CN212654982U - Unmanned on duty is quick tunnelling with machine carries flexible sticky tape machine control system - Google Patents
Unmanned on duty is quick tunnelling with machine carries flexible sticky tape machine control system Download PDFInfo
- Publication number
- CN212654982U CN212654982U CN202020997043.2U CN202020997043U CN212654982U CN 212654982 U CN212654982 U CN 212654982U CN 202020997043 U CN202020997043 U CN 202020997043U CN 212654982 U CN212654982 U CN 212654982U
- Authority
- CN
- China
- Prior art keywords
- adhesive tape
- tape machine
- walking
- access device
- flexible
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses an on-board flexible adhesive tape machine control system for unattended rapid tunneling, belonging to the technical field of coal mine transportation equipment; the belt conveyor comprises a bendable adhesive tape machine, a first travelling device and a second travelling device, wherein the first travelling device and the second travelling device are respectively connected to two ends of the bendable adhesive tape machine, a first 4G access device is arranged on the bendable adhesive tape machine, a second 4G access device is arranged on the first travelling device, a third 4G access device is arranged on the second travelling device, the first 4G access device is respectively in wireless connection with the second 4G access device and the third 4G access device, and the bendable adhesive tape machine adjusts the belt conveying speed of the bendable adhesive tape machine according to the coal conveying amount information received from the first travelling device through a 4G network; the utility model discloses a many sensing fusion has realized that the working face subtracts people, has solved the continuity of working face transportation link, has effectively reduced workman's intensity of labour, has improved the operating efficiency of working face equipment, has guaranteed the safe, reliable, the high-efficient operation of quick tunnelling complete sets.
Description
Technical Field
The utility model discloses quick tunnelling of unmanned on duty is with machine-mounted flexible sticky tape machine control system belongs to coal mine transportation equipment technical field.
Background
In the coal mining process, tunneling is a prerequisite for realizing comprehensive and mechanized coal mining. The roadway excavation provides a mining standard roadway for a fully mechanized coal mining face, is an important link of coal mine production, and is mainly characterized in that: a newly excavated roadway is 12000km every year, and the engineering is huge; the construction conditions are complex; the working procedures are various, and the tunneling comprises the working procedures of cutting, supporting, transporting, ventilating, dedusting, safety control and the like; low technical level, unbalanced mining, poor working environment and poor safety. The roadway excavation becomes a restriction factor of safe and efficient mining of coal mines, and the complete equipment for rapid excavation is favorable for solving the problem of unbalanced excavation and mining and improving the excavation efficiency. In the rapid tunneling complete equipment, transportation is a key link, and the quality of the running state of the rapid tunneling complete equipment is directly related to the success or failure of the rapid tunneling complete equipment. Through the research on the transportation control technology of the rapid excavation complete equipment consisting of the bendable adhesive tape machines, the purposes of reducing labor and improving efficiency in the transportation link, realizing unattended operation and promoting the intelligent development of the whole rapid excavation working face are achieved.
The invention discloses a Chinese patent 'a control system and a method of an adhesive tape machine', with application number 201611039877.7, the invention discloses an adhesive tape control system, which comprises: the device comprises a tensioning system, a driving system, an adhesive tape transmission system, a combined frequency converter, a controller and a controller, wherein the controller is used for acquiring a tension signal of the adhesive tape transmission system and acquiring a belt transmission speed control instruction and a belt tension control instruction according to the tension signal; and the combined frequency converter is used for controlling the belt transmission speed of the adhesive tape transmission system according to the belt transmission speed control instruction and controlling the belt tension of the adhesive tape transmission system according to the belt tension control instruction. The embodiment of the invention has the following beneficial effects: through the communication between controller and the combination converter, realize sticky tape transmission system's normal operating work, reduce communication line, reduce equipment failure rate, when needs upgrading sticky tape transmission system simultaneously, only need through the upgrading controller can. The invention discloses a Chinese patent 'full automatic tensioning control system and method for a belt conveyor', which has the application number of 201510873887.X, and discloses a full automatic tensioning control method for a belt conveyor, which comprises the following steps: in the process of starting, stopping or operating the belt conveyor, calculating the minimum tension Fmin required by the belt conveyor, and determining a standard tension range according to the Fmin; detecting the belt tension F' of the adhesive tape machine; the detected belt tension F ' is compared to a standard tension range, and if F ' falls outside the standard tension range, the belt of the adhesive tape machine is tensioned or slackened until the detected belt tension F ' falls within the standard tension range. The invention can realize real-time adjustment of the belt tension in the starting, stopping and running processes of the belt conveyor. The invention discloses a Chinese patent 'synchronous system of multiple transmission belt conveyor', with application number 201410322902.7, and relates to a synchronous system of multiple transmission belt conveyors, which perfects the synchronous control technology of a computer, ensures that 4 motors at the head part drive the belt conveyors in a balanced manner, and simultaneously synchronously calculates and adjusts the current and frequency of a driving motor at the tail part in real time, so that the output power of all the motors at the head part and the tail part are balanced and the running speed of all the motors are balanced to ensure the stable running of the belt conveyors, thereby reducing the impact of the quick start/quick stop process on mechanical and electrical systems, avoiding belt overlapping, effectively inhibiting the damage of dynamic tension waves of the belt conveyors to belts and mechanical equipment, prolonging the service life of the belt conveyors, and increasing the safety and reliability of a conveying system.
