CN110242295A - A kind of mining methods of automation - Google Patents
A kind of mining methods of automation Download PDFInfo
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- CN110242295A CN110242295A CN201910360759.3A CN201910360759A CN110242295A CN 110242295 A CN110242295 A CN 110242295A CN 201910360759 A CN201910360759 A CN 201910360759A CN 110242295 A CN110242295 A CN 110242295A
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- control system
- ore
- mining
- cutting
- crushing device
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C27/00—Machines which completely free the mineral from the seam
- E21C27/10—Machines which completely free the mineral from the seam by both slitting and breaking-down
- E21C27/12—Machines which completely free the mineral from the seam by both slitting and breaking-down breaking-down effected by acting on the vertical face of the mineral, e.g. by percussive tools
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/02—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH 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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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
Abstract
The present invention provides a kind of mining methods of automation, mining methods include: that mining methods application Mars Miner is dug up mine, Mars Miner includes control system and mining apparatus, mining apparatus includes cutter device and crushing device, cutter device and crushing device are electrically connected to the control system, control system automatically controls cutter device according to presupposed information and crushing device is cut and is crushed to pit surface, so that ore falls off from pit surface.The cutter device of Mars Miner is automatically controlled by control system and crushing device is dug up mine, and is not only reduced the demand to operator's quantity, is more improved the safety of operator.In addition, the cooperation by using cutter device and crushing device is dug up mine, mining efficiency can further improve, there is very big practicability.
Description
Technical field
The invention belongs to mining technique fields, and in particular to a kind of mining methods of automation.
Background technique
Mining industry refers to solid (such as coal and mineral), liquid (such as crude oil) or gas (such as natural gas) spontaneous mine
The extractive industry of object.And mining machinery is primarily used for the machinery of underground and surface mine exploitation, the drilling including boring blasthole
It is mechanical；Dig the excavating machinery and loading mechanization of dress ore-rock；Drilling courtyard, the road heading machinery in vertical shaft peace tunnel etc..Currently,
The mining methods generallyd use in flat laneway type mining are to cut many blast holes with drilling machine in production face,
Then explosive is filled out in each blast hole, while igniting carry out explosion, later transports broken ore cleaning.This tradition
Operation mode because not can be carried out continuous mining operations, a series of behaviour such as need to dig blast hole, explosion, divulge information, take mine
Make, needs operator more, thus working efficiency is lower, and security risk is more.
In the prior art, the patent of Patent No. CN201010517286.2 discloses a kind of tunnel mining machine, including bottom
Disk, creeper undercarriage, rotary table, large arm, mining mechanism and manipulation device, rotary table be mounted on chassis, host by
Power device driving, complete machine pass through the external power supply of power distribution equipment, are provided with ores lifting channel below chassis or in crawler belt
Ores lifting mechanism is provided with above the crawler belt of walking mechanism.Mining mechanism is hydraulic hammer or pneumatic mallet or electrically operated hammer or is that milling is dug
Machine.But the wall in tunnel is usually integral type, is exploited using hydraulic hammer or pneumatic mallet.But above-mentioned mining methods need
Operator is wanted to operate.And the health and safety of operator is all unable to get guarantee in the tunnel of underground.Therefore, mesh
It is preceding to be badly in need of a kind of new mining methods.
Summary of the invention
In consideration of it, automatically controlling Mars Miner by control system the present invention provides a kind of mining methods of automation
Cutter device and crushing device are dug up mine, and the demand to operator's quantity is not only reduced, and more improve operator's
Safety.In addition, the cooperation by using cutter device and crushing device is dug up mine, mining efficiency can further improve, have very
Big practicability.
First aspect present invention provides a kind of mining methods of automation, and the mining methods include:
The mining methods application Mars Miner is dug up mine, and the Mars Miner includes control system and mining apparatus, described
Mining apparatus includes cutter device and crushing device, and the cutter device and the crushing device are electrically connected with the control system
It connects, the control system automatically controls the cutter device according to presupposed information and the crushing device cuts pit surface
It cuts and is crushed, so that ore falls off from the pit surface.
Wherein, " control system automatically controls the cutter device and the crushing device to mine according to presupposed information
Cut and be crushed in hole surface " it include: the control system according to the presupposed information automatic control cutter device and described
Pit surface is cut and is crushed simultaneously for crushing device or the control system first automatically controls institute according to presupposed information
It states after cutter device cuts the pit surface, then automatically controls the crushing device and pit surface is crushed,
Or the control system is first automatically controlled according to presupposed information after the crushing device is crushed pit surface, then automatically
The cutter device is controlled to cut the pit surface.
Wherein, the Mars Miner further includes detection system, and the detection system is electrically connected with the control system, the spy
Examining system is used to detect the ore parameter on the pit surface, and sends the ore parameter to the control system, described
Control system adjusts the presupposed information according to the ore parameter.
Wherein, the ore parameter includes in the density of the position of ore, the type of ore, the hardness of ore and ore
Any one or more.
Wherein, the Mars Miner further includes detection system, and the detection system is electrically connected with the control system, the inspection
Examining system is used to detect operating parameter when Mars Miner mining, if the operating parameter is not in default operational factor threshold value
When, the detection system will issue abnormal parameters signal to the control system, and the control system is according to the abnormal parameters
Signal controls the Mars Miner.
Wherein, the Mars Miner further includes cooling system, and the cooling system is electrically connected with the control system, described cold
But system is for making the reduction of the temperature of the cutter device and the crushing device；The detection system is also used to detect described cut
The temperature of device and the crushing device is cut, if the temperature of the cutter device and the crushing device is more than preset temperature threshold
Value, the detection system will issue temperature anomaly signal to the control system, and the control system controls the cooling in turn
System is cooled down.
Wherein, the Mars Miner further includes communication system, and the communication system is electrically connected with the control system, described logical
Letter system is used for communication signal transmissions to the control system, and the control system is according to the signal of communication and then changes institute
State presupposed information.
Wherein, the communication system is also used to receive the control signal that the control system issues, the control signal packet
Include the ore parameter and the operating parameter of the detection system and/or the detection system.
