CN111577272A - Bracket-assisted coal mining process and coal mining system - Google Patents

Abstract

The invention discloses a support-assisted coal mining system and a coal mining process. The coal mining system comprises: a shearer and a scraper conveyor, a cutting drum is arranged on the front side of the shearer, and the shearer is arranged at On the scraper conveyor, it is characterized in that at least 3 push rods are arranged on the rear side of the scraper conveyor at intervals, and the rear side of each push rod is provided with a pusher cylinder, and the rear end of the pusher cylinder is connected with the hydraulic support A telescopic oil cylinder is arranged on the push rod, and a scraper conveyor connecting block is arranged on the top of the telescopic oil cylinder, the scraper conveyor connecting block is connected with the scraper conveyor, and the telescopic oil cylinder can lift the scraper conveyor connecting block; the A track is arranged on the connecting block of the scraper conveyor, and a movable detection device is arranged on the track. The advantages and beneficial effects of the invention are: automatic cutting of coal shearers, automatic straightening of scraper conveyors, automatic straightening of hydraulic supports under the condition of automatic environmental perception can be realized, and automatic coal mining operations can be realized in thin coal seams.

Description

A support-assisted coal mining process and coal mining system

technical field

The invention belongs to the technical field of coal mine excavation, and in particular relates to a support-assisted coal mining system suitable for fully mechanized mining working face of thin coal seam in a coal mine.

Background technique

For a long time, the coal mining technology of fully mechanized mining face has been mature, and different coal mining technology can be adopted according to the thickness and direction of the coal seam. According to the height, one-time mining full-height method and comprehensive top coal caving method can be adopted. The special one-time mining full-height method has a wider and wider application range, from the original 2 to 4 meters, and gradually increased to the one-time mining full height of nearly ten meters. Large mining high coal mining technology. For thin coal seam mining operations, due to height restrictions, workers are usually unable to walk upright along the working face, and sometimes can only crawl, so the labor intensity of thin coal seam coal mining workers is higher.

In order to carry out the coal mining work efficiently, the fully mechanized working face usually requires the guarantee of "three straightness", that is, the straightness of the coal wall, the straightness of the conveyor and the straightness of the hydraulic support, and various detection systems to ensure the "three straightness" have been developed for this purpose , Obviously, it is difficult to ensure the "three straightness" when mining in thin coal seams where workers cannot walk upright.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the defects in the prior art, and to provide a coal mining process and system suitable for thin coal seams, which can realize support-assisted coal mining, pitch mining and elevation mining control, and vertical feeding and cutting processes.

The technical scheme of the present invention is as follows:

In a first aspect, the present invention provides a support-assisted coal mining system, comprising: a shearer and a scraper conveyor, a cutting drum is provided on the front side of the shearer, and the shearer is arranged on the scraper conveyor , The rear side of the scraper conveyor is provided with at least 3 push rods at an interval, and each push rod is provided with a push cylinder on the rear side. , when the hydraulic support is propped up, the top is against the top wall of the coal seam, and can be dragged by the push cylinder when it shrinks; the push link is provided with a telescopic cylinder, and the top of the telescopic cylinder is provided with a scraper conveyor connecting block, which is connected to the scraper conveyor The block is connected with the scraper conveyor, and the telescopic oil cylinder can lift the connecting block of the scraper conveyor to adjust the angle of the scraper conveyor; the connecting block of the scraper conveyor is provided with a track, and a movable detection device is arranged on the track; The track includes a long track and a short track, and a plurality of short tracks are connected in series to realize the bending of the track; the movable detection device includes a gyroscope, a laser ranging radar, a UWB positioning device and a wireless communication module.

