EP2366059B1 - Verfahren zur einstellung einer automatischen niveausteuerung des hobels in hobelbetrieben des steinkohlenbergbaus - Google Patents

Verfahren zur einstellung einer automatischen niveausteuerung des hobels in hobelbetrieben des steinkohlenbergbaus Download PDF

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Publication number
EP2366059B1
EP2366059B1 EP09802108A EP09802108A EP2366059B1 EP 2366059 B1 EP2366059 B1 EP 2366059B1 EP 09802108 A EP09802108 A EP 09802108A EP 09802108 A EP09802108 A EP 09802108A EP 2366059 B1 EP2366059 B1 EP 2366059B1
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EP
European Patent Office
Prior art keywords
plow
control
face
height
shield support
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Not-in-force
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EP09802108A
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German (de)
English (en)
French (fr)
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EP2366059A1 (de
Inventor
Martin Junker
Armin Mozar
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RAG AG
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RAG AG
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Priority to PL09802108T priority Critical patent/PL2366059T3/pl
Publication of EP2366059A1 publication Critical patent/EP2366059A1/de
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    • 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
    • E21D23/03—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor having protective means, e.g. shields, for preventing or impeding entry of loose material into the working space or support
    • 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
    • E21C35/125—Means for inclining the conveyor
    • 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

Definitions

  • the invention relates to a method for setting an automatic level control of the plow in longwall operations in underground hard coal mining equipped with a hydraulic shield support and with a longwall conveyor guiding the plow on a plow guide designed thereon, the longwall conveyor including the plow guided on it being in its position in the mining direction via a the boom control supporting itself on the shield support can be changed and a control angle for setting the movement of the plow in the mining direction as a climbing movement, diving movement or neutral movement can be set by means of the boom control.
  • the plow equipped with chisels has a fixed cutting height due to the setting and a comparatively low cutting depth of around 60mm, so that in contrast to cutting extraction, the cutting height is not variable at least during a plow run along the longwall face.
  • a level control of the plow is set up as a so-called boom control via a control cylinder arranged between the face conveyor as a fixed guide for the plow and the shield support frame attached to it.
  • the inclination of the longwall conveyor in the mining direction which can be changed with the aid of the boom control, can also be used to impart a plunge movement in the mining direction to the longwall conveyor and thus to the plow guided on it during extraction runs, in which the plow tilts into the bedrock by cutting its ground chisels , or also a climbing movement in which the planer executes an upward stroke.
  • level control of the plow is also possible using the well-known boundary layer plow method on the footing, in which the hard footing assumes a certain guiding function for the plow.
  • a sensor carried along at the level of the ground chisel of the plow is used to determine whether the ground chisel of the plow is cutting in the surrounding rock, ie in the bedrock, or in the coal. This method is initially vulnerable on the hardware side, because the sensor in question and the associated evaluation computer are installed in or on the planer in an extremely harsh environment and are therefore subject to corresponding stresses or defects.
  • the mobility of the plow requires a battery power supply for the hardware and radio data transmission using several transponders arranged in the longwall, with the radio conditions being very difficult to control, particularly in low longwalls with a high proportion of ferromagnetic components in the longwall equipment.
  • this method is also associated with uncertainties in its statement or also causes corresponding time delays in the case of any necessary regulation, because a reasonably reliable statement about the material cut by the planer can only be made after a few planing strokes, i. H. after a few, usually about five times, driving past a shield support frame.
  • a device for automated coal mining in the longwall of a mine which comprises a plurality of support plates forming a support column extending through the longwall, a longwall conveyor attached to the longwall support and a plow guided on the longwall conveyor.
  • inclination sensors are attached to the hanging wall cap, the bottom skid and the fracture shield of the shield support frames, so that the current geometric configuration of the respective shield support frame, in particular its height between the hanging wall cap and the bottom skid, can be determined via a computer unit.
  • This enables central control of the individual shield support frames as cutting progresses in the longwall.
