CN112431591B - Automatic control system for comprehensive mechanized coal mining of three-soft two-large inclined medium-thickness coal seam - Google Patents
Automatic control system for comprehensive mechanized coal mining of three-soft two-large inclined medium-thickness coal seam Download PDFInfo
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- 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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- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
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- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E21F17/08—Distributing hydraulic power; Pipe networks for hydraulic liquid
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Abstract
The invention discloses a comprehensive mechanized coal mining automatic control system for a three-soft two-large-inclined medium-thickness coal seam, which comprises a coal mining machine control system, a power supply system, a support electric hydraulic control system, a conveyor control system, a pump station control system, a working face video system and a centralized control center, wherein the coal mining machine control system, the power supply system, the support electric hydraulic control system, the conveyor control system, the pump station control system and the working face video system are respectively in communication connection with the centralized control center. The invention utilizes a plurality of automation technologies such as automatic control, sensors, computers, equipment working condition monitoring and fault diagnosis, electrohydraulic control, centralized control and the like, and is networked with a tunnel control center through a field bus to form a linkage function with underground equipment such as a scraper conveyor, a belt conveyor, a coal mining machine, a pump station and the like, thereby realizing the comprehensive automatic coal mining of the fully mechanized mining working face of the whole three-soft two-medium-thickness coal seam, effectively improving the coal resource mining efficiency, ensuring the coal mine safety, reducing the labor and reducing the labor intensity of workers.
Description
Technical Field
The invention relates to the technical field of automatic equipment of coal mines, in particular to a three-soft two-large-inclined medium-thickness coal seam comprehensive mechanical coal mining automatic control system.
Background
In recent years, the coal industry has been popularized in a large scale, mechanized and automated and gradually develops towards the direction of unmanned intelligent control mining, and coal enterprises start to start an automatic control mining system to achieve the goal of reducing people and improving efficiency. Under the influence of energy structure adjustment and economic deceleration, the coal industry has continuous downward sliding of the prosperity, and people reduction and efficiency improvement become the working key points of various large enterprises. The method is entrusted by the internationally affiliated conference of the iron and steel coal industry chemical excess capacity resolving and poverty escaping development work, and the Chinese coal industry association is combined with the industry development practice to research and formulate and publish the evaluation basis (temporary) of the advanced coal capacity by the national development committee. Evaluation of coal advanced capacity (temporary) generally requires a future standard of advanced capacity: (1) the comprehensive mechanized coal mining proportion of the coal mine reaches 100 percent; (2) The comprehensive yield per unit of the underground coal mine is not less than 20 ten thousand t/(one.month); (3) The efficiency of the raw coal producer of the underground coal mine is not lower than 13 t/worker or the efficiency of the whole worker is not lower than 2000 t/year.
The automatic and intelligent coal mining technology and application in China have been developed vigorously since 2018. The national key research and development project of intelligent mining safety technology and equipment research and development of coal mines is steadily promoted; the national key research and development plan project of establishing and starting the key technology and demonstration of intelligent fully-mechanized caving mining of ten million-ton-level ultra-thick coal seams, and sequentially carrying out combined trial operation and orderly propelling on two related demonstration working faces; the Chinese middlings energy group Limited company establishes a research institute for middlings equipment (an intelligent mining technology research institute is arranged below), and the middlings energy group recovers a project implementation scheme of comprehensive mining and top coal caving intelligent mining technology research of Shanxi Zhonghua coal jin energy Limited liability company to start to carry out intelligent comprehensive mining technology research; GB/T51272-2018 Intelligent coal industry mine design Standard is formally implemented from 9 months 1 day; open platform of wisdom mine thing networking
