CN111022044A - Continuous mining system and mining operation method for short-wall working face of underground coal mine - Google Patents
Continuous mining system and mining operation method for short-wall working face of underground coal mine Download PDFInfo
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- CN111022044A CN111022044A CN202010018641.5A CN202010018641A CN111022044A CN 111022044 A CN111022044 A CN 111022044A CN 202010018641 A CN202010018641 A CN 202010018641A CN 111022044 A CN111022044 A CN 111022044A
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- 239000003245 coal Substances 0.000 title claims abstract description 58
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- 230000008569 process Effects 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 68
- 238000007599 discharging Methods 0.000 claims description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 15
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- 230000007704 transition Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000005641 tunneling Effects 0.000 claims description 2
- 238000005520 cutting process Methods 0.000 description 30
- 239000003638 chemical reducing agent Substances 0.000 description 9
- 238000009412 basement excavation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/68—Machines for making slits combined with equipment for removing, e.g. by loading, material won by other means
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
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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
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- 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
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
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- 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
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C41/00—Methods of underground or surface mining; Layouts therefor
- E21C41/16—Methods of underground mining; Layouts therefor
- E21C41/18—Methods of underground mining; Layouts therefor for brown or hard coal
Abstract
A continuous mining system and a mining operation method for a short-wall working face of an underground coal mine belong to coal mining machinery and are used for short-wall mechanized mining of the underground coal mine. The continuous mining system comprises a continuous coal mining machine, a movable bendable belt type reversed loader, a crawler type self-moving tail for a telescopic belt type machine and a centralized control platform; the continuous miner is connected with the mobile bendable belt type reversed loader, the mobile bendable belt type reversed loader is connected with the crawler type self-moving tail of the telescopic adhesive tape machine, and the centralized control platform is arranged in a cab of the mobile bendable belt type reversed loader. The mining system integrates mechanical, electrical, hydraulic and remote centralized control, and compared with the traditional shortwall mining process, the mining system improves the coal mining efficiency, reduces the manual investment and improves the operation safety.
Description
Technical Field
The invention belongs to coal mining machinery, and particularly relates to a continuous mining system and a mining operation method for a short-wall working face of an underground coal mine. The method is used for short-wall mechanized mining of underground coal mines.
Background
There are two types of conventional shortwall mining processes. One type is blasting type mining, the mechanization degree is low, the resource recovery rate is low, the operation safety is poor, the influence on the normal production and life of human beings on the ground is large, and the application is limited in China. The other method is that a plurality of devices such as a continuous miner, a shuttle car, a feeding crusher and the like are used in cooperation with operators, the devices are distributed, the shuttle car is moved back and forth to perform alternate operation, the production is discontinuous, the cooperation is difficult, the efficiency is not high, the uniform control is difficult to realize, the one-time underground mining depth of the continuous miner does not exceed 10m, a large number of branch roadways need to be excavated, and the excavation and supporting workload is large.
Disclosure of Invention
The invention provides a short wall working face continuous mining system and a mining operation method which integrate coal cutting, moving and traveling, coal charging, transferring and automatic control.
The technical scheme of the invention is as follows:
the continuous mining system for short wall working face consists of continuous coal mining machine, movable flexible belt type reversed loader, crawler type self-moving tail for telescopic belt type machine and centralized control platform.
The continuous miner is connected with the mobile bendable belt type reversed loader, the mobile bendable belt type reversed loader is connected with the crawler type self-moving tail of the telescopic adhesive tape machine, and the centralized control platform is arranged in a cab of the mobile bendable belt type reversed loader.
The continuous miner consists of a cutting part, a loading shovel plate, a crawler traveling chassis, a scraper conveyor, an inertial navigation positioning and orienting system and an explosion-proof camera.
The bottom of the continuous miner is a crawler walking chassis, the front part of the continuous miner is provided with a cutting part, a loading shovel plate is arranged below the cutting part, a scraper conveyor is arranged behind the loading shovel plate, and an inertial navigation positioning and orienting system is arranged on the crawler walking chassis. The explosion-proof camera is positioned above the cutting part.
The continuous miner is connected with the receiving mechanism of the movable bendable belt type reversed loader.
The movable bendable belt type reversed loader consists of a material receiving mechanism, a bendable rack, a discharging mechanism, a bendable adhesive tape and a rear power platform.
The receiving mechanism is connected with the bendable frame, the discharging mechanism and the rear power platform in sequence.
The discharging mechanism is provided with an electric roller and a tensioning roller.
