CN211174100U - Encoder device, coal mining machine walking box and super-large mining height coal mining machine - Google Patents
Encoder device, coal mining machine walking box and super-large mining height coal mining machine Download PDFInfo
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- CN211174100U CN211174100U CN201922150999.9U CN201922150999U CN211174100U CN 211174100 U CN211174100 U CN 211174100U CN 201922150999 U CN201922150999 U CN 201922150999U CN 211174100 U CN211174100 U CN 211174100U
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Abstract
The utility model discloses an encoder device, a coal mining machine walking box and an ultra-large mining height coal mining machine, which comprises an encoder, an encoder installation box, an installation seat, a rear end cover, a coupling and a connecting rod; the encoder is arranged in the encoder installation box, and the encoder installation box is arranged on the installation seat; the front end of the encoder installation box is provided with a front end cover, and the rear end of the encoder installation box is provided with a rear end opening; the rear end cover is arranged on the mounting seat, and a wire harness arrangement cavity is formed between the mounting seat and the rear end cover; the rear end opening is communicated with the wiring harness arranging cavity; the front end cover is also provided with a sleeve communicated with the encoder installation box; the shaft coupling is located in the sleeve, one end of the shaft coupling is connected with an encoder rotating shaft of the encoder, and the other end of the shaft coupling is connected with the connecting rod. The traveling of the coal mining machine traveling box and the coal mining machine with the ultra-large mining height can be monitored in real time so as to prevent accidents.
Description
Technical Field
The utility model relates to a coal mining equipment technical field especially relates to an encoder device, coal-winning machine walking case and super large mining height coal-winning machine.
Background
The fully mechanized mining face consists of a coal mining machine, a scraper conveyor and a hydraulic support. The normal operation of the equipment can be ensured only if the three are mutually matched in the aspects of production capacity, equipment performance, equipment structure, space size, interconnection backup form, strength, size and the like. The coal mining machine and the conveyor are supported on a pin rail and a shovel plate of the scraper conveyor through two guide sliding shoes on the old pond side and two smooth shoes on the coal wall side. The hydraulic support cuts coal along with the coal cutter, and after the direction and position information of the coal cutter are monitored through the support controller, corresponding actions are automatically completed according to a support moving program. At present, a monitoring device is not arranged on the coal mining machine to monitor whether the specific walking position of the coal mining machine is set to run in the set direction and speed, and a bracket controller can only monitor the position of the coal mining machine after stopping and cannot monitor the walking position, direction and speed of the coal mining machine, so that accidents can be caused.
In view of this, it is necessary to provide an encoder device, a coal mining machine traveling box and a coal mining machine with an ultra-large mining height, which can monitor the self traveling of the coal mining machine.
SUMMERY OF THE UTILITY MODEL
The technical scheme of the utility model provides an encoder device, which comprises an encoder for monitoring the rotation angle of a gear, an encoder installation box, an installation seat, a rear end cover, a coupler and a connecting rod for connecting with the gear to be tested;
the encoder is arranged in the encoder installation box, and the encoder installation box is arranged on the installation seat;
the front end of the encoder installation box is provided with a front end cover, and the rear end of the encoder installation box is provided with a rear end opening;
the rear end cover is arranged on the mounting seat, and a wire harness arrangement cavity is formed between the mounting seat and the rear end cover;
the rear end opening is communicated with the wiring harness arranging cavity;
the front end cover is also provided with a sleeve communicated with the encoder installation box;
the shaft coupling is located in the sleeve, one end of the shaft coupling is connected with an encoder rotating shaft of the encoder, and the other end of the shaft coupling is connected with the connecting rod.
Further, the coupling is an elastic coupling.
Further, the coupler comprises a first connecting end, a second connecting end and an intermediate connecting part connected between the first connecting end and the second connecting end;
the first connecting end is connected with the encoder rotating shaft, and the second connecting end is connected with the connecting rod;
the middle connecting part is provided with a plurality of grooves.
Further, the recess is an annular groove that surrounds a surface of the intermediate connection portion.
Furthermore, a plurality of annular grooves are connected in sequence to form a thread shape.
Further, a plurality of the grooves are arranged in parallel with each other, the grooves extending in the front-rear direction of the intermediate connecting portion.