In a second aspect, the present invention provides a coal mining process using the above-mentioned bracket-assisted coal mining system, including:

Step 1. Initialize the position and coordinates of the system;

Step 2, make the movable detection device travel on the track and obtain its own track and the distance to the coal wall;

Step 3: Determine the coordinate value of the scraper conveyor in the plane coordinate system and the outline of the coal wall according to the trajectory of the movable detection device and the distance to the coal wall;

Step 4: Determine the travel value of the pushing oil cylinder required for straightening according to the coordinate values of the scraper conveyor and the coal wall hub in the plane coordinate system, and control the pushing oil cylinder and the hydraulic support for straightening;

Step 5. After the straightening is completed, the hydraulic support stretches the top against the top wall of the coal seam, controls the pitching and elevation mining through the telescopic oil cylinder, and pushes the scraper conveyor, the shearer and the cutting drum to move forward by pushing the oil cylinder to carry out the coal mining operation. ;

After completing one coal wall cutting, repeat steps 2 to 5.

Said making the movable detection device travel on the track and obtain its own trajectory and the distance to the coal wall, including: making the movable detection device move forward on the track, scanning the thin coal seam coal wall through the laser ranging radar, and obtaining the coal wall of the coal wall. Profile characteristics and the distance from each position of the coal wall profile to the lidar; the trajectory characteristics of the movable detection device running along the track are recorded by the gyroscope. The sampling point is displaced back and forth on the horizontal plane, that is, the horizontal displacement of the scraper conveyor.

The determination of the coordinate value of the scraper conveyor in the plane coordinate system and the coal wall contour according to the trajectory of the movable detection device and the distance to the coal wall includes determining the horizontal displacement of the scraper conveyor and the various positions of the coal wall contour through the UWB positioning device The coordinate value of the distance to the lidar in the plane coordinate system.

According to the coordinate values of the scraper conveyor and the coal wall hub in the plane coordinate system, the stroke value of the pushing oil cylinder required for straightening is determined, and the pushing oil cylinder and the hydraulic support are controlled to be straightened, including: straightening of the scraper conveyor, straightening of the coal wall Straight and hydraulic support to find straight.

The straightening of the scraper conveyor specifically includes: the movable detection device walks on the track along the straightening direction of the scraper conveyor, and records the deviation value Δy from the parallel line to the X axis at the sampling point through the gyroscope. After the data recording is completed, select a sampling point as the benchmark, push the push rod and the scraper conveyor by pushing the oil cylinder, so that the deviation value of the other sampling points along the direction of finding is equal to the deviation value of the benchmark sampling point, so as to realize the scraper conveyor. Find straight.

The straightening of the coal wall specifically includes: the movable detection device walks along the straightening direction of the scraper conveyor on the track, records the deviation value Δy of the parallel line with the X-axis at the sampling point by the gyroscope, and measures the distance by laser The radar measures the distance y1 between the coal wall at the sampling point and the movable detection device, then the deviation value of the coal wall at each sampling point and the X-axis parallel line is "y2 = y1 + Δy". After the data recording of all sampling points is completed, select one Based on the sampling point, first through the vertical feeding process, push the push rod and the scraper conveyor by pushing the oil cylinder, and then control the depth of the cutting coal wall of the cutting drum, so that the depth of the cutting coal wall is greater than y2, and then push the oil cylinder to cut the coal wall depth. The method of pushing the scraper conveyor, then complete the straightening of the scraper conveyor, and finally realize the straightening of the coal wall by completing the next cutting of the coal wall.

The hydraulic support straightening specifically includes: after completing the straightening of the scraper conveyor, the hydraulic support is moved forward by pulling the push cylinder to keep the elongation of each push cylinder consistent, that is, the hydraulic support is straightened.

The advantages and beneficial effects of the present invention are:

Through the coal mining process described in the present invention, combined with the automatic control of the electro-hydraulic control system, the remote automatic control of the shearer and the video monitoring and other mature products and technologies, the shearer can be automatically cut and scraped under the condition of automatic environmental perception. Automatic straightening of plate conveyors, automatic straightening of hydraulic supports, etc., realize automatic coal mining operations in thin coal seams.