Wherein, the cutter device includes first base, support arm, cutting cantilever, driving device and cast-cutting saw, institute
It states first base to be connected with the chassis, the support arm is flexibly connected with the first base, the cutting cantilever and institute
Support arm flexible connection is stated, the driving device and the cast-cutting saw are set on the cutting cantilever, and the driving device
For driving the cast-cutting saw to be rotated, the cast-cutting saw is for rotating and cutting pit surface.
Wherein, the crushing device includes second base, lift arm, striking arm, fluid pressure drive device and impact drill
Bar, the second base are connected with the chassis, and the lift arm is connected with the second base and is used to control described broken
The height of crushing device, the striking arm are flexibly connected with the lift arm, and the fluid pressure drive device is equipped in the striking arm,
For the fluid pressure drive device for driving the sinker bar to carry out reciprocating impact movement, the sinker bar is used for reciprocating impact
The pit surface simultaneously separates the ore from pit surface.
The mining methods that first aspect present invention provides automatically control the cutter device of Mars Miner by control system and break
Crushing device is dug up mine, and is not only reduced the demand to operator's quantity, is more improved the safety of operator.In addition,
It digs up mine by using the cooperation of cutter device and crushing device, can further improve mining efficiency, there is very big practicability.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to required in the embodiment of the present invention
The attached drawing used is illustrated.
Fig. 1 is the process flow chart of mining methods in the embodiment of the present invention.
Fig. 2 is the structural schematic diagram of mining methods in the embodiment of the present invention.
Fig. 3 is the structural schematic diagram of Mars Miner in the embodiment of the present invention.
Fig. 4 is the top view of Mars Miner in the embodiment of the present invention.
Fig. 5 is the structural schematic diagram of cutter device in one embodiment of the invention.
Fig. 6 is the structural schematic diagram of chopping disk and cutting column in the embodiment of the present invention.
Fig. 7 is the structural schematic diagram of cutter device in another embodiment of the present invention.
Fig. 8 is the structural schematic diagram of crushing device in the embodiment of the present invention.
Fig. 9 is the structural schematic diagram of sinker bar in the embodiment of the present invention.
Figure 10 is the structural schematic diagram of Mars Miner in another embodiment of the present invention.
Appended drawing reference:
Mars Miner -1, mining apparatus -10, control system -20, detection system -30, detection system -40, cooling system -50,
Communication system -60, cutter device -100, crushing device -200, running gear -300, chassis -400, device for removing slag -500, transport
Device -600, support device -700.
First base -101, support arm -102 cut cantilever -103, driving device -104, cast-cutting saw -105, chopping disk -
1051, cutting column -1052, sawtooth -1053, cylindrical wall -1054, cast-cutting saw feed arrangement -106, lateral slide rail -1061,
Longitudinal side rails -1062, rotating device -107, leading support -108, pin shaft -1081, oil cylinder -1082, translating base -109, the
One cooling device -111, the first universal joint -112, the second universal joint -113, telescopic device -114.
Second base -201, lift arm -202, striking arm -203, fluid pressure drive device -204, sinker bar -205, head
Portion -2051, bar portion -2052, top surface -2053, side -2054, surge guard plate -206, the second mobile device -207, the second are cold
But device -208, lift cylinder -210, telescopic arm -211.
Specific embodiment
It is the preferred embodiment of the present invention below, it is noted that for those skilled in the art,
Various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as this hair
Bright protection scope.
In mineral industry, in the mining especially in tunnel, it will usually be dug up mine using blasting procedure.But it is quick-fried
Broken method there is a problem of more, for example, in tunnel if explosion, easily cause the accidents such as landslide；Blasting procedure is also easy to produce more
Dust, greatly influence tunnel in environment；Blasting procedure needs discontinuity operation, cannot work continuously；Blasting procedure acquisition
More impurity can be adulterated in ore, influence the purity of ore.It, be in pit due to the exploitated ore in the pit in tunnel
Wall surface separates ore from pit surface, and is exploited after improving using pneumatic mallet or electrically operated hammer.But above-mentioned mining
Method needs operator to carry out manual operation, and risk is higher in the tunnel of underground, and the safety of personnel can not also obtain
To guarantee.
In view of the above-mentioned problems, not needing operator the present invention provides a kind of mining methods of automation and carrying out people
Work operation mining apparatus is dug up mine, but cutter device is automatically controlled by control device and crushing device is dug up mine,
Ore extraction to be got off.Technical solution of the present invention is specifically described below in conjunction with attached drawing.
The embodiment of the present invention provides a kind of mining methods for automation that is hungry, and the mining methods include:
The mining methods application Mars Miner 1 is dug up mine, and the Mars Miner 1 includes control system 20 and mining apparatus
10, the mining apparatus 10 includes cutter device 100 and crushing device 200, the cutter device 100 and the crushing device
200 are electrically connected with the control system 20, and the control system 20 automatically controls 100 He of cutter device according to presupposed information
The crushing device 200 is cut and is crushed to pit surface, so that ore falls off from the pit surface.
Signified presupposed information of the invention may include related cutting parameter, the location parameter of cutter device 100；Broken dress
Set 200 related breakage parameter, location parameter；The ore parameter on pit surface；The location parameter etc. of Mars Miner 1.Control system
System 20 can go to automatically control the relevant parameter of cutter device 100 and crushing device 200 according to above-mentioned presupposed information in turn, thus
It does not need operator and mining apparatus 10 is manually operated on the Mars Miner 1 in pit, as long as presupposed information is imported control system
After system 20, control system 20 can automatically control Mars Miner 1 and dig up mine, and not only reduce the demand to operator's quantity,
More improve the safety of operator.
In addition, mining apparatus 10 is the device that Mars Miner 1 provided by the invention plays a major role in mining.The present invention mentions
The mining apparatus 10 of confession includes cutter device 100 and crushing device 200, is opened using cutter device 100 and crushing device 200
It adopts and belongs to new method in the field of mining.Pit surface can be cut out cutting hole by cutter device 100, by pit surface point
Multiple regions are cut into, and cutter device 100 can cut down the ore of cutting region.And crushing device 200 then can be with
The ore reduction on pit surface is got off.Therefore carrying out cooperation exploitation using cutter device 100 and crushing device 200 can be more into one
Step improves mining efficiency., not only can be with automatic mining in conclusion the mining methods of automation provided by the invention, it can be with
The efficiency of mining is improved, there is very big practicability.
