EP2247824B1 - Verfahren zu einer automatischen herstellung einer definierten streböffnung bei strebbetrieben im untertägigen steinkohlenbergbau - Google Patents

Verfahren zu einer automatischen herstellung einer definierten streböffnung bei strebbetrieben im untertägigen steinkohlenbergbau Download PDF

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Publication number
EP2247824B1
EP2247824B1 EP08707765.7A EP08707765A EP2247824B1 EP 2247824 B1 EP2247824 B1 EP 2247824B1 EP 08707765 A EP08707765 A EP 08707765A EP 2247824 B1 EP2247824 B1 EP 2247824B1
Authority
EP
European Patent Office
Prior art keywords
shield
height
extraction machine
inclination
longwall
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.)
Not-in-force
Application number
EP08707765.7A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2247824A1 (de
Inventor
Martin Junker
Armin Mozar
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.)
RAG AG
Original Assignee
RAG AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by RAG AG filed Critical RAG AG
Priority to PL08707765T priority Critical patent/PL2247824T3/pl
Publication of EP2247824A1 publication Critical patent/EP2247824A1/de
Application granted granted Critical
Publication of EP2247824B1 publication Critical patent/EP2247824B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/0004—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor along the working face
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/08—Guiding the machine
    • E21C35/12—Guiding the machine along a conveyor for the cut material
    • E21C35/14—Equipment for pressing the conveyor towards the working face
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C41/00—Methods of underground or surface mining; Layouts therefor
    • E21C41/16—Methods of underground mining; Layouts therefor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/0004—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor along the working face
    • E21D23/0034—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor along the working face comprising a goaf shield articulated to a base member
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/0004—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor along the working face
    • E21D23/0034—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor along the working face comprising a goaf shield articulated to a base member
    • E21D23/0043—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor along the working face comprising a goaf shield articulated to a base member and supported by two or more rows of struts parallel to the working face
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/12—Control, e.g. using remote control