The research and development are successful and applied; the intelligent fully-mechanized coal mining working surfaces of the thin coal seams such as Guizhou hair, guizhou Zhongyi, shendong elm beams and the like are put into production in sequence; the super-large mining height fully-mechanized mining working surface with 8.8m of Shendong is put into production smoothly, the 6m large mining height fully-mechanized mining working surface of the Shandong energy jujube mine group village pay coal mine is put into production smoothly, and the 416 large mining height intelligent fully-mechanized mining working surface of the yellow tomb coal mine is completely mined and enters the 418 large mining height intelligent fully-mechanized mining working surface; 145 intelligent coal mining working faces are built in China; the same-coal-based research project of 'ten-million-ton-level fully-mechanized caving face key technology and demonstration project' honors the first-class prize of the scientific technology of the Chinese coal industry Association; the Shenhuaning coal mining area starts to apply an LASC technology in a large scale, and the organization such as BeiDou Tiandi of mining group starts to develop an automatic alignment technology of a fully mechanized mining face based on a domestic inertial navigation system; coal information research institute builds a coal mine robot cooperative propulsion center, and specially coordinates and propels the coal mine robot to research and develop applicationCoal mine safety infrastructure and coal mine intrinsic safety level are improved; the national coal prison publishes a key research and development catalog of coal mine robots, which is specifically proposed for the first time to focus on key posts and dangerous posts and mainly research and apply five types and 38 types of coal mine robots for tunneling, coal mining, transportation, safety control and rescue; with the national emphasis on intelligent mining, all large coal mine groups enter the climax of intelligent fully mechanized mining application.
In order to reduce the production cost and realize high yield, high efficiency, safety and stability of the mine, the coal enterprises need to improve the automation level of the fully mechanized coal mining face. The automatic control of the fully mechanized coal mining face is realized, a series of coal mining processes are automatically completed, the number of workers on the face can be reduced, the labor intensity is reduced, a high-quality working environment is provided, the more perfect and stable automatic control system ensures high yield and high efficiency, simultaneously reduces the production cost, is an important means for improving the core competitiveness of the market, and on the other hand, the current situation of frequent casualties caused by coal mine accidents is fundamentally solved by realizing an unmanned or less-humanized fully mechanized coal mining face, and the safety guarantee level of the coal mining process is improved.
Therefore, the development of automatic comprehensive mining is a main direction for reducing people and improving efficiency and guaranteeing safety of coal mine enterprises. At present, the fully-mechanized mining process automation degree of the fully-mechanized mining face of the medium-thickness coal seam in China, namely, the top plate is soft, the bottom plate is soft, the coal wall is soft, the expansion rate of surrounding rock is large, and the displacement of the surrounding rock is large, is low, and the traditional fully-mechanized mining face control system cannot be matched with the control environment of the fully-mechanized mining face of the medium-thickness coal seam in China, so that how to realize the automatic control of the fully-mechanized mining face coal mining machinery of the medium-thickness coal seam in China is a problem to be solved urgently at present.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art, and particularly creatively provides a three-soft two-large inclined medium-thickness coal seam comprehensive mechanized coal mining automatic control system, which utilizes various automatic technologies such as automatic control, sensors, computers, equipment working condition monitoring and fault diagnosis, electro-hydraulic control, centralized control and the like to form a linkage function with underground equipment such as a scraper conveyor, a belt conveyor, a coal mining machine, a pump station and the like through networking of a field bus and a roadway control center, so that the comprehensive automatic coal mining of the whole three-soft two-large medium-thickness coal seam comprehensive mining working face is realized, the coal resource mining efficiency is effectively improved, the coal mine safety is guaranteed, the labor is reduced, and the labor intensity of workers is reduced.
