CN112901254A - Intelligent equipment train system used in underground coal mine - Google Patents
Intelligent equipment train system used in underground coal mine Download PDFInfo
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- CN112901254A CN112901254A CN202110246621.8A CN202110246621A CN112901254A CN 112901254 A CN112901254 A CN 112901254A CN 202110246621 A CN202110246621 A CN 202110246621A CN 112901254 A CN112901254 A CN 112901254A
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- 239000003245 coal Substances 0.000 title claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims abstract description 8
- 238000007689 inspection Methods 0.000 claims description 18
- 238000012544 monitoring process Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 12
- 239000000428 dust Substances 0.000 claims description 11
- 239000012530 fluid Substances 0.000 claims description 11
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims description 9
- 229910002091 carbon monoxide Inorganic materials 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 7
- 239000002775 capsule Substances 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 4
- 239000013589 supplement Substances 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 2
- 239000012224 working solution Substances 0.000 claims 1
- 230000008602 contraction Effects 0.000 description 2
- 230000004083 survival effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/006—Equipment transport systems
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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
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an intelligent equipment train system used in a coal mine, which comprises a supporting device, a train body, a hydraulic loop and an electro-hydraulic control system, wherein the electro-hydraulic control system comprises a controller, a plurality of inclination sensors, a plurality of displacement sensors and two laser range finders, and the controller controls the on-off of each passage of an electro-hydraulic reversing valve; the inclination angle sensor is used for acquiring inclination angle information of each position and transmitting the inclination angle information to the controller; the displacement sensor is used for acquiring the stroke information of the supporting jack and the deviation adjusting jack and transmitting the stroke information to the controller; the two laser range finders are used for collecting distance information from the base to the roadway wall and transmitting the distance information to the controller, and the controller controls the offset adjusting jack to adjust the offset according to the difference value of the distance information measured by the two laser range finders. The intelligent equipment train system for the underground coal mine has the advantages of scientific design, high intelligent degree, time saving and labor saving, and can automatically adjust the advancing direction.
Description
Technical Field
The invention relates to coal mine equipment, in particular to an intelligent equipment train system used in a coal mine.
Background
The underground equipment train for coal mine is a device which is used for loading power supply, liquid supply, centralized control and other equipment of hydraulic supports, coal mining machines, transport machines and other devices and moves forward along with the propulsion of a working face. The trackless equipment train is provided with a prop mechanism at the head, the prop mechanism and a train body are connected through a pushing jack, the trackless equipment train advances by utilizing a stepping self-moving principle, and compared with a rail type equipment train, the trackless equipment train has the advantages of simple moving steps, low labor intensity and the like.
In order to solve the above problems, people are always seeking an ideal technical solution.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an intelligent equipment train system for the underground coal mine, which has the advantages of scientific design, automatic adjustment of the advancing direction, high intelligent degree, time saving and labor saving.
In order to achieve the purpose, the invention adopts the technical scheme that: an intelligent equipment train system used in underground coal mine comprises a supporting device, a train body, a hydraulic loop and an electro-hydraulic control system, the supporting device comprises a base, an prop upright post, a supporting jack and an offset adjusting jack arranged on the base, the train body comprises a driving carriage and a plurality of sections of flat cars, the bottom of the driving carriage is provided with a bottom lifting jack, a pushing jack is arranged between the driving carriage and the supporting device, an electro-hydraulic reversing valve is arranged on the hydraulic loop, the hydraulic loop respectively provides working fluid for the prop stand column, the supporting jack, the deviation adjusting jack, the bottom lifting jack and the pushing jack through the electro-hydraulic reversing valve, the electro-hydraulic control system comprises a controller, a plurality of inclination angle sensors, a plurality of displacement sensors and two laser range finders, wherein the controller controls the on-off of each passage of the electro-hydraulic reversing valve; the inclination angle sensors are respectively arranged on the base, the prop-top upright post and the train body and are used for acquiring inclination angle information of each position and transmitting the inclination angle information to the controller, and the controller judges the running attitude of the train according to the inclination angle information of each position; the displacement sensors are respectively arranged on the supporting jack and the deviation adjusting jack and are used for acquiring the stroke information of the supporting jack and the deviation adjusting jack and transmitting the stroke information to the controller; the two laser range finders are transversely arranged at the front part and the rear part of the base and are used for collecting distance information from the base to the roadway wall and transmitting the distance information to the controller, and the controller controls the offset of the offset jack according to the difference value of the distance information measured by the two laser range finders.