Further, the rear end cover comprises a U-shaped main body and two connecting plates;
the two connecting plates are connected to two sides of the opening of the U-shaped main body and are respectively connected with the mounting seat;
the two connecting plates are positioned on two opposite sides of the rear end opening, and the opening of the U-shaped main body is communicated with the rear end opening.
The technical scheme of the utility model also provides a coal mining machine walking box, which comprises a box body, a driving motor, a reduction gear set and an encoder device according to any one of the technical schemes;
the lower end of the box body is provided with a sliding chute matched with a guide rail, and the lower part of the box body is also provided with a walking gear meshed with a rack on the guide rail;
the walking gear is installed in the box body through a walking gear rotating shaft, and at least part of the walking gear is located in the sliding groove;
the driving motor and the reduction gear set are arranged in the box body;
a motor gear is arranged on an output shaft of the driving motor, and the reduction gear set is meshed between the motor gear and the walking gear;
and a mounting seat in the encoder device is arranged on the box body, and a connecting rod in the encoder device is connected with the traveling gear rotating shaft.
Further, a bearing is arranged between the rotating shaft of the walking gear and the box body;
the mounting seat is fixedly mounted on a bearing seat of the bearing;
one end of the walking gear rotating shaft facing the encoder is provided with a mounting groove;
a positioning block is fixedly arranged in the mounting groove;
an encoder installation box in the encoder device is at least partially positioned in the installation groove, and the connecting rod is fixedly connected with the positioning block.
The utility model discloses technical scheme still provides a super large mining height coal-winning machine, including aforementioned arbitrary technical scheme coal-winning machine walking case.
By adopting the technical scheme, the method has the following beneficial effects:
the utility model provides an encoder device, it can be installed on coal-winning machine walking case through the mount pad, and its connecting rod can be connected with the walking gear that awaits measuring to monitoring walking gear's turned angle, direction and speed, and then calculating walking gear's walking distance, walking direction and walking speed, thereby can carry out real-time supervision to the self walking of the super large mining height coal-winning machine that has this coal-winning machine walking case, can the emergence of prevention accident.
Drawings
Fig. 1 is a schematic structural diagram of an encoder apparatus according to an embodiment of the present invention;
FIG. 2 is an assembly schematic of the coupling, sleeve, link, front end cap;
FIG. 3 is a schematic structural view of the coupling;
fig. 4 is a schematic structural diagram of a coal mining machine walking box provided by an embodiment of the present invention;
FIG. 5 is a schematic view of the connections between the drive motor, the reduction gear set and the travel gears in the shearer carriage;
fig. 6 is a schematic view of the connection between the encoder device and the rotating shaft of the traveling gear.
Detailed Description
The following describes the present invention with reference to the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
As shown in fig. 1-3, the embodiment of the utility model provides an encoder device, including encoder 1, encoder install bin 2, mount pad 3, rear end cap 4, shaft coupling 5 that are used for monitoring gear turned angle and be used for with the gear connection's that awaits measuring connecting rod 6.
Encoder 1 is installed in encoder install bin 2, and encoder install bin 2 installs on mount pad 3.
The front end of the encoder installation box 2 is provided with a front end cover 21, and the rear end of the encoder installation box 2 is provided with a rear end opening 22.
The rear end cap 4 is mounted on the mount 3, and a harness arranging chamber 40 is formed between the mount 3 and the rear end cap 4. The rear end opening 22 communicates with the harness arranging chamber 40.
The front end cover 21 is also provided with a sleeve 7 communicating with the encoder mounting case 2.
The shaft coupling 5 is located the sleeve 7, and the one end of shaft coupling 5 is connected with encoder pivot 11 of encoder 1, and its other end is connected with connecting rod 6.
The embodiment of the utility model provides an encoder device mainly used monitors the walking gear in the coal-winning machine walking case, and through the turned angle of monitoring walking gear, calculates implementation walking route and the walking direction of coal-winning machine walking case.
The utility model discloses the encoder 1 of well adoption is the shaft angle encoder, and it is the equipment among the prior art.
The utility model aims to solve how to install encoder 1 in order to carry out the technical problem who monitors to the gear that awaits measuring.
In order to solve the technical problem, the utility model provides an encoder device, it mainly includes encoder 1, encoder install bin 2, mount pad 3, rear end cap 4, shaft coupling 5, connecting rod 6 and sleeve 7.