As can be seen from the above patents, the patents related to the control of the tape machine relate to the tensioning and power balancing system of the tape machine, but only one control technique of the general-purpose tape machine is studied. The used adhesive tape machine is not only fixed but also has no relation with other connected equipment in walking. The existing bendable belt conveyor is a belt conveyor used under special working conditions, and the control requirement of a general belt conveyor is met, and the working requirement of rapid tunneling is also met. The flexible adhesive tape machine for rapid tunneling has a walking function, one end of the flexible adhesive tape machine is connected with a tunneling device, the other end of the flexible adhesive tape machine is vertically overlapped with a stepping self-moving tail, a short-distance flexible belt conveying system of a working face is formed, and the flexible adhesive tape machine and the two devices connected with the flexible adhesive tape machine are synchronously coordinated and controlled in different working modes in the walking direction. The existing bendable adhesive tape machine needs manual nursing and does not realize unattended operation.
SUMMERY OF THE UTILITY MODEL
The utility model discloses unmanned on duty is tunneled fast with machine carries flexible sticky tape machine control system, has overcome the not enough that prior art exists, provides intelligent, the unmanned quick for the tunnelling machine carries flexible sticky tape machine control system of quick tunnelling working face transportation link.
In order to solve the technical problem, the utility model discloses a technical scheme be: the utility model provides an unmanned on duty is tunnelling fast with machine year flexible sticky tape machine control system, including flexible sticky tape machine and set up first walking equipment and the second walking equipment at flexible sticky tape machine both ends respectively, first walking equipment is used for excavating the coal, be equipped with first 4G access equipment on the flexible sticky tape machine, be equipped with second 4G access equipment on the first walking equipment, be equipped with third 4G access equipment on the second walking equipment, first 4G access equipment is wireless continuous with second 4G access equipment and third 4G access equipment respectively, through the 4G network, flexible sticky tape machine is according to receiving the coal-carrying volume information that comes from first walking equipment, carry out the speed governing to its belt transport speed.
Furthermore, the flexible adhesive tape machine, the first walking device and the second walking device share respective walking information through a 4G network, and the walking directions of all devices are kept consistent and synchronous.
Furthermore, the first walking device is an anchor driving machine, the second walking device is a stepping self-moving adhesive tape machine tail, the anchor driving machine is positioned in front of the flexible adhesive tape machine, and the stepping self-moving adhesive tape machine tail is hinged to the rear of the flexible adhesive tape machine.
Further, the bendable adhesive tape machine comprises a main driving roller, at least one auxiliary driving roller, a controller, a main frequency converter, an auxiliary frequency converter and a rotating speed sensor;
the rotating speed sensor is connected with the input end of the controller and is used for acquiring the belt transmission speed of the bendable adhesive tape machine; the main frequency converter is connected with the controller and is used for adjusting the rotating speed of the main driving roller; the slave frequency converter is connected with the controller and is used for adjusting the rotating speed of the slave driving roller; in response to the rotational speed of the slave drive drum not being equal to the rotational speed of the master drive drum, the controller changes the output frequency of the slave inverter so that the rotational speed of the slave drive drum is in agreement with the rotational speed of the master drive drum.
Furthermore, the bendable adhesive tape machine also comprises a distance measuring sensor, a machine vision system and a traveling electromagnetic valve which are all connected with the controller, wherein the distance measuring sensor is used for measuring the distance between the bendable adhesive tape machine and the first traveling device and the distance between the bendable adhesive tape machine and the second traveling device respectively; the machine vision system is used for identifying the walking track of the flexible adhesive tape machine by detecting the bending state of the flexible adhesive tape machine and the arching degree of the belt frame and monitoring the walking track and the speed of the flexible adhesive tape machine in real time; the walking electromagnetic valve is used for controlling the rotating speed of a hydraulic motor of the bendable adhesive tape machine to adjust the walking speed according to the speed control instruction sent by the controller.