The bendable rack consists of a plurality of sections of unit racks, the length of each unit rack is 0.65m, and the heads and the tails of the unit racks are connected with joint bearings through pin shafts. Each section of unit frame is provided with a carrier roller.
The flexible adhesive tape is respectively wound on the electric roller of the receiving mechanism, the carrier roller of the flexible rack 8, the electric roller of the discharging mechanism and the tensioning roller.
A plurality of groups of walking tires are arranged below the bendable frame. Steel wheels are arranged below the discharging mechanism and the rear power platform.
Two sides of the bottom of the rear power platform are provided with a pair of cycloidal gears with power.
The receiving mechanism and the traveling tires of the front half part of the flexible frame are positioned on the ground. The walking tire of the rear half part of the flexible frame is positioned on the pin rack.
The steel wheels below the discharging mechanism and the rear power platform are both positioned on the plane track on the pin rack.
And a cycloidal gear at the bottom of the rear power platform is meshed with the pin rack. The movable bendable belt type reversed loader can move back and forth relative to the crawler type self-moving tail of the telescopic adhesive tape machine.
The crawler-type self-moving tail for the telescopic adhesive tape machine consists of an end head assembly, a turnabout drum, a rack, a crawler traveling mechanism, a pin rack and an adhesive tape.
The end assembly is connected with the frame. The frame is formed by connecting a plurality of sections of rigid frame units (each unit is 3m long) end to end through pin shafts. The rigid frame unit connected with the end head assembly is provided with a turnabout drum, and the rest rigid frame units are provided with carrier rollers.
A plurality of groups of crawler belt traveling mechanisms are arranged below two sides of the frame. And pin racks are fully paved on two sides above each rigid frame unit.
And the adhesive tape is respectively wound on the bend pulley and the carrier roller on the rigid frame unit.
The centralized control platform consists of a driving seat, an explosion-proof computer, a display and a centralized operation panel.
And a driving position, an explosion-proof computer, a display and a centralized operation panel are arranged in the centralized control platform. The driving seat is fixed behind the centralized control platform, and the explosion-proof computer is arranged in front of the centralized control platform; the display is arranged above the explosion-proof computer, and the centralized operation panel is arranged right opposite to the driving position and is positioned above the explosion-proof computer. The explosion-proof computer is connected with the display and the centralized operation panel.
A continuous excavation operation method for a short wall working face of a underground coal mine is characterized in that a branch roadway of the short wall working face is 6m in width and 300m in length, a mining cave is 3.3m in width, an included angle between the longitudinal depth direction of the mining cave and the central line of the branch roadway is 45-90 degrees, and the maximum depth of the mining cave is 90 m; the method is characterized in that the coal seam is partitioned according to a certain length and width, and a short-wall working face continuous mining system carries out double-wing or single-wing mining operation in a partitioned branch roadway.
The length and the width are not fixed and are determined according to the distribution condition of the coal bed. Typically not exceeding 1000 meters.
The movable bendable belt type reversed loader enters the mining cave following the continuous coal mining machine, coal flow is transferred to the movable bendable belt type reversed loader from a conveyor of the continuous coal mining machine, and then is unloaded onto a rubber belt at the tail of the crawler type self-moving machine for the telescopic rubber belt machine again, and the coal is transported out, so that continuous transportation is realized; after one working face is finished, the continuous miner and the movable bendable belt type reversed loader retreat, then the telescopic rubber belt machine retreats by the crawler type self-moving tail, and finally the whole system moves to the next working face to start the next cycle.
The double-wing excavation operation process is that an excavation chamber is arranged at one side of a short wall working face branch roadway.
In the single-wing mining operation process, mining chambers are arranged on two sides of a short-wall working face branch roadway, and the mining chambers on the two sides are axisymmetric by taking the branch roadway as an axis.
The invention has the following beneficial effects:
1. in the invention, a driver remotely operates the continuous miner on a centralized control platform by observing a video picture in a display, cuts and transfers coal to a movable bendable adhesive tape reversed loader, and ensures a mining direction according to an inertial navigation positioning and orienting system, wherein the mining depth reaches 90 m.
2. The mining system equipment control is completely finished in the centralized control platform, and the mining system equipment control is positioned in a protection area in a branch roadway far away from a working face, so that the safety of personnel operation is ensured.
