CN115402731B - Underground intelligent follow-up method for coal mine and underground transportation system for coal mine - Google Patents

Underground intelligent follow-up method for coal mine and underground transportation system for coal mine Download PDF

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Publication number
CN115402731B
CN115402731B CN202210990183.0A CN202210990183A CN115402731B CN 115402731 B CN115402731 B CN 115402731B CN 202210990183 A CN202210990183 A CN 202210990183A CN 115402731 B CN115402731 B CN 115402731B
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China
Prior art keywords
coal mine
underground
carrier roller
intelligent follow
roller frame
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Application number
CN202210990183.0A
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Chinese (zh)
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CN115402731A (en
Inventor
周凯
徐志刚
胡开宇
刘敏
刘玉波
郑晓锋
杨康信
赵海伟
温建刚
李莉
马联伟
宋涛
张少鹏
国建会
任志杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
Original Assignee
Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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Application filed by Taiyuan Institute of China Coal Technology and Engineering Group, Shanxi Tiandi Coal Mining Machinery Co Ltd filed Critical Taiyuan Institute of China Coal Technology and Engineering Group
Priority to CN202210990183.0A priority Critical patent/CN115402731B/en
Publication of CN115402731A publication Critical patent/CN115402731A/en
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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
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/007—Means for moving conveyor frames and control arrangements therefor
    • B65G41/008—Means for moving conveyor frames and control arrangements therefor frames mounted on wheels or caterpillar
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/16—Devices for feeding articles or materials to conveyors for feeding materials in bulk
    • B65G47/18—Arrangements or applications of hoppers or chutes
    • 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
    • B65G65/005—Control arrangements
    • 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
    • E21F13/06—Transport of mined material at or adjacent to the working face
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/04—Bulk
    • B65G2201/045—Sand, soil and mineral ore

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

The invention provides an underground intelligent follow-up method and an underground transportation system for a coal mine, which belong to the technical field of underground tunnel tunneling working face transportation of the coal mine, and a distance sensor I detects the distance between an underground intelligent follow-up device and a front aircraft in real time, so that the accurate material receiving is ensured, and the problem of material scattering during material receiving is avoided; the distance sensor II is used for real-time correction of the distance between the underground intelligent follow-up device of the coal mine and two sides of a roadway according to detection data, and the centralized control center is used for ensuring that a belt on a receiving part in front of the self-moving tail carrier roller frame 101 and a belt behind the underground intelligent follow-up device 100 of the coal mine are kept on the same straight line, so that the problem of scattering materials in the transportation process is avoided.

Description

Underground intelligent follow-up method for coal mine and underground transportation system for coal mine
Technical Field
The invention belongs to the technical field of transportation of underground tunnel tunneling working faces of coal mines, and particularly discloses an underground intelligent follow-up method of a coal mine and an underground transportation system of the coal mine.
Background
The tunneling operation of the coal mine tunnel tunneling and anchoring integrated machine is generally matched with the anchor and support transfer crusher so as to realize tunneling and support parallel operation. The matched transportation system after tunneling generally adopts a belt conveyor for coal mines to overlap with a belt conveyor so as to realize the transfer transportation of coal in the tunneling operation process. The belt conveyor is matched with the self-moving tail to realize mechanized extension of the tail of the belt conveyor, replaces the tail extension mode of the existing driving equipment for withdrawing traction or the steel wire rope winch traction, simultaneously provides sufficient lap joint travel for a reversed loader, and effectively improves related operation efficiency.
The self-moving tail of the belt conveyor is a mobile device matched with the belt conveyor and the reversed loader for use on a fully-mechanized coal mining and fully-mechanized coal mining working face. The design and application of DWZY3500 belt conveyor self-moving tail introduces the structure of the belt conveyor self-moving tail in detail, which mainly comprises a head end frame, a middle base frame, a tail end frame, a trolley, a floating carrier roller group, a sliding shoe, a carrier roller frame, a pushing cylinder, a horizontal cylinder, a lifting cylinder, a sweeper and the like, and is provided with a hydraulic control system and a roller lubricating device, so that the belt conveyor self-moving tail is suitable for the crossheading equipment of a fully mechanized mining working face, and the belt conveyor is required to have the function of tensioning the adhesive tape by itself.
Patent CN214877997U discloses a crawler-type self-moving tail which can move along with a reversed loader to realize continuous transportation, but the following problems still exist in the above patent:
1. when the self-moving tail moves, the self-moving tail is influenced by topography factors such as a bend and the like, and can deflect relative to a rear belt, so that the belt is difficult to keep the same straightness, and the problem of scattering materials easily occurs when the belt conveys materials;
2. The distance between the machine and the front machine is difficult to grasp, so that the receiving part cannot accurately receive materials, and the problem of material scattering can occur.