Furthermore, the bendable adhesive tape machine also comprises a pressure sensor and a tightness electromagnetic valve which are both connected with the controller, wherein the pressure sensor is used for measuring the adhesive tape tension of the bendable adhesive tape machine; the elastic electromagnetic valve is used for controlling the tension of the elastic adhesive tape according to a tension control instruction sent by the controller.
Further, a control center is included, and the control center is communicatively coupled with the first 4G access device, the second 4G access device, and the third 4G access device.
Further, the system further comprises an alarm device, wherein the alarm device is communicably coupled with the first 4G access device, the second 4G access device and the third 4G access device.
Compared with the prior art, the utility model following beneficial effect has.
The utility model discloses unmanned on duty is tunneled fast and is used machine carries flexible sticky tape machine control system, has not only realized the working face and has subtracted people, has solved the continuity of working face transportation link, has effectively reduced workman's intensity of labour moreover, has improved the operating efficiency of working face equipment, has guaranteed the safe, reliable, the high-efficient operation of fast tunnelling complete sets, and is significant to promoting china's colliery underground fast tunnelling automation, intelligent technological level.
Drawings
Fig. 1 is a system block diagram of the present invention.
Fig. 2 is a structural diagram of feedback control of the transportation speed and the coal cut-off amount of the first traveling apparatus according to an embodiment of the present invention.
Fig. 3 is a control block diagram of the automatic tensioning of the adhesive tape of the flexible adhesive tape machine according to the embodiment of the present invention.
In the figure, 1-bendable adhesive tape machine, 2-first walking device, 3-second walking device, 4-second 4G access device, 5-third 4G access device, 101-first 4G access device, 102-controller, 103-main frequency converter, 104-slave frequency converter, 105-pressure sensor, 106-tightness electromagnetic valve, 107-distance measuring sensor, 108-machine vision system, 109-rotating speed sensor, 110-walking electromagnetic valve.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the utility model relates to an unmanned on duty is tunnelling fast with machine carries flexible adhesive tape machine control system, including flexible adhesive tape machine 1 and set up first walking equipment 2 and the second walking equipment 3 at flexible adhesive tape machine 1 both ends respectively, first walking equipment 2 is used for digging the coal, be equipped with first 4G access device 101 on the flexible adhesive tape machine 1, be equipped with second 4G access device 4 on the first walking equipment 2, be equipped with third 4G access device 5 on the second walking equipment 3, first 4G access device 101 links to each other with second 4G access device 4 and third 4G access device 5 wireless respectively, through the 4G network that the working face covers entirely, flexible adhesive tape machine 1 is according to receiving the volume of coal information that comes from first walking equipment 2, carry out the speed governing to its belt transport speed. The belt of the flexible belt conveyor 1 is started, stopped and locked with the conveying systems of the first walking device 2 and the second walking device 3 according to the sequence of the coal flow and the coal flow. The 4G access equipment is used for transmitting data among the equipment, and comprises a control enabling signal, a feedback signal and various corresponding working states.
In this embodiment, the flexible tape machine 1, the first running device 2, and the second running device 3 share their respective running information through the 4G network, and keep the running directions of all the devices consistent and synchronous. The first walking device 2 is an anchor driving machine, and the second walking device 3 is a walking self-moving adhesive tape machine tail. The digging and anchoring machine is positioned in front of the flexible adhesive tape machine 1, and the tail of the walking self-moving adhesive tape machine is hinged behind the flexible adhesive tape machine 1. The digging and anchoring machine is one kind of digging, supporting and transporting apparatus and is used mainly in coal cutting, coal loading and coal transporting. Current sensors are arranged in a coal cutting loop and a transportation loop of the tunneling and anchoring machine, and the load of coal cutting and coal transportation can be fed back in real time through the current sensors in the loops to form closed-loop speed regulation control so as to achieve the purpose of energy conservation. The corresponding relation between the coal conveying amount of the excavating and anchoring machine and the coal conveying speed of the bendable sealing-tape machine 1 is formed by collecting coal cutting current and coal conveying current and combining the driving coal cutting mechanism with the electromagnetic valve current.