3. The mining system integrates mechanical, electrical, hydraulic and remote centralized control, and compared with the traditional shortwall mining process, the mining system improves the coal mining efficiency, reduces the manual investment and improves the operation safety;
4. the mining system integrates coal cutting, moving and traveling, coal charging, transferring and automatic control, adopts an autonomous directional mining and remote control mode, and realizes parallel and continuous operation of mining, transferring and transporting, thereby solving the problems of incomplete matching, insufficient transportation capability and poor personnel operation environment after the existing shortwall mining process equipment.
Compared with the traditional shortwall mining process, the invention has the advantages of high production efficiency, high automation degree, less personnel number and safe operation. And the tunnel can be mined for a long distance, so that the workload of digging branch roadways is reduced. The crawler-type self-moving tail of the telescopic adhesive tape machine moves in a crawler-type manner, so that mechanical rapid advancing and retreating are realized. The inertial navigation positioning and orienting system realizes oriented excavation under the underground GPS-free environment, and ensures the safety of the coal pillar (the width of the coal pillar is ensured, and collapse is prevented). The complete equipment is provided with a remote centralized control platform, remote operation coal mining is realized under the help of an inertial navigation positioning and orienting system and video display, and unmanned working face is realized.
Drawings
Fig. 1 is a block diagram of a continuous miner in a shortwall face continuous mining system.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a block diagram of a mobile flexible belt loader in a shortwall face continuous mining system.
Fig. 4 is a top view of fig. 3.
Fig. 5 is a partial (front) structural view of the mobile flexible belt type transfer machine.
Fig. 6 is a top view of fig. 4.
Fig. 7 is a view from a-a in fig. 5.
Fig. 8 is a structural view of a crawler-type self-moving tail for the retractable adhesive tape machine.
Fig. 9 is a top view of fig. 6.
Fig. 10 is a block diagram of a centralized control platform.
FIG. 11 is a schematic view of a shortwall face continuous mining system operation (single wing).
Fig. 12 is a schematic view of a shortwall face continuous mining system operation (twin wings).
Fig. 13 is a structural view of the receiving mechanism.
Fig. 14 is a top view of fig. 13.
Fig. 15 is a view showing a coupling structure between unit frames.
Fig. 16 is a top view of fig. 15.
Fig. 17 is a structural view of the discharge mechanism.
Fig. 18 is a top view of fig. 17.
FIG. 19 is a block diagram of a header assembly
Fig. 20 is a top view of fig. 19.
In the figure, 1, a cutting part, 2, a loading shovel plate, 3, a crawler traveling chassis, 4, a scraper conveyer, 5, an inertial navigation positioning and orientation system, 6, an explosion-proof camera, 7, a receiving mechanism, 8, a flexible frame, 9, a discharging mechanism, 10, a flexible adhesive tape, 11, a rear power platform, 12, an end assembly, 13, a redirection roller, 14, a frame, 15, a crawler traveling mechanism, 16, a pin rack, 17, a driving position, 18, an explosion-proof computer, 19, a display, 20, a centralized operation panel 21, an adhesive tape, 22, a coal bed, 23, a mining cave, 24, a branch lane, 25, a continuous mining system, 26, a centralized control platform, 27, a belt roller, 28, a belt, 30, a connecting plate, 31, a vertical support, 32, a transverse support, 33, a support roller, 34, a pressure plate, 35, an electric roller, 36, a traveling tire, 37, a unit frame, 38, a tensioning roller, 39. tensioning oil cylinder, 40, steel wheel, 41, cycloid gear, 42, hydraulic motor, 43, cutting drum, 44, roller, 45, receiving part rack, 46, left crawler, 47, right crawler, 48, buffer idler, 49, connecting frame, 50, coal baffle, 51, spherical sliding bearing, 52, discharging rack, 53, slope transition section, 54, hydraulic cylinder, 55, end frame, 56 and hydraulic platform.
Detailed Description
A continuous mining system for the short-wall working face of underground coal mine is composed of continuous coal mining machine, movable flexible belt type reversed loader, caterpillar self-moving tail for telescopic belt type machine, and centralized control platform.
The continuous miner is connected with the mobile bendable belt transfer conveyor, the mobile bendable belt transfer conveyor is connected with the crawler-type self-moving tail for the telescopic adhesive tape machine, and the centralized control platform is fixed at the front end of the crawler-type self-moving tail for the telescopic adhesive tape machine.
As shown in fig. 1 and 2, the continuous miner comprises a cutting part 1, a loading shovel plate 2, a crawler traveling chassis 3, a scraper conveyor 4, an inertial navigation positioning and orienting system 5 and an explosion-proof camera 6.