In embodiment of the present invention, " control system 20 automatically controls 100 He of cutter device according to presupposed information
The crushing device 200 is cut and is crushed to pit surface " it include: that the control system 20 is controlled automatically according to presupposed information
It makes the cutter device 100 and pit surface is cut and is crushed simultaneously for the crushing device 200 or control system
After system 20 cuts the pit surface according to the presupposed information automatic control cutter device 100, then automatically control institute
Crushing device 200 is stated to be crushed pit surface or described in the control system 20 is first automatically controlled according to presupposed information
After crushing device 200 is crushed pit surface, then automatically controls the cutter device 100 and the pit surface is cut
It cuts.
For the present invention when being dug up mine using mining apparatus 10, there are many methods to be exploited.Embodiment of the present invention
Three kinds of more preferred embodiments are given, certain other embodiments are it will be also be appreciated that within the scope of the present invention.
When control system 20 automatically controls the cutter device 100 and the crushing device 200 while cutting to the pit surface
When cutting and being crushed, cutter device 100 and crushing device 200 can be respectively acting on the different parts on pit surface, to carry out simultaneously
Work, Lai Tigao mining efficiency.And the pit surface is carried out when control system 20 first automatically controls the cutter device 100
When automatically controlling the crushing device 200 using control system 20 again after cutting and be crushed to the pit surface.Preferably,
Control system 20 first automatically controls the cutter device 100 and cuts to the pit surface, is cut with being formed on pit surface
Cut hole, then control system 20 automatically control again the crushing device 200 at the cutting hole or the cutting hole nearby into
Row is broken.In this way since the integrity degree of the ore near cutting hole has been destroyed, crushing device 200 very simply becomes
Ore reduction can be got off.The cooperation of cutter device 100 and crushing device 200 is exploited, and the work that one-plus-one is greater than two can be played
With, therefore production efficiency can be effectively improved.Or the control system first automatically controls described break according to presupposed information
After crushing device 200 is crushed pit surface, then automatically controls the cutter device 100 and the pit surface is cut
It cuts.
In embodiment of the present invention, the Mars Miner 1 further includes detection system 30, the detection system 30 and the control
System 20 is electrically connected, and the detection system 30 is used to detect the ore parameter on the pit surface, and the ore parameter is passed
The control system 20 is given, the control system 20 adjusts the presupposed information according to the ore parameter.
The case where present invention also can be used detection system 30 and first detect to pit surface, look at pit surface ore,
Then the ore parameter detected is sent to control system 20, control system 20 can be adjusted according to the concrete condition on pit surface
Presupposed information is saved, is preferably exploited, further increases the efficiency of mining.
In embodiment of the present invention, the ore parameter includes the position of ore, the type of ore, the hardness of ore and mine
Any one or more in the density of stone.The parameter of pit surface ore may include but be not limited to be the ore of ore position
It sets, any one or more in the density of the type of ore, the hardness of ore and ore.Because the difference of above-mentioned parameter, right
Mars Miner 1 also brings along different influences when digging up mine, and therefore, after detecting above-mentioned ore parameter, can be opened with being more directed to
It adopts, further increases the efficiency of mining.
In embodiment of the present invention, the Mars Miner 1 further includes detection system 40, the detection system 40 and the control
System 20 is electrically connected, and the detection system 40 is used to detect the operating parameter when Mars Miner 1 mining, if the operating parameter
When not in default operational factor threshold value, the detection system 40 will issue abnormal parameters signal to the control system 20, institute
It states control system 20 and the Mars Miner 1 is controlled according to the abnormal parameters signal.
Detection system 30 is mainly the detection to external environment, and detection system 40 is primarily directed to Mars Miner 1 itself
Detection.When Mars Miner 1 operation, work when, have various operating parameters, such as the height of Mars Miner 1, cutter device
100 size, cutting force, the size of crushing device 200, crushing force etc..And above-mentioned operating parameter should be located in normal work
In a certain range, above-mentioned normal parameter values are referred to as default operational factor threshold value by the present invention.And detection system 40
Each operating parameter in real time or periodically can be detected, and operating parameter is compared with default operational factor threshold value, if operation ginseng
Number represents the normal work of Mars Miner 1, if operating parameter is not in default operational factor threshold value in default operational factor threshold value
It is interior, then it represents Mars Miner 1 and is under abnormality, detection system 40 will issue abnormal parameters signal to the control system at this time
20, control system 20 can analyze device corresponding to abnormal parameters signal and be controlled, such as can readjust the device, or
Person directly closes the device.
In embodiment of the present invention, the Mars Miner 1 further includes cooling system 50, the cooling system 50 and the control
System 20 is electrically connected, and the cooling system 50 is for making the reduction of the temperature of the cutter device 100 and the crushing device 200；
The detection system 40 is also used to detect the temperature of the cutter device 100 and the crushing device 200, if the cutter device
100 and the crushing device 200 temperature be more than preset temperature threshold, the detection system 40 by issue temperature anomaly signal give
The control system 20, the control system 20 control the cooling system 50 in turn and are cooled down.
Because cutter device 100 and crushing device 200 can be connect with the ore faces in pit during automatic mining
Touching, therefore the temperature of cutter device 100 and crushing device 200 can rise.And the temperature of cutter device 100 and crushing device 200
It should be within the scope of normal temperature, if being more than normal temperature range, will affect cutter device 100 and crushing device 200
Normal operation.Above-mentioned described normal temperature range is preset temperature threshold.When cutter device 100 and crushing device
When 200 temperature is more than preset temperature threshold, detection system 40 gives sending temperature anomaly signal to the control system 20, described
Control system 20 controls the cooling system 50 in turn and is cooled down, to improve the use of cutter device 100 and crushing device 200
Service life improves mining efficiency.
In embodiment of the present invention, the Mars Miner 1 further includes communication system 60, the communication system 60 and the control
System 20 is electrically connected, and the communication system 60 is used for communication signal transmissions to the control system 20, the control system 20
According to the signal of communication and then change the presupposed information.
