CN114273063A - Intelligent large coal intelligent identification and crushing device for intelligent large mining height working face - Google Patents
Intelligent large coal intelligent identification and crushing device for intelligent large mining height working face Download PDFInfo
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- CN114273063A CN114273063A CN202111623193.2A CN202111623193A CN114273063A CN 114273063 A CN114273063 A CN 114273063A CN 202111623193 A CN202111623193 A CN 202111623193A CN 114273063 A CN114273063 A CN 114273063A
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Abstract
The invention discloses an intelligent large coal mining height working face large coal intelligent identification and crushing device, which comprises a device body, a traction mechanism, an image acquisition mechanism, an analysis processing mechanism, a crushing mechanism and a power supply system, wherein the traction mechanism, the image acquisition mechanism, the analysis processing mechanism, the crushing mechanism and the power supply system are arranged on the device body; the image acquisition mechanism comprises an explosion-proof camera and a rotatable lighting device and is used for acquiring surrounding environment pictures; the analysis processing mechanism comprises a picture analysis system, a control system and sensors and is used for sensing physical and mechanical parameters of the surrounding environment and the coal body, analyzing feedback data and automatically processing and converting a real-time command; the crushing mechanism comprises a hydraulic device, a coal grabbing hook machine, a vibrating pick, a cutting machine and a water spraying device and is used for crushing large-volume coal bodies with the length and width within 3m and the coal thickness within 0.3 m. The device is flexible, is not limited by plugging points and space, does not need three-machine equipment to stop, and carries out automatic and accurate cutting and crushing on large-volume coal bodies with the length and width within 3m and the coal thickness within 0.3m in a working face.
Description
Technical Field
The invention belongs to the technical field of coal mining, and particularly relates to an intelligent large coal mining height working face large coal intelligent identification and crushing device.
Background
In the coal mining process of China, under the action of periodic incoming pressure and strong disturbance, a large mining height working face is increased along with the mining height and the mining strength is increased, caving and roof caving phenomena are more frequent in the stoping process, and large coal blocks (in actual production, most of the large coal blocks are flaky irregular blocks with the length and width within 3m and the thickness within 0.3 m) generated on the working face are increased. The shape and size of the large coal block far exceed the crushing capacity of the gate way crusher. Meanwhile, the groove width of the large coal body relative ratio conveying and transshipping equipment is overlong, superwide and super thick, so that the large coal is easy to be detained at the transshipping point of the machine head of the scraper conveyor and the feeding port of the scraper transshipping machine for crossheading, the blockage of the conveying and transshipping equipment on the working face is easy to cause, the production safety is influenced, and the influence caused by the blockage of the conveying and transshipping equipment is mainly shown in the following aspects:
(1) the start-up rate of the equipment is reduced, when the conveying and transshipping equipment is blocked by large coal blocks, the equipment must be stopped, otherwise, the running resistance in the section is increased, and major production accidents are caused.
(2) The coal mining machine is blocked from passing, a large area of caving occurs in front of the coal mining machine, a large amount of coal can be piled on a machine channel, and the coal mining machine cannot normally pass due to the limited passing height between the coal mining machine and the chute.
(3) The loss of scraper chain is scraped with higher speed, and the big coal is stifled to be piled up in blockking up the position fast and continuously and is rised, causes the coal volume that blocks up the within range increase in the twinkling of an eye, scrapes the increase of scraper chain running resistance, and the atress is uneven, scrapes the loss of scraper chain with higher speed, will take place the chain rupture accident when serious.
(4) The coal baffle plate deforms, and the coal baffle plate at the position blocked by the large coal blocks is subjected to lateral impact force of continuously accumulated coal, so that the coal baffle plate is easy to deform seriously.
