CN113803065A - Full-section shovel plate of development machine based on scraper chain transportation - Google Patents
Full-section shovel plate of development machine based on scraper chain transportation Download PDFInfo
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- CN113803065A CN113803065A CN202110988941.0A CN202110988941A CN113803065A CN 113803065 A CN113803065 A CN 113803065A CN 202110988941 A CN202110988941 A CN 202110988941A CN 113803065 A CN113803065 A CN 113803065A
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- shovel plate
- plate body
- chain
- scraper
- full
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- 238000011161 development Methods 0.000 title abstract description 9
- 230000005641 tunneling Effects 0.000 claims description 15
- 239000003245 coal Substances 0.000 claims description 12
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 206010066054 Dysmorphism Diseases 0.000 claims 3
- 239000000463 material Substances 0.000 abstract description 25
- 210000000078 claw Anatomy 0.000 description 11
- 230000009194 climbing Effects 0.000 description 5
- 239000011435 rock Substances 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 239000011149 active material Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004519 manufacturing process 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
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
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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)
- Environmental & Geological Engineering (AREA)
- Mechanical Engineering (AREA)
- Shovels (AREA)
Abstract
The invention relates to the technical field of shovel plates of development machines, in particular to a full-section shovel plate of a development machine based on scraper chain transportation. Including the main shovel plate body, main shovel plate body front side sets up the turnabout drum, main shovel plate body both sides are fixed with left vice shovel plate body and right vice shovel plate body through the connecting bolt symmetry, left side vice shovel plate body and right vice shovel plate body front side are provided with about scraper chain subassembly respectively, left side vice shovel plate body and right vice shovel plate body rear side are provided with hydraulic pressure plunger motor respectively, hydraulic pressure plunger motor passes through drive sprocket and controls the one end cooperation of scraper chain subassembly and be connected, control the other end of scraper chain subassembly through the turnabout drum. The full-section shovel plate material receiving dead zone can be eliminated, and the problem of material scattering of the full-section shovel plate is avoided.
Description
Technical Field
The invention relates to the technical field of shovel plates of development machines, in particular to a full-section shovel plate of a development machine based on scraper chain transportation.
Background
During the tunneling process of the tunneling machine, the tunneling machine cuts by means of the cutting part, cut coal or rock falls into a roadway, a shovel plate of the tunneling machine collects and transports the coal or rock in the roadway to a scraper conveyor, and the scraper conveyor transports materials to a belt transfer conveyor at the rear part of the tunneling machine to be transported out. Traditional cantilever type entry driving machine shovel board mainly adopts the mode that hydraulic motor drive climbed the claw to receive the material, and the receipts material scope of shovel board depends on climbing the claw diameter, climbs the claw diameter big more, and the scope of receiving the material is also big more, but also can cause not only the width widen of shovel board simultaneously, and length also increases. Because the cutting part of the cantilever type heading machine can swing up and down, left and right when the cutting part works, when the length of the shovel plate is increased, the front part of the shovel plate interferes with the cutting part, and equipment is damaged. Due to the limitation of the structure, the width of the shovel plate of the cantilever type excavator generally exceeds the machine body, and the shovel plate cannot meet the requirement of the same width as a roadway, so that the excavator cannot complete one-time coal discharging on coal in the roadway in the coal discharging process, an operator needs to transfer the machine to clean the coal of two sides in the narrow roadway, the machine body collides with the two sides when equipment is frequently transferred on site, the machine body or a wind and water pipeline is damaged, and in addition, the tunneling efficiency is also reduced by frequently transferring the equipment.
The invention relates to a full-section shovel plate of a tunneling machine based on scraper chain transportation, which changes the coal charging mode of the shovel plate of the traditional tunneling machine, can effectively solve the problem that the length of the shovel plate is not increased on the premise of increasing the width of the shovel plate, and achieves the function of one-time discharging.
The invention patent with the publication number of CN201920550912.4 discloses a full-section telescopic shovel plate, a continuous mining machine loading mechanism comprising the full-section telescopic shovel plate and a heading machine. However, the diameter of the climbing claw is not changed, although the material receiving area is increased, the climbing claw cannot actively pull materials, two dead areas exist on two sides of the shovel plate, materials are scattered behind the shovel plate when the stacking height exceeds the material blocking plate along with the accumulation of the materials, the material scattering area is large, manual cleaning is needed, and the labor intensity of workers is increased.
