CN112648010B - Automatic filling mining control system and method - Google Patents
Automatic filling mining control system and method Download PDFInfo
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- CN112648010B CN112648010B CN202011515949.7A CN202011515949A CN112648010B CN 112648010 B CN112648010 B CN 112648010B CN 202011515949 A CN202011515949 A CN 202011515949A CN 112648010 B CN112648010 B CN 112648010B
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- 238000005065 mining Methods 0.000 title claims abstract description 186
- 238000000034 method Methods 0.000 title claims abstract description 57
- 239000003245 coal Substances 0.000 claims abstract description 197
- 239000000463 material Substances 0.000 claims abstract description 177
- 239000007787 solid Substances 0.000 claims abstract description 29
- 230000008569 process Effects 0.000 claims abstract description 28
- 230000009471 action Effects 0.000 claims abstract description 13
- 238000004519 manufacturing process Methods 0.000 claims abstract description 10
- 238000002360 preparation method Methods 0.000 claims abstract description 7
- 238000007599 discharging Methods 0.000 claims description 193
- 230000007246 mechanism Effects 0.000 claims description 52
- 238000003860 storage Methods 0.000 claims description 49
- 239000011435 rock Substances 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 10
- 239000002245 particle Substances 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000005520 cutting process Methods 0.000 claims description 3
- 239000002390 adhesive tape Substances 0.000 claims description 2
- 230000009467 reduction Effects 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 abstract 1
- 230000003028 elevating effect Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000009270 solid waste treatment Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F15/00—Methods or devices for placing filling-up materials in underground workings
- E21F15/08—Filling-up hydraulically or pneumatically
- E21F15/10—Hydraulic or pneumatic filling-up machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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 OR ROCK 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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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Filling Or Emptying Of Bunkers, Hoppers, And Tanks (AREA)
Abstract
The invention discloses an automatic filling mining control system and method, and belongs to the technical field of mine resource filling mining. The system comprises an automatic filling material preparation device, an automatic filling material and coal transfer device and an automatic working face filling coal mining device. Various sensors such as stress, displacement, distance and image are additionally arranged in the solid dense filling coal mining system to acquire various parameters representing process states of the filling coal mining system in real time, the acquired parameters are analyzed to obtain the state of a filling coal mining process, the next action of key filling coal mining operation equipment is determined according to the process states, and an action instruction is sent out, so that the automatic control of the whole filling coal mining system is realized. The system can also be manually controlled to correct the automatic filling coal mining process. The method can reduce the interference between filling and coal mining operation, improve the filling coal mining efficiency, improve the production safety and reduce the labor intensity of workers and the labor cost of enterprises.
Description
Technical Field
The invention relates to the technical field of mine resource filling and mining, in particular to an automatic filling and mining control system and method.
Background
The coal pressing quantity of the 'third lower' coal in China is huge, and filling mining is widely applied to the mining of the 'third lower' coal resources with the excellent rock stratum control effect. The filling mining method mainly comprising paste filling, high water filling and solid filling is formed. Wherein, the comprehensive mechanized solid filling is most widely applied with the advantages of lower production cost, high coal mining capability, large solid waste treatment capability and the like. However, the existing comprehensive mechanized solid filling mining process is complex, the influence of the operating proficiency of workers on the filling effect and efficiency is large, in order to reduce the process complexity in field practice, a process flow of firstly mining and then filling is generally adopted, the cooperation degree of the filling and coal mining processes is poor, and the improvement of the solid filling capacity and efficiency is restricted. Therefore, how to realize the cooperative and efficient operation of filling and coal mining by utilizing the automation of the solid filling mining technology obviously improves the filling quality and the filling efficiency, and has great significance for the development and the popularization of the solid filling mining technology.
Disclosure of Invention
The technical problem is as follows: the invention aims to provide an automatic filling mining control system and method, which are used for solving the problems that the existing comprehensive mechanized solid filling mining process is complex, the cooperative operation degree of the filling and coal mining process is low, the labor intensity of workers is high, the operation proficiency of the workers has large influence on the filling effect, and the production efficiency of a solid filling working face is low.
The technical scheme is as follows: the automatic filling mining control system comprises filling material automatic preparation devices, filling material automatic transfer devices, a working face automatic filling coal mining device and a coal automatic transfer device, wherein the filling material automatic preparation devices, the filling material automatic transfer devices, the working face automatic filling coal mining device and the coal automatic transfer device are arranged on two sides of a mining working face; the automatic filling material preparation device, the automatic filling material transfer device, the working face automatic filling coal mining device and the automatic coal transfer device are sequentially overlapped around the working face, and the tail end of the former device is overlapped with the front end of the latter device so as to ensure the continuity of transportation;
the automatic filling material preparing device comprises: the crusher and a crusher starting and stopping controller arranged on the crusher are used for automatically crushing the solid filling material after the set particle size grading is completed;
the automatic transfer device of filling material includes: the device comprises a filling material storage bin, a storage bin full sensor, a storage bin blanking controller, a filling material adhesive tape conveyor start-stop controller, a filling material self-moving transfer conveyor and a filling material self-moving transfer conveyor start-stop controller; the filling material storage bin, the filling material belt conveyor and the filling material self-moving transfer conveyor are sequentially overlapped front and back; the storage bin full sensor and the storage bin blanking controller are positioned on the filling material storage bin, and the filling material rubber belt conveyor start-stop controller and the filling material self-moving transfer conveyor start-stop controller are respectively positioned on the filling material rubber belt conveyor and the filling material self-moving transfer conveyor;
the automatic filling coal mining device for the working face comprises a coal mining machine, a scraper conveyor, a filling hydraulic support and a multi-hole bottom-dump conveyor which are arranged on the working face, wherein a coal mining machine starting and stopping controller is arranged on the coal mining machine, a scraper conveyor starting and stopping controller is arranged on the scraper conveyor, the multi-hole bottom-dump conveyor is hung at the rear part of the filling hydraulic support and can move back and forth along the filling hydraulic support, a coal mining machine position receiver is arranged on a front beam of the filling hydraulic support, and a blanking height control sensor is arranged on a rear beam of the filling hydraulic support; the porous bottom-dump conveyor is provided with a porous bottom-dump conveyor start-stop controller; the connection mode of the coal mining machine, the scraper conveyor, the fully mechanized mining equipment and the multi-hole bottom-dump conveyor is the same as that of the traditional solid filling mining working surface;
coal automatic transfer device including fortune coal elevating conveyor, the fortune coal rubber belt conveyor who links to each other with fortune coal elevating conveyor, fortune coal elevating conveyor on be equipped with fortune coal elevating conveyor and start and stop the controller, fortune coal elevating conveyor establishes in scraper conveyor exit, fortune coal rubber belt conveyor on be equipped with fortune coal rubber belt conveyor and start and stop the controller.