The problems seriously affect production and bring great potential safety hazard to underground personnel and equipment. At present, the existing treatment methods aiming at the blockage of the large coal blocks comprise the following two methods:
(1) the method comprises the following steps of manually crushing large coal, stopping coal cutting of a coal mining machine when the large coal is blocked, stopping the machine in sequence by using a scraper conveyor, a scraper loader for crossheading and a crusher, enabling personnel to enter the position where the large coal is blocked, crushing the blocked large coal by using an air pick or blasting, and crushing the large coal by using a bracket or a matched monomer support in some mine workers, wherein the manual crushing has the advantages of no limit of a blocking point position and space and easiness in operation; the defects are that the equipment needs to be shut down, the processing time is long, the production is influenced, and potential safety hazards exist. Meanwhile, the method does not meet the basic requirement of realizing unmanned construction of intelligent working faces in China.
(2) The broken big piece of coal of machinery, the broken big piece of coal of machinery mainly utilizes the broken mechanism of machinery to carry out the breakage to the big piece of coal that blocks up the position, and the advantage need not three quick-witted equipment shut down and handles during the breakage, need not personnel and enters into appointed jam position, and crushing effect is safe high-efficient, accords with the unmanned construction basic requirement of the intelligent working face of china.
Therefore, there is a need for an intelligent large coal mining height working face identification and crushing device, which solves the above problems.
Disclosure of Invention
Based on the defects of the prior art, the technical problem solved by the invention is to provide the intelligent large coal mining height working face large coal block identification and crushing device, the device is flexible, simple in structure and low in fault rate, is not limited by a blocking point position and space, does not need three-machine equipment to stop processing, does not need personnel to enter a specified blocking position, carries out automatic accurate cutting and crushing on large coal blocks with the length and width within 3m and the coal thickness within 0.3m in a working face, and is good in crushing effect, safe and efficient, labor-saving, equipment loss-reducing and production efficiency-improving.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention provides an intelligent large coal mining height working face large coal intelligent identification and crushing device, which comprises a device body, a traction mechanism, an image acquisition mechanism, an analysis processing mechanism, a crushing mechanism and a power supply system, wherein the traction mechanism, the image acquisition mechanism, the analysis processing mechanism, the crushing mechanism and the power supply system are arranged on the device body; the traction mechanism comprises a transmission mechanism, a speed reducer and a driving motor and is used for driving the speed of the device body to be consistent with that of the scraper conveyor; the image acquisition mechanism comprises an explosion-proof camera and a rotatable lighting device and is used for acquiring surrounding environment pictures; the analysis processing mechanism is connected with the image acquisition mechanism, comprises a picture analysis system, a control system, an obstacle avoidance sensor, a pressure sensor, a displacement sensor, a temperature and humidity sensor, a hardness sensor and a coal dust concentration sensor, and is used for sensing physical and mechanical parameters of the surrounding environment and the coal body, analyzing feedback data and automatically processing and converting a real-time command; the crushing mechanism is connected with the analysis processing mechanism, comprises a hydraulic device, a coal grabbing hook machine, a vibrating pick, a cutting machine and a water spraying device and is used for crushing large-volume coal bodies with the length and width within 3m and the coal thickness within 0.3 m.
Preferably, the coal grabbing hook machine comprises a hook machine large arm, a hook machine telescopic arm connected with the hook machine large arm and a hook machine shovel plate connected with the hook machine telescopic arm, and the hook machine large arm and the hook machine telescopic arm are driven by a hydraulic device to enable the hook machine shovel plate to be attached to the edge of the large coal body to position and fix the coal body.
Preferably, the vibration pick comprises a vibration pick telescopic arm and a vibration pick head connected with the vibration pick telescopic arm, and is used for directly vibrating and crushing the coal body.
Preferably, the cutting machine comprises a cutting machine telescopic arm and a cutting gear connected with the cutting machine telescopic arm and is used for cutting a certain depth on the coal body.
Preferably, the water spraying device is used for spraying water to a high coal dust concentration area in the crushing process in real time for dust reduction.
Preferably, the analysis processing mechanism carries out intelligent analysis on the image data acquired by the image acquisition mechanism, coal body sensing is carried out through the control system and the sensors, large-volume float coal is accurately identified, hardness, physical and mechanical parameters of large coal blocks are analyzed, crushing parameter adjustment, autonomous obstacle avoidance and automatic crushing are carried out through feedback data, the crushing process is monitored by the image acquisition mechanism in real time, and the sensors timely sense the coal body crushing condition.