  • this reference makes no suggestions as to how to solve the problems associated with planer level control.
  • DE 10 2005 005 869 A1 describes a method for controlling a mining machine in underground coal mining operations, which can therefore also be a plow, in which the geometry of the space created by the plow is recorded by appropriately aligned sensors and, using the measurement data recorded by the sensors, in a control unit at least one two-dimensional image of the room is produced and compared with the control unit stored in the control unit rule geometries of a normal room associated with the planer, with the occurrence of deviations being identified.
  • this procedure only refers to the space created by the excavation and in this respect does not include an early level control of the plow.
  • the invention is based on the object of demonstrating a method of the type mentioned in which in all operating states of the longwall operation an automation of the planing and lining work with regard to the production of a defined longwall opening and/or the management of the longwall operation on the footwall is possible.
  • the invention provides a method in which for each planing pass the cutting depth and the control angle resulting as the difference between the inclination of the hanging wall cap of the shield support frames and the inclination of the face conveyor in the mining direction are recorded and the resulting change in face height per planing pass is calculated in a computer unit in such a way that in the computer unit each longwall layer of the longwall conveyor corresponding to a plow train is assigned a longwall height as the planned height, and when the respective longwall layer is reached by a shield support frame of the shield support which is behind the plow with a time delay, the actual height of the longwall is calculated on the basis of the values recorded by inclination sensors attached to the shield support frame are calculated and compared with the stored planned height, and a height difference value determined for the respective longwall layer between the planned height and the actual height in the sense of a self-learning effect vo n the computer unit is taken into account when specifying the control angle to be set for the planer in order to achieve a plan height of the stru
  • the procedure according to the invention is initially based on the assumption that, depending on the cutting depth of the plow, there is a change in the face height with each plow stroke due to the set control angle compared to the hanging wall horizon that is assumed to be unchanged or constant and fixed by the hanging wall cap of each shield support frame resting on the hanging wall.
  • a plunging of the plow adjusted via the control angle therefore leads to an increase in the face height, and a climbing of the plow leads to a reduction in the face height.
  • the theoretical plan height of the face after a plow stroke can be calculated based on an existing face height.
  • the planned height is not reached in operational practice; instead, the actual height of the brace is lower, which according to the invention is Reaching the respective longwall position is determined by the shield support frame which lags behind the plow with a time delay.
  • the actual height is calculated on the basis of values recorded by inclination sensors attached to the shield support frame; however, the acquisition of the required values and the calculation method itself are not the subject of this invention.
  • the height difference value between the planned height and the actual height to be compensated for in each case to maintain the target height of the strut is already taken into account when setting the control angle, for example by achieving a specific height change with regard to maintaining the target height of the strut via a control cycle consisting of several planing strokes, the control angle is set larger or smaller by an angular amount corresponding to the determined height difference value, so that the actual height of the strut reached in each case corresponds to the desired height dimension.
  • a closed control circuit for the level control of the plow is created on the basis of the values recorded and calculation of the height changes made with each plow train and the feedback of the longwall height with the same longwall position. Since the computer unit constantly records and monitors the conversion of the control angle into an actually occurring height change of the strut via the continuous shift, the use of a self-learning effect is given by self-learning algorithms stored in the computer unit, so that the control actually reaches or respectively certain control angles on the boom control assigns achievable face heights.
  • the target inclination of the longwall conveyor in the mining direction that will result per planing train is precalculated in the computer unit and compared with the actual inclination of the longwall conveyor measured in each longwall layer per planing train by means of inclination sensors attached to the longwall conveyor, where deviations are optionally detected the control angle applicable for the next planing stroke is corrected.
  • the inclination of the longwall conveyor is namely to be detected immediately after each control process with regard to the control angle and can also be used as a first correction value for the level control.