The encoder mounting case 2 has a front end cover 21 at its front end and a rear end opening 22 at its rear end. The encoder 1 is mounted in an encoder mounting case 2. The encoder rotating shaft 11 of the encoder 1 penetrates out of the front end cover 21, and the wiring harness 12 of the encoder 1 is wired through the rear end opening 22 so as to be connected with an external calculation control instrument.
The encoder installation case 2 is installed on the installation base 3, the rear end cover 4 is installed at the rear side of the installation base 3, and the wiring harness arranging cavity 40 is formed between the installation base 3 and the rear end cover 4, and is communicated with the rear end opening 22 and used for arranging the wiring harness 12. The wiring harness 12 may be passed through the wiring harness routing cavity 40 before being connected to external control computing equipment. The wiring harness 12 close to the encoder 1 side can be fixed in the wiring installation cavity 40, and the influence of the movement of the wiring harness 12 on the stability of the encoder 1 is avoided.
The sleeve 7 is fixedly arranged on the front end cover 21 and communicated with the encoder installation box 2, and the front end of the encoder rotating shaft 11 extends into the sleeve 7. The coupling 5 is mounted in the sleeve 7 and can rotate therein. The rear end of the connecting rod 6 extends into the sleeve 7 and is connected with the front end of the coupler 5. The rear end of the coupler 5 is connected with the encoder rotating shaft 11.
When the walking gear in the walking box of the coal mining machine needs to be monitored, the mounting seat 3 is mounted on the box body or the bearing seat of the walking box of the coal mining machine, and the end part of the connecting rod 6 is connected with the rotating shaft of the walking gear to realize synchronous rotation.
When driving motor drive walking gear rotates, the walking gear passes through connecting rod 6 and shaft coupling 5 and drives encoder pivot 11 and rotates, encoder 1 judges the moving direction of walking gear on the rack according to the direction of rotation of encoder pivot 11, encoder 1 judges the displacement distance of walking gear on the rack according to the turned angle or the number of turns of encoder pivot 11, encoder 1 judges the displacement speed of walking gear on the rack according to the slew velocity of encoder pivot 11, thereby can real-time supervision coal-winning machine walking case or the walking route of coal-winning machine, walking direction and walking speed.
The encoder 1 is connected with an external calculation control instrument through a wire harness 12, the data are transmitted to the calculation control instrument, and the calculation control instrument is compared and judged with a preset walking path, a walking direction and a walking direction to determine whether a walking box of the coal mining machine or the walking of the coal mining machine meets requirements or not.
Therefore, the utility model provides an encoder device, it can be installed on coal-winning machine walking case through the mount pad, and its connecting rod can be connected with the walking gear that awaits measuring to monitoring walking gear's turned angle, direction and speed, and then calculating walking gear's walking distance, walking direction and walking speed, thereby can carry out real-time supervision to the self walking of the super large height mining machine that has this coal-winning machine walking case, can the emergence of prevention accident.
Preferably, the coupling 5 is an elastic coupling. The elastic coupling is an integrally formed metal elastic body, is usually formed by cutting a metal round bar by a wire, is made of aluminum alloy, stainless steel and engineering plastics, and is suitable for various deviations and accurate torque transmission. The positioning precision of the connecting rod 6 is ensured by utilizing the axial, radial and angular compensation functions and the damping and buffering functions of the elastic coupling 5, and the accurate transmission of direction, speed and angle signals is facilitated.
Preferably, as shown in fig. 2-3, the coupling 5 includes a first coupling end 51, a second coupling end 52, and an intermediate coupling portion 53 connected between the first coupling end 51 and the second coupling end 52. The first connecting end 51 is connected with the encoder rotating shaft 11, and the second connecting end 52 is connected with the connecting rod 6. A plurality of grooves 531 are provided on the intermediate connecting portion 53.
The first connection end 51, the second connection end 52 and the intermediate connection portion 53 are integrally formed.
The resilient coupling utilizes a groove 531 or undercut on the intermediate connection 53 to accommodate various tolerances and accurately transmit torque. Due to the provision of the groove 531, the rigidity of the intermediate connecting portion 53 is reduced, and a corresponding deformation can be made in accordance with the force of the link 6 to accommodate the link 6.
Preferably, as shown in fig. 2-3, the groove 531 is an annular groove around the surface of the intermediate connecting portion 53. The annular groove surrounds the surface of the intermediate connection portion 53, and a good deviation adaptation effect can be achieved.
One arrangement of the annular grooves is as follows: the annular grooves are connected in sequence to form a thread shape or a double thread shape, can bear various deviations, and are most suitable for correcting deflection angles and axial deviations.
Another arrangement of the annular grooves is as follows: the plurality of grooves 531 are arranged in parallel with each other, and the grooves 531 extend in the front-rear direction of the intermediate connecting portion 53, and can bear a larger torque.
Preferably, as shown in fig. 1, the rear end cap 4 includes a U-shaped body 41 and two connecting plates 42.
Two connecting plates 42 are connected to two sides of the opening of the U-shaped main body 41, and the two connecting plates 42 are respectively connected with the mounting base 3.
Two connecting plates 42 are located on opposite sides of the rear opening 22, and the opening of the U-shaped body 41 communicates with the rear opening 22.
The rear end cover 4 is composed of a U-shaped main body 41 and two connecting plates 42, the connecting plates 42 are used for being connected with the mounting seat 3, the concave cavity of the U-shaped main body 41 faces the rear end opening 22, and the wiring harness arranging cavity 40 is convenient to mount and form.
As shown in fig. 4-6, the embodiment of the present invention further provides a coal mining machine walking box 8, which includes a box 81, a driving motor 82, a reduction gear set 83 and an encoder device according to any of the foregoing embodiments.
A chute 85 for engaging with the guide rail is provided at the lower end of the casing 81, and a traveling gear 84 for engaging with the rack on the guide rail is provided at the lower portion of the casing 81.
The traveling gear 84 is installed in the housing 81 through a traveling gear rotating shaft 841, and the traveling gear 84 is at least partially located in the chute 85.
The driving motor 82 and the reduction gear group 83 are installed in the case 81, a motor gear 821 is provided on an output shaft of the driving motor 82, and the reduction gear group 83 is engaged between the motor gear 821 and the traveling gear 84.
The mounting base 3 of the encoder device is mounted on the box 81, and the connecting rod 6 of the encoder device is connected with the traveling gear rotating shaft 841.
The coal mining machine traveling box 8 is a traveling mechanism on a coal mining machine, and comprises a box body 81, a driving motor 82, a reduction gear group 83, a traveling gear 84 and an encoder device.
For the structure, structure and operation principle of the encoder device, please refer to the description part of the encoder device, which is not repeated herein.
The lower end of the box body 81 is provided with a sliding groove 85, and the sliding groove 85 is used for being matched with a guide rail on the conveyor to play a role in guiding. The guide rail is also provided with a rack.
The traveling gear 84 is installed at the lower part of the casing 81 through a traveling gear rotating shaft 841, a part of the traveling gear 84 is located in the chute 85, and the traveling gear 84 is used for being meshed with the rack, so that when the traveling gear 84 is driven to rotate, the traveling gear 84 can drive the coal cutter traveling box 8 and the coal cutter to move along the rack, and the coal cutter travels on the conveyor.
The driving motor 82 is installed in the case 81, and a motor gear 821 is provided on an output shaft of the driving motor 82. A reduction gear unit 83 is also installed in the housing 81, and is engaged between the motor gear 821 and the traveling gear 84. Specifically, the reduction gear group 83 includes an input gear 831 and an output gear 832, and the diameter of the input gear 831 is smaller than that of the output gear 832 to perform a reduction function. The input gear 831 is in mesh transmission with the motor gear 821, and the output gear 832 is in mesh transmission with the walking gear 84. Preferably, the diameter of the travel gear 84 is larger than the diameter of the output gear 832, further reducing the rotational speed of the travel gear 84.
Thus, the drive motor 82 can transmit power to the travel gear 84 via the motor gear 821 and the reduction gear group 83, drive the travel gear 84 to rotate, and travel on the rack.
The mounting base 3 among the encoder device passes through the bolt and installs on box 81, and connecting rod 6 among the encoder device is connected with walking gear pivot 841 direct connection or indirect connection, and walking gear pivot 841 can drive connecting rod 6 and rotate.