Description of drawings

1 is a schematic top view of a support-assisted coal mining system and a fully mechanized mining face provided by the present invention;

Fig. 2 is a schematic side view of a support-assisted coal mining system provided by the present invention.

Among them: 1. Track; 2. Movable detection device; 3. Pushing cylinder; 4. Pushing connecting rod; 5. Scraper conveyor; 6. Shearer; 7. Cutting drum; 8. Telescopic cylinder; 9. Hydraulic Bracket; 10. Connecting block of scraper conveyor. A is the unmined area; B is the goaf area; C is the area along the working face with support; D is the area to be mined.

Detailed ways

The invention will be further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention, but not to limit the invention.

In the description of the present invention, it should be understood that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left", "right", " The orientation or positional relationship indicated by vertical, horizontal, top, bottom, inner, outer, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and The description is simplified rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be mechanical connection or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

As shown in Figures 1 and 2, the present invention provides a support-assisted coal mining system, comprising: a shearer 6 and a scraper conveyor 5, the front side of the shearer 6 is provided with a cutting drum 7, and the mining The coal machine 6 is arranged on the scraper conveyor 5 and can move on the scraper conveyor. The rear side of the scraper conveyor 5 is provided with at least three push rods 4 at intervals, and the rear side of each push rod is provided with a push oil cylinder. 3. There is a stroke sensor in the pushing oil cylinder, and the rear end of each pushing oil cylinder is connected with a hydraulic support 9. The upper and lower ends of the hydraulic support 9 are respectively provided with a top plate and a bottom plate. The top wall, the hydraulic support can be dragged by the push cylinder when it shrinks; the push rod 4 is provided with a telescopic cylinder 8, and the top of the telescopic cylinder 8 is provided with a scraper conveyor connecting block 10, the scraper conveyor connecting block and the scraper conveyor 5 are connected, and the telescopic oil cylinder 8 can lift the connecting block 20 of the scraper conveyor, thereby adjusting the angle of the scraper conveyor 5; the connecting block of the scraper conveyor is provided with a track 1, and the track is provided with a movable detection device 2; The track includes a long track and a short track, and a plurality of short tracks are connected in series to realize the bending of the track; the movable detection device includes a gyroscope, a laser ranging radar, a UWB positioning device and a wireless communication module.

The present invention provides a coal mining process using the above-mentioned bracket-assisted coal mining system, including:

Step 1. Initialize the position and coordinates of the system;

Step 2, make the movable detection device 2 travel on the track 1 and obtain its own trajectory and the distance to the coal wall;

Step 3: Determine the coordinate value of the scraper conveyor in the plane coordinate system and the outline of the coal wall according to the trajectory of the movable detection device 2 and the distance to the coal wall;

Step 4, according to the coordinate value of scraper conveyor 5 and coal wall hub in the plane coordinate system, determine the travel value of the push cylinder required for straightening, and control the push cylinder 3 and the hydraulic support 9 to straighten;

Step 5. After the straightening is completed, the hydraulic support 9 spreads the top against the top wall of the coal seam, controls the pitching and elevation mining through the telescopic oil cylinder 8, and pushes the scraper conveyor 6, the shearer 6 and the cutting drum 7 by pushing the oil cylinder 4 Move forward to carry out coal mining operations;

After completing one coal wall cutting, repeat steps 2 to 5.

Said making the movable detection device 2 travel on the track and obtain its own trajectory and the distance to the coal wall, including: making the movable detection device move forward on the track, scanning the thin coal seam coal wall by the laser ranging radar, and obtaining the coal wall The profile characteristics of the coal wall profile and the distance from each position of the coal wall profile to the lidar; the trajectory characteristics of the movable detection device running along the orbit are recorded by the gyroscope, and the trajectory characteristics include the pitch angle of the orbit of each sampling point, that is, the pitch angle and orbit of the scraper conveyor. The displacement of each sampling point on the horizontal plane is the horizontal displacement of the scraper conveyor.