  • control angle specified by the computer unit is set in relation to the height difference value in the face height resulting per planing pass and the limit control angle of a reflection area determined as part of the self-learning effect is stored in the computer unit, within which valid, even different control angles do not produce any height changes in the face height, the influence of a footwall having a greater strength than the carbon strength is taken into account in the sense of boundary layer detection or boundary layer-guided planing. If the planing pulls do not change the face height despite a control angle on the boom control set to diving, it is clear that the planing is making prone contact, but the hard prone is preventing the planing from penetrating with a diving movement.
  • the control angle at which the planer begins a climbing movement is recorded as the lower limit to execute.
  • the area between the upper and the lower limit of the steering angle can be classified as a reflection area, in which changes in the steering angle have no influence on the face height, because the bedrock does not allow a change in the elevation of the planer and thus a boundary layer-guided planing, i.e. a Planing at the foothills is given. Due to the self-learning effect, the computer unit can identify the reflection area as a controller.
  • the planer for cases in which the area of boundary layer-guided planing has to be left due to other operational influences, provision is made for the planer to perform a climbing movement or a diving movement when setting a required height for the strut to be reached causing the steering angle, the size of the respectively applicable reflection area is taken into account and the steering angle for bringing about the climbing movement or diving movement is set with a value lying outside the reflection area.
  • the self-learning effect of the plow with regard to the change in the actual height of the strut resulting from a set steering angle can only be valid as long as the ground chisel position on the plow is not changed.
  • a change in the position of the ground bit on the plow also leads to a change in the control behavior of the plow, because a fixed control angle, for example, causes a smaller change in height when the ground bit of the plow is set to a lower plunging tendency than to a ground bit set to a greater plunging tendency.
  • the controller when the position of the ground bit of the plow changes with regard to a diving tendency, a climbing tendency or a neutral movement of the plow, information about the changed ground bit position is transmitted to the computer unit. Accordingly, according to an exemplary embodiment of the invention, it is provided that in the computer unit a characteristic map for the relationship between the steering angle and height difference value that matches the set ground bit position and has been learned from the previous cutting is called up. If such a map is not stored in the computer unit, the controller must first develop a map adapted to the new ground bit position during the subsequent planing strokes.
  • the course of troughs and/or saddles in the mining direction is determined by determining the inclination of the hanging wall cap of the shield support frames in the mining direction and an adjustment of the
  • the cutting track of the plow is set parallel to the course of the hanging wall and the adjusted target height of the strut, which includes an additional height corresponding to the radius of the trough or saddle curvature, is produced by adjusting the control angle of the plow level control. If the control recognizes a decrease in the radius of the trough or saddle curvature, the calculated additional height is withdrawn again.
  • the continuous recording of changes in the height of the shield support frames allows conclusions to be drawn about the convergence that has occurred insofar as a height loss is determined on the shield support frame during the planing work, i.e. with the shield support standing still.
  • the convergence that is occurring is determined and continuously taken into account by adapting the height difference value to be used for setting the control angle of the planing level control becomes.
  • a loss of height that has occurred must be compensated for by increasing the control angle to achieve or maintain the desired longwall height and thus by a Increase in the planned or actual height set by the planing work can be compensated again.
  • floor elevations occur during operational standstills, which also lead to a reduction in the face height
  • such floor elevations lead to a change in the position of the longwall conveyor even when it is at a standstill, which is also recognized by the control system when the planing or conveyor operation is at a standstill.
  • the change in the inclination of the face conveyor is recorded when the plow is at a standstill and the control angle required to reach the desired height of the face is recalculated before the start of the planing work.
  • a plurality of shield support frames and associated boom cylinders of the boom control are combined to form a group that can be controlled by means of a group control.
  • each shield support frame has a different setup tolerance when setting up the tilt sensors attached to it, a completely parallel mechanical alignment of the tilt sensors with the shield support frame is not possible.
  • the individual Shield support frame error in determining the steering angle as the difference between the inclination of the hanging wall cap and the inclination of the face conveyor.