Based on the above, the electro-hydraulic control system further comprises a pressure sensor arranged in the lower cavity of the peak post, the pressure sensor collects pressure information of the lower cavity of the peak post and transmits the pressure information to the controller, and the controller controls whether to supplement pressure to the lower cavity of the peak post according to the pressure information.
Based on the above, the hydraulic circuit is provided with an electro-hydraulic double-speed buffer valve, and the controller controls the flow rate of the working fluid in the hydraulic circuit through the electro-hydraulic double-speed buffer valve.
Based on the above, the intelligent control system further comprises an intelligent control system, wherein the intelligent control system comprises a voice communication system, a video monitoring system, a limit management system, an intelligent cruise system, a mine environment monitoring system, an underground centralized control center and a ground server.
Based on the above, the voice communication system comprises a communication line arranged in a roadway and a line phone; the video monitoring system comprises a cloud deck camera, a video switch and a ground display terminal, wherein the cloud deck camera is installed on the multiple sections of the flat cars and transmits video pictures to the ground display terminal; the system comprises a plurality of personnel positioning cards, an access control device and a face recognition device, wherein the access control device and the face recognition device are arranged on the driving carriage and the flat car; the intelligent inspection system comprises an inspection track arranged at the top of the train body and an inspection robot running on the inspection track, wherein the inspection robot is provided with a camera and a voice telephone; mine environmental monitoring system is including setting up gas consistency transmitter, air velocity transducer, dust consistency transmitter, temperature sensor and carbon monoxide sensor on patrolling and examining the robot, the controller receives respectively the gas consistency information that gas consistency transmitter gathered, the wind velocity information in the tunnel that air velocity transducer gathered dust consistency transmitter gathered dust consistency information the ambient temperature information that temperature sensor gathered with the carbon monoxide consistency transmitter gathers.
Based on the above, the flat car at the tail end is provided with the material storage and management bin and the vehicle-mounted rescue capsule.
Based on the above, the intelligent control system further comprises an underground looped network, the electro-hydraulic control system and the intelligent control system are merged into the underground centralized control center and the ground server through the underground looped network, and the controller receives propulsion information of other working face equipment through the underground looped network so as to control the cooperative propulsion of equipment trains.
Based on the above, the emergency stop system further comprises a remote controller, wherein the remote controller is provided with an emergency stop button corresponding to the controller.
Compared with the prior art, the invention has outstanding substantive characteristics and remarkable progress, and particularly, the invention can measure the distance from two ends of the base to the side wall of the roadway through the two laser range finders arranged at the front part and the rear part of the base so as to judge whether the advancing direction of the supporting device can be matched with the direction of the roadway, so that the controller can control the deviation adjusting jack to adjust the deviation in time, thereby realizing the intelligent adjustment of the advancing direction of the equipment train.
Furthermore, the pressure sensor can monitor the pressure of the lower cavity of the prop stand column, and can supplement pressure in time when the pressure is insufficient, so that the safety is ensured; because the oil liquid in the hydraulic loop is controlled to have time delay, the controller controls the telescopic precision of each jack to be not high, and the arrangement of the electro-hydraulic double-speed buffer valve can provide small-flow working fluid at the starting stage of the jack, large-flow working fluid at the middle stage and small-flow working fluid at the stopping stage, so that the telescopic speed of the jack cannot be excessively reduced, the small flow can reduce the influence of time delay, and the control precision is greatly improved.
Furthermore, the voice communication system is arranged, so that underground communication can be facilitated, and the accident rate is reduced; the video monitoring system is arranged, so that a worker can conveniently and remotely observe the conditions around the equipment train, and problems and dangers can be found in time; the limit management system is convenient for managing workers, ensures that professional equipment is operated by a special person, and improves the safety under mines; the intelligent inspection system can continuously inspect the equipment train around, and the mine environment monitoring system can monitor the underground gas concentration, the air speed, the dust concentration, the temperature and the carbon monoxide concentration in real time, so that the danger can be found in time; the material storage and management bin is convenient for storing emergency materials, common tools and easily damaged spare parts, and the vehicle-mounted rescue capsule is convenient for workers to take refuge temporarily when danger occurs.
Furthermore, the electro-hydraulic control system and the intelligent control system are merged into the underground centralized control center and the ground server through the underground looped network, can be connected with other working face equipment, and are convenient to receive position information of other equipment, so that the equipment list and the working face equipment are cooperatively promoted; the emergency stop button on the remote controller is convenient for controlling the equipment train to stop in time when danger is found.
Drawings
Fig. 1 is a schematic diagram of the structure of an equipment train.