The coordinate value and the coal wall profile of the scraper conveyor 5 in the plane coordinate system are determined according to the trajectory of the movable detection device 2 and the distance to the coal wall, including determining the horizontal displacement and the coal wall profile of the scraper conveyor through the UWB positioning device. The coordinate value of the distance from each location to the lidar in the plane coordinate system.

According to the coordinate values of the scraper conveyor 5 and the coal wall hub in the plane coordinate system, the stroke value of the pushing oil cylinder required for straightening is determined, and the pushing oil cylinder and the hydraulic support are controlled to be straightened, including: straightening the scraper conveyor, the coal wall Find straight and hydraulic support to find straight.

The straightening of the scraper conveyor specifically includes: the movable detection device walks on the track along the straightening direction of the scraper conveyor, and records the deviation value Δy from the parallel line to the X axis at the sampling point through the gyroscope. After the data recording is completed, select a sampling point as the benchmark, push the push rod and the scraper conveyor by pushing the oil cylinder, so that the deviation value of the other sampling points along the direction of finding is equal to the deviation value of the benchmark sampling point, so as to realize the scraper conveyor. Find straight.

The straightening of the coal wall specifically includes: the movable detection device walks along the straightening direction of the scraper conveyor on the track, records the deviation value Δy of the parallel line with the X-axis at the sampling point by the gyroscope, and measures the distance by laser The radar measures the distance y1 between the coal wall at the sampling point and the movable detection device, then the deviation value of the coal wall at each sampling point and the X-axis parallel line is "y2 = y1 + Δy". After the data recording of all sampling points is completed, select one Based on the sampling point, first through the vertical feeding process, push the push rod and the scraper conveyor by pushing the oil cylinder, and then control the depth of the cutting coal wall of the cutting drum, so that the depth of the cutting coal wall is greater than y2, and then push the oil cylinder to cut the coal wall depth. The method of pushing the scraper conveyor, then complete the straightening of the scraper conveyor, and finally realize the straightening of the coal wall by completing the next cutting of the coal wall.

The hydraulic support straightening specifically includes: after completing the straightening of the scraper conveyor, the hydraulic support is moved forward by pulling the push cylinder, so that the elongation of each push cylinder is consistent, that is, the hydraulic support is straightened.

The examples of the present invention have been described in detail above, but the content is only a preferred embodiment of the present invention, and cannot be considered to limit the scope of implementation of the present invention. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. And the obvious changes or changes derived from this are still within the protection scope of the present invention.

Claims (8)

1. A support-assisted coal mining system comprising: the coal mining machine is arranged on the scraper conveyor, and is characterized in that the rear side of the scraper conveyor is provided with at least 3 pushing connecting rods at intervals, the rear side of each pushing connecting rod is provided with a pushing oil cylinder, a stroke sensor is arranged in each pushing oil cylinder, the rear end of each pushing oil cylinder is connected with a hydraulic support, the top of each pushing oil cylinder props against the top wall of a coal seam when the hydraulic support is supported, and the pushing oil cylinders can drag the pushing oil cylinders when the hydraulic support is contracted; the pushing connecting rod is provided with a telescopic oil cylinder, the top of the telescopic oil cylinder is provided with a scraper conveyer connecting block, the scraper conveyer connecting block is connected with a scraper conveyer, and the telescopic oil cylinder can lift the scraper conveyer connecting block so as to adjust the angle of the scraper conveyer; the scraper conveyer connecting block is provided with a track, and the track is provided with a movable detection device; the tracks comprise long tracks and short tracks, and the plurality of short tracks are connected in series to realize the bending of the tracks; the movable detection device comprises a gyroscope, a laser ranging radar, UWB positioning equipment and a wireless communication module.