Disclosure of Invention
The invention provides an underground intelligent follow-up method for a coal mine, solves the problems in the background art, and provides an underground coal mine transportation system based on the method, so that underground coal mine transportation efficiency is improved.
The invention provides an intelligent follow-up method for underground coal mines, which comprises the following steps:
S1, arranging an underground intelligent follow-up device of a coal mine behind an anchor rod reversed loader, wherein the underground intelligent follow-up device of the coal mine comprises a material receiving part, a self-moving tail carrier roller frame, a machine body and a crawler-type travelling mechanism;
The self-moving tail carrier roller frame penetrates through the machine body, the central position of the rear end of the self-moving tail carrier roller frame is rotationally connected with the machine body through a rotating piece I, two sides of the front end of the self-moving tail carrier roller frame are connected with the machine body through two groups of transverse swinging mechanisms, the two groups of transverse swinging mechanisms are used for enabling the self-moving tail carrier roller frame to transversely deflect around the rotating piece I, and an upper carrier roller group and a lower carrier roller group are rotationally arranged on the self-moving tail carrier roller frame;
The receiving part comprises a buffer carrier roller frame, a bend pulley, a buffer carrier roller group and a receiving hopper;
The direction-changing drum is rotatably arranged at the front end of the buffer carrier roller frame;
the buffer carrier roller group is rotatably arranged on the buffer carrier roller frame and positioned behind the bend pulley;
The receiving hopper is fixed on the buffer carrier roller frame and is positioned above the buffer carrier roller group;
The rear end of the buffer roller frame is connected with the front end of the self-moving tail roller frame through a rotating piece II and a vertical swinging mechanism I, the vertical swinging mechanism I is positioned above or below the rotating piece II, and the vertical swinging mechanism I is used for enabling the material receiving part to vertically swing around the rotating piece II;
The two groups of crawler-type travelling mechanisms are respectively arranged at two sides of the machine body and are used for driving the underground intelligent follow-up device of the coal mine to longitudinally move;
a centralized control center is arranged on the machine body;
The front end of the buffer carrier roller frame is provided with a distance sensor I
Distance sensors II are arranged at four corners of the machine body;
S2, starting the underground intelligent follow-up device of the coal mine, moving forwards along with the anchor rod reversed loader, detecting the distance between the underground intelligent follow-up device of the coal mine and the front anchor rod reversed loader in real time by a distance sensor I, transmitting detection data to a centralized control center, and controlling the running speed of the underground intelligent follow-up device of the coal mine according to the detection data by the centralized control center to ensure that the underground intelligent follow-up device of the coal mine moves forwards along with the anchor rod reversed loader at a preset interval;
In the advancing process of the underground intelligent follow-up device of the coal mine, the distance sensor II detects the distance between the underground intelligent follow-up device of the coal mine and two sides of a roadway in real time, detection data are transmitted to the centralized control center, the centralized control center judges whether the machine body deflects relative to a belt behind the underground intelligent follow-up device of the coal mine according to the detection data, if the machine body deflects, the transverse swinging mechanism is controlled to adjust the transverse deflection of the self-moving tail carrier roller frame around the rotating piece I, so that the self-moving tail carrier roller frame and a receiving part in front of the self-moving tail carrier roller frame are kept on the same straight line with the belt behind the underground intelligent follow-up device of the coal mine.
Further, in step S2, the adjustment amount of the traversing mechanism is detected in real time by a stroke sensor installed therein and the detected data is transmitted to the centralized control center.
Further, the rotating piece I is a vertically arranged hinge shaft, and the rotating piece II is a transversely arranged pin shaft.
Further, the horizontal swinging mechanism and the vertical swinging mechanism I both adopt oil cylinders.
Further, a belt pressing plate is arranged in the receiving hopper and is positioned at two sides of the buffer carrier roller group and used for pressing an upper belt on the buffer carrier roller group.
Further, a belt cleaner is provided on the buffer carrier.
The invention also provides a coal mine underground transportation system which adopts the intelligent following method for the coal mine underground and longitudinally moves along with the anchor rod reversed loader.