The rear part of the filling hydraulic support is provided with a tamping mechanism consisting of a tamping plate, a tamping jack and a diagonal jack, the tamping plate is provided with a tamping force sensor, a telescopic rod of the tamping jack is connected with the tamping plate, the telescopic rod is provided with a tamping stroke sensor, a cylinder body of the tamping jack is provided with a tamping angle sensor, the bottom of the cylinder body is hinged on a base of the filling hydraulic support, the telescopic rod of the diagonal jack is connected with the cylinder body of the tamping jack, and the bottom of the cylinder body of the diagonal jack is hinged on a rear beam of the filling hydraulic support.
The coal mining machine is characterized in that a coal mining machine position emitter is arranged on the machine body of the coal mining machine, and a coal rock interface recognition sensor is arranged on the coal mining arm of the coal mining machine.
And a discharge hole opening and closing controller is arranged at the discharge hole of the porous bottom-discharge type conveyor.
The control method using the automatic filling mining control system comprises the following steps: various controllers, sensors and receivers are arranged in the comprehensive mechanized solid filling coal mining system, various working parameters of the filling coal mining system are obtained in real time, the working parameters are transmitted to a ground or underground analysis center through underground wireless and wired networks for analysis, the state of a filling coal mining process is obtained, the next action of key filling coal mining operation equipment is determined according to the process state, and action instructions are sent out through the underground wireless and wired networks, so that the automatic control of the whole filling coal mining system is realized; when necessary, the automatic filling coal mining process can be corrected by manual control;
the control method comprises the following specific steps:
the first step is as follows: judging a coal-rock interface by using a coal-rock interface recognition sensor or memorizing cutting data, and automatically adjusting the mining height to mine coal; judging the position and the running direction of the coal mining machine through a coal mining machine position transmitter arranged on the coal mining machine and a coal mining machine position receiver on the filling hydraulic support, and automatically completing the frame moving and the pushing and sliding of the scraper conveyor of the filling hydraulic support according to the recognition result of the position and the running direction of the coal mining machine; transferring coal by a scraper conveyor, a coal-conveying transfer machine and a coal-conveying belt conveyor;
the second step is that: conveying the solid filling material to a crusher for crushing through a filling material belt conveyor, conveying the crushed filling material to a filling material storage bin through the filling material belt conveyor, and conveying the filling material to a porous bottom-discharge conveyor through the filling material belt conveyor and a filling material self-moving transfer conveyor;
the third step: after a scraper conveyor on a working face is straightened, a multi-hole bottom-dumping conveyor arranged on a filling hydraulic support is moved to the rear part of a rear top beam of the support from the front part of the rear top beam of the support, the position and the running direction of a coal mining machine are judged through a coal mining machine position transmitter arranged on the coal mining machine and a coal mining machine position receiver arranged on the filling hydraulic support, and a discharging hole is sequentially and automatically opened to discharge according to the judgment result of the running direction of the coal mining machine, so that the discharging and filling operations are completed.
In the first step, when the position of the coal mining machine is judged to be within a set distance from the last filling hydraulic support of the moved support, the set distance is usually 2-3 widths of the filling hydraulic supports, the width can be flexibly adjusted according to specific conditions, automatic support moving operation of the filling hydraulic supports is started, an electro-hydraulic control system is used for controlling hydraulic support oil cylinders, and the purposes of closing a side protection plate of the filling hydraulic support → lowering price → moving support → lifting support → pushing sliding → opening the side protection plate are achieved, wherein each filling hydraulic support is automatically moved independently or in a group mode; meanwhile, when the coal mining machine is judged to be within a set distance from the moved filling hydraulic support, the set distance is 20-30 m, the coal mining machine is flexibly adjusted according to specific conditions, and the scraper conveyor at the position corresponding to the filling hydraulic support starts to push and slide; in the step, the start and stop of the scraper conveyor, the coal-carrying transfer conveyor and the coal-carrying belt conveyor are determined according to the start state of the coal mining machine, namely the coal mining machine is started, the scraper conveyor, the coal-carrying transfer conveyor and the coal-carrying belt conveyor are started, otherwise, the operation is stopped.
In the second step, the solid filling material is conveyed to a crusher for crushing through a filling material belt conveyor, the starting condition that the crushed filling material is conveyed to a filling material storage bin through the filling material belt conveyor is that the storage bin is not full as a result of the monitoring of a storage bin full sensor, otherwise, the operation of the filling material belt conveyor and the crusher before the filling material storage bin is stopped through a start-stop controller; the starting condition that the filling material is conveyed to the porous bottom-discharging conveyor through the filling material rubber belt conveyor and the filling material self-moving transfer conveyor is that the porous bottom-discharging conveyor has discharging holes in an open state, at the moment, the blanking controller starts the blanking port of the filling material storage bin to perform blanking, otherwise, when all the discharging holes of the porous bottom-discharging conveyor are closed, the blanking port of the filling material storage bin is closed through the blanking controller, and the operation of the filling material rubber belt conveyor and the filling material self-moving transfer conveyor between the filling material storage bin and the porous bottom-discharging conveyor is stopped through the starting and stopping controller;
in the third step, the specific process of completing the discharging and filling operation is as follows:
firstly, when the coal mining machine mines from the head of the multi-hole bottom discharge type conveyor to the tail direction
Firstly, opening 2 discharge holes in the front of a machine head, then grouping the rest unopened discharge holes of the multi-hole bottom-discharge type conveyor along the mining direction, wherein each group comprises 2-4 discharge holes, the number of the holes in each group can be adjusted according to the actual situation, each group is filled from the machine head to the machine tail, and the group is filled from the machine tail to the machine head; firstly, opening a 1 st discharging hole in the tail direction of the 1 st group discharging hole to discharge; closing the 1 st discharging hole after the discharging is finished, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support where the discharging hole is positioned for tamping, and opening the 2 nd discharging hole in the tail direction of the machine in the group for discharging; closing the 2 nd discharging hole after the discharging is finished, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support where the discharging hole is positioned for tamping, and opening the next discharging hole in the tail direction of the machine in the group for discharging; closing the next discharging hole after discharging is finished, simultaneously starting a tamping mechanism at the rear part of a filling hydraulic support where the discharging hole is located for tamping until a first round of discharging and tamping operation of the group of discharging holes is finished, then, carrying out discharging and tamping for the 2 nd round from the tail to the head direction again according to the steps until a set round of discharging and tamping operation is finished, wherein 2-3 rounds of discharging and tamping are usually required, and the round number is adjustable; sequentially analogizing to finish all the grouped discharging and tamping, then discharging and tamping the front 2 discharging holes which are firstly opened on the machine head side, closing all the discharging holes after finishing, pulling the porous bottom-discharge type conveyor by a step distance to the front part of a rear top beam of the filling hydraulic support, pushing all the filling materials below the porous bottom-discharge type conveyor to the rear upper part of the filling hydraulic support by using a tamping mechanism, and enabling the filling materials to be connected with the top and compacted until the filling coal mining at the circulation step distance is finished;