Communication system 60 and control system 20 can realize that mutual signal transmits, and communication system 60 both can be by signal of communication
It is transferred to control system 20, and then controls the operation of control system 20.Preferably, the transmitting terminal of communication system 60 be located at pit it
Outside, in this way, operator can go the operation of control control system 20 except pit, and then the operation of mining Mars Miner 1 is gone.
In embodiment of the present invention, the communication system 60 is also used to receive the control letter that the control system 20 issues
Number, the control signal includes the ore parameter and the operation of the detection system 30 and/or the detection system 40
Parameter.
Communication system 60 of the invention not only can issue signal of communication to control system 20, may also receive from controlling
The control signal of system 20, control signal include but is not limited to the ore of detection system 30 and/or the detection system 40
Parameter and/or the operating parameter, i.e. control signal include the case where the situation in Mars Miner 1 and pit.Preferably, communication system
The receiving end of system 60 is located at except pit, and such operator can understand all situations in pit, operator outside pit
Member can also go in real time to change the operating parameter of Mars Miner 1 in pit according to control signal.
Detailed introduction will be done to Mars Miner 1, cutter device 100 and crushing device 200 below.
Fig. 2-Fig. 3 is please referred to, the embodiment of the invention provides a kind of Mars Miner 1, the Mars Miner 1 includes running gear
300, chassis 400, mining apparatus 10, device for removing slag 500 and transport device 600, wherein
The running gear 300 is for moving the Mars Miner 1 in pit；
The running gear 300 and the mining apparatus 10 be set to the opposite sides on the chassis 400 and with the chassis
400 are connected；
For separating the ore on pit surface from the pit surface, the mining apparatus 10 wraps the mining apparatus 10
Cutter device 100 and crushing device 200 are included, the cutter device 100 is for cutting the pit surface, the crushing device
200 for separating the ore from the pit surface；
The device for removing slag 500 is connected with the transport device 600, and the device for removing slag 500 is for collecting the institute fallen
State ore and by the ores lifting to the transport device 600；
The transport device 600 is set in the chassis 400 or on the chassis 400, and the transport device 600 is used for will
The Ore Transportation to far from the Mars Miner 1 side.
Running gear 300 can allow Mars Miner 1 to move freely through in pit.The main effect of device for removing slag 500 is, when adopting
By after ore reduction, the ore of crushing can fall on the bottom surface in pit or fall directly into device for removing slag 500 mine device 10, and
Device for removing slag 500 then can be by this part ores lifting to the transport device 600.And transport device 600 then transports the ore
Transport to the side far from the Mars Miner 1.Continuing for mining not only can not be interfered, but also ore can be transported
Designated position is transported to, in order to the collection of ore.
In a preferred embodiment of this invention, control system can automatically control above-mentioned apparatus.Mining apparatus 10 is to adopt
The device to play a major role when mining in mine system.Mining apparatus 10 provided by the invention includes cutter device 100 and broken dress
200 are set, the cooperation of cutter device 100 and crushing device 200 not only compensates for their own deficiency, can also further improve
The efficiency of mining.Although pit surface can be cut out cutting hole by cutter device 100, by pit surface segmentation at multiple regions,
And cutter device 100 can cut down the ore of cutting region, but the ore cutter device 100 at other positions is not easy
It is cut down.And although crushing device 200 can get off the ore reduction of pit surface weak part, be crushed under
The quantity of the ore come is also not very much, therefore limits the efficiency of mining to a certain extent.And the present invention is cooperated
Get up, first using cutter device 100 by pit surface cut out cutting hole, then reuse crushing device 200 cutting hole at or
Cutting hole is nearby crushed, in this way since the integrity degree of the ore near cutting hole has been destroyed, crushing device
200 very simply become that ore reduction can be got off.Cutting can not only be cheated it by the cooperation of cutter device 100 and crushing device 200
The ore extraction of remaining part position gets off, and due to the presence in cutting hole, so that crushing device 200 is easier to get off ore reduction.
Therefore, mining system provided by the invention, is effectively used in mineral industry, and efficiently, it is continuous, safely carry out ore
Exploitation has very big practicability.
In embodiment of the present invention, the ore is phosphorus ore or iron ore.The pit that the present invention is previously mentioned is commonly referred to as phosphorus
Mine or iron ore, i.e., mining system provided by the invention are for exploiting rock phosphate in powder or iron ore.Certainly, the present invention is previously mentioned
Ore is also possible to other ores, i.e., mining system provided by the invention can also be used to exploit other ores.Preferably, described
Ore is rock phosphate in powder, and mining methods of the invention are precisely in order to exploitation rock phosphate in powder is prepared into fertilizer in turn.
In embodiment of the present invention, running gear 300 can be roller type running gear, cterpillar drive or chain-type
Running gear.Preferably, running gear 300 is cterpillar drive.Cterpillar drive is suitable for various in pit
Surface state.Chassis 400 is in addition to for installing running gear 300, mining apparatus 10, transport device 600, it may also be used for installs it
His device, such as station, cooling device, communication device, power supply device etc..Preferably, chassis 400 is rotatable chassis
400.Preferably, device for removing slag 500 can be front shovel.Preferably, transport device 600 can be belt-type transport device, rely on
The ore that the conveying of device for removing slag 500 comes is moved on belt and is transported to transport to far from the Mars Miner by mobile belt
1 side.Preferably, mining system further includes collection device, and collection device can be collecting cart, and collecting cart can come transport
Ore unified collect.Preferably, the invention also includes energy source device, energy source device can for running gear 300, chassis 400,
One of mining apparatus 10, device for removing slag 500, transport device 600 or a variety of offers for carrying out electric power and the energy.Of the invention
Mars Miner 1 can include multiple sub-energy resource devices, each sub-energy resource device point by the unified offer of energy source device or energy source device
It is not installed in above-mentioned each device, independently is above-mentioned each device and the energy and electric power are provided.
Next it will be described in detail cutter device 100 provided by the invention.Referring to FIG. 4, being cut in embodiment of the present invention
Device 100 is cut to include first base 101, support arm 102, cut cantilever 103, driving device 104 and cast-cutting saw 105, it is described
Support arm 102 is flexibly connected with the first base 101, and the cutting cantilever 103 is flexibly connected with the support arm 102, institute
It states driving device 104 and the cast-cutting saw 105 to be set on the cutting cantilever 103, and the driving device 104 is for driving
The cast-cutting saw 105 is rotated, and the cast-cutting saw 105 is for rotating and cutting pit surface.