In this embodiment, the flexible tape machine 1 includes a main driving roller, two auxiliary driving rollers, a controller 102, a main frequency converter 103, an auxiliary frequency converter 104 and a rotation speed sensor 109.
As shown in fig. 1 and fig. 2, the rotation speed sensor 109 is connected to an input end of the controller 102, and is used for acquiring a belt transmission speed of the flexible adhesive tape machine 1; the main frequency converter 103 is connected with the controller 102 and is used for adjusting the rotating speed of the main driving roller; the slave frequency converter 104 is connected with the controller 102 and is used for adjusting the rotating speed of the slave driving roller; in response to the rotation speed of the slave drive drum not being equal to the rotation speed of the master drive drum, the controller 102 changes the output frequency of the slave frequency converter 104 so that the rotation speed of the slave drive drum is consistent with the rotation speed of the master drive drum, and the power balance of the master frequency converter and the slave frequency converter is achieved.
In one embodiment, the flexible tape machine 1 further comprises a distance measuring sensor 107, a machine vision system 108 and a walking solenoid valve 110, all connected to the controller 102, wherein the distance measuring sensor 107 is used for measuring the distance between the flexible tape machine 1 and the first walking device 2 and the second walking device 3 respectively; the machine vision system 108 is used for identifying the walking track of the flexible adhesive tape machine 1 by detecting the bending state of the flexible adhesive tape machine 1 and the arching degree of the belt frame, and monitoring the walking track and the speed of the flexible adhesive tape machine 1 in real time; the traveling solenoid valve 110 is used for controlling the rotation speed of the hydraulic motor of the flexible tape machine 1 to adjust the traveling speed according to the speed control command sent by the controller 102. That is, the flexible belt conveyor 1 has walking consistency with the connected anchor driving machine, can automatically follow the previous equipment to advance or retreat, and automatically adjust the walking speed in the walking process. In the walking process, the flexible adhesive tape machine 1 automatically matches the speed of the connected equipment, and can perform walking adjustment under the condition that the front equipment has faults or slips in place, so that the distance between the equipment is always ensured within a certain safety range.
In one embodiment, as shown in fig. 3, the flexible tape machine 1 further includes a pressure sensor 105 and a tightness solenoid valve 106, both connected to the controller 102, the pressure sensor 105 is used for measuring the tape tension of the flexible tape machine 1; the elastic electromagnetic valve 106 is used for controlling the tension of the elastic adhesive tape according to a tension control instruction sent by the controller 102, and the flexible adhesive tape machine 1 controls the tension setting of the flexible adhesive tape machine, the power balance coefficient of the main and the auxiliary frequency converters and the sag of the flexible adhesive tape machine by controlling the tension pressure of the variable-frequency multipoint-driven flexible adhesive tape machine 1, the bending state of the flexible adhesive tape machine, the current of the frequency converter and the bus voltage in the moving and static states respectively according to different control modes, so that the automatic tension and the dynamic power balance of the flexible adhesive tape machine are realized.
In one embodiment, the system further comprises a control center communicatively coupled with the first 4G access device 101, the second 4G access device 4, and the third 4G access device 5. The working face equipment communication network adopts 4G and wired carrier waves, videos are transmitted in the 4G network under normal conditions, control and state data of associated equipment are transmitted in the wired carrier waves, and the videos and the data automatically share one network under the condition that a single network has faults. In the control center, the flexible adhesive tape machine transmits various data and videos of lap joints to the underground coal mine control center through a 4G and wired carrier transmission network, and meanwhile, the control center can remotely control the flexible adhesive tape machine. All the devices operate orderly, coordinately and autonomously under the unified coordination of the control center according to the production process flow.
In one embodiment, the system further includes an alarm device communicatively coupled to the first 4G access device 101, the second 4G access device 4, and the third 4G access device 5. A plurality of alarm devices are arranged along the flexible adhesive tape machine 1, and can give an alarm and communicate with voice. In the control center, the operator and the personnel on the working face carry out information interaction through voice communication.