secondly, when the coal mining machine mines from the tail of the multi-hole bottom-dump conveyor to the head
The discharge holes of the multi-hole bottom-dump conveyor are divided into groups along the mining direction, each group comprises 2-4 discharge holes, the discharge holes are filled from the tail to the head of the group, and the discharge holes are filled from the tail to the head of the group; firstly, opening a 1 st discharging hole in the tail direction of the 1 st group discharging hole to discharge; closing the 1 st discharging hole after the discharging is finished, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support where the discharging hole is positioned for tamping, and opening the 2 nd discharging hole in the tail direction of the machine in the group for discharging; closing the 2 nd discharging hole after the discharging is finished, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support where the discharging hole is positioned for tamping, and opening the next discharging hole in the tail direction of the machine in the group for discharging; closing the next discharging hole after discharging is finished, simultaneously starting a tamping mechanism at the rear part of a filling hydraulic support where the discharging hole is located for tamping until a first round of discharging and tamping operation of the group of discharging holes is finished, then, carrying out discharging and tamping for the 2 nd round from the tail to the head direction again according to the steps until a set round of discharging and tamping operation is finished, wherein 2-3 rounds of discharging and tamping are usually required, and the round number is adjustable; the unloading and tamping of all the groups are finished by analogy in sequence, and all the unloading holes are closed; and pulling the porous bottom-discharge conveyor by a step pitch, moving the porous bottom-discharge conveyor to the front part of a rear top beam of the filling hydraulic support, pushing all the filling materials below the porous bottom-discharge conveyor to the rear upper part of the filling hydraulic support by using a tamping mechanism, and enabling the filling materials to be connected with the top and compacted until the filling and coal mining of the circulating step pitch is completed.
The method for judging the completion of discharging through the discharging hole comprises the following steps: after the discharge hole is opened, the discharging time is recorded, the discharging height of the filling material is monitored in real time through the blanking height sensor, when the discharging time or the discharging height meets a set value, the completion of discharging of the discharge hole is judged, and meanwhile, the discharge hole is closed.
The tamping action of the tamping mechanism is as follows: judging whether the discharge hole is closed or not according to the parameters of the discharge hole opening and closing controller, and tamping when the judgment result is that the discharge hole is closed; in the tamping process, firstly, automatically adjusting the tamping mechanism to a set tamping angle according to a monitoring result of a tamping angle sensor, extending the tamping mechanism for tamping, simultaneously monitoring tamping force and the telescopic length of the tamping mechanism in real time by utilizing a tamping stroke sensor and a tamping force sensor, and retracting the tamping mechanism to the shortest state after the tamping force meets a set value or the tamping mechanism reaches the maximum length until the tamping is finished; and then adjusting to the tamping angle required by the next tamping, preparing for the next tamping, and sequentially circulating until the set tamping times are finished.
Has the advantages that: by adopting the technical scheme, the invention realizes the cooperative efficient operation of filling and coal mining by utilizing the automation of the solid filling mining technology, realizes the filling mining automation, and solves the problems of lower working efficiency, lower filling efficiency and insufficient filling effect guarantee of the conventional solid filling mining system which is a mechanized manual operation system. The method has the advantages of reducing the interference between filling and coal mining operation, reducing the conditions of low filling and coal mining efficiency and poor filling effect caused by low manual operation efficiency of workers, realizing less-than-well artificial production, improving the safety of mine production, reducing the labor intensity of the workers and the labor cost of enterprises, obviously improving the filling quality and the filling efficiency, and having great significance for the development and popularization of a solid filling mining technology. And solves the problems that the prior comprehensive mechanized solid filling mining process is complex, the cooperative operation degree of the filling and coal mining process is low, the labor intensity of workers is high, the operation proficiency of the workers has great influence on the filling effect, and the production efficiency of the solid filling working face is low. The filling machine has the advantages of compact and reasonable structure, convenient operation, high filling quality and filling efficiency, good use effect and wide practicability in the technical field.
Drawings
FIG. 1 is a schematic diagram of an automated pack production control system of the present invention.
Fig. 2 is a schematic diagram of a fill hydraulic mount sensor arrangement of the present invention.
Fig. 3 is a schematic diagram of a shearer sensor arrangement of the present invention.
Fig. 4 is a schematic view of a multi-hole bottom-dump conveyor sensor arrangement of the present invention.
In the figure: 1-a first filling material belt conveyor; 2-a crusher; 3-a second filling material belt conveyor; 4-filling material storage bin; 5-a third filling material belt conveyor; 6-filling material self-moving transfer conveyor; 7-a porous bottom discharge conveyor; 8.1-filling the hydraulic support; 8.2-compacting the plate; 8.3-tamping a jack; 8.4-diagonal jack; 9-a scraper conveyor; 10-a coal mining machine; 11-a coal transfer conveyor; 12-a coal belt conveyor; 13.1-start/stop controller of first filling material belt conveyer; 13.2-crusher start-stop controller; 13.3-start-stop controller of second filling material belt conveyer; 13.4-a third filling material belt conveyor start-stop controller; 13.5 a starting and stopping controller of the self-moving type transfer conveyor of the filling material; 13.6-porous bottom-dump conveyor start-stop controller; 13.7-scraper conveyor start-stop controller; 13.8-starting and stopping controller of coal mining machine; 13.9-coal conveyor start-stop controller; 13.10-start-stop controller of coal conveying belt conveyor; 14-a storage bin blanking controller; 15-full storage bin sensor; 16-a shearer location receiver; 17-a blanking height sensor; 18-tamper angle sensor; 19-a tamper force sensor; 20-a tamper stroke sensor; 21-shearer location launcher; 22-coal rock interface identification sensor; 23 a discharge hole opening and closing controller; 24-discharge opening.