Support arm 102 primarily serves supporting role, is used to support cutter device 100, it is preferable that support arm 102 is also adjustable
The relative position of whole cutter device 100 and Mars Miner 1, cutter device 100 is moved.Cutting cantilever 103 is mainly used for
Cast-cutting saw 105 and driving device 104 are installed, it is preferable that the position of the also adjustable cast-cutting saw 105 of cutting cantilever 103 will be cut
Saw 105 is moved and/or is rotated.Driving device 104 is mainly used for that cast-cutting saw 105 is driven to be rotated.Preferably, it drives
Device 104 is motor.It is highly preferred that driving device 104 is hydraulic motor.Therefore, the present invention passes through first base 101, support
Arm 102 cuts cantilever 103 and driving device 104 to control the movement and work of cast-cutting saw 105.And cast-cutting saw 105 is to cut
Cut the component that main function is played in ore.Cast-cutting saw 105 can carry out high speed rotation and be cut under the driving of driving device 104
Mineral surface, and high-speed rotating cast-cutting saw 105 can be cut into inside pit under the action of high cutting force.Therefore it is repeatedly cutting
Afterwards, ore can be cut down from pit surface.
In embodiment of the present invention, the thickness at 105 edge of cast-cutting saw is greater than the thickness at 105 middle part of cast-cutting saw.
The generally circular cast-cutting saw 105 of cast-cutting saw 105 of the invention, but it is also not necessarily limited to the cast-cutting saw 105 of other shapes.And cast-cutting saw
105 include opposite two sides and periphery.When cast-cutting saw 105 has been cut into inside ore, due to the relevant technologies
The thickness at middle 105 edge of cast-cutting saw is equal to the thickness at 105 middle part of cast-cutting saw, therefore ore can be at two of cast-cutting saw 105
Side generates extruding force, and extruding force can greatly limit the movement of cast-cutting saw 105, so that cutting is become more difficult, cast-cutting saw
105 go deep into pit surface depth it is bigger, extruding force also can be bigger.And the thickness at 105 edge of cast-cutting saw is greater than institute by the present invention
The thickness for stating 105 middle part of cast-cutting saw, can be effectively relieved the above problem.Therefore, cast-cutting saw 105 is in cutting, mainly using cutting
Sawing 105 edge is cut.When the thickness at 105 edge of cast-cutting saw is greater than the thickness at 105 middle part of cast-cutting saw, cutting
The width that saw 105 is cut can be greater than the thickness at the middle part of cast-cutting saw 105, therefore when cast-cutting saw 105 is goed deep into inside pit, ore is not
The opposite sides of cast-cutting saw 105 can be touched, and then also would not generate extruding force in two sides of cast-cutting saw 105.In this way
Cast-cutting saw 105 would not be squeezed the puzzlement of power when continuing and internally cutting or stretch out.
In embodiment of the present invention, the hardness of the cast-cutting saw 105 is 44-62HRC, and the revolving speed of the cast-cutting saw 105 is
1000-6000r/min.Cast-cutting saw 105 with pit surface due to that will be contacted repeatedly, the relevant parameter of cast-cutting saw 105
Just play the role of to cutting effect and mining efficiency great.The hardness of cast-cutting saw 105 first needs the hardness greater than ore,
Ore can just be cut down, secondly cast-cutting saw 105 is also required to enough revolving speeds, and otherwise cast-cutting saw 105 is not only difficult to cut into mine
In hole, cast-cutting saw 105 is also easy to be stuck in pit.Preferably, the hardness of the cast-cutting saw 105 is 48-58HRC, the cutting
The revolving speed of saw 105 is 2000-5000r/min.It is highly preferred that the hardness of the cast-cutting saw 105 is 52-55HRC, the cast-cutting saw
105 revolving speed is 3000-4000r/min.
Referring to FIG. 5, the cast-cutting saw 105 includes chopping disk 1051 and cutting column 1052, institute in embodiment of the present invention
Cutting column 1052 is stated to be set in the cylindrical wall 1054 of the chopping disk 1051.In another embodiment of the present invention, cutting column 1052 is set
In in the cylindrical wall 1054 of chopping disk 1051, since the hardness of ore is higher, and the revolving speed of cast-cutting saw 105 is higher, therefore cuts
The power that sawing 105 is subject to is larger, and the setting for cutting column 1052 can increase the cutting area with mineral surface, improves bigger
Cutting force is more advantageous to and is cut.Preferably, chopping disk 1051 and cutting column 1052 material be hard alloy or it is wear-resisting not
Become rusty steel.It is highly preferred that cutting column 1052 is pick tooth.
Referring to FIG. 5, the cutting column 1052 is inclined at the outer of the chopping disk 1051 in embodiment of the present invention
On circle wall 1054, and the cutting column 1052 is higher than the surface of the chopping disk 1051 away from the surface of the cylindrical wall 1054,
So that the thickness at 105 edge of cast-cutting saw is greater than the thickness at 105 middle part of cast-cutting saw.The cutting column 1052 being obliquely installed can
Cutting area is further increased, cutting force and cutting efficiency are improved.It preferably, can be along cutting in the cylindrical wall 1054 of chopping disk 1051
It cuts and multiple rows of cutting column 1052 is set on the thickness direction of disk 1051, and the cutting column 1052 for being located at 1054 opposite sides of cylindrical wall is carried on the back
To being obliquely installed, make to cut the surface that column 1052 is higher than the chopping disk 1051 away from the surface of the cylindrical wall 1054, even if
The side for cutting 1052 eminence chopping disk 1051 of column thus can effectively make the thickness at 105 edge of cast-cutting saw be greater than described cut
The thickness at 105 middle part of sawing.And as other cutting columns 1052 inclined direction the present invention and with no restrictions.In other embodiments
In, the cutting column 1052 itself can rotate, and driving cutting column 1052 is equipped with specially in the chopping disk 1051 and is rotated
Driving motor, rotating cutting column 1052 further increases cutting force and cutting efficiency.