Therefore, the intelligent large coal mining working face large coal intelligent identification and crushing device has the following beneficial effects:
(1) the invention utilizes the autonomous telescopic camera to collect the working surface environment, and is matched with various sensors to sense the coal body, thereby automatically identifying the large coal, determining the physical and mechanical parameters of the large coal and the distribution condition of the large coal. The equipment device is flexible, simple in structure, low in failure rate, free of the restriction of blocking points and space, free of the shutdown processing of three-machine equipment, free of personnel entering into the specified blocking position, safe and efficient in crushing effect, free of humanization intellectualization, low in equipment loss and high in production efficiency, and capable of automatically and accurately cutting and crushing large-size coal bodies with the length and width within 3m and the coal thickness within 0.3m in a working face.
(2) The invention has an automatic traction mechanism, can automatically regulate the speed and can also regulate the common speed of the crushing device and the scraper conveyor. The data obtained by analysis can quickly reach the position of the large coal block on the working face. The problems that the intelligent large mining height working face is subjected to periodic pressure and caving coal blocks collapse under the condition of strong mining disturbance, and blockage in a chute of a conveyor and equipment halt are easily caused are solved.
(3) The invention has a set of complete crushing mechanism, and the crushing mechanism adopts different crushing modes aiming at different types of large coal bodies, particularly adopts a progressive mode aiming at the large coal and uses the simplest and smallest crushing device to disassemble and crush. The practical problem that the crushing mechanism with large volume is not easy to adopt due to small space is solved. All parts cooperate with each other, and the crushing process is interactive with the analysis and processing mechanism in real time, and crushing efficiency is higher, and production is safer.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following detailed description is given in conjunction with the preferred embodiments, together with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
Fig. 1 is a schematic diagram of an intelligent large coal mining working face large coal identification and crushing device of the invention.
In the figure: 1-rotatable lighting, 2-hook telescopic arm rotation axis, 3-power supply system, 4-hook telescopic arm, 5-analysis processing mechanism, 6-cutter telescopic arm, 7-device body, 8-scraper conveyor, 9-camera telescopic rod, 10-explosion-proof camera, 11-controller, 12-main controller, 13-central revolving shaft, 14-autonomous traction sliding rail, 15-hydraulic support connector, 16-traction device closed housing, 17-hook big arm rotation axis, 18-hook big arm, 19-hook small arm rotation axis, 20-hook shovel, 21-cutting gear, 22-cutter rotation axis, 23-vibrating pick rotation axis, 24-vibrating pick, 25-vibrating pick telescopic arm, 26-water spraying device, 27-various sensors.
Detailed Description
Other aspects, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which form a part of this specification, and which illustrate, by way of example, the principles of the invention. In the referenced drawings, the same or similar components in different drawings are denoted by the same reference numerals.
As shown in fig. 1, the invention provides an intelligent large coal mining height working face large coal identification and crushing device, which comprises a device body 7, a traction mechanism, an image acquisition mechanism, an analysis processing mechanism 5, a crushing mechanism and a power supply system 3 for supplying power, wherein the traction mechanism, the image acquisition mechanism, the analysis processing mechanism 5, the crushing mechanism and the power supply system 3 are arranged on the device body 7, the image acquisition mechanism comprises an explosion-proof camera 10 (carrying a 360-degree rotatable spherical lens) and a rotatable lighting device 1, under the help of the rotatable lighting device 1, surrounding environment pictures are acquired in a large area through the explosion-proof camera 10 which is automatically telescopic, and high-definition images are transmitted to the analysis processing mechanism 5. The explosion-proof shell carries out all-round protection to image acquisition mechanism.
The traction mechanism comprises a transmission mechanism, a speed reducer and a driving motor, and is used for driving the speed of the device body 7 to be consistent with that of the scraper conveyor 8, the power supply system 3 supplies power to the driving motor, the power is transmitted to the self-traction sliding rail 14 through gears at all levels, and the crushing mechanism is controlled to operate on the scraper conveyor 8 through the traction of the guide chain under the cooperation of the speed reducer. In the operation process, the speed is adjusted under the control of the controller by means of gears and speed reducers at all stages.