In the figure: 1. a base; 2. prop up the upright post; 3. supporting the jack; 4. a train body; 5. driving the carriage; 6. a flat car.
Detailed Description
The technical solution of the present invention is further described in detail by the following embodiments.
As shown in figure 1, the intelligent equipment train system used in the underground coal mine comprises a supporting device, a train body 4 and a hydraulic circuit, wherein the supporting device comprises a base 1, a supporting column 2, a supporting jack 3 and a deviation adjusting jack arranged on the base 1, the supporting column 2 and the supporting jack 3 form a triangular structure and are used for supporting the top of a roadway, and the deviation adjusting jack is used for adjusting the angle of the base 1; the train body 4 comprises a driving carriage 5 and a multi-section flat car 6, a bottom lifting jack is arranged at the bottom of the driving carriage 5, a pushing jack is arranged between the driving carriage 5 and the supporting device, and the equipment train advances in a stepping mode through the alternative support of the supporting device and the train body 4 and the extension and contraction of the pushing jack; an electro-hydraulic reversing valve is arranged on the hydraulic loop, and the hydraulic loop respectively provides working fluid for the prop stand column 2, the supporting jack 3, the deviation adjusting jack, the bottom lifting jack and the pushing jack through the electro-hydraulic reversing valve; the above-described apparatus is a common apparatus in the art and does not require creative efforts.
In order to realize intelligent control, an electro-hydraulic control system is arranged on the equipment train and comprises a controller, a plurality of inclination angle sensors, a plurality of displacement sensors and two laser range finders, the specific model of the controller can adopt ZE0704, and the controller controls the on-off of each passage of the electro-hydraulic reversing valve; the inclination angle sensors are respectively arranged on the base 1, the prop-top upright post and the train body 4 of the prop 2 and are used for acquiring inclination angle information of each position and transmitting the inclination angle information to the controller, and the controller judges the running posture of the equipment train according to the inclination angle information of each position, so that whether the equipment train has the risk of falling or not is judged, and whether the equipment train is suitable for being continuously propelled or not is judged; the displacement sensors are respectively arranged on the supporting jack 3 and the deviation adjusting jack and are used for acquiring the stroke information of the supporting jack 3 and the deviation adjusting jack and transmitting the stroke information to the controller so as to control the telescopic beam; the two laser range finders are transversely arranged at the front part and the rear part of the base 1 and are used for collecting distance information from the base 1 to a roadway wall and transmitting the distance information to the controller, the controller can calculate the amount to be adjusted according to the difference value of the distance information measured by the two laser range finders and control the offset of the offset jack, so that the advancing direction can be the same as the roadway direction.
In order to ensure the supporting strength, the electro-hydraulic control system further comprises a pressure sensor arranged in the lower cavity of the prop stand column 2, the pressure sensor collects pressure information of the lower cavity of the prop stand column 2 and transmits the pressure information to the controller, and the controller controls whether to supplement pressure to the lower cavity of the prop stand column 2 according to the pressure information so as to avoid danger.
In order to improve the control precision, an electro-hydraulic double-speed buffer valve is arranged on the hydraulic circuit, and the controller controls the flow of working fluid in the hydraulic circuit through the electro-hydraulic double-speed buffer valve; when the jack is used, the small-flow working fluid can be provided at the starting stage of the jack, the large-flow working fluid can be provided at the intermediate stage, and the small-flow working fluid can be provided at the stopping stage, so that the expansion and contraction speed of the jack can not be excessively reduced, the influence of time delay can be reduced due to the small flow, and the control precision is greatly improved.
In order to further ensure the safety under the mine, the intelligent equipment train system also comprises an intelligent control system, wherein the intelligent control system comprises a voice communication system, a video monitoring system, a limit management system, an intelligent cruise system, a mine environment monitoring system, an underground centralized control center and a ground server.
The voice communication system comprises a communication line arranged in a roadway and telephones along the line, so that underground communication is facilitated, and the accident rate is reduced.
Video monitoring system includes cloud platform appearance, video switch and ground display terminal of making a video recording, the cloud platform appearance of making a video recording is installed in the multisection on the flatbed, the cloud platform appearance of making a video recording conveys the video picture ground display terminal makes things convenient for the long-range peripheral condition of observation device train of staff, in time discovers problem and danger.
The limiting person management system comprises a plurality of personnel positioning cards, an access control device and a face recognition device, wherein the access control device and the face recognition device are arranged on the driving carriage and the flat car, workers are conveniently managed, professional equipment is guaranteed to be operated by a special person, and the safety under a mine is improved.
The intelligent inspection system comprises an inspection track arranged at the top of the train body and an inspection robot running on the inspection track, wherein the inspection robot is provided with a camera and a voice telephone; the mine environment monitoring system comprises a gas concentration sensor, an air speed sensor, a dust concentration sensor, a temperature sensor and a carbon monoxide sensor which are arranged on the inspection robot, and the controller is used for respectively receiving gas concentration information acquired by the gas concentration sensor, air speed information in a tunnel acquired by the air speed sensor, dust concentration information acquired by the dust concentration sensor, environment temperature information acquired by the temperature sensor and carbon monoxide concentration information acquired by the carbon monoxide sensor; the inspection robot can continuously inspect around the equipment train, and the mine environment monitoring system can monitor the underground gas concentration, the wind speed, the dust concentration, the temperature and the carbon monoxide concentration in real time, so that danger can be found in time.
Be located and be provided with material storage management storehouse and on-vehicle survival capsule on the flatbed of tail end, material storage management storehouse is convenient for deposit emergent material, common tool and vulnerable spare parts, on-vehicle survival capsule is convenient for when taking place danger, and the staff takes refuge temporarily.
In order to realize the cooperative propulsion of the working face equipment, the equipment train system also comprises an underground looped network, the electro-hydraulic control system and the intelligent control system are merged into the underground centralized control center and the ground server through the underground looped network and can be connected with other working face equipment, and the controller receives the propulsion information of other working face equipment through the underground looped network so as to control the cooperative propulsion of the equipment train.
In order to timely shut down the equipment train when danger occurs, the equipment train further comprises a remote controller, and the remote controller is provided with an emergency stop button corresponding to the controller.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides a smart machine train system for colliery is pit, includes props top device, train body and hydraulic circuit, prop the top device and include base, prop top stand, support jack and set up the tuningout jack on the base, the train body is including drive carriage and multisection flatbed, drive carriage bottom is provided with lifts end jack, drive carriage with prop and be provided with the advancing jack between the top device, be provided with the electricity liquid switching-over valve on the hydraulic circuit, the hydraulic circuit passes through the electricity liquid switching-over valve be respectively prop top stand in the opposite directions, support the jack, tuningout jack, lift end jack and advancing jack provides the working solution, its characterized in that: the electro-hydraulic control system comprises a controller, a plurality of inclination angle sensors, a plurality of displacement sensors and two laser range finders, wherein the controller controls the on-off of each passage of the electro-hydraulic reversing valve; the inclination angle sensors are respectively arranged on the base, the prop-top upright post and the train body and are used for acquiring inclination angle information of each position and transmitting the inclination angle information to the controller, and the controller judges the running attitude of the train according to the inclination angle information of each position; the displacement sensors are respectively arranged on the supporting jack and the deviation adjusting jack and are used for acquiring the stroke information of the supporting jack and the deviation adjusting jack and transmitting the stroke information to the controller; the two laser range finders are transversely arranged at the front part and the rear part of the base and are used for collecting distance information from the base to the roadway wall and transmitting the distance information to the controller, and the controller controls the offset of the offset jack according to the difference value of the distance information measured by the two laser range finders.
2. The intelligent equipment train system for coal mine underground according to claim 1, characterized in that: the electro-hydraulic control system further comprises a pressure sensor arranged in the lower cavity of the peak post, the pressure sensor collects pressure information of the lower cavity of the peak post and transmits the pressure information to the controller, and the controller controls whether to supplement pressure to the lower cavity of the peak post according to the pressure information.
3. The intelligent equipment train system for coal mine underground according to claim 2, characterized in that: an electro-hydraulic double-speed buffer valve is arranged on the hydraulic circuit, and the controller controls the flow of working fluid in the hydraulic circuit through the electro-hydraulic double-speed buffer valve.
4. The intelligent equipment train system used for the underground coal mine according to any one of claims 1 to 3, which is characterized in that: the intelligent control system comprises a voice communication system, a video monitoring system, a limiter management system, an intelligent cruise system, a mine environment monitoring system, an underground centralized control center and a ground server.
5. The intelligent equipment train system for coal mine underground according to claim 4, wherein: the voice communication system comprises a communication line arranged in a roadway and a line telephone;
the video monitoring system comprises a cloud deck camera, a video switch and a ground display terminal, wherein the cloud deck camera is installed on the multiple sections of the flat cars and transmits video pictures to the ground display terminal;
the system comprises a plurality of personnel positioning cards, an access control device and a face recognition device, wherein the access control device and the face recognition device are arranged on the driving carriage and the flat car;
the intelligent inspection system comprises an inspection track arranged at the top of the train body and an inspection robot running on the inspection track, wherein the inspection robot is provided with a camera and a voice telephone;
mine environmental monitoring system is including setting up gas consistency transmitter, air velocity transducer, dust consistency transmitter, temperature sensor and carbon monoxide sensor on patrolling and examining the robot, the controller receives respectively the gas consistency information that gas consistency transmitter gathered, the wind velocity information in the tunnel that air velocity transducer gathered dust consistency transmitter gathered dust consistency information the ambient temperature information that temperature sensor gathered with the carbon monoxide consistency transmitter gathers.