Referring to FIG. 6, the cast-cutting saw 105 includes chopping disk 1051, the chopping disk 1051 in embodiment of the present invention
Edge be zigzag.In one embodiment of the invention, cast-cutting saw 105 includes chopping disk 1051, and by the edge of chopping disk 1051
It is designed to sawtooth 1053.Because the edge of sawtooth 1053 is sharper, cutting effect is further promoted.In addition, chopping disk 1051
It can be integral type, or split type.When chopping disk 1051 is split type, sawtooth 1053 is fixedly arranged on chopping disk
On 1051.
Referring to FIG. 6, it is additionally provided with cast-cutting saw feed arrangement 106 on the cutting cantilever 103 in embodiment of the present invention,
The cast-cutting saw feed arrangement 106 is connected with the cast-cutting saw 105, and for making the cast-cutting saw 105 carry out linear movement.By
It to be cut into inside pit in cast-cutting saw 105, therefore cast-cutting saw 105 needs constantly to move and go deep into pit surface.If passed through
The movement of Mars Miner 1 or support arm 102 keeps the cast-cutting saw 105 mobile, due to the shift length of Mars Miner 1 and support arm 102 compared with
Far, it is not easy to control the movement of cast-cutting saw 105.Therefore the present invention by added on cutting arm cast-cutting saw feed arrangement 106 come
Efficiently control the size of the displacement of cast-cutting saw 105.The cast-cutting saw feed arrangement 106 includes lateral slide rail 1061 and indulges
To slide rail 1062, cast-cutting saw 105 can be precisely controlled by lateral slide rail 1061 and longitudinal side rails 1062
Direction of feed and feed speed.
Referring to FIG. 4, being additionally provided with rotating device 107, the rotation on the cutting cantilever 103 in embodiment of the present invention
Rotary device 107 is connected with the support arm 102, and the rotating device 107 is for rotating the cast-cutting saw 105.This
Also rotating device 107 can be arranged on cutting cantilever 103 in invention, revolve at any angle to make the cast-cutting saw 105 carry out 360 °
Turn, and then effectively to adjust the cut direction of cast-cutting saw 105 and cutting position.It can be conducive to the cutting of cutter device 100 one in this way
Angle position in a little pits, improves the cutting efficiency of cutter device 100.Preferably, rotating device 107 is rotary oil cylinder
1082。
Referring to FIG. 4, telescopic device 114 is additionally provided on the support arm 102 in embodiment of the present invention, it is described flexible
Device 114 is for elongating or shortening the support arm 102, and the support arm 102 and the first base 101
The junction of junction and/or the support arm 102 and the cutting cantilever 103 is equipped with first movement device, and described first moves
Dynamic device is for moving the support arm 102 and the cutting cantilever 103.Telescopic device 114 can stretch support arm 102
Long or shortening, to further adjust the position of cast-cutting saw 105.And the setting of first movement device can be such that cast-cutting saw 105 carries out
Such as the movement of up, down, left, right, before and after.Pass through setting for above-mentioned rotating device 107, telescopic device 114 and first movement device
It sets, cast-cutting saw 105 can be made mobile and rotates to any position and any angle, to realize comprehensive mining.For example, when in tunnel
Pit in when digging up mine, it is found that there is no ores for extending direction along tunnel, and there are when ore at left and right sides of tunnel, can
To use rotating device 107, telescopic device 114 and first movement device to go to the left and right sides in cutting pit by cast-cutting saw 105
The surface of side wall, change the direction in tunnel, to avoid the region of not ore, Lai Jinhang efficiently digs up mine.Preferably,
The leading support 108 of first movement device of the support arm 102 and the junction of the first base 101, leading support 108
It is connected in first base 101 with pin shaft 1081, leading support 108 can be around leading stub left-right rotation.Match on leading support 108
There is 1082 hinge joint of steering cylinder, mountable oil cylinder 1082 drives the rotational action of leading support 108, and limits leading support
108 rotational angle.Preferably, the support arm 102 and the first movement device of the junction of the cutting cantilever 103 are flat
Seat 109 is moved, translating base 109 is connected on support arm 102 by the first universal pass 112, due to the effect of gimbal suspension, translating base
109 can do rotation up and down relative to Support large arm.Preferably, one end of telescopic device 114 passes through the second gimbal suspension
113 connect with leading support 108, and the other end of telescopic device 114 is connected by the first gimbal suspension 112 with translating base 109.
Referring to FIG. 6, in embodiment of the present invention, cutter device 100 further includes the first cooling device 111, described first
Cooling device 111 is for making cooling cast-cutting saw 105.Because can be produced when cast-cutting saw 105 cuts ore during high speed rotation
Raw a large amount of heat, the temperature of cast-cutting saw 105 can be increased sharply, and therefore, the setting of the first cooling device 111 can effectively drop
The temperature of undercut sawing 105, to improve the service life of cutter device 100.
Next it will be described in detail crushing device 200 provided by the invention.Referring to FIG. 7, being broken in embodiment of the present invention
Crushing device 200 includes second base 201, lift arm 202, striking arm 203, fluid pressure drive device 204 and sinker bar 205,
The lift arm 202 is connected with the second base 201 and the height for controlling the crushing device 200, the striking arm
203 are flexibly connected with the lift arm 202, are equipped with the fluid pressure drive device 204, the hydraulic drive in the striking arm 203
For dynamic device 204 for driving the sinker bar 205 to carry out reciprocating impact movement, the sinker bar 205 is used for reciprocating impact
Pit surface simultaneously separates ore from pit surface.
Second base 201 can be used for installing crushing device 200, and crushing device 200 is usually installed on Mars Miner 1 by the present invention
In, it is more effectively exploited under the cooperation of Mars Miner 1.Lift arm 202 mainly plays a part of to support and be promoted, and is used to support
Crushing device 200 and adjustment crushing device 200 move crushing device 200 with respect to the position of Mars Miner 1.Striking arm 203
It is mainly used for that fluid pressure drive device 204 and sinker bar 205 are installed.Preferably, striking arm 203 can also adjust sinker bar
Sinker bar 205 is moved in 205 position.And fluid pressure drive device 204 be mainly used for drive sinker bar 205 into
The reciprocal Ground shock waves of row.