The cutting part 1 is connected with a crawler walking chassis 3 and is arranged at the forefront of the whole machine; the crawler traveling chassis 3 is arranged below the scraper conveyor 4 and is connected with the cutting part 1, the loading shovel plate 2 and the scraper conveyor 4; the scraper conveyor 4 is arranged in the middle of the whole machine and is connected with the crawler traveling chassis 3; the inertial navigation positioning and orienting system 5 is fixedly arranged on the crawler walking chassis 3, and the explosion-proof camera 6 is fixedly arranged above the cutting part 1 and behind the cutting drum.
The cutting part 1 consists of a cutting drum, a cantilever, a cutting motor and a cutting reducer.
The cutting motor is located inside the cutting cantilever, the cutting decelerator is located in front of the cutting cantilever, and the cutting decelerator is connected with the cutting cantilever. The outer surface of the cutting decelerator is provided with a cutting drum. The cutting motor drives the cutting speed reducer to drive the cutting drum to rotate.
The loading shovel plate 2 is composed of a shovel plate body, a loading motor, a loading speed reducer, a star wheel and a chain wheel, the loading motor is connected with the loading speed reducer, the loading speed reducer drives the star wheel and the chain wheel to rotate, and the loading motor and the loading speed reducer are installed in the shovel plate body.
The crawler traveling chassis 3 comprises a crawler chain, a traveling motor, a traveling reducer, a crawler beam, a driving chain wheel, a guiding tension wheel and an intermediate frame. The walking motor is connected with the walking reducer, the walking reducer is connected with the driving chain wheel, the driving chain wheel is connected with the crawler belt chain, the middle frame is respectively connected with the crawler belt beams on two sides, and the guiding tensioning wheel is arranged at the rear end of the crawler belt beam.
The loading shovel plate 2 is connected with the scraper conveyor 4 through a middle frame to form a front and back lapped conveying groove.
The continuous miner disclosed by the Chinese patent No. 201820227072.3 can be adopted as the continuous miner for the thin coal seam. Except that the inertial navigation positioning and orientation system 5 of the present invention is used to replace the gyro orientation unit of the above patent.
As shown in fig. 3, 4, 5, 6, 7 and 8, the mobile bendable belt type reversed loader comprises a receiving mechanism 7, a bendable frame 8, a discharging mechanism 9, a bendable adhesive tape 10 and a rear power platform 11.
As shown in fig. 13 and 14, the receiving mechanism 7 is composed of a receiving portion frame 45, an electric roller 35, a buffer roller 48, a left crawler 46, a right crawler 47, and a motor, wherein the left crawler 46 and the right crawler 47 are located on two sides of the receiving portion frame 45 and connected to the receiving portion frame 45. The motorized pulley 35 and the buffer roller 48 are mounted on the receiving section frame 45. The motorized pulley 35 is connected to a motor, and the motor drives the motorized pulley 35 to rotate.
As shown in fig. 15 and 16, the bendable frame 8 is composed of a unit frame 37, an upper idler 27, a lower idler 33, a platen 34, a traveling tire 36, a connecting pin, and a spherical sliding bearing 51, wherein the upper and lower idlers 33 are respectively installed at the middle positions of the unit frame 37, and are provided at the upper and lower sides thereof for supporting the bendable adhesive tape. The pressing plates 34 are installed at both sides of the unit frame 37, and are provided at the upper and lower sides thereof, for preventing the bendable adhesive tape from deviating and derailing. The walking tires 36 are arranged in a pair every 2-3 unit frames and are respectively arranged on two sides of the unit frames. The unit frames 37 are connected by spherical sliding bearings 51 and connecting pins, and can swing at a certain angle in the left-right and up-down directions.
As shown in fig. 17 and 18, the discharging mechanism consists of a frame body, an electric roller, a tensioning roller 38, a tensioning oil cylinder 39 and a steel wheel 40. 2 motorized pulley are installed to the support body, arrange in tandem, and the flexible sticky tape is driven together to 2 motorized pulley of shedding mechanism and the motorized pulley of receiving the material mechanism. The middle position of the frame body is provided with a tensioning roller which can move back and forth in the frame body by pushing and pulling of the tensioning oil cylinder, so that the flexible adhesive tape can be tensioned or loosened. The steel wheels are positioned at the bottom of the frame body, 4 in number in front and at the back, and are used for moving on the pin rack 16.
The bendable adhesive tape 10 adopts a bendable fabric laminated flame-retardant conveyor belt for coal mines disclosed by Chinese patent No. 201420663965.4; or 2015106066844 discloses a mining movable flexible belt conveyor.