The invention has the following beneficial effects:
1. The belt of the belt conveyor of the belt driving tunneling roadway is driven by the crawler belt to automatically extend along with tunneling equipment, so that the following tunneling extension of the conveyor in the running state is realized;
2. The distance sensor II is used for real-time correction of the distance between the underground intelligent follow-up device of the coal mine and two sides of a roadway according to detection data, so that the belt on the self-moving tail carrier roller frame 101 and the material receiving part in front of the self-moving tail carrier roller frame is ensured to be kept on the same straight line with the belt behind the underground intelligent follow-up device 100 of the coal mine, and the problem of material scattering in the transportation process is avoided;
3. Distance sensor I detects colliery intelligence servo device in pit and preceding quick-witted distance in real time, guarantees to connect the material accurate, avoids appearing spilling the material problem when connecing the material.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an intelligent follower device in a coal mine;
FIG. 2 is a schematic view of the other direction of FIG. 1;
FIG. 3 is a schematic diagram of a coal mine downhole transportation system;
FIG. 4 is a diagram showing the working state of the automatic belt rack extension device in a roadway;
FIG. 5 is a schematic illustration of the belt rack after assembly;
FIG. 6 is a schematic view of a spring clip in a belt rack;
FIG. 7 is a schematic view of a belt rack assembly;
FIG. 8 is a schematic view of an upper assembly transport platform;
FIG. 9 is a schematic view of a lower assembly transport platform;
fig. 10 is a schematic view of a retractable body.
Icon: the intelligent following device 100 for the underground coal mine comprises a self-moving tail roller frame 101, a machine body 102, a crawler-type travelling mechanism 103, a hinge shaft 104, a transverse swinging oil cylinder 105, a buffer roller frame 106, a bend pulley 107, a buffer roller group 108, a receiving hopper 109, a centralized control center 110, a distance sensor I111, a distance sensor II 112, a belt cleaner 113 and a vertical swinging oil cylinder I114; a belt pressing plate 115;
the telescopic machine comprises a telescopic machine body 200, a machine body unit 201, a telescopic guide rod 202, a sliding shoe 203, a groove-shaped carrier roller 204 in the telescopic machine body, an upper belt anti-deviation pressing roller 205, a lower carrier roller 206, a lower belt anti-deviation standing carrier roller 207, a cylinder body mounting seat 208 and a rod body mounting seat 209 in the telescopic machine body;
The automatic belt frame extension device 300 comprises an H frame connecting longitudinal beam 301, a roller frame 302, an upper roller 303, an H frame 304, a lower roller 305, a longitudinal beam slot 306, a spring buckle 307, a base 308, a front end frame 309, a middle frame 310, a rear end frame 311, a longitudinal telescopic cylinder I312, a fixed platform 313, a telescopic sliding table 314, a pushing frame 315, a transverse telescopic cylinder I316, a longitudinal pushing cylinder 317, a belt pressing roller 318, a guide rod 319, a longitudinal sliding seat 320, a transverse sliding seat 321, an H frame fork seat 322, a longitudinal telescopic cylinder II 323, a transverse telescopic cylinder II 324, a vertical swinging cylinder II 325, a supporting wheel 326, a groove-shaped roller 327 in the automatic belt frame extension device and an upper belt anti-deviation pressing wheel 328 in the automatic belt frame extension device; a belt rack 329; a card hole 330;
Shifting stage 400; roadway 500.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The embodiment provides an underground intelligent follow-up method for a coal mine, which is realized based on the underground intelligent follow-up device 100 for the coal mine.
The underground intelligent follow-up device 100 for the coal mine comprises a receiving part, a self-moving tail roller frame 101, a machine body 102 and a crawler-type travelling mechanism 103; the self-moving tail carrier roller 101 passes through the machine body 102, the center position of the rear end is rotationally connected with the machine body 102 through a rotating piece I (in the embodiment, the rotating piece I is a hinge shaft 104), two sides of the front end are connected with the machine body 102 through two groups of transverse swinging mechanisms (in the embodiment, the transverse swinging mechanisms adopt transverse swinging oil cylinders 105), the two groups of transverse swinging mechanisms are used for enabling the self-moving tail carrier roller frame 101 to transversely deflect around the rotating piece I, and an upper carrier roller group and a lower carrier roller group are rotationally arranged on the self-moving tail carrier roller frame 101.