The invention patent with the publication number of CN21063708U discloses a shovel plate of a heading machine, which is characterized in that a chain is arranged on the upper surface of the shovel plate, a triangular scraper blade is arranged on the outer side of the chain, and the triangular scraper blade is driven by a driving device to rotate on the surface of the shovel plate for material collection. The motion trail of the triangular scraper on the surface of the shovel plate is elliptical, the working principle is similar to that of a circular climbing claw of a traditional heading machine, dead zones are still formed on two sides of the shovel plate, and therefore full-face material cleaning cannot be achieved.
Disclosure of Invention
The invention provides a full-face shovel plate of a heading machine based on scraper chain transportation, which aims to eliminate the dead receiving area of the full-face shovel plate and avoid the problem of scattering of the full-face shovel plate.
The invention adopts the following technical scheme: the utility model provides a full section shovel board of entry driving machine based on scrape chain transportation which characterized in that: including the main shovel plate body, main shovel plate body front side sets up the turnabout drum, main shovel plate body both sides are fixed with left vice shovel plate body and right vice shovel plate body through the connecting bolt symmetry, left side vice shovel plate body and right vice shovel plate body front side are provided with about scraper chain subassembly respectively, left side vice shovel plate body and right vice shovel plate body rear side are provided with hydraulic pressure plunger motor respectively, hydraulic pressure plunger motor passes through drive sprocket and controls the one end cooperation of scraper chain subassembly and be connected, control the other end of scraper chain subassembly through the turnabout drum.
Further, control and scrape board chain subassembly and include rectangle scraper blade, ring even subassembly and special-shaped go-between, ring chain subassembly about along vice shovel plate body upper and lower marginal parallel arrangement have two sets ofly, be connected with a plurality of rectangle scraper blades between two sets of ring chain subassemblies, ring chain subassembly constitute by many rings even interconnect, every n rings even a intermediate junction has a set of special-shaped go-between, special-shaped go-between is connected through the bolt with the rectangle scraper blade.
Furthermore, the special-shaped connecting ring comprises a connecting part, a ring part and sawteeth, the ring part is provided with an opening, the connecting parts are symmetrically arranged at two feet of the opening, the connecting part is provided with a bolt hole, the connecting part is connected with the rectangular scraper blade through a bolt, and the ring part is connected with the circular chain; the sawtooth sets up in the ring portion outside, clears up the coal petrography in the chain way in the motion process, prevents the card chain.
Furthermore, wear-resisting plates are arranged on the upper surfaces of the left auxiliary shovel plate body and the right auxiliary shovel plate body.
Furthermore, chain derailers are arranged on one sides, close to the main shovel plate body, of the left auxiliary shovel plate body and the right auxiliary shovel plate body.
Compared with the prior art, the invention has the following beneficial effects:
1. the creeping claws are eliminated, two sections of scraper chain assemblies are arranged on the upper surface of the shovel plate of the tunneling machine and are directly driven by a hydraulic plunger motor to respectively move towards the main shovel plate body through a turnabout drum, the movement track of the scraper chain is a straight line parallel to the upper surface of the shovel plate, and a material receiving dead zone of the shovel plate of the tunneling machine can be eliminated (the creeping claws are adopted for the shovel plate of the common tunneling machine, the active material receiving zone is circular or elliptical, the dead zone is the zone between the material receiving zone and the surrounding plate of the shovel plate, active material receiving cannot be carried out, the material receiving zone of the scraper chain is rectangular, the material receiving zone can cover the upper surface of the shovel plate of the tunneling machine and the dead zone which cannot be formed with the surrounding plate).
2. Under the condition of the same shovel plate area, the chain transmission mode is adopted to increase the material receiving area and increase the loading capacity of the shovel plate of the development machine.
3. The scraper chain transmission direction is to the main shovel plate body middle part groove by shovel board both sides, and middle part groove scraper chain is to the movement of entry driving machine rear, avoids climbing claw circular motion and takes part not the ejection of compact back to shovel board receipts material area, improves entry driving machine shovel board and receives material efficiency.
4. The full-section material receiving requirements of the roadways with different widths can be met by replacing the auxiliary shovel plate and increasing the length of the scraper chain, the interchangeability of the shovel plate of the heading machine and the applicability of the heading machine are improved, and the research, development and use costs are reduced.
5. The sawtooth on one side of the special-shaped connecting ring can damage coal (rock) mud, so that frequent chain clamping of a shovel plate of the development machine in the material conveying process is avoided, the failure rate is low, and the production efficiency is improved.