The rear power platform 11 consists of a platform, a hydraulic pump station, an electric cabinet, a driving motor, a cycloid gear and a steel wheel. The hydraulic pump station provides power to the drive motor and then rotates the gerotor gear. The electric cabinet provides power for the motor and the 3 electric rollers of the hydraulic pump station.
The receiving mechanism 7 is connected with the flexible frame 8, the discharging mechanism 9 and the rear power platform 11 in sequence.
The connection mode of the receiving mechanism 7 and the bendable rack 8 is the same as the connection mode of the unit racks by the spherical sliding bearing and the connecting pin, and the receiving mechanism can swing left and right and up and down by a certain angle.
The unit frames are connected by the spherical sliding bearings and the connecting pins in the same way, and can swing left and right and up and down by a certain angle.
The discharging mechanism 9 is provided with 2 electric rollers and 1 tensioning roller. The flexible frame 8 is composed of a plurality of unit frames (each unit frame is 0.65m long) which are connected end to end through a pin shaft and a spherical sliding bearing. Each unit frame is provided with a supporting roller and a pressing plate.
The flexible adhesive tape 10 is wound on the motorized pulley of the receiving mechanism 7, the idler pulley of the flexible rack 8, the motorized pulley of the discharging mechanism 9 and the tensioning pulley.
A plurality of groups of walking tires are arranged below the bendable frame 8. Steel wheels are arranged below the discharging mechanism 9 and the rear power platform 11. Two sides of the bottom of the rear power platform 11 are provided with a pair of cycloidal gears with power.
The receiving mechanism 7 and the traveling tires of the front half part of the flexible frame 8 are positioned on the ground. The running tires of the rear half of the flexible frame 8 are located on the pin rack 16.
The steel wheel below the discharging mechanism 9 and the rear power platform 11 is also positioned on the plane track on the pin rack 16. The cycloidal gear at the bottom of the rear power platform 11 is engaged with the pin rack 16. The movable bendable belt type reversed loader can move back and forth relative to the crawler type self-moving tail of the telescopic adhesive tape machine.
The crawler-type self-moving tail for the telescopic adhesive tape machine comprises an end head assembly 12, a turnabout drum 13, a rack 14, a crawler traveling mechanism 15, a pin rack 16 and an adhesive tape 21.
As shown in fig. 19 and 20, the head assembly 12 is composed of a head frame, a slope transition section 53, a hydraulic cylinder, a hydraulic platform and a centralized control platform 26. The hydraulic platform and the centralized control platform are positioned on two sides of the end head frame. The slope transition section is obliquely arranged and is positioned at the front part of the end head frame. The hydraulic cylinder controls the lifting of the slope transition section. One end of the hydraulic cylinder is connected with the end frame, and the other end of the hydraulic cylinder is connected with the slope transition section.
And a hydraulic pump station and an operating valve are arranged in the hydraulic platform. The hydraulic pump station provides power for the oil cylinder and the hydraulic motor of the crawler traveling mechanism 15.
The head assembly 12 is connected to the frame 14.
The frame 14 is formed by connecting a plurality of rigid frame units (each unit is 3m long) end to end through pin shafts.
The rigid frame unit connected to the head assembly 12 is provided with a direction-changing drum 13, and the rest of the rigid frame units are provided with carrier rollers.
And each 4-5 sections of rigid frame units are provided with a group of crawler belt travelling mechanisms, and the crawler belt travelling mechanisms are positioned on two sides of the rigid frame units. The upper sides of each rigid frame unit are full of pin racks 16. The pin rack 16 is connected with the ear plates at the two sides of the rigid frame unit through pins;
the adhesive tape 21 is wound around the direction-changing drum 13, the idler on the rigid frame unit.
As shown in fig. 10, the centralized control platform 26 is composed of a driver seat 17, an explosion-proof computer 18, a display 19 and a centralized operation panel 20.
The driver seat 17, the explosion-proof computer 18, the display 19 and the centralized operation panel 20 are arranged in the centralized control platform 26. The driving seat 17 is fixed at the rear of the centralized control platform, and the explosion-proof computer 18 is arranged in front of the centralized control platform; the display 19 is arranged above the explosion-proof computer 18, and the centralized operation panel 20 is arranged right opposite to the driving seat 17 and above the explosion-proof computer 18. The explosion-proof computer 18 is connected with a display 19 and a centralized operation panel 20.
The connecting plate 30, the vertical bracket 31 and the horizontal bracket 32 are of an integral structure and all belong to a rigid frame unit.