6. The intelligent equipment train system for coal mine underground according to claim 5, wherein: and a material storage and management bin and a vehicle-mounted rescue capsule are arranged on the flat car positioned at the tail end.
7. The intelligent equipment train system used for the underground coal mine according to claim 5 or 6, wherein: the intelligent control system comprises an underground ring network, the electric-hydraulic control system and the intelligent control system are merged into the underground centralized control center and the ground server through the underground ring network, and the controller receives propulsion information of other working face equipment through the underground ring network so as to control the cooperative propulsion of equipment trains.
8. The intelligent equipment train system for coal mine underground according to claim 7, wherein: the emergency stop device is characterized by further comprising a remote controller, wherein the remote controller is provided with an emergency stop button corresponding to the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110246621.8A CN112901254A (en) | 2021-03-05 | 2021-03-05 | Intelligent equipment train system used in underground coal mine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110246621.8A CN112901254A (en) | 2021-03-05 | 2021-03-05 | Intelligent equipment train system used in underground coal mine |
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| Publication Number | Publication Date |
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| CN112901254A true CN112901254A (en) | 2021-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110246621.8A Pending CN112901254A (en) | 2021-03-05 | 2021-03-05 | Intelligent equipment train system used in underground coal mine |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5098065A (en) * | 1987-12-22 | 1992-03-24 | Aldo Beletich | Mine extraction device and method |
| CN104791004A (en) * | 2015-04-16 | 2015-07-22 | 中国煤炭科工集团太原研究院有限公司 | Mining automatically-moving equipment train capable of stepping forward along roadway |
| CN106050299A (en) * | 2016-05-13 | 2016-10-26 | 北京煤科天玛自动化科技有限公司 | Control system of underground coal mine walking type equipment train |
| CN107313801A (en) * | 2017-08-23 | 2017-11-03 | 合肥中盈信息工程有限公司 | Formula robot system is protected in a kind of self-regulation for underground inspection |
| CN107571876A (en) * | 2017-05-23 | 2018-01-12 | 北京天地玛珂电液控制系统有限公司 | A kind of colliery downhole equipment train intelligent control system |
| CN109866235A (en) * | 2019-04-02 | 2019-06-11 | 安徽延达智能科技有限公司 | A kind of crusing robot applying to underground coal mine |
| CN110566280A (en) * | 2019-10-14 | 2019-12-13 | 合肥学院 | Mining multi-parameter mobile inspection device and detection method |
| CN110758419A (en) * | 2019-09-27 | 2020-02-07 | 山东中衡光电科技有限公司 | Self-moving anchoring device of mining equipment train |
-
2021
- 2021-03-05 CN CN202110246621.8A patent/CN112901254A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5098065A (en) * | 1987-12-22 | 1992-03-24 | Aldo Beletich | Mine extraction device and method |
| CN104791004A (en) * | 2015-04-16 | 2015-07-22 | 中国煤炭科工集团太原研究院有限公司 | Mining automatically-moving equipment train capable of stepping forward along roadway |
| CN106050299A (en) * | 2016-05-13 | 2016-10-26 | 北京煤科天玛自动化科技有限公司 | Control system of underground coal mine walking type equipment train |
| CN107571876A (en) * | 2017-05-23 | 2018-01-12 | 北京天地玛珂电液控制系统有限公司 | A kind of colliery downhole equipment train intelligent control system |
| CN107313801A (en) * | 2017-08-23 | 2017-11-03 | 合肥中盈信息工程有限公司 | Formula robot system is protected in a kind of self-regulation for underground inspection |
| CN109866235A (en) * | 2019-04-02 | 2019-06-11 | 安徽延达智能科技有限公司 | A kind of crusing robot applying to underground coal mine |
| CN110758419A (en) * | 2019-09-27 | 2020-02-07 | 山东中衡光电科技有限公司 | Self-moving anchoring device of mining equipment train |
| CN110566280A (en) * | 2019-10-14 | 2019-12-13 | 合肥学院 | Mining multi-parameter mobile inspection device and detection method |
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