  • one embodiment of the invention provides that for each individual shield support frame within a group, the control angle for the associated boom cylinder is determined and a mean value is formed from the individual control angles of the shield support frames belonging to the group and in the group control one that corresponds to the mean value control angle is adjusted.
  • the control angles applicable to the adjacent groups are compared with one another in such a way that mechanical overloading of the connections is avoided maximum differences between the control angles that apply to the adjacent groups are not exceeded by the partial channel sections of the longwall conveyor assigned to the groups.
  • the readjustment of the control angle controlled by the computer unit for each planing pass is exclusively and once after the planing pass and the conclusion of the return process of the shield support frames.
  • a group of A central tilt sensor attached to the longwall conveyor is assigned to group control of shield support frames that are coupled to one another; alternatively, it can be provided that within a group of shield support frames coupled to one another by means of a support control, a plurality of inclination sensors are arranged on individual conveyor troughs of the longwall conveyor.
  • an inclination sensor attached to the face conveyor can be sufficient for determining the inclination of the face conveyor in the mining direction.
  • an inclination sensor unit attached to the longwall conveyor is designed as a twin sensor having two inclination sensors of the same type. This has the advantage that both sensors mutually check the display accuracy within a plausibility field and, in the event of deviations above a tolerance band, can issue an error message with regard to the display accuracy, with which a sensor drift can be detected.
  • Another advantage is that if one sensor fails, the second sensor can maintain its function and the system can generate a fault report.
  • an inclination sensor unit attached to the longwall conveyor consists of two identical sensors attached with opposite directions of rotation about the measuring axis.
  • the opposite sensor arrangement in the direction of rotation around the measuring axis of two identical sensors in a differential circuit can be used to compensate for vibration-related (rotatory) errors in the sensors and significantly dampen the measured value display without losing accuracy.
  • the average actual angle of the longwall conveyor, around which the longwall conveyor vibrates, can be displayed largely corrected for torsional vibrations, since both sensors vibrate with the same frequency and amplitude and with opposite evaluation in the interference method, the signal component superimposed by the vibration is compensated, so that the display angle is largely the same as remains when the system is idle.
  • the effect can occur that the longwall conveyor is pressed against the associated shield support frame when the plow drives past.
  • the hydraulic cylinders located in front of the plow in the direction of travel and belonging to the same group control can extend, which can result in unwanted changes in the respective control angle.
  • the hydraulic boom cylinders of the boom control which are supported between the shield support frames and the face conveyor, can be released hydraulically by means of individually acting on their piston surface and their annular surface Check valves can be locked hydraulically after reaching their control position, the check valves being connected to the associated group control by means of associated control lines.
  • the longwall equipment shown schematically has a shield support frame 10 with a hanging wall cap 11 and a bottom skid 12; Between the bottom skid 12 and the hanging cap 11, two stamps 13 are attached in parallel, of which in figure 1 only one stamp is recognizable. While the front (left) end of the hanging wall cap 11 protrudes in the direction of the extraction machine, a breach shield 14 is articulated at the rear (right) end of the hanging wall cap 11.
  • the structure of such a shield support frame 10 is known, so that it will not be explained further.
  • An inclination sensor 15 is attached at least to its hanging wall cap 11; as not shown in more detail, further inclination sensors are attached to the base skid 12 and to the rupture shield 14 and/or to the supporting links carrying the rupture shield 14 on the shield support frame 10 .
  • the height of the shield support frame between the hanging wall cap 11 and the bottom skid 12 can be calculated with the aid of the measured values recorded by the inclination sensors.
  • a face conveyor 16 is attached to the shield support frame 10 and has a plow guide 18 with a plow 17 guided thereon on its (left) side facing the working face (not shown).
  • the longwall conveyor 16 with the plow 17 guided thereon is arranged such that it can be pivoted relative to the shield support frame 10 by means of a boom cylinder 19 .