The material receiving part comprises a buffer roller frame 106, a bend pulley 107, a buffer roller group 108 and a material receiving hopper 109; the direction-changing drum 107 is rotatably installed at the front end of the buffer carrier 106; the buffer roller group 108 is rotatably installed on the buffer roller frame 106 and is positioned behind the direction-changing drum 107; the receiving hopper 109 is fixed on the buffer roller frame 106 and is positioned above the buffer roller group 108; the rear end of the buffer roller frame 106 is connected with the front end of the self-moving tail roller frame 101 through a rotating piece II (the rotating piece II in the embodiment is a pin shaft transversely arranged) and a vertical swinging mechanism I (the vertical swinging mechanism in the embodiment adopts a vertical swinging oil cylinder I114), the vertical swinging mechanism I is positioned above or below the rotating piece II, and the vertical swinging mechanism I is used for enabling a receiving part to vertically swing around the rotating piece II; two sets of crawler-type travelling mechanisms 103 are respectively arranged on two sides of the machine body 102 and are used for driving the underground intelligent follow-up device 100 to longitudinally move.
The centralized control system is arranged on the centralized control center 110 of the airframe 102; a stroke sensor is arranged in the transverse swinging mechanism; the front end of the buffer carrier roller frame 106 is provided with a distance sensor I111; the four corners of the body 102 are provided with distance sensors ii 112.
The buffer carrier 106 is provided with a belt cleaner 113.
The pressure band plate 115 is arranged in the receiving hopper 109, and the pressure band plate 115 is positioned at two sides of the buffer carrier roller set 108 and used for pressing an upper belt on the buffer carrier roller set 108 so as to prevent materials from falling from between the receiving hopper 109 and the upper belt.
The material receiving part is arranged at the forefront part of the machine body 102 and is connected with the self-moving tail roller frame 101, and the up-and-down swing of the material receiving part can be realized through the vertical swing oil cylinder I114, so that the height adjustment requirement during matched use is met. The self-moving tail roller frame 101 realizes the transverse deflection of the self-moving tail roller frame 101 around the hinge shaft 104 through the transverse swinging oil cylinder 105 so as to meet the requirement of transverse angle adjustment in matched use. The buffer carrier roller group 108 can effectively buffer and support the conveyor belt, and damage to the belt caused by front coal unloading is reduced. The large-volume receiving hopper 109 can play a role in bearing and buffering a certain coal flow, and meanwhile has enough overlap length with the unloading end of the anchor rod reversed loader, so that coal leakage is avoided.
The underground intelligent follow-up method for the coal mine is as follows:
The underground intelligent follow-up device 100 of the coal mine is positioned at the rear of the anchor rod reversed loader, moves forwards along with the anchor rod reversed loader, the distance sensor I111 detects the distance between the underground intelligent follow-up device 100 of the coal mine and the front anchor rod reversed loader in real time, and transmits detection data to the centralized control center 110, and the centralized control center 110 controls the running speed of the underground intelligent follow-up device 100 of the coal mine according to the detection data, so that the underground intelligent follow-up device 100 of the coal mine is ensured to advance along with the anchor rod reversed loader at preset intervals;
In the advancing process of the underground intelligent follow-up device 100, a distance sensor II 112 detects the distance between the underground intelligent follow-up device 100 and the roadway in real time, detection data are transmitted to a centralized control center 110, the centralized control center 110 judges whether the airframe 102 deflects relative to a belt behind the underground intelligent follow-up device 100 according to the detection data, if the airframe 102 deflects (such as when the underground intelligent follow-up device 100 is turned), a transverse swinging oil cylinder 104 is controlled to adjust the self-moving tail roller frame 101 to transversely deflect around a hinge shaft 103, so that the self-moving tail roller frame 101 and a receiving part in front of the self-moving tail roller frame are kept on the same straight line with the belt behind the underground intelligent follow-up device 100, and the extension and retraction amount of the transverse swinging oil cylinder 104 is detected in real time by a travel sensor arranged in the centralized control center 110 and the detection data are transmitted to the centralized control center 110.
Example 2
The embodiment provides a coal mine underground transportation system which longitudinally moves along with an anchor rod reversed loader by adopting the intelligent following method.
The underground coal mine transportation system further comprises a belt rack automatic extension device 300 arranged behind the underground coal mine intelligent follow-up device 100; the belt rack automatic extension device 300 is used for realizing automatic extension of a belt conveyor.
The automatic belt rack extension device 300 includes a belt rack upper assembly, a belt rack lower assembly, and a belt rack assembly.
The belt frame upper assembly comprises two H-frame connecting longitudinal beams 301, a carrier roller frame 302 for connecting the two H-frame connecting longitudinal beams 301 and an upper carrier roller 303 arranged on the carrier roller frame 302, wherein the upper carrier roller adopts a groove-shaped carrier roller; the belt frame lower assembly comprises an H frame 304 and a lower carrier roller 305, wherein the H frame 304 comprises two vertical beams and a cross beam connecting the two vertical beams, a longitudinal beam slot 306 is arranged at the top end of each vertical beam, and the lower carrier roller 304 is arranged on the cross beam; the H-frame connecting longitudinal beams 301 of the upper assemblies of the two adjacent groups of belt frames are inserted into the longitudinal beam slots 306 of the lower assemblies of the same group of belt frames to realize connection.