In the forward coal mining process of the continuous miner, the movable bendable belt type reversed loader can travel along with the continuous miner, so that the receiving mechanism 7 is always positioned below the unloading point of the scraper conveyor 4. In the moving process of the continuous miner, the receiving part mechanism 5 is dragged, so that the mobile bendable belt type reversed loader is dragged to move, and the rear power platform 11 synchronously follows. The crawler-type self-moving tail of the telescopic rubber belt machine is kept in place and is still in the coal mining process.
The bottom of the rear power platform 11 is provided with a cycloidal gear with power, the cycloidal gear is meshed with the pin rack 16 to form traction force, the flexible belt type reversed loader can be pulled to retreat, and synchronous walking with the continuous miner is realized through program control.
Information in the working process of the continuous miner, video in the mining process transmitted back from the explosion-proof camera 6, mining direction and angle (the angle and the position of the information are measured by a gyroscope and an accelerometer), temperature and current parameter data measured by the inertial navigation positioning and orienting system 5 in the mining process can be transmitted to an explosion-proof computer 18 in a centralized control platform, then the data are displayed on a display 19, and personnel remotely control the operation of the continuous miner in a cab 17 through a centralized operation panel 20.
And the gyroscope and the accelerometer are positioned in a module of the inertial navigation positioning and orientation system, the gyroscope is used for measuring the course and the position of the airframe, and the accelerometer is used for measuring the pitching and rolling postures of the airframe. The inertial navigation positioning and orienting system is arranged above a crawler traveling chassis of the continuous miner.
The walking, loading and transporting mechanisms of the continuous miner are all driven by a motor. The cutting drum is driven by a motor to rotate, and the hydraulic oil cylinder is used for realizing the up-and-down swing of the cantilever, so that the cutting function is realized.
The flexible adhesive tape 10 of the movable flexible belt type reversed loader is driven by 1 electric roller of the receiving mechanism 7 and 2 electric rollers of the discharging mechanism 9, and the cycloid gear of the rear power platform 11 is driven by a hydraulic motor.
The crawler traveling mechanism 15 of the crawler-type self-moving tail is driven by a hydraulic motor.
The state information (including video, course and the like) of the continuous miner, the movable bendable belt type reversed loader and the crawler type self-moving tail is transmitted to the explosion-proof computer through the electric control boxes of all the devices, the wired network and then the display. The device action and function control commands sent by the centralized operation panel are sent to the electric control boxes of the devices through wired network signals, and then the actions of the devices are controlled.
The invention relates to a continuous mining system, comprising the following steps:
1. preparation operation: and completing tunneling of the branch roadway in advance. The continuous miner, the mobile bendable belt reversed loader and the crawler type self-moving tail for the telescopic adhesive tape machine are sequentially connected and arranged at the initial position of the system shown in the attached drawing 5, and the length of the up-down lap joint of the mobile bendable belt reversed loader and the crawler type self-moving tail for the telescopic adhesive tape machine is 100 m.
2. An operator operates the centralized operation panel in the centralized control platform through observing the display, operates the continuous miner to move, and the mobile bendable belt type reversed loader synchronously follows. The continuous miner turns left or right, the mining operation is started along the planned mining direction, and the mined coal blocks are transported away.
3. And continuously excavating by using the continuous coal mining machine and the movable bendable belt type reversed loader to finish the planned excavation depth. The shearer and flexible belt conveyor then exit the machine along the original path, returning to the original position.
4. If the system is double-wing mining, the opposite side mining is started, and then the system returns to the initial position. If the single wing mining is carried out, the next step is carried out.
5. The continuous miner, the movable bendable belt type reversed loader and the telescopic belt type self-moving tail move simultaneously (along the arrow direction of the mining sequence in the attached figure 11, 3m-5 m) and retreat to the next mining position. And then the cycle starts the operation of the step 2.
Coal mining: a driver remotely operates the continuous miner on the centralized control platform by observing video pictures in the display, cuts and transfers coal to the movable bendable adhesive tape reversed loader, and the mining direction is guaranteed according to the inertial navigation positioning and orienting system, and the mining depth is 90m at most.
And (3) transportation: the movable flexible belt type reversed loader enters the mining cave following the continuous miner, coal flow is transferred to the movable flexible belt type reversed loader from a conveyor of the continuous miner, and then is unloaded to the belt at the tail of the crawler type self-moving machine for the telescopic belt machine again, coal is transported out, and continuous transportation is achieved.