Therefore, the present invention by second base 201, lift arm 202, striking arm 203 and fluid pressure drive device 204 come
Control the movement and work of sinker bar 205.And sinker bar 205 is the component directly contacted in crushing device 200 with ore,
It also is the component to play a major role.Sinker bar 205 can move back and forth while high frequency is carried out under the driving of fluid pressure drive device 204
And impact mineral surface.Since ore is that nature naturally occurs, although the ore in pit is an entirety, in mine
It is not equably to arrange in stone, some places arrangement is intensive, and some places arrangement is sparse.And the sinker bar of high-frequency percussion
205 can impact mineral surface under the action of high impact forces, to keep the mineral surface at sparse position cracked.Therefore more
After Secondary Shocks, the ore for having already appeared the mineral surface of crackle can be got off by impact.
Preferably, second base 201 and lift arm 202 are connected by lift cylinder 210, lift cylinder 210 and lift arm
202 are connected and fixed by lift pin.Preferably, striking arm 203 further includes telescopic arm 211, and fluid pressure drive device 204 can also be with
Telescopic arm 211 is connected, and telescopic arm 211 is connected with sinker bar 205, and the control telescopic arm 211 of fluid pressure drive device 204 does past
Multiple movement, and telescopic arm 211 is with sinker bar 205 due to being connected, fluid pressure drive device 204 can drive the impact drill
Bar 205 carries out reciprocating impact movement.Preferably, lift arm 202 and striking arm 203 be by connection pin connection, striking arm 203 with stretch
Contracting arm 211 is connected by telescopic oil tube.
In embodiment of the present invention, the hardness of the sinker bar 205 is 44-62HRC, and the sinker bar 205 rushes
Hitting frequency is 600-1000 times/s.Sinker bar 205 with pit surface due to that will be contacted repeatedly, sinker bar 205
Relevant parameter just play the role of to impact effect and mining efficiency it is great.The hardness of sinker bar 205 needs big first
In the hardness of ore, ore can just be impacted, secondly sinker bar 205 is also required to enough impact forces or frequency of impact comes
Improve crushing efficiency and mining efficiency.Preferably, the hardness of the sinker bar 205 is 48-58HRC, the sinker bar 205
Frequency of impact be 700-9000 times/s.It is highly preferred that the hardness of the sinker bar 205 is 52-55HRC, the impact drill
The frequency of impact of bar 205 is 800-850 times/s.
Referring to FIG. 8, the sinker bar 205 includes head 2051 and bar portion 2052, described in embodiment of the present invention
Head 2051 includes top surface 2053 and the side 2054 being connected with the top surface 2053, and the side 2054 is to be obliquely installed,
So that the radius of curvature of the top surface 2053 becomes smaller.Sinker bar 205 includes head 2051 and bar portion 2052, therefore head 2051
It is the region to play a major role when impact.And the side 2054 being obliquely installed, the radius of curvature of top surface 2053 can be made to become smaller, i.e.,
2053 side of top surface it is more sharp.Sharp top surface 2053 is when impacting pit surface, under uniform impingement power, top surface 2053
Contact area is smaller, and pressure is bigger, therefore is easier to impact in ore.It is whole in another embodiment of the present invention
Side 2054 is to be obliquely installed, and further decreases the radius of curvature of top surface 2053.Preferably, head 2051 is impact drill pricker
Bar.
In embodiment of the present invention, the radius of curvature of the top surface 2053 is 5mm-30mm.Above content has been mentioned small
Mining efficiency can be improved in the sinker bar 205 of radius of curvature.But in the field of mining industry, the head 2051 being excessively sharp,
Such as the radius of curvature of top surface 2053 be less than 5mm when, although improve mining efficiency, under the action of enormous impact force, punching
Drilling rod 205 is hit also easily to damage.Therefore the radius of curvature of top surface 2053 of the present invention is 5mm-30mm, can it is efficient, be continued for
Mining.
In embodiment of the present invention, surge guard plate 206, the impact are additionally provided on the side 2054 being obliquely installed
Protective plate 206 is for protecting the sinker bar 205.The setting of surge guard plate 206 not only can protect sinker bar 205,
The service life for promoting sinker bar 205, also can be improved mining efficiency.Preferably, impact can be set on surface 2054
Protective plate 206, or surge guard plate 206 all can be set on whole sides 2054.Preferably, the material of surge guard plate 206
Matter is impact-resistant alloy steel or hard alloy.
In embodiment of the present invention, the head 2051 is impact-resistant alloy steel.The head of impact-resistant alloy steel material
2051 can further promote the service life of sinker bar 205.
In embodiment of the present invention, the fluid pressure drive device 204 includes hydraulic pump, oil cylinder and hydraulic valve, the liquid
The power of press pump is 50-100kW.Fluid pressure drive device 204 is the device for controlling sinker bar 205 and moving back and forth.And the application
Due to make impact impact pit surface incessantly, providing very big power therefore, it is necessary to hydraulic pump just can reach the application
Purpose.Preferably, the power of the hydraulic pump is 60-90kW.It is highly preferred that the power of the hydraulic pump is 70-80kW.
In embodiment of the present invention, the company of the second base 201 and/or the striking arm 203 and the lift arm 202
It meets place and is equipped with the second mobile device 207, second mobile device 207 is for making the lift arm 202 and the striking arm 203
It is moved.The setting of second mobile device 207 can be such that sinker bar 205 is moved, to facilitate sinker bar 205 to go to impact
The pit surface of different location greatly improves the convenience and efficiency of mining.Preferably, at the second base 201
Second mobile device 207 may make that sinker bar 205 is moved left and right, and the striking arm 203 and the lift arm 202
Second mobile device 207 of junction setting may make sinker bar 205 to move up and down.Therefore, pass through the second mobile dress
The setting for setting 207 may make sinker bar 205 to work in any position on pit surface.
In embodiment of the present invention, the crushing device 200 further includes rotation drive device (not showing that in figure), described
Rotation drive device is set in the striking arm 203, and the rotation drive device connect with the sinker bar 205 and for making
The sinker bar 205 rotates.On the basis of sinker bar 205 does reciprocating impact movement, rotation drive device may make punching
It hits drilling rod 205 and does spinning motion at high speed.Sinker bar 205 can do rotation at high speed simultaneously and reciprocating impact movement goes to impact
Pit surface can be easier to get off ore from pit surface impacts, can further improve mining effect and mining efficiency.