In this embodiment, the end of the H-frame connecting longitudinal beam 301 is a guiding end of an isosceles trapezoid structure, a vertical hole is formed in the H-frame connecting longitudinal beam 301, a spring buckle 307 is installed in the vertical hole, the spring buckle 307 comprises a spring and clamping blocks arranged at two ends of the spring, the upper part of each clamping block is located outside the vertical hole, and a clamping hole 330 is formed in a longitudinal beam slot 306. When the H-frame connecting longitudinal beam 301 is just inserted into the longitudinal beam slot 306, clamping blocks at two ends of the spring are compressed by the upper side wall and the lower side wall of the longitudinal beam slot 306 at first, so that the H-frame connecting longitudinal beam 301 can be smoothly inserted into the longitudinal beam slot 306, when the spring buckle 307 reaches the position of the clamping hole 330, the clamping blocks penetrate through the clamping hole 330 by spring force, and self-locking of the connecting position of the H-frame connecting longitudinal beam 301 and the longitudinal beam slot 306 is realized. The upper belt frame assembly and the lower belt frame assembly form a belt frame 329.
The belt rack assembly comprises a base 308, a front end rack 309, a middle rack 310, a rear end rack 311, an upper assembly transport platform and a lower assembly transport platform; the front end rack 309, the middle rack 310 and the rear end rack 311 are fixedly arranged on the base 308 from front to back in sequence; the front end of the base 308 or the front end frame 309 is provided with a longitudinal telescopic mechanism i for connection with the front engine (in this embodiment, the longitudinal telescopic mechanism i adopts a longitudinal telescopic cylinder i 312).
The height of the front end frame 309 gradually increases from front to back, an upper carrier roller set is rotatably mounted on the front end frame 309, and a hydraulic system or materials storage can be arranged on the front end frame 309.
The middle frame 310 is at the same height as the rear end of the front end frame 309, and an upper assembly conveying platform and an upper carrier roller set are installed on the middle frame 310, and the upper carrier roller set is located above the upper assembly conveying platform.
The upper assembly transportation platform comprises a fixed platform 313, a telescopic sliding table 314, a transverse telescopic mechanism I, a longitudinal pushing mechanism and a pushing frame 315; the telescopic sliding table 314 is transversely and slidably connected with the fixed platform 313 and is used for supporting two H-frame connecting stringers 301 of the belt frame upper assembly; the transverse telescopic mechanism I adopts a transverse telescopic oil cylinder I316, and two ends of the transverse telescopic mechanism I are respectively connected with the fixed platform 313 and the telescopic sliding table 314 and are used for driving the telescopic sliding table 314 to transversely stretch; the longitudinal pushing mechanism adopts a longitudinal pushing cylinder 317, longitudinally spans the telescopic sliding table 314, is connected with a pushing frame 315 at the front end, is connected with a fixed platform 313 at the rear end and is used for driving the pushing frame 315 to longitudinally translate so as to push the belt frame upper assembly on the telescopic sliding table 314 backwards.
Further, the fixing platform 313 is provided with a belt pressing roller 318 at a longitudinal side thereof for passing the lower belt from below the fixing platform 313 for restricting the trend of the lower belt and preventing the belt frame from being affected by the belt during assembly.
Further, the upper assembly transportation platform further comprises a guide rod 319, the guide rod 319 longitudinally spans the telescopic sliding table 314, two ends of the guide rod 319 are respectively connected with the fixed platform 313, and the pushing frame 315 is slidably arranged on the guide rod 319 and used for limiting the trend of the pushing frame 315 and preventing the belt frame upper assembly from deviating in direction when longitudinally sliding.