Definitions

  • the invention relates to a method for an automatic production of a defined Strebö réelle in a longwall conveyor, at least one mining machine and a hydraulic shield removal having longwall mining operations in underground coal mining.
  • the invention is therefore based on the object to provide a method of the type mentioned, by means of which an automation of the extraction and expansion work with regard to the production of a defined Strebö réelle is possible due to the data to be obtained on the longwall equipment.
  • the invention provides in its basic idea a method, in particular for the cutting extraction with a roller cutter as extraction machine, in which by means of at least three of the four main components of each shield frame such as Skid, breaker plate, support arms and fractured area of the Hangendkappe mounted inclination sensors, the inclination of the shield components against the Horizontal determined and calculated from the measured data in a computer unit by comparison with the stored therein, the geometric orientation of the components and their movement during walking defining basic data, the respective banking shield height of the Schildausbaugestells, and wherein further by means of attached to the mining machine sensors Cutting height of the mining machine is detected as a longwall opening, wherein the corresponding data records for each of an associated shield frame traversed portion of the Streb suitss stored rt and in terms of a spatially synchronous evaluation at a portion of the longwall operation, the cutting height of the mining machine is compared with the shield height of the shield support frame when the lagging behind with a delay sign extension frame reaches the point on which the comparison with the height
  • the invention has the advantage that initially due to be determined with a comparatively low effort shield height a parameter for the long-distance control in sufficient accuracy and reliability is available.
  • the other parameter used in accordance with the invention consists in detecting the cutting guide of the mining machine by determining its absolute cutting height. Since the hang-end cap of the respective shielding rack reaches the area cleared by the mining machine as it passes by the relevant shield rack frame only after a time delay, that is to say with a so-called expansion delay of one to two expansion steps, the invention provides that the corresponding data records are assigned for each one by one Schildausbaugestell passed section of Streb archivess be stored and compared in terms of a local synchronous evaluation.
  • the method according to the invention essentially uses the determined height of the shield in order to set up, with the inclusion of the cutting height of the mining machine, a control loop for controlling the extraction and finishing work, which in its application leads to automatic maintenance of a defined longwall opening.
  • the stored data sets for cutting heights and blade heights are matched with one another in the sense of a time-synchronous evaluation for a selected section of the longwall operation at the same time.
  • a time-synchronous evaluation of the available data sets can contribute to making forecasts regarding the development of the longwall and inclination changes to the shingles during the upcoming mining progress, so that by appropriate tendencies in the behavior of the stalk opening the extraction and expansion work can be adapted at an early stage with regard to the observance of a predetermined stalk opening.
  • the invention further provides, in one exemplary embodiment, for an individual longwall operation on the basis of the storage site data and the machine data applicable for the used longwall equipment, a desired height corresponding to the required longwall for the shield height of the shield building site and, in the case of deviations of the determined actual shield height, from the target Shield height automatic control of the cutting height of the mining machine to achieve the target plate height on the expansion takes place.
  • the applicable for the longwall target shield height results on the one hand from the structure of the seam to be collected, the extraction should regularly capture the pending between a competent hanging wall and a competent footing material. This includes, where appropriate, the capture of a pending between coal and competent Hangenden lubricating pack as well as pending between coal and competent Lying Panas layer on.
  • the data in particular the shield removal point to pay attention to, especially their work area between getting up on the competent footing and a support of the competent hanging ends, so that the cutting height should not be designed to be larger than the work area of shield extension.
  • the nominal cutting height is to be interpreted so that a passage of the mining machine with the predetermined cutting height within the working area of the shielding expansion station is possible without a collision. Since in operation the competent hanging end should not be attacked by the mining machine, if necessary, a planned lying incision should be provided in the definition of the cutting height in order to provide the required face opening even at lower seam widths.
  • sudden changes in the inclination of the wall end caps of each shield replacement location in limited portions of the longwall operation towards a larger face opening may indicate the presence of localized bursts, and this may thus be differentiated are from an optionally incorrect cutting height of the mining machine.
  • the comparison of the desired shield height with the actual shield height can be superimposed by the occurrence of convergence, which reduces the cut-free end opening against the supporting effect of the shield construction used.
  • the convergence that has occurred has been determined and the convergence compensated, for example, by increasing the undercut.
  • the influence of the convergence on the reach height can be compensated.
  • the longwall opening is increased by the amount of convergence to be expected over the duration of the operational standstill.
  • the mining machine stands with its rollers to the shield extension points
  • a tilt sensor is arranged and the angle of inclination of longwall conveyor and mining machine is determined in the degradation direction.
  • the arrangement of an inclination sensor on the mining machine is sufficient.
  • the extraction machine traveling on and guided on the longwall conveyor unit effectively forms a unit with the longwall conveyor, to improve the accuracy of the control, it may also be useful to detect the inclination of the longwall conveyor via a tilt sensor disposed thereon.
  • the arrangement of a tilt sensor is sufficient only on the longwall conveyor for the purpose of control.
  • the detection of the inclination behavior of the mining machine in relation to the position of the shield support frame makes it possible, with relative angular positions of shield extension and mining machine to each other on the one hand, a differential angle between the Bodenkufe of the shield support frame and the mining machine or the Streb reduceer and on the other hand a differential angle between the hanging wall of the shield frame and the mining machine or to determine the longwall conveyor and to include the respective differential angle in the calculation of the Strebö réelle to be produced by the mining machine during the swelling.
  • the floor skid usually does not drive on the natural footwall, but along a cut-free step contour of rolling cut marks.
  • the shield support frame it is therefore due to the high surface pressure of the floor skid with a pressure peak occurring near the top of the tuft often sinking into the artificially produced lying.
  • the sinking of the floor skid is not parallel position, but because of the pressure distribution at the bottom skimmer reinforced at the top of the skiff, so that the bottom skid performs a kind of rotational movement.
  • the inclination sensors arranged on the shield extension points also give a measure of the inclination of the shield extension point transversely to the direction of dismantling, since saddles and depressions can also be pronounced in the direction of the dislocation of the mining machine in the course of the longwall. Since the course of the hanging and lying in the longitudinal direction of the pillar can be derived from the bank of the shield extension, it is possible to control the leading roller and the trailing roller of the mining machine by means of a continuous cut so that no unwanted Hangendanschnitt or no possibly over the set level outgoing lying incision is made so that an unnecessary mountain record or growing coal or the occurrence of bottlenecks between mining machine and shield removal are avoided.
  • acceleration sensors are used as inclination sensors, which detect the angular position of the acceleration sensor in space via the deviation from the gravitational acceleration.
  • the angle to the vertical is determined physically, which is to be converted into the angle of inclination for the inclination of the shield components to the horizontal.
  • the measured values ascertained by the acceleration sensors are checked and corrected by means of a suitable damping method.