2. A coal mining process employing the support-assisted coal mining system of claim 1, comprising:

step one, initializing the position and the coordinate of a system;

step two, enabling the movable detection device to move on the track and obtain the track of the movable detection device and the distance from the movable detection device to the coal wall;

determining coordinate values of the scraper conveyor in a plane coordinate system and a coal wall profile according to the track of the movable detection device and the distance from the movable detection device to the coal wall;

determining a stroke value of a pushing oil cylinder required for alignment according to coordinate values of the scraper conveyor and the coal wall hub in a plane coordinate system, and controlling the pushing oil cylinder and the hydraulic support to perform alignment;

fifthly, after the alignment is finished, the hydraulic support props the top wall of the coal seam, the top mining and face-up mining control is carried out through a telescopic oil cylinder, and a pushing oil cylinder pushes a scraper conveyor, a coal mining machine and a cutting roller to move forwards to carry out coal mining operation;

and after the coal wall is cut once, repeating the steps from two to five.

3. The coal mining process of claim 2, the causing of the movable detection device to travel on a track and acquire its trajectory and distance to the coal wall, comprising: enabling the movable detection device to walk upwards on the track, and scanning the coal wall of the thin coal seam through a laser ranging radar to obtain the profile characteristics of the coal wall and the distance from each position of the profile of the coal wall to the laser radar; track characteristics of the movable detection device running along the track are recorded through the gyroscope, and the track characteristics comprise the pitch angle of each sampling point track, namely the pitch angle of the scraper conveyer and the front and back displacement of each sampling point of the track on the horizontal plane, namely the horizontal displacement of the scraper conveyer.

4. The coal mining process according to claim 2, wherein the determining the coordinate values of the scraper conveyor and the coal wall profile in the plane coordinate system according to the track of the movable detection device and the distance to the coal wall comprises determining the coordinate values of the horizontal displacement of the scraper conveyor and the distance from each position of the coal wall profile to the laser radar in the plane coordinate system through a UWB positioning device.

5. The coal mining process according to claim 2, wherein the step of determining a stroke value of a pushing cylinder required for alignment according to coordinate values of the scraper conveyor and the coal wall hub in a plane coordinate system, and controlling the pushing cylinder and the hydraulic support to perform alignment comprises the following steps: straightening by a scraper conveyor, straightening by a coal wall and straightening by a hydraulic support.

6. The coal mining process of claim 5, the scraper conveyor alignment body comprising: the movable detection device walks in the aligning direction of the scraper conveyor on the track, deviation values delta y of parallel lines of an X axis are recorded at sampling points through the gyroscope, after data recording of all the sampling points is completed, one sampling point is selected as a reference, the pushing connecting rod and the scraper conveyor are pushed through the pushing oil cylinder, the deviation values of other sampling points in the aligning direction are equal to the deviation value of the reference sampling point, and therefore the alignment of the scraper conveyor is achieved.

7. The coal mining process of claim 5, the coal wall alignment specifically comprising: the movable detection device travels along the straightening direction of the scraper conveyor on the track, deviation values delta y of parallel lines with an X axis are recorded at sampling points through a gyroscope, the distance y1 between a coal wall and the movable detection device is measured through a laser ranging radar, then the deviation value y2 of the coal wall at each sampling point and the parallel lines with the X axis is y1+ delta y, after data recording of all the sampling points is completed, one sampling point is selected as a reference, a vertical feed process is firstly carried out, a push connecting rod and the scraper conveyor are pushed through a push oil cylinder, the coal wall cutting depth of the cutting roller is further controlled, the coal wall cutting depth is larger than y2, the scraper conveyor is pushed through the push oil cylinder, straightening of the scraper conveyor is completed, and finally, cutting of the next coal wall is completed, and straightening of the coal wall is realized.

8. The coal mining process according to claim 5, wherein the hydraulic support alignment body comprises: after the straightening of the scraper conveyor is completed, the hydraulic support moves forwards by pulling the pushing cylinders, so that the extension of each pushing cylinder is consistent, and the straightening of the hydraulic support is realized.

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