The lower assembly transportation platform is arranged between the middle frame 310 and the rear frame 311 and comprises a longitudinal sliding seat 320, a transverse sliding seat 321, an H-frame fork seat 322, a longitudinal telescopic mechanism II, a transverse telescopic mechanism II and a vertical swinging mechanism II; the longitudinal sliding seat 320 is longitudinally slidably connected to the base 308; the longitudinal telescopic mechanism II adopts a longitudinal telescopic oil cylinder II 323, and two ends of the longitudinal telescopic mechanism II are respectively connected with the base 308 and the longitudinal sliding seat 320 and are used for driving the longitudinal sliding seat 320 to longitudinally slide; the transverse sliding seat 321 is in sliding connection with the longitudinal sliding seat 320; the transverse telescopic mechanism II adopts a transverse telescopic oil cylinder II 324, and two ends of the transverse telescopic mechanism II are respectively connected with the longitudinal sliding seat 320 and the transverse sliding seat 321 and are used for driving the transverse sliding seat 321 to transversely slide; two slots for being inserted into two vertical beams of the H frame 304 are formed in the H frame fork seat 322, and the H frame fork seat 322 is rotationally connected with the transverse sliding seat 321 through a rotating member IV (the rotating member IV adopts a pin shaft in the embodiment); the vertical swing mechanism II adopts a vertical swing oil cylinder II 325, and two ends of the vertical swing mechanism II are respectively connected with the H-frame fork seat 322 and the transverse sliding seat 321 and are used for driving the H-frame fork seat 322 to vertically swing around the rotating piece IV.
The height of the rear end frame 311 is gradually reduced from front to back, the front end is equal to the height of the middle frame 310, and an upper carrier roller set is rotatably arranged on the rear end frame 311. The rear end frame 311 is provided with a transversely retractable support wheel 326 for supporting the H-frame connecting stringers 301 with the rear end assembled and the front end unassembled. The support wheels 326 are driven by laterally disposed cylinders to extend and retract.
The upper carrier roller set of the automatic belt frame extension device 300 is the same as the upper carrier roller set of the telescopic machine body 200, and comprises a plurality of groove-shaped carrier rollers 327, and upper belt deviation preventing wheels 328 are arranged on two sides of the groove-shaped carrier rollers 327 and used for limiting the trend of the upper belt. The belt-rack automatic extension device 300 may be disposed on either side of the roadway, increasing adaptability to the roadway.
In the advancing process of the underground intelligent follow-up device 100 of the coal mine, an upper belt of the belt conveyor is positioned on a groove-shaped carrier roller 327 of a front end rack 309, a middle rack 310 and a rear end rack 311, and a belt rack assembly component is not stopped to supplement a belt rack, and the working process is as follows:
s1, a transverse telescopic oil cylinder II 324 stretches out to transversely push out a transverse sliding seat 321, a vertical swing oil cylinder II 325 stretches out to enable an H-frame fork seat 322 to swing downwards to be in an inclined position, two vertical beams of an H-frame 304 are inserted into slots of the H-frame fork seat 322, the transverse telescopic oil cylinder II 324 contracts to transversely reset the transverse sliding seat 321, the vertical swing oil cylinder II 325 contracts to enable the H-frame fork seat 322 to swing upwards, and a lower carrier roller 304 is positioned below a lower belt;
S2, a transverse telescopic cylinder I316 extends out to transversely push out the telescopic sliding table 314, and an upper belt frame assembly is placed on the telescopic sliding table 314;
If the belt frame upper assembly is in an unassembled state, the assembly is carried out on the telescopic sliding table 314, and after the assembly is completed, the transverse telescopic cylinder I316 is contracted, so that the two H-frame connecting longitudinal beams 301 are respectively aligned with the two longitudinal beam slots 306 of the H-frame 304;
if the belt frame upper assembly is in an assembled state, the transverse telescopic cylinder I316 is directly contracted, so that the two H-frame connecting stringers 301 are respectively aligned with the two stringer slots 306 of the H-frame 304;
S3, pushing the pushing frame 315 backwards by the longitudinal pushing mechanism, pushing the belt frame upper assembly on the telescopic sliding table 314 backwards until the rear ends of the two H frame connecting longitudinal beams 301 are respectively inserted into the two longitudinal beam slots 306 of the H frame 304, and connecting and fixing the belt frame upper assembly with the longitudinal beam slots 306 through the spring buckle 307;
S4, the belt frame assembly component moves forwards along with the front machine, and the assembled part is pulled by the machine head of the belt conveyor and does not move forwards along with the belt frame assembly component until the front end of the H-frame connecting longitudinal beam 301 with the installed rear end moves to the H-frame fork seat 322;
S5, a transverse expansion cylinder II 324 stretches out to transversely push out a transverse sliding seat 321, a vertical swing cylinder II 325 stretches out to enable an H-frame fork seat 322 to swing downwards to be in an inclined position, two vertical beams of an H-frame 304 are inserted into slots of the H-frame fork seat 322, the transverse expansion cylinder II 324 contracts to transversely reset the transverse sliding seat 321, the vertical swing cylinder II 325 contracts to enable the H-frame fork seat 322 to be upwards aligned, a lower carrier roller 304 is positioned below a lower belt, a longitudinal expansion cylinder II 323 contracts to drive the H-frame 304 to move backwards, two longitudinal beam slots 306 are sleeved at the front ends of the two H-frame connecting longitudinal beams 301, and the two longitudinal beam slots are connected and fixed with the front ends of the H-frame connecting longitudinal beams 301 through spring buckles 307;
s6, repeating the steps S2-S5, wherein the assembled part is pulled by the machine head of the belt conveyor to gradually separate from the base 308, so that the upper belt falls on the upper carrier roller 303.