  • longwall equipment comprises first a shield support frame 10 with a bottom skid 11 on which two punches 12 are attached in a parallel arrangement, of which in FIG. 1 only one stamp is recognizable and carry a hanging end cap 13 at its upper end. While the Hangendkappe 13 protrudes at its front (left) end in the direction of the still to be described extraction machine, at the rear (right) end of the Hangendkappe 13 a crash plate 14 is articulated by means of a hinge 15, wherein the broken shield of the two in the side view on the Bodenkufe 1 resting support arms 16 is supported.
  • three inclination sensors 17 are attached to the shield support 10, namely, a tilt sensor 17 on the bottom skid 11, a tilt sensor 17 in the rear of the hanging end cap 13 near the joint 15, and a tilt sensor 17 on the fracture shield 14.
  • the support arms 16, also an inclination sensor, of the four possible inclination sensors 17 three inclination sensors must be installed in order to determine the position of the shield support frame in a working space with the determined inclination values ,
  • the invention is not limited to the concrete in FIG. 1 illustrated arrangement of the inclination sensors limited, but includes all possible combinations of three inclination sensors to the four moving parts of the shield support frame.
  • FIG. 1 illustrated shield support frame 10 is struck on a longwall conveyor 20, which also has a tilt sensor 21, so that in terms of the control of the longwall equipment in general also here data regarding the conveyor position can be obtained.
  • a mining machine in the form of a Walzenschrämladers 22 with an upper roller 23 and a lower roller 24, wherein also in the region of the Walzenschrämladers 22, a tilt sensor 25 is disposed, also a sensor 26 for detecting the respective location of the Walzenschrämladers 22 in the longwall and reed rods 27 for measuring the cutting height of the Walzenschrämladers 22.
  • the metrological equipment of the longwall equipment is supplemented by the arrangement of sensors 18 on the punches 12, by means of which the change in the altitude of the hanging wall 13 by detecting the extension height of the punch 12 is possible. Furthermore, a Wegmesssystem 19 is integrated in the Bodenkufe 11, by means of which the respective Schreithub the shield support frame 10 in relation to the longwall conveyor 20 can be determined.
  • the arrangement of the inclination sensor 21 on the longwall conveyor 20 is not absolutely necessary as long as the inclination sensor 25 is set up on the drum skid loader 22. In such a case, the inclination sensor 21 may be additionally provided to improve the measurement accuracy.
  • the shield height 31 as well as the cutting height 32 of the mining machine 22 is used for the control of the extraction and expansion work.
  • the shield height 31 is thereby determined between the upper edge 35 of the hang-end cap 13 and the lower edge 36 of the bottom skid 11 on the basis of the values supplied by the inclination sensors 17.
  • As an indicator of the reach height while the determined at the top of the Hangendkappe 13 height is used.
  • the shield height in the area of the shield temple is particularly suitable, because otherwise the relative angle between the hanging wall and the floor skid in height adjustment phases leads to strong changes in height relative to the hanging wall. Therefore, it is proposed to determine the height of the shield at any point between the Hangendkappe and the Bodenkufe in the field of Schildausbaugestells and to use the most appropriate for the respective method position for the height control.
  • the cutting height 32 is determined with the aid of the reed rods 27 between the upper edge 37 of the upper roller 23 and the lower edge 38 of the lower roller 24. As is apparent from FIG. 2 results, the determination of the cutting height 32 takes place at the first coordinate 33, while the plate height 31 is carried out at the opposite of the coordinate 33 reset coordinate 34. This is due to the fact that the shield support frame 10 is moved to the coordinate 33 only after a time delay after the passage of the mining machine 22, so that the first edge of the hanging end cap 13, which is initially at the determination of the cutting height 32 at the coordinate 34, the coordinate 33 only reached at a later date.
  • a spatially synchronous evaluation of the data obtained means that an adjustment of the cutting height 32 and the shield height 31 only takes place when the lagging with the time lag Shielding frame 10 has reached the coordinate 33, on which the comparison with the blade height 31 underlying cutting height 32nd the mining machine 22 refers.
  • a time-synchronized evaluation is based on the values for the shield height 31 and the cutting height 32 that are currently determined at the coordinate 33 or the coordinate 34 at the same time.
  • FIG. 3 In the operation of a longwall equipment results in an operating situation, as in FIG. 3 is shown by way of example.
  • a seaming horizon 43 projecting between a hanging wall 40 and a footing 41 is recovered by the mining machine 22, with the cutting height 32 of the recovery machine 22 advancing in the plowing direction 44 adjusted so that a lying recess 42 is cut by the lower roll 24.
  • the front upper roller 23 is adjusted so that it can stand under the hanging wall 40 a narrow coal pack, which automatically dissolves due to the cutting work from the hanging wall.
  • the set cutting height 32 in FIG. 3 entered. It turns out that in this case the shield height 31 is set larger than the cutting height 32, so that from a collision-free passage of the recovery machine 22 is to go out at the shielding development points 10.
  • FIG. 2 shows the conditions which result when the mining machine 22 has a climbing inclination with respect to the shield support frame 10 (FIG. FIG. 4a ), which manifests itself in the formation of a differential angle 45 between the bottom skid 11 and the lower roll 24 of the mining machine 22.
  • FIG. 4a illustrates the risk of collision between the mining machine 22 and the shingles 10 increases, and this risk can be accommodated by changing the cutting height.
  • FIG. 4b illustrated situation in which the extraction machine 22 has a Abtabtne Trent.
  • a corresponding differential angle 45 is established, which can be determined on the basis of the positions of mining machine 22 and shielding assembly 10 detected by inclination sensors 17 and 25 and 21, and the respectively entering differential angle 45 must be taken into account accordingly in the longwall control.
  • FIGS. 5a to 5c is shown schematically that the effect of a at the mining machine with a change of the cutting height or cutting position, for example in the form of an undercut set control movement only with a delay of several Nachschreib suitsen a shield support frame on the shield frame is effective.
  • FIG. 5a it can be seen that the mining machine 22 is intended to make a directed downward movement over the two horizontal ridges 41, 50a and 50b, with respect to the horizontal leg 41 on which the shield support frame 10 is located, by making two planned lying incisions.
  • FIG. 5b it can be seen that the shield support frame 10 is still standing on the foot 41 when the Extraction machine 22 has already reached the new cutting horizon 50b as the new recumbent.
  • only the mining machine 22 and the longwall conveyor 20 initially reacted to the predetermined control pulses. Only in the in FIG. 5c reproduced phase of operation follows the Schildausbaugestell 10 of Abtauchroach the mining machine 22 according to, with the FIGS.
  • the controller should be freely parameterizable.
  • the adjustment speed of the height control must be set via a freely configurable maximum step height. It is important not to choose the individual steps to be too large in upward movements, so that the longwall conveyor does not get caught on a step at the back and the longwall conveyor must be raised or an existing delivery control must tilt the longwall conveyor.
  • FIG. 6a shows, the previous course of the cutting work is shown in the indicated without numerical fields to the left of the first cutting field 1, in which the section line 38 of the lower roller determines the plane for the sliding of the bottom skid 11.
  • the upper cut line 37 varies slightly from one field of cut to the next, but that the hangover cap 13 is clearly above the upper cut line 37, so that the height of the shield is greater than the cutting height.
  • the starting height for the shield height 31 is 3.0 m, while a target height for the longwall of only 2.30 m is to be maintained.
  • a comparable sequence of movements takes place when starting from an initially low shield height, the longwall is to be increased.
  • the control begins with an increase in the cutting height of the mining machine by adding an undercut at the lower roller, so that the Bodenkufe of Schildausbaugestells inserted at the same level held Hangendkappe a plunge motion in the pruning pruned by the mining machine until the new cutting level for the Schreitoniaen the shield construction is reached.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
EP08707765.7A 2008-02-19 2008-02-19 Verfahren zu einer automatischen herstellung einer definierten streböffnung bei strebbetrieben im untertägigen steinkohlenbergbau Not-in-force EP2247824B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL08707765T PL2247824T3 (pl) 2008-02-19 2008-02-19 Sposób automatycznego tworzenia określonego prześwitu czoła podczas wybierania ścianowego w głębinowym górnictwie węgla kamiennego