Drawings
FIG. 1 is a front view of a full face blade of a scraper chain haulage roadheader;
FIG. 2 is a view of a flight chain assembly;
FIG. 3 is a view of a shaped attachment ring;
wherein, 1-hydraulic plunger motor; 2-a drive sprocket; 3-left auxiliary shovel plate body; 4-a scraper chain assembly; 5-a direction-changing drum; 6-main shovel plate body; 7-right auxiliary shovel plate body; 8-a wear plate; 9-connecting bolts; 10-a chain remover; 11-a direction-changing drum; 12-a rectangular squeegee; 13-a circular link assembly; 14-a shaped connecting ring; 15-a connecting part; 16-a ring portion; 17-serration.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the embodiment provides a full-section shovel plate of a heading machine based on scraper chain transportation, which includes a hydraulic plunger motor 1, a driving sprocket 2, a left auxiliary shovel plate body 3, a scraper chain assembly 4, a bend pulley 5, a main shovel plate body 6, a right auxiliary shovel plate body 7, a wear-resisting plate 8, a connecting bolt 9, a chain release device 10, and a bend pulley 11; a turnabout drum 11 is arranged in front of the main shovel plate body 6; the left auxiliary shovel plate body 3 is fixed on one side of the main shovel plate body 6 through a connecting bolt 9; the right auxiliary shovel plate body is arranged on the symmetrical side of the left auxiliary shovel plate body 3; the hydraulic plunger motor 1 is arranged at the rear side of the left auxiliary shovel plate body 3; the driving chain wheel 2 is fixedly connected with the output end of the hydraulic plunger motor 1; the turnabout drum 5 is arranged on the right side of the left auxiliary shovel plate body 3; the left scraper chain component 4 is arranged on the upper surface of the left auxiliary shovel plate body 3; one end of the scraper chain component 4 is matched with the driving chain wheel 2, and the other end passes through the bend drum 5.
As shown in fig. 2, the left scraper chain assembly 4 comprises rectangular scrapers 12, circular ring connecting assemblies 13 and special-shaped connecting rings 14, the circular ring chain assemblies 13 are arranged in parallel along the upper and lower edges of the left and right auxiliary shovel plate bodies 3 and 7, a plurality of rectangular scrapers 12 are connected between the two circular ring chain assemblies 13, each circular ring chain assembly 13 is formed by connecting a plurality of circular rings, a group of special-shaped connecting rings 14 is connected between every 3-5 circular rings, and the special-shaped connecting rings 14 are connected with the rectangular scrapers 12 through bolts. As shown in fig. 3, the special-shaped connecting ring comprises a connecting part 15, a ring part 16 and sawteeth 17, the ring part 16 is provided with an opening, the connecting part 15 is symmetrically arranged at two feet of the opening, the connecting part 15 is provided with a bolt hole, the connecting part 15 is in bolt connection with the rectangular scraper 12, and the ring part 16 is connected with the circular chain; the sawtooth 17 is arranged on the outer side of the ring part, and coal rocks in a chain channel are cleaned in the moving process to prevent chain jamming.
The hydraulic plunger motor 1 is arranged at the rear side of the right auxiliary shovel plate body 7; the driving chain wheel 2 is fixedly connected with the output end of the hydraulic plunger motor 1; the turnabout drum 5 is arranged on the left side of the right auxiliary shovel plate body 7; the right scraper chain component 12 is arranged on the upper surface of the right auxiliary shovel plate body 7; one end of the scraper chain component 12 is matched with the driving chain wheel 2, and the other end passes through the bend-changing drum 5.
The wear-resisting plates 8 are arranged on the upper surfaces of the left auxiliary shovel plate body 3 and the right auxiliary shovel plate body 7; the chain releasing device 10 is arranged on one side of the left auxiliary shovel plate body 3 and one side of the right auxiliary shovel plate body 7 close to the main shovel plate body 6.
The working principle of the full-section shovel plate of the heading machine is as follows:
the hydraulic plunger motor 1 that sets up on the vice shovel plate body 3 in a left side exports power, drives scraper chain subassembly 4 through drive sprocket 2 and moves to the main shovel plate body 6, and the hydraulic plunger motor 1 that sets up on the vice shovel plate body 7 in a right side exports power, drives scraper chain subassembly 4 through drive sprocket 2 and moves to the main shovel plate body 6, and the scraper chain that sets up on the main shovel plate body 6 moves to entry driving machine fuselage rear.