Example 3
The embodiment provides a coal mine underground transportation system, wherein a telescopic machine body 200 is arranged between a coal mine underground intelligent follow-up device 100 and a belt rack automatic extension device 300.
The telescopic body 200 includes a plurality of body units 201 and a plurality of telescopic guide rods 202; an upper carrier roller group and a lower carrier roller group are rotatably arranged on the machine body unit 201; two adjacent groups of fuselage units 201 are connected through a telescopic guide rod 202, the forefront fuselage unit 201 is connected with the fuselage 102 of the underground intelligent follow-up device 100 of the coal mine through the telescopic guide rod 202, and the rearmost fuselage unit 201 is connected with a longitudinal telescopic mechanism I.
Specifically, the fuselage cell 201 includes two curb plates that set up relatively and connects the baffle of two curb plates, and the bottom of curb plate is provided with the skid shoe 203, and baffle top rotation is installed and is gone up bearing roller group and lower bearing roller group, goes up bearing roller group and includes many groove bearing rollers 204, and the both sides of groove bearing roller 204 are provided with the upper belt and prevent off tracking pinch roller 205, rotate between two lower bearing rollers 206 and install the lower belt and prevent off tracking bearing roller 207.
Specifically, a cylinder body mounting seat 208 and a rod body mounting seat 209 are mounted on the outer side of the side plate; the cylinder body of each telescopic guide rod 202 is rotatably mounted on a cylinder body mounting seat 208 of the corresponding machine body unit 201 through a rotating piece III; in two adjacent groups of machine body units 201, the rod body of the telescopic guide rod 202 on the latter machine body unit is rotationally connected with the rod body mounting seat 209 of the former belt shrinkage frame through a rotating piece III; the rod body of the telescopic guide rod 202 on the foremost body unit is rotatably connected with the body 102 of the underground intelligent follow-up device 100 of the coal mine through a rotating piece III; the rotating member III is arranged transversely, and a pin is adopted in the implementation.
In the tunneling operation, the intelligent follower device 100 in the underground coal mine moves forward along with the front equipment, and the belt conveyor behind the intelligent follower device 100 in the underground coal mine is continuously provided with a belt frame along with the forward movement of the intelligent follower device 100 in the underground coal mine so as to prolong the conveying length. When the front of the intelligent underground follow-up device 100 of the coal mine is dug and anchored with an all-in-one machine and an anchor rod reversed loader, and parts are required to be overhauled and replaced, due to the limited lap joint distance between equipment, the equipment overhauling space is narrow, overhauling operation is difficult, the telescopic machine body 200 can provide a certain distance of machine withdrawing space for the equipment in front of the intelligent underground follow-up device 100 of the coal mine so as to provide sufficient overhauling space, the intelligent underground follow-up device 100 of the coal mine pushes the machine body unit 201 to withdraw sequentially, the telescopic guide rod 202 is retracted, and the whole length of the telescopic machine body 200 is shortened so as not to influence the normal operation of the automatic extension device 300 of the rear belt frame and the belt conveyor. The number of the fuselage cell 201 can be adjusted according to actual production requirements to meet the requirements of different telescopic lengths.
Example 4
The embodiment provides a coal mine underground transportation system, a movable platform 400 is straddled behind a belt frame automatic extension device 300, and a movable transformer station and a cable are installed on the movable platform 400.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified, or the front end part or all technical features of the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit of the invention.