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/001266 WO2009103307A1 (de) 2008-02-19 2008-02-19 Verfahren zu einer automatischen herstellung einer definierten streböffnung bei strebbetrieben im untertägigen steinkohlenbergbau

Publications (2)

Publication Number Publication Date
EP2247824A1 EP2247824A1 (de) 2010-11-10
EP2247824B1 true EP2247824B1 (de) 2014-07-02

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EP08707765.7A Not-in-force EP2247824B1 (de) 2008-02-19 2008-02-19 Verfahren zu einer automatischen herstellung einer definierten streböffnung bei strebbetrieben im untertägigen steinkohlenbergbau

Country Status (6)

Country Link
US (1) US8567871B2 (pl)
EP (1) EP2247824B1 (pl)
CN (1) CN101952547B (pl)
AU (1) AU2008351276B2 (pl)
PL (1) PL2247824T3 (pl)
WO (1) WO2009103307A1 (pl)

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DE102019122431A1 (de) * 2019-08-21 2021-02-25 Marco Systemanalyse Und Entwicklung Gmbh Verfahren und Vorrichtung zur Steuerung eines automatisierten Strebs

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UA109514C2 (uk) * 2012-04-02 2015-08-25 Забійне обладнання з покладеними між забійним конвеєром і каркасами щитового кріплення шланговими нівелірами
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CN103216233B (zh) * 2013-04-09 2015-01-21 中国矿业大学 一种薄煤层煤岩界面识别及滚筒自动调高的方法
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Publication number Publication date
PL2247824T3 (pl) 2015-02-27
AU2008351276B2 (en) 2011-07-07
US20100327650A1 (en) 2010-12-30
US8567871B2 (en) 2013-10-29
WO2009103307A1 (de) 2009-08-27
AU2008351276A1 (en) 2009-08-27
CN101952547B (zh) 2013-05-08
EP2247824A1 (de) 2010-11-10
CN101952547A (zh) 2011-01-19

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