Detailed Description
The invention will be further described with reference to examples in the drawings to which:
as shown in fig. 1, the automatic filling mining control system of the present invention includes an automatic filling material preparation device, an automatic filling material transfer device, an automatic working face filling coal mining device and an automatic coal transfer device which are arranged on both sides of a mining working face; the automatic filling material preparation device, the automatic filling material transfer device, the working face automatic filling coal mining device and the automatic coal transfer device are sequentially overlapped around the working face, and the tail end of the former device is overlapped with the front end of the latter device so as to ensure the continuity of transportation;
the automatic filling material preparing device comprises: the crusher 2 and a crusher start-stop controller 13.2 arranged on the crusher 2 are used for completing the automatic crushing of the solid filling material after the set particle size grading is completed; the crusher 2 is arranged behind the first filling material rubber belt conveyor 1, the first filling material rubber belt conveyor 1 is provided with a first filling material rubber belt conveyor start-stop controller 13.1, the crusher 2 is provided with a second filling material rubber belt conveyor 3, and the second filling material rubber belt conveyor 3 is provided with a second filling material rubber belt conveyor start-stop controller 13.3;
the automatic transfer device of filling material includes: the device comprises a filling material storage bin 4, a storage bin full sensor 15, a storage bin blanking controller 14, a third filling material belt conveyor 5, a third filling material belt conveyor start-stop controller 13.4, a filling material self-moving transfer conveyor 6 and a filling material self-moving transfer conveyor start-stop controller 13.5; the filling material storage bin 4, the third filling material belt conveyor 5 and the filling material self-moving transfer conveyor 6 are sequentially overlapped front and back; the storage bin full sensor 15 and the storage bin blanking controller 14 are positioned on the filling material storage bin, and the third filling material rubber belt conveyor start-stop controller 13.4 and the filling material self-moving transfer conveyor start-stop controller 13.5 are respectively positioned on the third filling material rubber belt conveyor 5 and the filling material self-moving transfer conveyor 6; a material conveying port of the second filling material belt conveyor 3 is lapped at a material inlet of the filling material storage bin 4, a material discharging port of the filling material storage bin 4 is lapped with a third filling material belt conveyor 5, and the third filling material belt conveyor 5 is connected with a filling material self-moving transfer conveyor 6;
the automatic filling coal mining device for the working face comprises a coal mining machine 10, a scraper conveyor 9, a filling hydraulic support 8.1 and a multi-hole bottom-dump conveyor 7 which are arranged on the working face, wherein a coal mining machine start-stop controller 13.8 is arranged on the coal mining machine 10, a scraper conveyor start-stop controller 13.7 is arranged on the scraper conveyor 9, the multi-hole bottom-dump conveyor 7 is hung at the rear part of the filling hydraulic support 8.1 and can move back and forth along the filling hydraulic support, a coal mining machine position receiver 16 is arranged on a front beam of the filling hydraulic support 8.1, and a blanking height control sensor 17 is arranged on a rear beam of the filling hydraulic support 8.1; the porous bottom-dump conveyor 7 is provided with a porous bottom-dump conveyor start-stop controller 13.6; the connection mode of the coal mining machine 10, the scraper conveyor 9, the fully mechanized mining equipment 8 and the multi-hole bottom-dump conveyor 7 is the same as that of the traditional solid filling mining working surface; a discharge hole opening and closing controller 23 is arranged at the discharge hole 24 of the multi-hole bottom-discharging type conveyor 7. A coal mining machine position emitter 21 is arranged on the body of the coal mining machine 10, and a coal rock interface identification sensor 22 is arranged on the coal mining arm of the coal mining machine 10.
Coal automatic transfer device including fortune coal elevating conveyor 11, fortune coal rubber belt conveyor 12 that links to each other with fortune coal elevating conveyor 11, fortune coal elevating conveyor 11 on be equipped with fortune coal elevating conveyor and start stopping control ware 13.9, fortune coal elevating conveyor 11 establishes in scraper conveyor 9 exit, fortune coal rubber belt conveyor on 12 be equipped with fortune coal rubber belt conveyor and start stopping control ware 13.10.
As shown in fig. 2, the rear part of the filling hydraulic support 8.1 is provided with a tamping mechanism consisting of a tamping plate 8.2, a tamping jack 8.3 and a diagonal jack 8.4, the tamping plate 8.2 is provided with a tamping force sensor 19, the telescopic rod of the tamping jack 8.3 is connected with the tamping plate 8.2, the telescopic rod is provided with a tamping stroke sensor 20, the cylinder body of the tamping jack is provided with a tamping angle sensor 18, the bottom of the cylinder body is hinged on the base of the filling hydraulic support 8.1, the telescopic rod of the diagonal jack 8.4 is connected with the cylinder body of the tamping jack, and the bottom of the cylinder body of the diagonal jack 8.4 is hinged on the rear beam of the filling hydraulic support 8.1.
The automatic filling mining control method comprises the following steps: various controllers, sensors and receivers are arranged in the comprehensive mechanized solid filling coal mining system, various working parameters of the filling coal mining system are obtained in real time, the working parameters are transmitted to a ground or underground analysis center through underground wireless and wired networks for analysis, the state of a filling coal mining process is obtained, the next action of key filling coal mining operation equipment is determined according to the process state, and action instructions are sent out through the underground wireless and wired networks, so that the automatic control of the whole filling coal mining system is realized; when necessary, the automatic filling coal mining process can be corrected by manual control;
the control method comprises the following specific steps:
the first step is as follows: the scraper conveyor start-stop controller 13.7, the coal mining machine start-stop controller 13.8, the coal carrying conveyor start-stop controller 13.9 and the coal carrying rubber belt conveyor start-stop controller 13.10 respectively start the scraper conveyor 9, the coal mining machine 10, the coal carrying conveyor 11 and the coal carrying rubber belt conveyor 12, a coal rock interface is judged by using a coal rock interface identification sensor 22 or memorizing cutting data, and the coal mining machine 10 automatically adjusts the mining height to mine coal; the position and the running direction of the coal mining machine are judged through a coal mining machine position transmitter 21 arranged on the coal mining machine 10 and a coal mining machine position receiver 16 arranged on a filling hydraulic support 8.1, and the moving of the filling hydraulic support 8.1 and the pushing of a scraper conveyor 9 are automatically completed according to the recognition results of the position and the running direction of the coal mining machine; coal is transported through a scraper conveyor 9, a coal transporting loader 11 and a coal transporting rubber belt conveyor 12;
when the distance between the position of the coal mining machine 10 and the last filling hydraulic support 8.1 of the moved support is judged to be within the set distance, the set distance is usually 2-3 widths of the filling hydraulic supports 8.1, the width can be flexibly adjusted according to specific conditions, the automatic support moving operation of the filling hydraulic supports 8.1 is started, the hydraulic support oil cylinder is controlled through an electro-hydraulic control system, the closing side protection plate → price reduction → the moving support → the lifting support → pushing and sliding → the opening side protection plate of the filling hydraulic support 8.1 are realized, and each filling hydraulic support 8.1 is automatically moved independently or in groups; meanwhile, when the distance between the coal mining machine 10 and the moved frame filling hydraulic support 8.1 is judged to be within a set distance, the set distance is 20-30 m, the adjustment is flexible according to specific conditions, and the pushing sliding of the scraper conveyor 9 at the position corresponding to the filling hydraulic support 8.1 is started; in this step, the start and stop of the scraper conveyor 9, the coal transport loader 11 and the coal transport belt conveyor 12 are determined according to the start state of the coal mining machine 10, namely the coal mining machine is started, the scraper conveyor 9, the coal transport loader 11 and the coal transport belt conveyor 12 are started, otherwise, the operation is stopped.