When the driving motor 82 drives the traveling gear 84 to rotate, the traveling gear rotating shaft 841 of the traveling gear 84 rotates integrally. The walking gear rotating shaft 841 drives the encoder rotating shaft 11 to rotate through the connecting rod 6 and the coupler 5, the encoder 1 judges the moving direction of the walking gear 84 on the rack according to the rotating direction of the encoder rotating shaft 11, the encoder 1 judges the moving distance of the walking gear 84 on the rack according to the rotating angle or the number of turns of the encoder rotating shaft 11, and the encoder 1 judges the moving speed of the walking gear 84 on the rack according to the rotating speed of the encoder rotating shaft 11, so that the walking path, the walking direction and the walking speed of the coal mining machine walking box 8 or the coal mining machine can be monitored in real time.
The encoder 1 is connected with an external calculation control instrument through a wire harness 12, the data are transmitted to the calculation control instrument, and the calculation control instrument is compared and judged with a preset walking path, a walking direction and a walking direction to determine whether a walking box of the coal mining machine or the walking of the coal mining machine meets requirements or not.
Preferably, as shown in fig. 4 to 6, a bearing 86 is provided between the traveling gear rotating shaft 841 and the case 81. The mount 3 is fixedly mounted on a bearing mount 861 of the bearing 86. The end of the traveling gear rotating shaft 841 facing the encoder 1 has a mounting groove 842. A positioning block 843 is fixedly disposed in the mounting groove 842. The encoder installation box 2 of the encoder device is at least partially located in the installation groove 842, and the connecting rod 6 is fixedly connected with the positioning block 863.
The bearing 86 includes a bearing block 861 and balls, and the bearing block 861 is fixedly installed in the case 81. The bearing 86 is sleeved on the traveling gear rotating shaft 841, so that the traveling gear rotating shaft 841 can rotate in the box body 81.
The mount 3 is fixedly mounted on a bearing block 861 of the bearing 86 by a long bolt.
The end of the traveling gear rotating shaft 841 has a mounting groove 842. The positioning block 843 is fixedly disposed in the mounting groove 842. A portion of the encoder installation case 2 is located in the installation groove 842, and the link 6 is fixedly connected with the positioning block 863.
So set up, can hold a part of encoder install bin 2 through mounting groove 842, reduce the volume that the encoder device is in the outside of box 81, reduce the overall dimension.
In order to shorten the length of the connecting rod 6, a positioning block 843 is fixedly arranged on the mounting groove 842, and the connecting rod 6 and the traveling gear rotating shaft 841 can synchronously rotate by connecting the connecting rod 6 with the positioning block 843.
When the driving motor 82 drives the traveling gear 84 to rotate, the traveling gear rotating shaft 841 of the traveling gear 84 rotates integrally. The walking gear rotating shaft 841 drives the positioning block 843 to rotate, and the positioning block 843 drives the connecting rod 6, the coupler 5 and the encoder rotating shaft 11 to integrally rotate.
With reference to fig. 4-6, an embodiment of the present invention provides a coal mining machine with an ultra-large mining height, including the coal mining machine walking box 8 in the foregoing embodiment.
In the application, a coal mining machine with the mining height of 3.5m-7m is called a large-mining-height coal mining machine, and a coal mining machine with the mining height of more than 7m is called an ultra-large-mining-height coal mining machine.
The mining height of the coal mining machine with the ultra-large mining height can be 8.8 meters, and the coal mining machine with the ultra-large mining height is provided.
The coal mining machine walking box 8 is arranged on the left traction part and the right traction part of the coal mining machine with the ultra-large mining height and provides a walking function for the coal mining machine with the ultra-large mining height.
Because the coal mining machine walking box 8 is provided with the encoder device, the self walking of the coal mining machine with the ultra-large mining height can be monitored in real time so as to prevent accidents.
According to the needs, the above technical schemes can be combined to achieve the best technical effect.
What has been described above is merely the principles and preferred embodiments of the present invention. It should be noted that, for those skilled in the art, on the basis of the principle of the present invention, several other modifications can be made, and the protection scope of the present invention should be considered.