The device body 7 is mounted on the traction device containment housing 16 by means of a central swivel shaft 13. One end of the scraper conveyor 8 is connected with a hydraulic support connector 15.
The analysis processing mechanism 5 is connected with the image acquisition mechanism, comprises a picture analysis system, a control system, an obstacle avoidance sensor, a pressure sensor, a displacement sensor, a temperature and humidity sensor, a hardness sensor and a coal dust concentration sensor, and is used for sensing physical and mechanical parameters of the surrounding environment and the coal body, analyzing feedback data and automatically processing and converting a real-time command. The analysis processing mechanism 5 intelligently analyzes the acquired image data, performs coal body perception through a control system (comprising a main controller 12 and various controllers 11) and various sensors 27, accurately identifies large-volume float coal, and analyzes physical and mechanical parameters such as hardness, volume and the like of the large coal. And a series of crushing preparation works such as crushing parameter adjustment, autonomous obstacle avoidance, automatic planning of a crushing route and the like are carried out through feedback data, and finally, a system command is edited and sent to the traction mechanism and the crushing mechanism. The crushing mechanism can also interact real-time data in time in the operation and crushing processes, and can adjust automatic control parameters in time. The operation and the crushing process are ensured to be orderly, safe and efficient.
The crushing mechanism is connected with the analysis processing mechanism 5, comprises a hydraulic device, a coal grabbing hook machine, a vibrating pick, a cutting machine and a water spraying device 26 and is used for crushing large-volume coal bodies with the length and width within 3m and the coal thickness within 0.3 m. The coal grabbing hook machine comprises a hook machine large arm 18 connected with the device body 7 through a hook machine large arm rotating shaft 17, a hook machine telescopic arm 4 connected with the hook machine large arm 18, a hook machine small arm connected with the hook machine telescopic arm 4 through a hook machine telescopic arm rotating shaft 2, and a hook machine shovel plate 20 connected with the hook machine small arm through a hook machine small arm rotating shaft 19. The vibrating pick comprises a vibrating pick telescopic arm 25 and a vibrating pick head 24 connected with the vibrating pick telescopic arm 25 through a vibrating pick rotating shaft 23. The cutting machine comprises a cutting machine telescopic arm 6 and a cutting gear 21 connected with the cutting machine telescopic arm 6 through a cutting machine rotating shaft 22.
For different types of large coal, different program-controlled crushing forms are adopted:
firstly, for large coal with the thickness below 0.2m and the length and the width between 1 and 3m, a coal grabbing hook machine drives a hook machine large arm 18 and a hook machine telescopic arm 4 through a hydraulic device to enable a hook machine shovel plate 20 to be attached to the edge of the large coal body to position and fix the coal body, a traction mechanism adjusts the speed to ensure that the speed of a crushing mechanism is consistent with that of a scraper conveyor 8, a vibrating pick telescopic arm 25 is close to the coal body after the large coal body is fixed, a vibrating pick head 24 directly vibrates and crushes the coal body, and finally the coal grabbing hook machine conveys the crushed coal body to the scraper conveyor 8.
Secondly, aiming at large coal blocks with the thickness of less than 0.2m and the length and the width of less than 1m, a vibration pickaxe telescopic arm 25 is adopted to be close to the coal body, and vibration crushing is directly carried out by using a vibration pickaxe head 24. For the big coal with the thickness of 0.2-0.3m, firstly, the hooking machine is used for positioning and fixing, the traction speed is regulated, after the fixing, the cutting machine is used for approaching to the position near the big coal by utilizing the telescopic arm 6 of the cutting machine, and the cutting gear 21 is driven to cut into a certain depth on the coal body (the radius of a cutting piece is less than 150mm, and the thickness of the cutting piece is more than the diameter of the vibrating pick head 24). And finally, controlling the vibrating pick head 24 to go deep into the cutting gap for vibrating and crushing, and finally carrying the crushed coal body to the scraper conveyor 8 by the hooking machine. And the water spraying device 26 sprays water in real time for dust falling in a high coal dust concentration area in the crushing process according to the feedback information of the coal dust concentration sensor.