Removing the machine: after one working face is finished, the continuous miner and the movable bendable belt type reversed loader retreat, then the telescopic rubber belt machine retreats from the tail of the crawler type self-moving machine, then the whole system moves to the next working face, and the next cycle is started.
In the process, all the equipment control is completed in the centralized control platform, and the protection area in the branch lane is located far away from the working face, so that the safety of personnel operation is ensured.
Claims (10)
1. A well-working coal mine short wall working face continuous mining system comprises a continuous coal mining machine, a movable bendable belt type reversed loader, a crawler type self-moving tail for a telescopic belt type machine and a centralized control platform; the system is characterized in that a continuous coal mining machine is connected with a movable bendable belt type reversed loader, the movable bendable belt type reversed loader is connected with a crawler type self-moving tail of a telescopic adhesive tape machine, and a centralized control platform is arranged in a cab of the movable bendable belt type reversed loader; the continuous miner is provided with an inertial navigation positioning and orienting system; the movable bendable belt type reversed loader consists of a material receiving mechanism, a bendable rack, a discharging mechanism, a bendable adhesive tape and a rear power platform; the receiving mechanism is connected with the bendable rack, the discharging mechanism and the rear power platform in sequence; the flexible rack is connected end to end by a plurality of sections of unit racks; each unit frame is provided with a carrier roller and a pressure plate; a plurality of groups of walking tires are arranged below the bendable rack; steel wheels are arranged below the discharging mechanism and the rear power platform; a pair of cycloidal gears with power are arranged on two sides of the bottom of the rear power platform;
the flexible adhesive tape is wound on the electric roller of the receiving mechanism, the carrier roller of the flexible rack, the electric roller of the discharging mechanism and the tensioning roller; the crawler-type self-moving tail for the telescopic adhesive tape machine consists of an end assembly, a turnabout drum, a rack, a crawler traveling mechanism, a pin rack and an adhesive tape; the steel wheel below the unloading mechanism and the rear power platform is also positioned on the plane track on the pin rack; the cycloidal gear at the bottom of the rear power platform is meshed with the pin rack; the movable bendable belt type reversed loader can move back and forth relative to the crawler type self-moving tail of the telescopic adhesive tape machine; the end assembly is connected with a rack, the rack is formed by connecting a plurality of sections of rigid frame units end to end, a turnabout drum is arranged on the rigid frame unit connected with the end assembly, and carrier rollers are arranged on the rest rigid frame units;
each 4-5 sections of rigid frame units are provided with a group of crawler belt travelling mechanisms, and the crawler belt travelling mechanisms are positioned on two sides of the rigid frame units; pin racks are fully paved on two sides above each rigid frame unit; the pin rack is connected with the two sides of the rigid frame unit; the adhesive tape is wound on the bend pulley and the supporting roller on the rigid frame unit.
2. The underground coal mine short wall face continuous mining system according to claim 1, wherein the receiving mechanism is composed of a receiving part frame, an electric roller, a buffer roller, a left crawler mechanism, a right crawler mechanism and a motor, wherein the left crawler mechanism and the right crawler mechanism are positioned at two sides of the receiving part frame and connected with the receiving part frame; the electric roller and the buffer carrier roller are arranged on the frame of the receiving part; the electric roller is connected with a motor, and the motor drives the electric roller to rotate; the receiving mechanism and the traveling tires of the front half part of the bendable rack are positioned on the ground; the walking tire of the rear half part of the flexible frame is positioned on the pin rack.
3. The system of claim 1, wherein the flexible frame comprises a unit frame, a carrier roller, a pressure plate, a traveling tire, a connecting pin, and a spherical sliding bearing, wherein the carrier roller is arranged in the middle of the unit frame and is used for supporting the flexible adhesive tape; the pressing plates are arranged at the two sides of the unit frame, and are arranged at the upper part and the lower part and used for preventing the bendable adhesive tape from deviating and derailing; the walking tires are arranged at intervals of 2-3 unit frames and are arranged on two sides of the unit frames; the unit frames are connected by spherical sliding bearings and connecting pins and can swing left and right and up and down by a certain angle.
4. The underground coal mine short wall working face continuous mining system according to claim 1, wherein the rear power platform consists of a platform, a hydraulic pump station, an electric cabinet, a driving motor, a cycloid gear and a steel wheel; the hydraulic pump station provides power for the driving motor, and the driving motor drives the cycloid gear to rotate; the electric cabinet provides power for the motor and the 3 electric rollers of the hydraulic pump station.