In embodiment of the present invention, the crushing device 200 further includes the second cooling device 208, the described second cooling dress
It sets 208 to be set on the striking arm 203, and for keeping the sinker bar 205 cooling.Since sinker bar 205 is in impact mine
When cheating surface, a large amount of heat can be generated, the temperature of sinker bar 205 can be increased sharply, therefore, the second cooling device 208
The temperature that sinker bar 205 can be effectively reduced is set, to improve the service life of crushing device 200.The present invention is above-mentioned
The cooling system being previously mentioned may include the first cooling dress, 111 and second cooling device 208,
In embodiment of the present invention, the quantity of the cutter device 100 and/or the crushing device 200 is one or more
It is a.Multiple cutter devices 100 and/or multiple crushing devices 200 can further promote the efficiency of mining.In addition, when part is cut
When device 100 or crushing device 200 break down, other cutter devices 100 or crushing device 200 can still continue work
Make, to realize the purpose of mining system continuous work.
In embodiment of the present invention, the Mars Miner 1 further includes support device 700, and the support device 700 is used to support
The side wall and roof in the pit.Since Mars Miner 1 needs continuously to be contacted with pit surface at work,
Mars Miner 1 also will receive reaction force.Device on Mars Miner 1 will receive the influence of vibration, operator and equally also will receive
It influences.Therefore, the service life of Mars Miner 1 and the experience of user are significantly reduced.Support device 700 provided by the invention will mining
Machine 1 is supported, by the side wall and roof of the support of Mars Miner 1 to pit, and Mars Miner 1 with pit face contact itself, in this way
Mars Miner 1 can be fixed in pit, vibration is passed, Mars Miner 1 and operator is made to be not affected, improve Mars Miner
1 service life and user experience.
Content provided by embodiment of the present invention is described in detail above, herein to the principle of the present invention and reality
The mode of applying is expounded and illustrates, described above to be merely used to help understand method and its core concept of the invention；Meanwhile
For those of ordinary skill in the art, according to the thought of the present invention, has change in specific embodiments and applications
Become place, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of mining methods of automation, which is characterized in that the mining methods include:
The mining methods application Mars Miner is dug up mine, and the Mars Miner includes control system and mining apparatus, the mining
Device includes cutter device and crushing device, and the cutter device and the crushing device are electrically connected with the control system, institute
State control system according to presupposed information automatically control the cutter device and the crushing device to pit surface carry out cutting and
It is broken, so that ore falls off from the pit surface.
2. mining methods as described in claim 1, which is characterized in that " control system is automatically controlled according to presupposed information
The cutter device and the crushing device are cut and are crushed to pit surface " it include: the control system according to default
Information automatically controls the cutter device and pit surface is cut and is crushed simultaneously for the crushing device or the control
System processed is first automatically controlled according to presupposed information after the cutter device cuts the pit surface, then automatically controls institute
State that crushing device is crushed pit surface or the control system first automatically controls the broken dress according to presupposed information
It sets after being crushed to pit surface, then automatically controls the cutter device and the pit surface is cut.
3. mining methods as described in claim 1, which is characterized in that the Mars Miner further includes detection system, the detection
System is electrically connected with the control system, and the detection system is used to detect the ore parameter on the pit surface, and will be described
Ore parameter sends the control system to, and the control system adjusts the presupposed information according to the ore parameter.
4. mining methods as claimed in claim 3, which is characterized in that the ore parameter includes the position of ore, ore
Any one or more in the density of type, the hardness of ore and ore.
5. mining methods as claimed in claim 3, which is characterized in that the Mars Miner further includes detection system, the detection
System is electrically connected with the control system, and the detection system is used to detect operating parameter when Mars Miner mining, if institute
When stating operating parameter not in default operational factor threshold value, the detection system will issue abnormal parameters signal to the control and be
System, the control system control the Mars Miner according to the abnormal parameters signal.
6. mining methods as described in claim 1, which is characterized in that the Mars Miner further includes cooling system, the cooling
System is electrically connected with the control system, and the cooling system is for dropping the temperature of the cutter device and the crushing device
It is low；The detection system is also used to detect the temperature of the cutter device and the crushing device, if the cutter device and institute
The temperature for stating crushing device is more than preset temperature threshold, and the detection system will issue temperature anomaly signal to the control and be
System, the control system control the cooling system in turn and are cooled down.
7. mining methods as described in claim 1, which is characterized in that the Mars Miner further includes communication system, the communication
System is electrically connected with the control system, and the communication system is used for communication signal transmissions to the control system, the control
System processed is according to the signal of communication and then changes the presupposed information.
8. mining methods as claimed in claim 7, which is characterized in that the communication system is also used to receive the control system
The control signal of sending, the control signal include the detection system and/or the detection system the ore parameter and
The operating parameter.
9. mining methods as described in claim 1, which is characterized in that the cutter device includes first base, support arm, cuts
Cantilever, driving device and cast-cutting saw are cut, the first base is connected with the chassis, the support arm and described first
Pedestal is flexibly connected, and the cutting cantilever is flexibly connected with the support arm, and the driving device and the cast-cutting saw are set to
On the cutting cantilever, and the driving device, for driving the cast-cutting saw to be rotated, the cast-cutting saw is for rotating simultaneously
Cut pit surface.
10. mining methods as described in claim 1, which is characterized in that the crushing device include second base, lift arm,
Striking arm, fluid pressure drive device and sinker bar, the second base are connected with the chassis, the lift arm and institute
The height that second base is connected and is used to control the crushing device is stated, the striking arm is flexibly connected with the lift arm, institute
It states and is equipped with the fluid pressure drive device in striking arm, the fluid pressure drive device is for driving the sinker bar back and forth to be rushed
Movement is hit, the sinker bar is separated for pit surface described in reciprocating impact and by the ore from pit surface.
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| CN201910360759.3A CN110242295A (en) | 2019-04-30 | 2019-04-30 | A kind of mining methods of automation |
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| CN201910360759.3A CN110242295A (en) | 2019-04-30 | 2019-04-30 | A kind of mining methods of automation |
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