In order to achieve the above object, the present invention provides an automatic control system for comprehensive mechanized coal mining of three-soft two-large inclined medium-thickness coal seams, which is characterized in that the automatic control system comprises:
the coal mining machine control system, the power supply system, the support electric hydraulic control system, the conveyor control system, the pump station control system, the working face video system and the centralized control center are respectively in communication connection with the coal mining machine control system, the power supply system, the support electric hydraulic control system, the conveyor control system, the pump station control system and the working face video system, wherein,
the coal mining machine control system is used for controlling the coal mining machine in a manual operation mode and/or a remote controller operation mode, realizing the function of memorizing coal cutting, and simultaneously transmitting information data and control commands of the coal mining machine to the centralized control center in a wired and/or wireless mode for monitoring and controlling;
the power supply system is used for realizing power distribution and power supply of all equipment on the fully mechanized coal mining face, and transmitting the state information of the switches on all power supply lines to the centralized control center through a special bus for monitoring and controlling;
the bracket electric hydraulic control system is used for receiving a control command issued by the centralized control center, acquiring sensor data of each system according to the control command, and transmitting the sensor data and the bracket electric hydraulic control system state data to the centralized control center for monitoring and controlling;
the conveyor control system is used for realizing matching control with the coal mining machine, achieving load balance between the coal mining machine and the scraper conveyor, and transmitting motor parameters, voltage and current information of the scraper conveyor to the centralized control center for monitoring and controlling;
the pump station control system is used for realizing intelligent control of liquid supply of the fully mechanized mining working plane hydraulic system and transmitting parameters, voltage, current, liquid level of a pump station and pressure oil filtering information of a liquid supply motor in the hydraulic system to a centralized control center for monitoring and controlling;
the working face video system is used for acquiring videos facing the coal wall of the fully mechanized mining working face and along the scraper-trough conveyer direction and videos at the end, the end tail and the lap joint of the fully mechanized mining working face, and transmitting the acquired videos to the centralized control center for monitoring through the Ethernet;
and the centralized control center is used for receiving data information reported by the coal mining machine control system, the power supply system, the support electric hydraulic control system, the conveyor control system, the pump station control system and the working face video system, monitoring and judging the received data information, remotely controlling each device in each system, realizing linkage control of the devices in each system, and performing diversity management on system faults and device faults.
Preferably, the centralized control center comprises a gateway monitoring center located in a mine and a ground monitoring center located on the mine, the gateway monitoring center is in communication connection with the ground monitoring center through a mine automation network, and the coal cutter control system, the power supply system, the support electric hydraulic control system, the conveyor control system, the pump station control system and the working face video system are in communication connection with the gateway monitoring center respectively.
Preferably, the support electro-hydraulic control system comprises a main control computer and a plurality of single electro-hydraulic control devices, wherein the main control computer and the single electro-hydraulic control devices are installed in the crossheading roadway, one single electro-hydraulic control device is used for controlling one group of hydraulic support groups of the fully mechanized mining face, and the plurality of single electro-hydraulic control devices are in communication connection with the main control computer through a field bus.
Preferably, the main control computer is respectively connected with the gateway monitoring center and the ground monitoring center of the centralized control center through network terminals.
Preferably, the single-frame electrohydraulic control device comprises a bracket controller, an infrared sensor for detecting the position of the coal mining machine, a pressure sensor for detecting the hydraulic pressure of the lower cavity of the hydraulic bracket upright post and a stroke sensor for the stroke of the pushing jack on the hydraulic bracket.
Preferably, the infrared sensor comprises an infrared transmitter and an infrared receiver, the infrared transmitter is mounted on the coal mining machine, the infrared receiver is provided with a plurality of infrared receivers, and one infrared receiver is mounted on each support controller.
Preferably, a plurality of adjacent 5 support controllers are powered by one independent explosion-proof power supply module, and all the support controllers powered by the same independent explosion-proof power supply module form a controller group.
Preferably, a plurality of the controller groups are correspondingly connected with the multiple independent explosion-proof power supply modules of the explosion-proof power supply box through isolation couplers.