To sum up, the utility model discloses unmanned on duty quick tunnelling is with machine carries flexible sticky tape machine control system has the function of independently walking, automatic tensioning, coal volume speed governing, power balance, cooperative control, information transmission, video monitoring, remote control, voice communication and warning. The power system of the bendable adhesive tape machine 1 consists of a variable frequency transmission system and a hydraulic system, and the variable frequency transmission system provides transportation power for the bendable adhesive tape machine. In the transportation process, the automatic tensioning of the belt is controlled by a set value of the tensioning oil cylinder, an actual value of the tensioning oil cylinder, and running current and voltage signals of the main variable frequency motor and the auxiliary variable frequency motor, the power balance of the whole transportation process of the flexible rubber belt machine is realized through the automatic tensioning of the belt, and the automatic speed regulation of the transportation of the flexible rubber belt machine can be realized according to the coal output of the driving and anchoring machine. A hydraulic motor in the hydraulic system provides power for walking of the bendable adhesive tape machine, the bendable adhesive tape machine automatically walks according to the self running track according to the sequence position relation of work in the tunneling and anchoring machine, the walking consistency with other equipment is realized in the walking process, and the walking cooperative control is realized. The flexible adhesive tape machine has a visualization function, and videos collected by a machine vision system at the belt lap joint are transmitted to a control center for video real-time monitoring. The flexible adhesive tape machine has mobile wireless and wired communication functions, is responsible for bidirectional transmission of data of the flexible adhesive tape machine and associated equipment, and transmits the data together with airborne video to terminal communication equipment to perform visual display and real-time monitoring of the machine body state. The flexible sealing-tape machine is based on a health diagnosis technology of information fusion of various sensors, a model of health condition of the flexible sealing-tape machine is formed by fusion calculation of running current, running speed, coal conveying quantity, tensioning pressure and accumulated running time of a main frequency converter and a slave frequency converter and by combining running data of associated equipment, a remote control center of a rapid tunneling working face is established, ordered control of mining and supporting equipment of the working face is realized through a control system of the control center of the working face, the flexible sealing-tape machine bears a transportation link of a rapid tunneling working face system, is in the middle link of system transportation and is controlled by equipment at the head and the tail, and unmanned operation of the flexible sealing-tape machine can be really realized.
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides an unmanned on duty is quick tunnelling with machine carries flexible adhesive tape machine control system which characterized in that: including flexible sealing-tape machine (1) and set up first walking equipment (2) and second walking equipment (3) at flexible sealing-tape machine (1) both ends respectively, first walking equipment (2) are used for digging the coal, be equipped with first 4G access device (101) on flexible sealing-tape machine (1), be equipped with second 4G access device (4) on first walking equipment (2), be equipped with third 4G access device (5) on second walking equipment (3), first 4G access device (101) link to each other with second 4G access device (4) and third 4G access device (5) wireless respectively, through the 4G network, flexible sealing-tape machine (1) is according to receiving the coal-carrying volume information that comes from first walking equipment (2), carry out the speed governing to its belt transport speed.
2. The on-board bendable adhesive tape machine control system for unmanned rapid tunneling according to claim 1, characterized in that: the flexible adhesive tape machine (1), the first walking device (2) and the second walking device (3) share respective walking information through a 4G network, and the walking directions of all devices are kept consistent and synchronous.
3. The on-board bendable adhesive tape machine control system for unmanned rapid tunneling according to claim 1 or 2, characterized in that: the first walking device (2) is an anchor digging machine, the second walking device (3) is a walking type self-moving adhesive tape machine tail, the anchor digging machine is located in front of the flexible adhesive tape machine (1), and the walking type self-moving adhesive tape machine tail is hinged to the rear of the flexible adhesive tape machine (1).
4. The on-board bendable adhesive tape machine control system for unmanned rapid tunneling according to claim 3, characterized in that: the flexible adhesive tape machine (1) comprises a main driving roller, at least one auxiliary driving roller, a controller (102), a main frequency converter (103), an auxiliary frequency converter (104) and a rotating speed sensor (109);
the rotating speed sensor (109) is connected with the input end of the controller (102) and is used for acquiring the belt transmission speed of the flexible adhesive tape machine (1); the main frequency converter (103) is connected with the controller (102) and is used for adjusting the rotating speed of the main driving roller; the slave frequency converter (104) is connected with the controller (102) and is used for adjusting the rotating speed of the slave driving roller; in response to the rotational speed of the slave drive drum not being equal to the rotational speed of the master drive drum, the controller (102) changes the output frequency of the slave frequency converter (104) such that the rotational speed of the slave drive drum is in agreement with the rotational speed of the master drive drum.