The claw is climbed in the adoption of current entry driving machine full-face shovel board, and the blind spot that forms can't accomplish full-face and receive the material, and the entry driving machine full-face shovel board that this embodiment provided covers entry driving machine shovel board upper surface with scraper chain subassembly 4, and scraper chain movement track is for being on a parallel with shovel board upper surface straight line, eliminates to climb the blind spot that the claw structure brought, increases and receives the material area, improves loading efficiency.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The utility model provides a full section shovel board of entry driving machine based on scrape chain transportation which characterized in that: the hydraulic shovel comprises a main shovel plate body (6), wherein a direction-changing drum (11) is arranged on the front side of the main shovel plate body (6), a left auxiliary shovel plate body (3) and a right auxiliary shovel plate body (7) are symmetrically fixed on the two sides of the main shovel plate body (6) through connecting bolts (9), left and right scraper chain assemblies (4 and 12) are respectively arranged on the front sides of the left auxiliary shovel plate body (3) and the right auxiliary shovel plate body (7), hydraulic plunger motors (1) are respectively arranged on the rear sides of the left auxiliary shovel plate body (3) and the right auxiliary shovel plate body (7), the hydraulic plunger motors (1) are connected with one ends of the left and right scraper chain assemblies (4 and 12) in a matched mode through driving chain wheels (2), and the other ends of the left and right scraper chain assemblies (4 and 12) pass through the direction-changing drum (11).
2. The full-face shovel plate of the tunneling machine based on scraper chain transportation of claim 1, wherein: left and right sides scraper blade chain subassembly (4, 12) including rectangle scraper blade (12), ring even subassembly (13) and dysmorphism go-between (14), ring chain subassembly (13) are along controlling vice shovel plate body (3, 7) upper and lower edge parallel arrangement have two sets ofly, are connected with a plurality of rectangle scraper blades (12) between two sets of ring chain subassemblies (13), ring chain subassembly (13) constitute by many rings even interconnect, every n rings even a intermediate junction has a set of dysmorphism go-between (14), dysmorphism go-between (14) are connected through the bolt with rectangle scraper blade (12).
3. The full-face shovel plate of the heading machine based on scraper chain transportation of claim 2, wherein: the special-shaped connecting ring comprises a connecting part (15), a ring part (16) and sawteeth (17), the ring part (16) is provided with an opening, the connecting part (15) is symmetrically arranged at two feet of the opening, the connecting part (15) is provided with a bolt hole, the connecting part (15) is in bolt connection with the rectangular scraper (12), and the ring part (16) is connected with the circular chain; sawtooth (17) set up in the ring portion outside, clear up the coal petrography in the chain way in the motion process, prevent the card chain.
4. The full-face shovel plate of the tunneling machine based on scraper chain transportation of claim 3, wherein: the upper surfaces of the left auxiliary shovel plate body (3) and the right auxiliary shovel plate body (7) are provided with wear-resisting plates (8).
5. The scraper chain transportation-based tunneling machine full-face shovel plate of claim 4, wherein: and a chain releasing device (10) is arranged on one side of the left auxiliary shovel plate body (3) and one side of the right auxiliary shovel plate body (7) close to the main shovel plate body (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110988941.0A CN113803065A (en) | 2021-08-26 | 2021-08-26 | Full-section shovel plate of development machine based on scraper chain transportation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110988941.0A CN113803065A (en) | 2021-08-26 | 2021-08-26 | Full-section shovel plate of development machine based on scraper chain transportation |
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| CN113803065A true CN113803065A (en) | 2021-12-17 |
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|---|---|---|---|