The second step is that: the method comprises the following steps that firstly, solid filling materials are conveyed to a crusher 2 through a first filling material belt conveyor 1 to be crushed, the crushed filling materials are conveyed to a filling material storage bin 4 through a second filling material belt conveyor 3, and then the filling materials are conveyed to a porous bottom discharge conveyor 7 through a third filling material belt conveyor 5 and a filling material self-moving transfer conveyor 6; the solid filling material is conveyed to the crusher 2 through the first filling material belt conveyor 1 to be crushed, the crushed filling material is conveyed to the filling material storage bin 4 through the second filling material belt conveyor 3 under the condition that the storage bin full sensor 15 monitors that the storage bin is not full, and otherwise, the operation of the equipment is stopped through the first filling material belt conveyor start-stop controller 13.1, the crusher start-stop controller 13.2, the second filling material belt conveyor start-stop controller 13.3 and the third filling material belt conveyor start-stop controller 13.4. The starting condition that the filling material is transported to the porous bottom-dump conveyor 7 through the third filling material belt conveyor 5 and the filling material self-moving transfer conveyor 6 is that the porous bottom-dump conveyor 7 has the discharge holes 24 in an open state, at this time, the blanking controller 14 starts the blanking port of the filling material storage bin 4 for blanking, otherwise, when all the discharge holes 24 of the porous bottom-dump conveyor 7 are closed, the blanking port of the filling material storage bin 4 is closed through the blanking controller 14, and the third filling material belt conveyor 5 and the filling material self-moving transfer conveyor 6 are respectively closed by using the third filling material belt conveyor start-stop controller 13.4 and the filling material self-moving transfer conveyor start-stop controller 13.5. Stopping the operation of the filling material rubber belt conveyor 5 and the filling material self-moving transfer conveyor 6 between the filling material storage bin 4 and the porous bottom-dump conveyor 7 through a start-stop controller;
the third step: after the scraper conveyer 9 on the working face is straightened, the multi-hole bottom-dumping conveyor 7 arranged on the filling hydraulic support 8.1 is moved to the rear part of the rear top beam of the support from the front part of the rear top beam of the support, the position and the running direction of the coal mining machine are judged through a coal mining machine position transmitter 21 arranged on the coal mining machine 10 and a coal mining machine position receiver 16 arranged on the filling hydraulic support 8.1, and the discharging holes 24 are sequentially and automatically opened for discharging and tamping according to the judgment result of the running direction of the coal mining machine 10, so that the discharging and filling operation is completed.
The specific process for completing the discharging and filling operation is as follows:
firstly, when the coal mining machine 10 mines from the head of the multi-hole bottom discharge type conveyor 7 to the tail direction
Firstly, opening 2 discharge holes 24 in the front of the machine head, then grouping the rest unopened discharge holes 24 of the multi-hole bottom-discharging type conveyor 7 along the mining direction, wherein 2-4 discharge holes 24 are formed in each group, the number of holes in each group can be adjusted according to the actual situation, the head of each group is filled to the tail of the machine, and the tail of the machine in each group is filled to the head of the machine; firstly, opening the 1 st discharging hole 24 in the tail direction of the 1 st group discharging hole 24 for discharging; the 1 st discharging hole 24 is closed after discharging is finished, simultaneously, a tamping mechanism at the rear part of the filling hydraulic support 8.1 where the discharging hole 24 is located is started for tamping, and the 2 nd discharging hole 24 in the tail direction of the machine in the group is opened for discharging; after the 2 nd discharge hole 24 finishes discharging, closing, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support 8.1 where the discharge hole 24 is positioned for tamping, and opening the next discharge hole 24 in the tail direction of the machine in the group for discharging; closing the next discharging hole 24 after discharging is finished, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support 8.1 where the discharging hole 24 is located to tamp until a first round of discharging and tamping operation of the discharging hole 24 of the group is finished, then, carrying out 2 nd round of discharging and tamping on the discharging hole 24 of the group from the tail to the head direction again according to the steps until a set round of discharging and tamping operation is finished, generally needing 2-3 rounds of discharging and tamping, and being adjustable; the unloading and tamping of all the groups are finished by analogy in sequence, then the unloading and tamping are carried out on the front 2 unloading holes 24 which are firstly opened on the machine head side, all the unloading holes 24 are closed after the unloading and tamping are finished, the porous bottom-unloading type conveyor 7 is pulled by a step distance and is moved to the front part of a rear top beam of the filling hydraulic support 8.1, all the filling materials below the porous bottom-unloading type conveyor 7 are pushed to the rear upper part of the filling hydraulic support 8.1 by a tamping mechanism to be abutted and compacted, and the filling and coal mining at the circulation step distance are finished;
secondly, when the coal mining machine 10 mines from the tail of the multi-hole bottom discharge type conveyor 7 to the head direction
The discharge holes 24 of the multi-hole bottom-discharge conveyor 7 are divided into groups along the mining direction, each group comprises 2-4 discharge holes 24, the groups are filled from the tail to the head, and the groups are filled from the tail to the head; firstly, opening the 1 st discharging hole 24 in the tail direction of the 1 st group discharging hole 24 for discharging; the 1 st discharging hole 24 is closed after discharging is finished, simultaneously, a tamping mechanism at the rear part of the filling hydraulic support 8.1 where the discharging hole 24 is located is started for tamping, and the 2 nd discharging hole 24 in the tail direction of the machine in the group is opened for discharging; after the 2 nd discharge hole 24 finishes discharging, closing, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support 8.1 where the discharge hole 24 is positioned for tamping, and opening the next discharge hole 24 in the tail direction of the machine in the group for discharging; closing the next discharging hole 24 after discharging is finished, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support 8.1 where the discharging hole 24 is located to tamp until a first round of discharging and tamping operation of the discharging hole 24 of the group is finished, then, carrying out 2 nd round of discharging and tamping on the discharging hole 24 of the group from the tail to the head direction again according to the steps until a set round of discharging and tamping operation is finished, generally needing 2-3 rounds of discharging and tamping, and being adjustable; the unloading and tamping of all the groups are finished by analogy in sequence, and all the unloading holes 24 are closed; and (3) pulling the porous bottom-dump conveyor 7 by a step pitch, moving the porous bottom-dump conveyor 7 to the front part of the rear top beam of the filling hydraulic support 24, pushing all the filling materials below the porous bottom-dump conveyor 7 to the rear upper part of the filling hydraulic support 8.1 by using a tamping mechanism, and enabling the filling materials to be connected and compacted until the filling coal mining at the circulation step pitch is completed.