5. The system of claim 1, wherein the discharge mechanism comprises a frame, a motorized roller, a tensioning cylinder, and a steel wheel; the frame body is provided with 2 electric rollers which are arranged in tandem, and the 2 electric rollers and the electric roller of the receiving mechanism drive the bendable adhesive tape together; the tensioning roller positioned in the middle of the frame body moves back and forth in the frame body through the push and pull of the tensioning oil cylinder, so that the flexible adhesive tape is tensioned or loosened; the steel wheels are positioned at the bottom of the frame body, and the number of the steel wheels is 4 in front and at the back, and the steel wheels are used for moving on the pin rack.
6. The system of claim 1, wherein the head assembly comprises a head frame, a slope transition section, a hydraulic cylinder, a hydraulic platform, and a centralized control platform; the hydraulic platform and the centralized control platform are positioned on two sides of the end head frame; the slope transition section is positioned at the front part of the end head frame; the hydraulic cylinder controls the lifting of the slope transition section; a hydraulic pump station and an operating valve are arranged in the hydraulic platform; the hydraulic pump station provides power for the oil cylinder and the hydraulic motor of the crawler traveling mechanism; the centralized control platform consists of a driving seat, an explosion-proof computer, a display and a centralized operation panel; a driving position, an explosion-proof computer, a display and a centralized operation panel are arranged in the centralized control platform; the driving seat is fixed behind the centralized control platform, and the explosion-proof computer is arranged in front of the centralized control platform; the display is arranged above the explosion-proof computer, and the centralized operation panel is arranged right opposite to the driving position and is positioned above the explosion-proof computer; the explosion-proof computer is connected with the display and the centralized operation panel.
7. The system of claim 1, wherein during forward mining of coal by the continuous miner, the mobile flexible belt conveyor follows the continuous miner, so that the receiving mechanism is always located below the unloading point of the scraper conveyor; in the moving process of the continuous coal mining machine, the receiving part mechanism is dragged to move by the movable flexible belt type reversed loader, and the rear power platform synchronously follows; in the coal mining process, the crawler-type self-moving tail of the telescopic rubber belt machine is kept still in place; and the bottom of the rear power platform is provided with a cycloidal gear with power, the cycloidal gear is meshed with the pin rack to form traction force, the bendable belt type reversed loader is pulled to retreat, and the synchronous walking with the continuous miner is realized through program control.
8. The system of claim 1, wherein the information of the continuous miner during working process, the mining direction angle, temperature and current parameters measured by the video and inertial navigation positioning and orientation system during mining operation transmitted back from the explosion-proof camera, are transmitted to the explosion-proof computer in the centralized control platform and displayed on the display, and the operator in the cab remotely controls the continuous miner through the centralized operation panel.
9. The system of claim 1, wherein status information of the continuous miner, the mobile flexible belt conveyor and the crawler self-moving tail is transmitted to the explosion-proof computer through the electric cabinet and the wired network and displayed on the display; the device action and function control commands sent by the centralized operation panel are sent to the electric cabinet through wired network signals, and then the actions of all devices are controlled.
10. A continuous mining method for a short-wall working face of an underground coal mine is characterized by comprising the following steps:
a) performing modularized partitioned arrangement on the coal seam, and completing branch roadway tunneling in advance;
b) adopting backward mining, and installing the short-wall working face continuous mining system in the branch roadway, wherein the mining system is longitudinally arranged along the central axis of the branch roadway, so that the continuous coal mining machine is positioned at the end position of the branch roadway;
c) the continuous coal mining machine turns left or right, the feed angle is adjusted, the mining operation is started along the planned mining direction, and the upper and lower overlapping strokes of the crawler-type self-moving tail and the movable bendable belt type reversed loader for the telescopic belt conveyor are gradually shortened;
d) after the coal is broken, the coal is unloaded to the adhesive tape, transported out by the main adhesive tape machine, the coal bunker and finally transported to the coal bunker for storage at the unloading mechanism after sequentially passing through the loading shovel plate, the scraper conveyor, the receiving mechanism and the bendable adhesive tape;
e) after one underground mining is completed, returning the continuous coal mining machine to the initial position of the branch roadway in a no-load manner according to the original path, and recovering the stroke of the upper and lower lap joint of the crawler-type self-moving tail and the movable bendable belt type reversed loader for the telescopic belt conveyor; then the continuous miner adjusts the cutter feeding angle and enters the next mining period;
f) after the two-side underground mining is completed, the system needs to retreat to prepare the next underground mining; the crawler-type self-moving tail of the telescopic adhesive tape machine moves simultaneously to retreat.
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Cited By (1)
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