According to the scheme, the invention provides the automatic control system for comprehensive mechanized coal mining of the three-soft two-large inclined medium-thickness coal seam, which utilizes various automatic technologies such as automatic control, sensors, computers, equipment working condition monitoring and fault diagnosis, electro-hydraulic control, centralized control and the like, is networked with a roadway control center through a field bus, forms a linkage function with underground equipment such as a scraper conveyor, a belt conveyor, a coal mining machine, a pump station and the like, realizes comprehensive automatic coal mining of the whole three-soft two-large medium-thickness coal seam comprehensive mining working face, effectively improves the coal resource mining efficiency, ensures the coal mine safety, reduces the labor intensity of workers, and is suitable for various mining fields.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a system framework diagram of an automatic control system for comprehensive mechanized coal mining of three-soft two-large inclined medium thickness coal seams in a preferred embodiment of the invention;
FIG. 2 is a structural topology diagram of a support electrohydraulic control system in an embodiment of the present invention;
fig. 3 is a working schematic diagram of the bracket electrohydraulic control system in the embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The invention provides a three-soft two-large inclined medium-thickness coal seam comprehensive mechanized coal mining automatic control system, as shown in figure 1, the automatic control system comprises:
the coal mining machine control system, the power supply system, the support electric hydraulic control system, the conveyor control system, the pump station control system, the working face video system and the centralized control center are respectively in communication connection with the coal mining machine control system, the power supply system, the support electric hydraulic control system, the conveyor control system, the pump station control system and the working face video system, wherein,
the coal mining machine control system is used for controlling the coal mining machine in a manual operation mode and/or a remote controller operation mode, realizing the function of memorizing coal cutting, and simultaneously transmitting information data and control commands of the coal mining machine to the centralized control center in a wired and/or wireless mode for monitoring and controlling;
the power supply system is used for realizing power distribution and power supply of all equipment on the fully mechanized coal mining face, and transmitting the state information of the switches on all power supply lines to the centralized control center through a special bus for monitoring and controlling;
the bracket electric hydraulic control system is used for receiving a control command issued by the centralized control center, acquiring sensor data of each system according to the control command, and transmitting the sensor data and the bracket electric hydraulic control system state data to the centralized control center for monitoring and controlling;
the conveyor control system is used for realizing matching control with the coal mining machine, achieving load balance between the coal mining machine and the scraper conveyor, and transmitting motor parameters, voltage and current information of the scraper conveyor to the centralized control center for monitoring and controlling;
the pump station control system is used for realizing intelligent control of liquid supply of the fully mechanized mining working plane hydraulic system, and simultaneously transmitting parameters, voltage, current, liquid level of a pump station and pressure oil filtering information of a liquid supply motor in the hydraulic system to a centralized control center for monitoring and controlling;
the working face video system is used for acquiring videos facing the coal wall of the fully mechanized mining working face and along the scraper-trough conveyer direction and videos at the end, the end tail and the lap joint of the fully mechanized mining working face, and transmitting the acquired videos to the centralized control center for monitoring through the Ethernet;
and the centralized control center is used for receiving data information reported by the coal mining machine control system, the power supply system, the support electric hydraulic control system, the conveyor control system, the pump station control system and the working face video system, monitoring and judging the received data information, remotely controlling each piece of equipment in each system, realizing linkage control of the equipment in each system, and performing diversity management on system faults and equipment faults.
In this implementation, as shown in fig. 1, the centralized control center includes a gateway monitoring center located in the mine and a ground monitoring center located on the mine, the gateway monitoring center is in communication connection with the ground monitoring center through a mine automation network, and the coal mining machine control system, the power supply system, the support electric hydraulic control system, the conveyor control system, the pump station control system and the working face video system are respectively in communication connection with the gateway monitoring center. Specifically, as shown in fig. 1, the ground monitoring center includes a company dispatching command center and a mine dispatching command center that are connected to each other through a network, and the mine dispatching command center includes a video host, a monitoring host, and a server.
In this implementation, as shown in fig. 2 and 3, the support electrohydraulic control system includes a main control computer installed in the crossheading roadway and a plurality of single electrohydraulic control devices, where one single electrohydraulic control device is used to control a group of hydraulic support groups of the fully mechanized coal mining face, and the plurality of single electrohydraulic control devices are in communication connection with the main control computer through a field bus. The system has an automatic machine following function, and performs corresponding pushing, moving, automatic feeding and the like according to the position of the coal mining machine.