Claims (10)
1. An encoder device is characterized by comprising an encoder for monitoring the rotation angle of a gear, an encoder installation box, an installation seat, a rear end cover, a coupler and a connecting rod for connecting with the gear to be detected;
the encoder is arranged in the encoder installation box, and the encoder installation box is arranged on the installation seat;
the front end of the encoder installation box is provided with a front end cover, and the rear end of the encoder installation box is provided with a rear end opening;
the rear end cover is arranged on the mounting seat, and a wire harness arrangement cavity is formed between the mounting seat and the rear end cover;
the rear end opening is communicated with the wiring harness arranging cavity;
the front end cover is also provided with a sleeve communicated with the encoder installation box;
the shaft coupling is located in the sleeve, one end of the shaft coupling is connected with an encoder rotating shaft of the encoder, and the other end of the shaft coupling is connected with the connecting rod.
2. The encoder device of claim 1, wherein the coupling is an elastomeric coupling.
3. The encoder device of claim 2, wherein the coupling comprises a first connection end, a second connection end, and an intermediate connection portion connected between the first connection end and the second connection end;
the first connecting end is connected with the encoder rotating shaft, and the second connecting end is connected with the connecting rod;
the middle connecting part is provided with a plurality of grooves.
4. The encoder device of claim 3, wherein the recess is an annular groove around a surface of the intermediate connection portion.
5. The encoder device of claim 4, wherein the plurality of annular grooves are connected in series in a threaded manner.
6. The encoder device of claim 3, wherein a plurality of the grooves are arranged in parallel with each other, the grooves extending in a front-rear direction of the intermediate connection portion.
7. The encoder device of claim 1, wherein the rear end cap comprises a U-shaped body and two connecting plates;
the two connecting plates are connected to two sides of the opening of the U-shaped main body and are respectively connected with the mounting seat;
the two connecting plates are positioned on two opposite sides of the rear end opening, and the opening of the U-shaped main body is communicated with the rear end opening.
8. A shearer walking box, characterized by comprising a box body, a driving motor, a reduction gear set and an encoder device according to any one of claims 1 to 7;
the lower end of the box body is provided with a sliding chute matched with a guide rail, and the lower part of the box body is also provided with a walking gear meshed with a rack on the guide rail;
the walking gear is installed in the box body through a walking gear rotating shaft, and at least part of the walking gear is located in the sliding groove;
the driving motor and the reduction gear set are arranged in the box body;
a motor gear is arranged on an output shaft of the driving motor, and the reduction gear set is meshed between the motor gear and the walking gear;
and a mounting seat in the encoder device is arranged on the box body, and a connecting rod in the encoder device is connected with the traveling gear rotating shaft.
9. The traveling box of the coal mining machine as claimed in claim 8, wherein a bearing is arranged between the traveling gear rotating shaft and the box body;
the mounting seat is fixedly mounted on a bearing seat of the bearing;
one end of the walking gear rotating shaft facing the encoder is provided with a mounting groove;
a positioning block is fixedly arranged in the mounting groove;
an encoder installation box in the encoder device is at least partially positioned in the installation groove, and the connecting rod is fixedly connected with the positioning block.
10. A shearer loader with an ultra-large mining height, characterized by comprising the shearer loader traveling box of claim 8 or 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922150999.9U CN211174100U (en) | 2019-12-04 | 2019-12-04 | Encoder device, coal mining machine walking box and super-large mining height coal mining machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922150999.9U CN211174100U (en) | 2019-12-04 | 2019-12-04 | Encoder device, coal mining machine walking box and super-large mining height coal mining machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112129255A (en) * | 2020-09-16 | 2020-12-25 | 中国煤炭科工集团太原研究院有限公司 | Hight measuring device for side coal mining equipment |
| CN112160747A (en) * | 2020-09-16 | 2021-01-01 | 中国煤炭科工集团太原研究院有限公司 | Coal mining equipment for coal mine side wall |
-
2019
- 2019-12-04 CN CN201922150999.9U patent/CN211174100U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112129255A (en) * | 2020-09-16 | 2020-12-25 | 中国煤炭科工集团太原研究院有限公司 | Hight measuring device for side coal mining equipment |
| CN112160747A (en) * | 2020-09-16 | 2021-01-01 | 中国煤炭科工集团太原研究院有限公司 | Coal mining equipment for coal mine side wall |
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