The power supply system 3 is responsible for the operation of the device and the supply of electrical energy for the crushing process.
While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (6)
1. The utility model provides a bold coal intelligent recognition and breaker of intelligent high mining face which characterized in that: the device comprises a device body, a traction mechanism, an image acquisition mechanism, an analysis processing mechanism, a crushing mechanism and a power supply system for supplying power, wherein the traction mechanism, the image acquisition mechanism, the analysis processing mechanism, the crushing mechanism and the power supply system are arranged on the device body;
the traction mechanism comprises a transmission mechanism, a speed reducer and a driving motor and is used for driving the speed of the device body to be consistent with that of the scraper conveyor;
the image acquisition mechanism comprises an explosion-proof camera and a rotatable lighting device and is used for acquiring surrounding environment pictures;
the analysis processing mechanism is connected with the image acquisition mechanism, comprises a picture analysis system, a control system, an obstacle avoidance sensor, a pressure sensor, a displacement sensor, a temperature and humidity sensor, a hardness sensor and a coal dust concentration sensor, and is used for sensing physical and mechanical parameters of the surrounding environment and the coal body, analyzing feedback data and automatically processing and converting a real-time command;
the crushing mechanism is connected with the analysis processing mechanism, comprises a hydraulic device, a coal grabbing hook machine, a vibrating pick, a cutting machine and a water spraying device and is used for crushing large-volume coal bodies with the length and width within 3m and the coal thickness within 0.3 m.
2. The intelligent large coal mining height working face large coal intelligent identification and crushing device as claimed in claim 1, wherein the coal grabbing hook machine comprises a hook machine large arm, a hook machine telescopic arm connected with the hook machine large arm, and a hook machine shovel plate connected with the hook machine telescopic arm, and the hook machine large arm and the hook machine telescopic arm are driven by a hydraulic device to enable the hook machine shovel plate to be attached to the edge of the large coal body to position and fix the coal body.
3. The intelligent large coal mining height working face large coal intelligent identification and crushing device as claimed in claim 1, wherein the vibrating pick comprises a vibrating pick telescopic arm and a vibrating pick head connected with the vibrating pick telescopic arm, and is used for directly vibrating and crushing the coal body.
4. The intelligent large mining height face coal identification and crushing device of claim 1 wherein the cutter comprises a cutter telescoping arm, a cutting gear coupled to the cutter telescoping arm for cutting a depth into a body of coal.
5. The intelligent large coal mining height working face bulk coal identifying and crushing device as claimed in claim 1, wherein the water spraying device is used for spraying water in real time for dust reduction in a high coal dust concentration area in the crushing process.
6. The intelligent large coal mining height working face large coal intelligent identification and crushing device as claimed in claim 1, wherein the analysis processing mechanism intelligently analyzes the image data collected by the image collecting mechanism, performs coal body sensing through the control system and each sensor, accurately identifies large-volume float coal, analyzes the hardness, physical and mechanical parameters of the large coal, performs crushing parameter adjustment, autonomous obstacle avoidance and automatic crushing through feedback data, monitors the crushing process in real time by the image collecting mechanism, and each sensor timely senses the coal body crushing condition.
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| CN202111623193.2A CN114273063A (en) | 2021-12-28 | 2021-12-28 | Intelligent large coal intelligent identification and crushing device for intelligent large mining height working face |
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| CN202111623193.2A CN114273063A (en) | 2021-12-28 | 2021-12-28 | Intelligent large coal intelligent identification and crushing device for intelligent large mining height working face |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115007299A (en) * | 2022-06-23 | 2022-09-06 | 徐州工程学院 | Intelligent auxiliary crushing method |
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- 2021-12-28 CN CN202111623193.2A patent/CN114273063A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115007299A (en) * | 2022-06-23 | 2022-09-06 | 徐州工程学院 | Intelligent auxiliary crushing method |
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Application publication date: 20220405 |
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