In this embodiment, as shown in fig. 2 and fig. 3, the master computer is respectively connected to the gateway monitoring center and the ground monitoring center of the centralized control center through network terminators. And the monitoring control function of related equipment in the crossheading roadway is realized. And the data can be transmitted to a ground monitoring center through an optical cable, and the butt joint point between the crossheading main control computer and the working face hydraulic support real-time control system is a communication port of an end head or end tail support controller. The system is connected with a roadway control center through a field bus which is the same as the support control, so that a linkage function with underground equipment such as a scraper conveyor, a belt conveyor, a reversed loader, a coal mining machine, a pump station and the like is formed, and the comprehensive automatic coal mining of the whole working face is realized.
In this embodiment, as shown in fig. 2 and 3, the single-frame electrohydraulic control device comprises a frame controller, an infrared sensor for detecting the position of the coal mining machine, a pressure sensor for detecting the hydraulic pressure of the lower cavity of the hydraulic frame column and a stroke sensor for the stroke of the pushing jack on the hydraulic frame.
In this implementation, as shown in fig. 2 and 3, the infrared sensor includes an infrared emitter and an infrared receiver, the infrared emitter is installed on the coal mining machine, the number of the infrared receivers is multiple, and one infrared receiver is installed on each support controller.
In this embodiment, as shown in fig. 2 and 3, a plurality of adjacent 5 rack controllers are supplied with power by one independent explosion-proof power supply module, and all rack controllers supplied with power by the same independent explosion-proof power supply module form one controller group.
In this embodiment, as shown in fig. 2 and 3, a plurality of controller groups are connected to a plurality of independent explosion-proof power modules of an explosion-proof power box through isolation couplers. The isolation coupler isolates the electrical connection between the banks and communicates data signals through opto-electrical coupling.
Specifically, in this embodiment, all the rack controllers are interconnected in a network by fieldbus cables that sequentially connect all the rack controllers (at two sets of demarcation points by isolating coupler interfaces) starting at the head rack controller and going to the tail rack controller. Each rack controller has an address number and is numbered consecutively in the order of connection.
According to the scheme, the invention provides the automatic control system for comprehensive mechanized coal mining of the three-soft two-large inclined medium-thickness coal seam, which utilizes various automatic technologies such as automatic control, sensors, computers, equipment working condition monitoring and fault diagnosis, electro-hydraulic control, centralized control and the like, is networked with a roadway control center through a field bus to form a linkage function with underground equipment such as a scraper conveyor, a belt conveyor, a coal mining machine, a pump station and the like, realizes comprehensive automatic coal mining of the comprehensive mining working face of the whole three-soft two-large medium-thickness coal seam, effectively improves the coal resource mining efficiency, ensures the coal mine safety, reduces the labor and reduces the labor intensity of workers.