Claims (7)

1. The underground intelligent follow-up method for the coal mine is characterized by comprising the following steps of:
S1, arranging an underground intelligent follow-up device of a coal mine behind an anchor rod reversed loader, wherein the underground intelligent follow-up device of the coal mine comprises a material receiving part, a self-moving tail carrier roller frame, a machine body and a crawler-type travelling mechanism;
the self-moving tail roller frame penetrates through the machine body, the central position of the rear end of the self-moving tail roller frame is rotationally connected with the machine body through a rotating piece I, two sides of the front end of the self-moving tail roller frame are connected with the machine body through two groups of transverse swinging mechanisms, the two groups of transverse swinging mechanisms are used for enabling the self-moving tail roller frame to transversely deflect around the rotating piece I, and an upper carrier roller group and a lower carrier roller group are rotationally arranged on the self-moving tail roller frame;
the receiving part comprises a buffer carrier roller frame, a bend pulley, a buffer carrier roller group and a receiving hopper;
the direction-changing drum is rotatably arranged at the front end of the buffer carrier roller frame;
the buffer carrier roller group is rotatably arranged on the buffer carrier roller frame and positioned behind the bend pulley;
the receiving hopper is fixed on the buffer carrier roller frame and is positioned above the buffer carrier roller group;
The rear end of the buffer roller frame is connected with the front end of the self-moving tail roller frame through a rotating piece II and a vertical swinging mechanism I, the vertical swinging mechanism I is positioned above or below the rotating piece II, and the vertical swinging mechanism I is used for enabling the material receiving part to vertically swing around the rotating piece II;
The two groups of crawler-type travelling mechanisms are respectively arranged at two sides of the machine body and are used for driving the underground intelligent follow-up device of the coal mine to longitudinally move;
the machine body is provided with a centralized control center;
The front end of the buffer carrier roller frame is provided with a distance sensor I
Distance sensors II are arranged at four corners of the machine body;
S2, starting the underground intelligent follow-up device of the coal mine, moving forwards along with the anchor rod reversed loader, detecting the distance between the underground intelligent follow-up device of the coal mine and the front anchor rod reversed loader in real time by a distance sensor I, transmitting detection data to a centralized control center, and controlling the running speed of the underground intelligent follow-up device of the coal mine according to the detection data by the centralized control center to ensure that the underground intelligent follow-up device of the coal mine moves forwards along with the anchor rod reversed loader at a preset interval;
In the advancing process of the underground intelligent follow-up device of the coal mine, the distance sensor II detects the distance between the underground intelligent follow-up device of the coal mine and two sides of a roadway in real time, detection data are transmitted to the centralized control center, the centralized control center judges whether the machine body deflects relative to a belt behind the underground intelligent follow-up device of the coal mine according to the detection data, if the machine body deflects, the transverse swinging mechanism is controlled to adjust the transverse deflection of the self-moving tail carrier roller frame around the rotating piece I, so that the self-moving tail carrier roller frame and a receiving part in front of the self-moving tail carrier roller frame are kept on the same straight line with the belt behind the underground intelligent follow-up device of the coal mine.
2. The method according to claim 1, wherein in step S2, the adjustment amount of the lateral swinging mechanism is detected in real time by a travel sensor installed therein and the detected data is transmitted to a centralized control center.
3. The underground coal mine intelligent follow-up method according to claim 1, wherein the rotating piece I is a vertically arranged hinge shaft, and the rotating piece II is a horizontally arranged pin shaft.
4. The underground coal mine intelligent follow-up method according to claim 1, wherein the horizontal swing mechanism and the vertical swing mechanism I are oil cylinders.
5. The underground intelligent follow-up method for the coal mine as claimed in claim 1, wherein a belt pressing plate is arranged in the receiving hopper, and the belt pressing plate is positioned at two sides of the buffer carrier roller group and used for pressing an upper belt on the buffer carrier roller group.
6. The method of claim 1, wherein the buffer roller frame is provided with a belt cleaner.
7. An underground coal mine transportation system, which is characterized in that the underground coal mine intelligent follow-up method according to any one of claims 1-6 is adopted to longitudinally move along with an anchor rod reversed loader.
CN202210990183.0A 2022-08-18 2022-08-18 Underground intelligent follow-up method for coal mine and underground transportation system for coal mine Active CN115402731B (en)

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Publication number Priority date Publication date Assignee Title
GB867302A (en) * 1958-02-01 1961-05-03 Mining Engineering Co Ltd Improvements relating to conveyors for mines
WO2022012104A1 (en) * 2020-07-17 2022-01-20 扬州中欧工业机器人有限公司 Automatic cart unloading and material feeding system, and cart unloading and material feeding method
CN214217088U (en) * 2020-12-04 2021-09-17 北京道思克矿山装备技术有限公司 Underground coal mine transportation system and rapid tunneling system
CN113803065A (en) * 2021-08-26 2021-12-17 中国煤炭科工集团太原研究院有限公司 Full-section shovel plate of development machine based on scraper chain transportation

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