| CN202110988941.0A Pending CN113803065A (en) | 2021-08-26 | 2021-08-26 | Full-section shovel plate of development machine based on scraper chain transportation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115402731A (en) * | 2022-08-18 | 2022-11-29 | 中国煤炭科工集团太原研究院有限公司 | Coal mine underground intelligent follow-up method and coal mine underground transportation system |
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|---|---|---|---|---|
| DE3024430A1 (en) * | 1980-06-28 | 1982-01-21 | Gewerkschaft Eisenhütte Westfalia, 4670 Lünen | Endless scraper chain for moving bulk material - has swivel scrapers with projections to position them between and around sprocket wheels |
| CN2910852Y (en) * | 2006-05-30 | 2007-06-13 | 山东海力实业集团有限公司石屯煤矿 | Connection ring for drag-flight conveyer of mining use |
| CN201486558U (en) * | 2009-08-19 | 2010-05-26 | 佳木斯煤矿机械有限公司 | Tunneler width-variable shovel plate |
| CN203111976U (en) * | 2013-03-04 | 2013-08-07 | 湖北宜都天宜机械有限公司 | Multifunctional scraper blade chain group |
| CN103291297A (en) * | 2013-05-16 | 2013-09-11 | 三一重型装备有限公司 | Drill loader and loading and transporting device thereof |
| CN203729997U (en) * | 2013-12-20 | 2014-07-23 | 徐州徐工基础工程机械有限公司 | Chute slag removal device of heading machine |
| CN104564067A (en) * | 2014-12-31 | 2015-04-29 | 马晓山 | Shoveling and transporting device for large-width simultaneous drifting coal roadway integrated digging and anchoring machine |
| CN109653762A (en) * | 2019-02-22 | 2019-04-19 | 辽宁工程技术大学 | A kind of width-adjusting shovel board suitable for digging the anchor combined unit of branch |
| CN109915137A (en) * | 2019-03-18 | 2019-06-21 | 中铁工程装备集团隧道设备制造有限公司 | A kind of expanded letter cutting rewinding shovel board and development machine |
| CN209942815U (en) * | 2019-04-22 | 2020-01-14 | 廊坊景隆重工机械有限公司 | Full-section telescopic shovel plate, continuous mining machine loading mechanism comprising same and heading machine |
| CN210637081U (en) * | 2019-08-09 | 2020-05-29 | 山东东安云矿业科技有限公司 | Shovel plate of development machine |
| CN112049657A (en) * | 2020-09-24 | 2020-12-08 | 天地科技股份有限公司上海分公司 | Full-section loading mechanism for heading machine |
| CN112682038A (en) * | 2021-01-18 | 2021-04-20 | 平顶山天安煤业股份有限公司 | Intelligent full-section shovel plate of heading machine for coal mine tunnel and tunnel |
-
2021
- 2021-08-26 CN CN202110988941.0A patent/CN113803065A/en active Pending
Patent Citations (13)
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|---|---|---|---|---|
| DE3024430A1 (en) * | 1980-06-28 | 1982-01-21 | Gewerkschaft Eisenhütte Westfalia, 4670 Lünen | Endless scraper chain for moving bulk material - has swivel scrapers with projections to position them between and around sprocket wheels |
| CN2910852Y (en) * | 2006-05-30 | 2007-06-13 | 山东海力实业集团有限公司石屯煤矿 | Connection ring for drag-flight conveyer of mining use |
| CN201486558U (en) * | 2009-08-19 | 2010-05-26 | 佳木斯煤矿机械有限公司 | Tunneler width-variable shovel plate |
| CN203111976U (en) * | 2013-03-04 | 2013-08-07 | 湖北宜都天宜机械有限公司 | Multifunctional scraper blade chain group |
| CN103291297A (en) * | 2013-05-16 | 2013-09-11 | 三一重型装备有限公司 | Drill loader and loading and transporting device thereof |
| CN203729997U (en) * | 2013-12-20 | 2014-07-23 | 徐州徐工基础工程机械有限公司 | Chute slag removal device of heading machine |
| CN104564067A (en) * | 2014-12-31 | 2015-04-29 | 马晓山 | Shoveling and transporting device for large-width simultaneous drifting coal roadway integrated digging and anchoring machine |
| CN109653762A (en) * | 2019-02-22 | 2019-04-19 | 辽宁工程技术大学 | A kind of width-adjusting shovel board suitable for digging the anchor combined unit of branch |
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| CN209942815U (en) * | 2019-04-22 | 2020-01-14 | 廊坊景隆重工机械有限公司 | Full-section telescopic shovel plate, continuous mining machine loading mechanism comprising same and heading machine |
| CN210637081U (en) * | 2019-08-09 | 2020-05-29 | 山东东安云矿业科技有限公司 | Shovel plate of development machine |
| CN112049657A (en) * | 2020-09-24 | 2020-12-08 | 天地科技股份有限公司上海分公司 | Full-section loading mechanism for heading machine |
| CN112682038A (en) * | 2021-01-18 | 2021-04-20 | 平顶山天安煤业股份有限公司 | Intelligent full-section shovel plate of heading machine for coal mine tunnel and tunnel |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115402731A (en) * | 2022-08-18 | 2022-11-29 | 中国煤炭科工集团太原研究院有限公司 | Coal mine underground intelligent follow-up method and coal mine underground transportation system |
| CN115402731B (en) * | 2022-08-18 | 2024-06-04 | 中国煤炭科工集团太原研究院有限公司 | Underground intelligent follow-up method for coal mine and underground transportation system for coal mine |
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