All or part of the flow of the method of the embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and executed by a processor, to instruct related hardware to implement the steps of the embodiments of the methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signal, telecommunications signal, and software distribution medium, etc. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
Those skilled in the art will appreciate that although some embodiments herein include some features included in other embodiments, not others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (4)
1. The utility model provides a three soft two big mechanical coal mining automatic control systems of inclining of middling thickness seams which characterized in that, automatic control system includes:
the coal mining machine control system, the power supply system, the support electric hydraulic control system, the conveyor control system, the pump station control system, the working face video system and the centralized control center are respectively in communication connection with the coal mining machine control system, the power supply system, the support electric hydraulic control system, the conveyor control system, the pump station control system and the working face video system, wherein,
the coal mining machine control system is used for controlling the coal mining machine in a manual operation mode and/or a remote controller operation mode, realizing the function of memorizing coal cutting, and simultaneously transmitting information data and control commands of the coal mining machine to the centralized control center in a wired and/or wireless mode for monitoring and controlling;
the power supply system is used for realizing power distribution and power supply of all equipment on the fully mechanized coal mining face, and transmitting the state information of the switches on all power supply lines to the centralized control center through a special bus for monitoring and controlling;
the bracket electric hydraulic control system is used for receiving a control command issued by the centralized control center, acquiring sensor data of each system according to the control command, and transmitting the sensor data and the bracket electric hydraulic control system state data to the centralized control center for monitoring and controlling;
the conveyor control system is used for realizing matching control with the coal mining machine, achieving load balance between the coal mining machine and the scraper conveyor, and transmitting motor parameters, voltage and current information of the scraper conveyor to the centralized control center for monitoring and controlling;
the pump station control system is used for realizing intelligent control of liquid supply of the fully mechanized mining working plane hydraulic system and transmitting parameters, voltage, current, liquid level of a pump station and pressure oil filtering information of a liquid supply motor in the hydraulic system to a centralized control center for monitoring and controlling;
the working face video system is used for acquiring videos facing the coal wall of the fully mechanized mining working face and along the scraper-trough conveyer direction and videos at the end, the end tail and the lap joint of the fully mechanized mining working face, and transmitting the acquired videos to the centralized control center for monitoring through the Ethernet;
the centralized control center is used for receiving data information reported by a coal mining machine control system, a power supply system, a support electric hydraulic control system, a conveyor control system, a pump station control system and a working face video system, monitoring and judging the received data information, remotely controlling each device in each system, realizing linkage control of the devices in each system, and performing diversity management on system faults and device faults;
the centralized control center comprises a crossheading monitoring center positioned in a mine and a ground monitoring center positioned on the mine, the crossheading monitoring center is in communication connection with the ground monitoring center through a mine automation network, and the coal cutter control system, the power supply system, the support electric hydraulic control system, the conveyor control system, the pump station control system and the working face video system are in communication connection with the crossheading monitoring center respectively;
the support electro-hydraulic control system comprises a main control computer and a plurality of single electro-hydraulic control devices, wherein the main control computer and the single electro-hydraulic control devices are installed in the crossheading roadway, one single electro-hydraulic control device is used for controlling one group of hydraulic support groups of the fully mechanized mining face, and the plurality of single electro-hydraulic control devices are in communication connection with the main control computer through field buses;
the main control computer is respectively connected with the crossheading monitoring center of the centralized control center and the ground monitoring center through a network terminator through a network;
the single-frame electrohydraulic control device comprises a support controller, an infrared sensor for detecting the position of the coal mining machine, a pressure sensor for detecting the hydraulic pressure of the lower cavity of the upright post of the hydraulic support and a stroke sensor for pushing the stroke of the jack on the hydraulic support.
2. The automatic control system for comprehensive mechanized coal mining of three-soft-two large inclined medium-thickness coal seams according to claim 1, wherein the infrared sensor comprises an infrared transmitter and an infrared receiver, the infrared transmitter is mounted on the coal mining machine, the infrared receiver is provided in plurality, and one infrared receiver is mounted on each bracket controller.
3. The automatic control system for comprehensive mechanized coal mining of the three-soft-two large inclined medium-thickness coal seam according to claim 1, wherein a plurality of 5 adjacent support controllers are powered by an independent explosion-proof power supply module, and all the support controllers powered by the same independent explosion-proof power supply module form a controller group.
4. The comprehensive mechanical coal mining automatic control system for the three-soft-two large inclined medium-thickness coal seam according to claim 3, wherein a plurality of the controller groups are correspondingly connected with a plurality of independent anti-explosion power supply modules of an anti-explosion power supply box through isolation couplers.
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| CN113818877A (en) * | 2021-10-24 | 2021-12-21 | 天地上海采掘装备科技有限公司 | Method, device, equipment and storage medium for remote control of coal mining machine |
| CN118110514A (en) * | 2024-01-25 | 2024-05-31 | 枣庄矿业(集团)付村煤业有限公司 | Intelligent control system based on thick coal seam large mining height |
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