The method for judging the completion of the discharging hole 24 comprises the following steps: after the discharge hole 24 is opened, the discharging time is recorded, the discharging height of the filling material is monitored in real time through the blanking height sensor 17, when the discharging time or the discharging height meets a set value, the completion of discharging through the discharge hole 24 is judged, and meanwhile, the discharge hole 24 is closed.
The tamping action of the tamping mechanism is as follows: judging whether the discharge hole 24 is closed or not through the parameters in the discharge hole opening and closing controller 23, and tamping when the judgment result is that the discharge hole is closed; in the tamping process, firstly, automatically adjusting the tamping mechanism to a set tamping angle according to a monitoring result of the tamping angle sensor 18, extending the tamping mechanism for tamping, simultaneously monitoring the tamping force and the telescopic length of the tamping mechanism in real time by using the tamping stroke sensor 18 and the tamping force sensor 19, and retracting the tamping mechanism to the shortest state after the tamping force meets a set value or the tamping mechanism reaches the maximum length, so that the tamping is finished; and then adjusting to the tamping angle required by the next tamping, preparing for the next tamping, and sequentially circulating until the set tamping times are finished.
The basic conditions assumed for an automated filling mining face are: the mining height is 3m, the particle size of the filling material is 0-50 mm, the blanking height is 2.3m, the tamping times are 3 times, the tamping angles are 10 degrees, 20 degrees and 30 degrees respectively, 3 single-group simultaneously-opened discharging holes are formed, and the tamping force is 2 MPa.
Firstly, when the coal mining machine 10 mines from the head of the multi-hole bottom discharge type conveyor 7 to the tail direction
The discharge holes 24 of the multi-hole bottom-discharge conveyor 7 are divided into groups along the mining direction, each group is divided into 3 discharge holes 24, the groups are filled from the machine head to the machine tail, and the groups are filled from the machine tail to the machine head. Firstly, opening the 1 st discharging hole 24 in the tail direction of the 1 st group of discharging holes 24 for discharging; closing the 1 st discharging hole 24 after finishing discharging, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support 8.1 where the discharging hole 24 is positioned for tamping, and opening the 2 nd discharging hole 24 in the tail direction of the machine in the group for discharging; closing the 2 nd discharge hole 24 after the discharge is finished, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support 8.1 where the discharge hole is positioned for tamping, and opening the 3 rd discharge hole 24 in the tail direction in the group for discharging; the 3 rd discharge hole 24 is closed after the completion of the discharge, and simultaneously the tamping mechanism at the rear part of the filling hydraulic support 8.1 where the discharge hole 24 is located is started to complete the tamping, so that the 1 st round of the discharge and tamping of the 1 st group of discharge holes 24 is completed. And then opening the 1 st discharge hole 24 in the tail direction in the 1 st group again, unloading and tamping the 2 nd round of this group according to the above steps, then analogizing in turn to finish unloading and tamping of all groups, then unloading and tamping the first 2 discharge holes 24 opened at the head side first, and closing all discharge holes 24 after finishing.
Secondly, when the coal mining machine 10 mines from the tail of the multi-hole bottom discharge type conveyor 7 to the head direction
The discharge holes 24 of the multi-hole bottom-dump conveyor 7 are divided into groups along the mining direction, each group comprises 3 discharge holes 24, all the groups are filled from the tail to the head, and the groups are filled from the tail to the head. Firstly, opening the 1 st discharging hole 24 in the tail direction of the 1 st group discharging hole 24 for discharging; the 1 st discharging hole 24 is closed after discharging is finished, simultaneously, a tamping mechanism at the rear part of the filling hydraulic support 8.1 where the discharging hole 24 is located is started for tamping, and the 2 nd discharging hole 24 in the tail direction of the machine in the group is opened for discharging; after the 2 nd discharge hole 24 finishes discharging, closing, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support 8.1 where the discharge hole 24 is positioned for tamping, and opening the 3 rd discharge hole 24 in the tail direction of the machine in the group for discharging; the 3 rd discharge hole 24 is closed after the discharge is completed, and simultaneously the tamping mechanism at the rear part of the filling hydraulic support 8.1 of the discharge hole 24 is started for tamping, so that the 1 st round of discharge and tamping of the 1 st group of discharge holes 24 is completed. And then opening the 1 st discharging hole 24 in the tail direction in the 1 st group again, and performing discharging and tamping of the 2 nd round according to the steps, so that 2 times of discharging and tamping operations of the group are completed, and the discharging and tamping of all groups are completed by analogy in turn, and all the discharging holes 24 are closed. And (3) pulling the porous bottom-dump conveyor 7 by a step pitch, moving the porous bottom-dump conveyor 7 to the front part of the rear top beam of the filling hydraulic support 24, pushing all the filling materials below the porous bottom-dump conveyor 7 to the rear upper part of the filling hydraulic support 8.1 by using a tamping mechanism, and enabling the filling materials to be connected and compacted until the filling coal mining at the circulation step pitch is completed.
In this step, the method for judging the completion of the discharging through the discharging hole 24 is as follows: after the discharge hole 24 is opened, the discharge height of the filling material is monitored in real time through the blanking height sensor 17, when the discharge height is 2.3m, the completion of discharging through the discharge hole 24 is judged, and meanwhile, the discharge hole 24 is closed.