5. The on-board bendable adhesive tape machine control system for unmanned rapid tunneling according to claim 4, characterized in that: the flexible adhesive tape machine (1) further comprises a distance measuring sensor (107), a machine vision system (108) and a walking electromagnetic valve (110) which are all connected with the controller (102), wherein the distance measuring sensor (107) is used for measuring the distance between the flexible adhesive tape machine (1) and the first walking device (2) and the second walking device (3) respectively; the machine vision system (108) is used for identifying the walking track of the flexible adhesive tape machine (1) by detecting the bending state of the flexible adhesive tape machine (1) and the arching degree of a belt frame, and monitoring the walking track and the speed of the flexible adhesive tape machine (1) in real time; the walking electromagnetic valve (110) is used for controlling the rotating speed of a hydraulic motor of the flexible adhesive tape machine (1) to adjust the walking speed according to a speed control instruction sent by the controller (102).
6. The on-board bendable adhesive tape machine control system for unmanned rapid tunneling according to claim 5, characterized in that: the flexible adhesive tape machine (1) further comprises a pressure sensor (105) and a tightness solenoid valve (106) which are connected with the controller (102), wherein the pressure sensor (105) is used for measuring the adhesive tape tension of the flexible adhesive tape machine (1); the tightness electromagnetic valve (106) is used for controlling the tension of the tightness adhesive tape according to a tension control instruction sent by the controller (102).
7. The on-board bendable adhesive tape machine control system for unmanned rapid tunneling according to claim 6, characterized in that: further comprising a control center communicatively coupled with the first 4G access device (101), the second 4G access device (4) and the third 4G access device (5).
8. The on-board bendable adhesive tape machine control system for unmanned rapid tunneling according to claim 7, characterized in that: further comprising an alarm device communicatively coupled with the first 4G access device (101), the second 4G access device (4) and the third 4G access device (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020997043.2U CN212654982U (en) | 2020-06-04 | 2020-06-04 | Unmanned on duty is quick tunnelling with machine carries flexible sticky tape machine control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020997043.2U CN212654982U (en) | 2020-06-04 | 2020-06-04 | Unmanned on duty is quick tunnelling with machine carries flexible sticky tape machine control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212654982U true CN212654982U (en) | 2021-03-05 |
Family
ID=74752386
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020997043.2U Active CN212654982U (en) | 2020-06-04 | 2020-06-04 | Unmanned on duty is quick tunnelling with machine carries flexible sticky tape machine control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212654982U (en) |
-
2020
- 2020-06-04 CN CN202020997043.2U patent/CN212654982U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111747033A (en) | Unmanned on duty is quick tunnelling with machine carries flexible sticky tape machine control system | |
| US5709433A (en) | Apparatus for continuous mining | |
| AU696485B2 (en) | Apparatus and method for continuous mining | |
| CN103901862A (en) | Ground remote control system for downhole electric locomotives | |
| CN111308955A (en) | Remote cooperative control technology and method for fully-mechanized excavation complete equipment | |
| US5810447A (en) | Apparatus and method for continuous mining | |
| CN112012756B (en) | Intelligent tunneling robot control system for coal mine tunnel | |
| CN104358587A (en) | Adverse feedback conveying system for working face of underground coal mine | |
| CN103543716A (en) | Remote-control system and remote-control method for equipment of fully-mechanized mining face | |
| CN103628872A (en) | Folding-arm type tunneling machine capable of monitoring intelligently and automatically regulating rotate speed of cutting head | |
| CN102720533B (en) | Wireless video patrol inspection device of belt conveyor | |
| CN212654982U (en) | Unmanned on duty is quick tunnelling with machine carries flexible sticky tape machine control system | |
| CN108661637A (en) | Sensing control method for coal winning machine position positioning | |
| CN105370318A (en) | Fully mechanized coal mining face routing inspection method | |
| CN202768064U (en) | Wireless video itinerant inspection device for belt conveyer | |
| CN113759925B (en) | Control system and method for mining equipment | |
| CN116927780A (en) | Three-machine cooperative control method for fully mechanized mining face | |
| CN114895608A (en) | Intelligent brain centralized control strategy and method for tunneling and intelligent control system | |
| CN103662720A (en) | Centralized control system for coal mine belt conveyors | |
| GB2325015A (en) | A power distribution system for a continuous mining system | |
| CN201258738Y (en) | Development machine with hydraulic winch | |
| CN206344815U (en) | Mine locomotive Unmanned Systems based on mixed scheduling pattern | |
| CN113738357B (en) | Walking self-adaptive control method and system for bendable belt conveyor | |
| CN114167714B (en) | Automatic dragging control method for coal mining machine motor based on double closed-loop control | |
| CN212690114U (en) | Mine mining equipment and automatic control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |