the overall filling rate of the roadway is improved. The filling gangue throwing belt conveyor, the intermediate transfer belt conveyor and the bridge type transfer machine can be organically matched, and the gangue can be rapidly transferred and filled. The filling gangue-throwing belt machine uses a special high-speed motor, and has high gangue-throwing speed and long gangue-throwing distance. The filling gangue-throwing belt machine can conveniently move in multiple directions through the rotary platform and the hydraulic cylinder, seamless filling can be performed, and filling efficiency can be greatly improved.
In addition, the invention has reliable design principle, simple structure and very wide application prospect.
Therefore, compared with the prior art, the invention has prominent substantive features and remarkable progress, and the beneficial effects of the implementation are also obvious.
Drawings
Fig. 1 is a schematic structural view of a self-moving multidirectional rapid roadway filling device provided by the invention.
Fig. 2 is a control schematic diagram of the self-moving multidirectional rapid roadway filling device provided by the invention.
Wherein, 1-the body assembly, 1.1-the walking crawler belt, 1.2-the walking hydraulic motor,
2-tamping structure, 2.1-tamping hydraulic motor, 2.2-tamping hydraulic cylinder, 2.3-tamping beam,
3-rotating platform, 3.1-left rotating hydraulic cylinder, 3.2-right rotating hydraulic cylinder, 3.3-rotating hydraulic motor,
4-a waste rock filling and throwing belt machine, 4.1-a high-speed belt machine, 4.2-a waste rock throwing hydraulic cylinder, 4.3-a waste rock throwing hydraulic motor,
5-an intermediate transfer belt conveyor, 5.1-a common belt conveyor, 5.2-a transfer hydraulic cylinder, 5.3-a connecting shaft, 5.4-a transfer hydraulic motor,
6-bridge type transshipment belt conveyor, 6.1-connecting rod, 7-telescopic gangue conveyor, 8-master controller and 9-data memory.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings by way of specific examples, which are illustrative of the present invention and are not limited to the following embodiments.
As shown in fig. 1 and 2, the present invention provides a self-moving multidirectional rapid roadway filling device, including:
the walking crawler belt device comprises a body assembly 1, wherein a walking crawler belt 1.1 is arranged at the bottom of the body assembly 1, and the walking crawler belt 1.1 is driven by a walking hydraulic motor 1.2;
a tamping structure 2 is arranged at the lower side in front of the body assembly 1 and comprises a tamping hydraulic motor 2.1, the tamping hydraulic motor 2.1 is connected to a tamping hydraulic cylinder 2.2 through a hydraulic pipeline, and the output end of the tamping hydraulic cylinder 2.2 is connected with a tamping beam 2.3; tamping the filled gangue;
a rotary platform 3 is arranged in front of the body assembly 1, the rotary platform 3 is connected with a left rotary hydraulic cylinder 3.1 and a right rotary hydraulic cylinder 3.2, and the left rotary hydraulic cylinder 3.1 and the right rotary hydraulic cylinder 3.2 are connected to a rotary hydraulic motor 3.3 through hydraulic pipelines; the rotary hydraulic motor drives the left rotary hydraulic cylinder and the right rotary hydraulic cylinder to realize the rotary control of the rotary platform;
a filling gangue throwing belt machine 4 is arranged on the rotary platform 3, the filling gangue throwing belt machine 4 comprises a high-speed belt machine 4.1, a gangue throwing hydraulic cylinder 4.2 is arranged at the bottom of the high-speed belt machine 4.1, and the gangue throwing hydraulic cylinder 4.2 is connected to a gangue throwing hydraulic motor 4.3 through a pipeline; the rotation of the rotary platform drives the high-speed belt conveyor to rotate in the horizontal direction, and the gangue throwing hydraulic cylinder drives the high-speed belt conveyor to move vertically, so that gangue can be filled without dead corners, and the filling efficiency and quality of the gangue are improved;
the body assembly 1 is further provided with an intermediate transfer belt conveyor 5, the intermediate transfer belt conveyor 5 comprises a common belt conveyor 5.1 and a transfer hydraulic cylinder 5.2, the rear end of the common belt conveyor 5.1 is fixed on the body assembly through a connecting shaft 5.3, the middle part of the common belt conveyor 5.1 is fixed on the body assembly through the transfer hydraulic cylinder 5.2, and the front end of the common belt conveyor 5.1 is connected to a filling gangue throwing belt conveyor; the transfer hydraulic cylinder is connected to a transfer hydraulic motor 5.4 through a hydraulic pipeline;
the body assembly 1 is also connected with a bridge type transfer belt conveyor 6 through a connecting rod 6.1, and the other end of the bridge type transfer belt conveyor 6 is connected to a telescopic gangue conveyor 7; the filling waste rock conveyed by the telescopic waste rock conveyor is unloaded to the middle transfer belt conveyor through the bridge type transfer belt conveyor, and then is conveyed to the filling waste rock throwing belt conveyor to throw waste rock and fill;
the walking hydraulic motor, the tamping hydraulic motor, the rotating hydraulic motor, the gangue throwing hydraulic motor and the transferring hydraulic motor are communicated with the master controller 8 in a wireless mode.
In this embodiment, the traveling hydraulic motor, the tamping hydraulic motor, the rotating hydraulic motor, the gangue throwing hydraulic motor, the transferring hydraulic motor and the master controller 8 are wirelessly communicated by the following method:
s1: positioning the optimal node, specifically comprising the following steps:
s1.1: calculating the deviation distance of all communication nodes relative to the space position by the formula (1):
in the formula, the number of all idle communication nodes is denoted by pem, the number of all communication nodes is denoted by q, and pef is pem-qx0.1;
s1.2: the communication service field of the cluster head communication node is set, and the formula is as follows:
in the formula, the number of serving cluster heads of cluster head nodes in an area covered by a wireless transmission network is higher than 30 and is represented by nufll; q is used for measuring all communication nodes in the kth cluster headkRepresents;
s1.3: grouping data nodes in the area;
s1.4: calculating communication node ratios respectively for different groups;
s1.5: determining an optimal communication node by combining the communication node ratio value in S1.4;
s2: establishing a weighted multicast number by combining the optimal communication node in the S1.4; q (X) represents the number of the determined optimal communication nodes in the step S1.5, and xkRepresenting the connectivity of the data between the optimal communication nodes by hp(v) Spatial coordinates representing the communication terminal, denoted by xpRepresenting the p data branch, and lambda represents an influence factor corresponding to lambda;
the specific construction steps are as follows:
s2.1: setting:
s2.2: screening the optimal communication nodes acquired by the communication network, and setting the current optimal communication nodes to be able to use xkDescribing, if k is 0, then step S2.3 is performed, otherwise let X beh＝XV；
S2.3: searching out all optimal communication nodes in the whole communication network, if nt(xk) If the communication node is more than 0, the relationship between the optimal communication node and the neighborhood optimal communication node is represented as:
the communication constraint conditions are as follows:
s2.4: if P (X)V) If < P (X), returning to the step S2.2 for calculation, otherwise, ending the operation.
In this embodiment, the general controller 8 is further connected with a data memory 9; used for storing relevant data in the construction process.
In this embodiment, the data storage device stores data by adopting the following steps:
s1, building a database model, specifically comprising:
s1.1, constructing a distributed grid model for data storage by adopting a 3 x 3 grid topological structure, extracting a data characteristic distribution gradient diagram, and obtaining quantitative distribution vector values of data storage in a database, wherein the quantitative distribution vector values are respectively as follows:
wherein m is the embedding dimension of the data storage space;
s1.2, defining R1 and R2 as characteristic distribution areas of a database storage distribution space, collecting data characteristic sequences transmitted by a master controller in a link layer,
the vector quantization codebook is set according to the data feature sequence as follows:
defining the initial value of the memory element as:
s1.3, in a link layer, coding training is carried out on data sent by a master controller, and a vector mode for acquiring information flow is as follows:
x(t)＝(x0(t)，x1(t)，…，xk-1(t))T；
s1.4, according to the cross distribution cloud storage data structure, obtaining the following distances of all classification storage nodes in the constructed database:
wherein ω isj＝(ω0j，ω1j，…，ωk-1，j)TQuantizing the weights for the vector;
s1.5, obtaining and outputting the quantized feature coded data:
wherein,
s2, the step of data clustering processing specifically comprises the following steps:
s2.1, in a link layer, performing self-adaptive feature matching operation on data transmitted by a master controller, and acquiring a data clustering center according to a statistical feature classification algorithm;
s2.2, in a link layer, carrying out segmented fusion fuzzy clustering processing on data transmitted by the master controller to obtain a fuzzy membership function;
s2.3, compressing and combining redundant storage data in the storage space, matching and detecting dynamic output data of a link layer, performing discrete scheduling data regression, and hierarchically fusing data transmitted by the master controller; and realizing the feature compression of data storage.
The above disclosure is only for the preferred embodiments of the present invention, but the present invention is not limited thereto, and any non-inventive changes that can be made by those skilled in the art and several modifications and amendments made without departing from the principle of the present invention shall fall within the protection scope of the present invention.
Claims (1)
1. The utility model provides a from multidirectional quick tunnel filling device of formula that moves which characterized in that includes:
the walking crawler belt is arranged at the bottom of the body assembly and is driven by a walking hydraulic motor;
a tamping structure is arranged at the lower front side of the body assembly and comprises a tamping hydraulic motor, the tamping hydraulic motor is connected to a tamping hydraulic cylinder through a hydraulic pipeline, and the output end of the tamping hydraulic cylinder is connected with a tamping beam;
a rotary platform is arranged in front of the body assembly, the rotary platform is connected with a left rotary hydraulic cylinder and a right rotary hydraulic cylinder, and the left rotary hydraulic cylinder and the right rotary hydraulic cylinder are connected to a rotary hydraulic motor through hydraulic pipelines;
a filling gangue throwing belt machine is arranged on the rotary platform and comprises a high-speed belt machine, a gangue throwing hydraulic cylinder is arranged at the bottom of the high-speed belt machine and is connected to a gangue throwing hydraulic motor through a pipeline;
the body assembly is also provided with an intermediate transfer belt conveyor, the intermediate transfer belt conveyor comprises a common belt conveyor and a transfer hydraulic cylinder, the rear end of the common belt conveyor is fixed on the body assembly through a connecting shaft, the middle part of the common belt conveyor is fixed on the body assembly through the transfer hydraulic cylinder, and the front end of the common belt conveyor is connected to a filling gangue throwing belt machine; the transfer hydraulic cylinder is connected to a transfer hydraulic motor through a hydraulic pipeline;
the body assembly is also connected with a bridge type transfer belt conveyor through a connecting rod, and the other end of the bridge type transfer belt conveyor is connected to a telescopic gangue conveyor;
the walking hydraulic motor, the tamping hydraulic motor, the rotating hydraulic motor, the gangue throwing hydraulic motor and the transferring hydraulic motor are communicated with the master controller in a wireless mode;
wireless communication is carried out between the walking hydraulic motor, the tamping hydraulic motor, the rotating hydraulic motor, the gangue throwing hydraulic motor, the transferring hydraulic motor and the master controller through the following methods:
s1: positioning the optimal node, specifically comprising the following steps:
s1.1: calculating the deviation distance of all communication nodes relative to the space position by the formula (1):
in the formula, the number of all idle communication nodes is denoted by pem, the number of all communication nodes is denoted by q, and pef is pem-qx0.1;
s1.2: the communication service field of the cluster head communication node is set, and the formula is as follows:
in the formula, the number of the service cluster heads of the cluster head nodes in the area covered by the wireless transmission network is higher than 30 and is expressed by nfull; q is used for measuring all communication nodes in the kth cluster headkRepresents;
s1.3: grouping data nodes in the area;
s1.4: calculating communication node ratios respectively for different groups;
s1.5: determining an optimal communication node by combining the communication node ratio value in S1.4;
s2: establishing a weighted multicast number by combining the optimal communication node in the S1.4; q (X) represents the number of the determined optimal communication nodes in the step S1.5, and xkRepresents data in eachOptimum connectivity between communication nodes, using hp(v) Spatial coordinates representing the communication terminal, denoted by xpRepresenting the p data branch, and lambda represents an influence factor corresponding to lambda;
the specific construction steps are as follows:
s2.1: setting:
s2.2: screening the optimal communication nodes acquired by the communication network, and setting the current optimal communication nodes to be able to use xkDescribing, if k is 0, then step S2.3 is performed, otherwise let X beh＝XV；
S2.3: searching out all optimal communication nodes in the whole communication network, if nt(xk) If the communication node is more than 0, the relationship between the optimal communication node and the neighborhood optimal communication node is represented as:
the communication constraint conditions are as follows:
s2.4: if P (X)V) If the result is less than P and X, returning to the step S2.2 for calculation, otherwise, ending the operation;
the master controller is also connected with a data memory; the system is used for storing relevant data in the construction process;
the data memory stores data by adopting the following steps:
s1, building a database model, specifically comprising:
s1.1, constructing a distributed grid model for data storage by adopting a 3 x 3 grid topological structure, extracting a data characteristic distribution gradient diagram, and obtaining quantitative distribution vector values of data storage in a database, wherein the quantitative distribution vector values are respectively as follows:
wherein m is the embedding dimension of the data storage space;
s1.2, defining R1 and R2 as characteristic distribution areas of a database storage distribution space, collecting data characteristic sequences transmitted by a master controller in a link layer,
the vector quantization codebook is set according to the data feature sequence as follows:
defining the initial value of the memory element as:
s1.3, in a link layer, coding training is carried out on data sent by a master controller, and a vector mode for acquiring information flow is as follows:
x(t)＝(x0(t)，x1(t)，…，xk-1(t))T；
s1.4, according to the cross distribution cloud storage data structure, obtaining the following distances of all classification storage nodes in the constructed database:
wherein ω isj＝(ω0j，ω1j，…，ωk-1，j)TIs a vectorQuantizing the weights;
s1.5, obtaining and outputting the quantized feature coded data:
wherein,
s2, the step of data clustering processing specifically comprises the following steps:
s2.1, in a link layer, performing self-adaptive feature matching operation on data transmitted by a master controller, and acquiring a data clustering center according to a statistical feature classification algorithm;
s2.2, in a link layer, carrying out segmented fusion fuzzy clustering processing on data transmitted by the master controller to obtain a fuzzy membership function;
s2.3, compressing and combining redundant storage data in the storage space, matching and detecting dynamic output data of a link layer, performing discrete scheduling data regression, and hierarchically fusing data transmitted by the master controller; and realizing the feature compression of data storage.
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| SU1247567A1 (en) * | 1985-02-15 | 1986-07-30 | Всесоюзный Научно-Исследовательский И Проектно-Конструкторский Угольный Институт | Filling-up unit |
| RU2164297C2 (en) * | 1998-04-07 | 2001-03-20 | Институт горного дела Севера СО РАН | Process of filling of worked-out space while developing kimberlite pipe by powered mining complex in rising stratum and gear to conduct filling operation |
| CN103261576B (en) * | 2010-12-16 | 2016-02-24 | 埃克森美孚上游研究公司 | Communication module and the method completing pit shaft of alternate path gravel pack |
| CN105626140B (en) * | 2015-02-03 | 2018-11-27 | 泰安恒驰工贸有限公司 | Solid lotion combination filling system and placement method |
| CN107178390B (en) * | 2017-07-26 | 2023-07-25 | 淮南矿业(集团)有限责任公司 | Movable lifting type coal mine goaf filling device |
| CN207393252U (en) * | 2017-09-21 | 2018-05-22 | 山东东山新驿煤矿有限公司 | A kind of spoil automatic filling system |
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