In this step, the control method of the tamping action of the tamping mechanism comprises the following steps: whether the discharge hole is closed or not is judged through the parameters in the discharge hole opening and closing controller 23, and tamping is performed when the judgment result is that the discharge hole 24 is closed. In the tamping process, firstly, the tamping angle sensor 18 is used for monitoring and controlling the diagonal draw jack 8.4 to adjust the tamping angle of the tamping jack 8.3 to 10 degrees, then the tamping jack 8.3 is extended and pushes the tamping plate 8.2 to tamp the filling material which is unloaded in the first round, at the moment, the tamping stroke sensor 20 and the tamping force sensor 19 are used for monitoring the tamping force and the length of the tamping jack 8.2 in real time, and when the tamping force reaches the set 2.0MPa or the maximum length of the tamping jack 8.3, the tamping jack 8.3 is retracted to the shortest state, so that the tamping is finished. Then the tamping angle of the tamping jack 8.3 is adjusted to be 20 degrees of the tamping angle for the second time, the tamping for the second time is prepared, and the actions are circulated in sequence until the set tamping for 3 times is completed.
Claims (9)
1. A control method of an automatic filling mining control system comprises the steps of adopting filling material automatic preparation devices, filling material automatic transfer devices, working face automatic filling coal mining devices and coal automatic transfer devices which are arranged on two sides of a mining working face; the automatic filling material preparing device comprises: the crusher and a crusher starting and stopping controller arranged on the crusher are used for automatically crushing the solid filling material after the set particle size grading is completed;
the automatic transfer device of filling material includes: the device comprises a filling material storage bin, a storage bin full sensor, a storage bin blanking controller, a filling material adhesive tape conveyor start-stop controller, a filling material self-moving transfer conveyor and a filling material self-moving transfer conveyor start-stop controller; the filling material storage bin, the filling material belt conveyor and the filling material self-moving transfer conveyor are sequentially overlapped front and back; the storage bin full sensor and the storage bin blanking controller are positioned on the filling material storage bin, and the filling material rubber belt conveyor start-stop controller and the filling material self-moving transfer conveyor start-stop controller are respectively positioned on the filling material rubber belt conveyor and the filling material self-moving transfer conveyor;
the automatic filling coal mining device for the working face comprises a coal mining machine, a scraper conveyor, a filling hydraulic support and a multi-hole bottom-dump conveyor which are arranged on the working face, wherein a coal mining machine starting and stopping controller is arranged on the coal mining machine, a scraper conveyor starting and stopping controller is arranged on the scraper conveyor, the multi-hole bottom-dump conveyor is hung at the rear part of the filling hydraulic support and can move back and forth along the filling hydraulic support, a coal mining machine position receiver is arranged on a front beam of the filling hydraulic support, and a blanking height control sensor is arranged on a rear beam of the filling hydraulic support; the porous bottom-dump conveyor is provided with a porous bottom-dump conveyor start-stop controller; the connection mode of the coal mining machine, the scraper conveyor, the fully mechanized mining equipment and the multi-hole bottom-dump conveyor is the same as that of the traditional solid filling mining working surface;
the coal automatic transfer device comprises a coal carrying transfer machine and a coal carrying rubber belt conveyor connected with the coal carrying transfer machine, wherein the coal carrying transfer machine is provided with a coal carrying transfer machine start-stop controller, the coal carrying transfer machine is arranged at an outlet of the scraper conveyor, and the coal carrying rubber belt conveyor is provided with a coal carrying rubber belt conveyor start-stop controller; the method is characterized in that: various controllers, sensors and receivers are arranged in the comprehensive mechanized solid filling coal mining system, various working parameters of the filling coal mining system are obtained in real time, the working parameters are transmitted to a ground or underground analysis center through underground wireless and wired networks for analysis, the state of a filling coal mining process is obtained, the next action of key filling coal mining operation equipment is determined according to the process state, and action instructions are sent out through the underground wireless and wired networks, so that the automatic control of the whole filling coal mining system is realized; when necessary, the automatic filling coal mining process can be corrected by manual control;
the control method comprises the following specific steps:
the first step is as follows: judging a coal-rock interface by using a coal-rock interface recognition sensor or memorizing cutting data, and automatically adjusting the mining height to mine coal; judging the position and the running direction of the coal mining machine through a coal mining machine position transmitter arranged on the coal mining machine and a coal mining machine position receiver on the filling hydraulic support, and automatically completing the frame moving and the pushing and sliding of the scraper conveyor of the filling hydraulic support according to the recognition result of the position and the running direction of the coal mining machine; transferring coal by a scraper conveyor, a coal-conveying transfer machine and a coal-conveying belt conveyor;
the second step is that: conveying the solid filling material to a crusher for crushing through a filling material belt conveyor, conveying the crushed filling material to a filling material storage bin through the filling material belt conveyor, and conveying the filling material to a porous bottom-discharge conveyor through the filling material belt conveyor and a filling material self-moving transfer conveyor;
the third step: after a scraper conveyor on a working face is straightened, a multi-hole bottom-dumping conveyor arranged on a filling hydraulic support is moved to the rear part of a rear top beam of the support from the front part of the rear top beam of the support, the position and the running direction of a coal mining machine are judged through a coal mining machine position transmitter arranged on the coal mining machine and a coal mining machine position receiver arranged on the filling hydraulic support, and a discharging hole is sequentially and automatically opened to discharge according to the judgment result of the running direction of the coal mining machine, so that the discharging and filling operations are completed.
2. The control method of the automated pack mining control system according to claim 1, characterized in that: in the first step, when the distance between the position of the coal mining machine and the last filling hydraulic support of the moved support is judged to be within a set distance, the set distance is 2-3 widths of the filling hydraulic supports, the automatic support moving operation of the filling hydraulic supports can be flexibly adjusted according to specific conditions, the hydraulic support oil cylinder is controlled through an electro-hydraulic control system, the closing side protection plate → price reduction → moving support → lifting support → pushing and sliding → opening side protection plate of the filling hydraulic supports are realized, and each filling hydraulic support is automatically moved independently or in groups; meanwhile, when the coal mining machine is judged to be within a set distance from the moved filling hydraulic support, the set distance is 20-30 m, the coal mining machine is flexibly adjusted according to specific conditions, and the scraper conveyor at the position corresponding to the filling hydraulic support starts to push and slide; in the step, the start and stop of the scraper conveyor, the coal-carrying transfer conveyor and the coal-carrying belt conveyor are determined according to the start state of the coal mining machine, namely the coal mining machine is started, the scraper conveyor, the coal-carrying transfer conveyor and the coal-carrying belt conveyor are started, otherwise, the operation is stopped.
3. The control method of the automated pack mining control system according to claim 1, characterized in that: in the second step, the solid filling material is conveyed to a crusher for crushing through a filling material belt conveyor, the starting condition that the crushed filling material is conveyed to a filling material storage bin through the filling material belt conveyor is that the storage bin is not full as a result of the monitoring of a storage bin full sensor, otherwise, the operation of the filling material belt conveyor and the crusher before the filling material storage bin is stopped through a start-stop controller; the starting condition that the filling material is conveyed to the porous bottom-dump conveyor through the filling material rubber belt conveyor and the filling material self-moving transfer conveyor is that the porous bottom-dump conveyor has discharge holes which are in an open state, the blanking controller starts the blanking port of the filling material storage bin to perform blanking, otherwise, when all the discharge holes of the porous bottom-dump conveyor are closed, the blanking port of the filling material storage bin is closed through the blanking controller, and the operation of the filling material rubber belt conveyor and the filling material self-moving transfer conveyor between the filling material storage bin and the porous bottom-dump conveyor is stopped through the start-stop controller.
4. The control method of the automated pack mining control system according to claim 1, characterized in that: in the third step, the specific process of completing the discharging and filling operation is as follows:
firstly, when the coal mining machine mines from the head of the multi-hole bottom discharge type conveyor to the tail direction
Firstly, opening 2 discharge holes in the front of a machine head, then grouping the rest unopened discharge holes of the multi-hole bottom-discharge type conveyor along the mining direction, wherein each group comprises 2-4 discharge holes, the number of the holes in each group can be adjusted according to the actual situation, each group is filled from the machine head to the machine tail, and the group is filled from the machine tail to the machine head; firstly, opening a 1 st discharging hole in the tail direction of the 1 st group discharging hole to discharge; closing the 1 st discharging hole after the discharging is finished, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support where the discharging hole is positioned for tamping, and opening the 2 nd discharging hole in the tail direction of the machine in the group for discharging; closing the 2 nd discharging hole after the discharging is finished, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support where the discharging hole is positioned for tamping, and opening the next discharging hole in the tail direction of the machine in the group for discharging; closing the next discharging hole after discharging is finished, simultaneously starting a tamping mechanism at the rear part of a filling hydraulic support where the discharging hole is located for tamping until a first round of discharging and tamping operation of the group of discharging holes is finished, then, carrying out discharging and tamping for the 2 nd round from the tail to the machine head direction again according to the steps until a set round of discharging and tamping operation is finished, wherein 2-3 rounds of discharging and tamping are needed, and the round is adjustable; sequentially analogizing to finish all the grouped discharging and tamping, then discharging and tamping the front 2 discharging holes which are firstly opened on the machine head side, closing all the discharging holes after finishing, pulling the porous bottom-discharge type conveyor by a step distance to the front part of a rear top beam of the filling hydraulic support, pushing all the filling materials below the porous bottom-discharge type conveyor to the rear upper part of the filling hydraulic support by using a tamping mechanism, and enabling the filling materials to be connected with the top and compacted until the filling coal mining at the circulation step distance is finished;
secondly, when the coal mining machine mines from the tail of the multi-hole bottom-dump conveyor to the head
The discharge holes of the multi-hole bottom-dump conveyor are divided into groups along the mining direction, each group comprises 2-4 discharge holes, the discharge holes are filled from the tail to the head of the group, and the discharge holes are filled from the tail to the head of the group; firstly, opening a 1 st discharging hole in the tail direction of the 1 st group discharging hole to discharge; closing the 1 st discharging hole after the discharging is finished, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support where the discharging hole is positioned for tamping, and opening the 2 nd discharging hole in the tail direction of the machine in the group for discharging; closing the 2 nd discharging hole after the discharging is finished, simultaneously starting a tamping mechanism at the rear part of the filling hydraulic support where the discharging hole is positioned for tamping, and opening the next discharging hole in the tail direction of the machine in the group for discharging; closing the next discharging hole after discharging is finished, simultaneously starting a tamping mechanism at the rear part of a filling hydraulic support where the discharging hole is located for tamping until a first round of discharging and tamping operation of the group of discharging holes is finished, then, carrying out discharging and tamping for the 2 nd round from the tail to the machine head direction again according to the steps until a set round of discharging and tamping operation is finished, wherein 2-3 rounds of discharging and tamping are needed, and the round is adjustable; the unloading and tamping of all the groups are finished by analogy in sequence, and all the unloading holes are closed; and pulling the porous bottom-discharge conveyor by a step pitch, moving the porous bottom-discharge conveyor to the front part of a rear top beam of the filling hydraulic support, pushing all the filling materials below the porous bottom-discharge conveyor to the rear upper part of the filling hydraulic support by using a tamping mechanism, and enabling the filling materials to be connected with the top and compacted until the filling and coal mining of the circulating step pitch is completed.
5. The control method of the automated pack mining control system according to claim 4, wherein: the method for judging the completion of discharging through the discharging hole comprises the following steps: after the discharge hole is opened, the discharging time is recorded, the discharging height of the filling material is monitored in real time through the blanking height sensor, when the discharging time or the discharging height meets a set value, the completion of discharging of the discharge hole is judged, and meanwhile, the discharge hole is closed.
6. The control method of the automated pack mining control system according to claim 4, wherein: the tamping action of the tamping mechanism is as follows: judging whether the discharge hole is closed or not according to the parameters of the discharge hole opening and closing controller, and tamping when the judgment result is that the discharge hole is closed; in the tamping process, firstly, automatically adjusting the tamping mechanism to a set tamping angle according to a monitoring result of a tamping angle sensor, extending the tamping mechanism for tamping, simultaneously monitoring tamping force and the telescopic length of the tamping mechanism in real time by utilizing a tamping stroke sensor and a tamping force sensor, and retracting the tamping mechanism to the shortest state after the tamping force meets a set value or the tamping mechanism reaches the maximum length until the tamping is finished; and then adjusting to the tamping angle required by the next tamping, preparing for the next tamping, and sequentially circulating until the set tamping times are finished.
7. The control method of an automated fill production control system of claim 6, wherein: the discharge hole opening and closing controller is arranged at the discharge hole of the multi-hole bottom discharge type conveyor and is provided with a discharge hole opening and closing controller.
8. The control method of an automated fill production control system of claim 6, wherein: the tamping force sensor is arranged on the tamping plate, and the tamping angle sensor is arranged on the cylinder body of the tamping jack.
9. The control method of an automated fill production control system of claim 1, wherein: the coal rock interface recognition sensor is arranged on a coal mining arm of a coal mining machine.
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| CN103216261B (en) * | 2012-01-21 | 2015-10-28 | 飞翼股份有限公司 | Three times Mining automation filling systems |
| CN103266914B (en) * | 2013-06-07 | 2016-03-23 | 冀中能源集团有限责任公司 | Solid filling coal mining automation control system |
| CN103939139B (en) * | 2014-04-25 | 2016-01-06 | 中国矿业大学 | A kind of colliery solid filling coal-face coordinative composition of equipments method |
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