  • the Longwall conveyor 16 with plow 17 is pivoted in the direction of a diving movement, with a control angle 20 set via boom cylinder 19, which is the difference angle between the position of hanging wall cap 11 of shield support frame 10 and the inclination of longwall conveyor 16 in the mining direction.
  • the respective inclination of the longwall conveyor 16 in the mining direction can be detected or determined via an inclination sensor 15 attached to the longwall conveyor 16 .
  • the reference number 26 designates the amount of height difference that has to be cut in order to achieve the desired nominal height of the strut.
  • the amount 27 corresponds to the height difference actually cut free in the actual height of the strut, so that a height difference value 28 can be determined as the difference between the amounts 26 and 27 or can be determined by the computer unit.
  • the control angle 20 is to be set for the individual ascents and descents 22, 23 of the plow, the control angle must be set so much larger by the height difference value 28, taking into account the height loss between the planned height and the actual height, that ultimately the actual Height increase 27 corresponds to the required height increase 26.
  • the control or the computer unit is able to learn the actual implementation of the planned height in the actual height and use it to calculate the control strategy for the following planing trains.
  • a mining progress of, for example, 20m must first be run through with a manual plow level control, in which the control system passively learns the control behavior for the longwall in question.
  • the automatic planing level control can then be put into operation, which continues to learn the control behavior as mining progresses and continuously optimizes the control strategy.
  • control angle 20 in a face height difference for setting or maintaining a target height of the face depends on the surrounding rock conditions, especially in the footwall, because the overhanging wall should remain as unscratched as possible, since it forms the guide horizon for the shield support. If the bottom is softer than the coal to be mined, it is very difficult to maintain a target longwall height because the plow has to be controlled within the target height range without a guidance horizon, so to speak "floating". This requires frequent control interventions, since the plow conveyor system constantly runs out of the target horizon, so that continuous readjustment has to be carried out. Due to the nature of the process, this unstable balance in control causes a wide range of variation in the face height, which entails the risk of tailings being cut, coal growing and the extension leaving the adjustment range.
  • the base horizon can be included as a guide level for the planing work, in the sense of boundary layer planing.
  • a hard base means that, despite a control angle set to plunging, the plow initially does not cut into the base and, in this respect, no actual height change occurs despite the plan height per plow stroke resulting from the setting of the control angle.
  • the lying reflects, so to speak, the Control movements of the planer, which is why the area mentioned for the control angle can also be referred to as the reflection area.
  • This reflection area in relation to the set control angle extends from a lower limit, which marks the limit line for climbing the planer, to an upper limit, which, when exceeded, due to the set control angle, the planer overcomes the resistance of the footing, cuts into the footing and thus performs an effective diving movement.
  • These areas are in figure 2 , right half, shown as an example with a diving area 30 applicable to the currently applicable steering angle, a reflection area 31 and a climbing area 32.
  • Figure 2b are they off Figure 2a resulting conditions, taking into account the dipping tendency that can be set on the bottom chisel of the planer or climbing tendency shown.
  • the dashed line 34 for the control characteristic shows, the control characteristic for plunging the plow becomes flatter, the weaker the basic plunging tendency set via the bottom chisel of the plow is set, and the later an effective plunging movement can be initiated.
  • the weaker the basic tendency to dive set via the ground chisel, the steeper the dashed control characteristic curve 34 runs in the climbing area for climbing, and the earlier a climbing movement of the plow can be initiated.
  • the boom cylinders 35 are each provided with an individual shut-off, see above that the boom cylinders 35 can be locked hydraulically after reaching their control position. How out Figure 4b results, the boom cylinders 35 remain unaffected by the plow passage.
  • a control sequence following the plow can be activated, in which the shield support is first moved in a controlled manner after the plow passage.
  • the individual control groups of the shield support frames receive the control order one after the other to set the control angle for the next planing pass and then no longer carry out any readjustment.
  • the possible influence of a control group by the following control group is tolerated. Any deviations in the control angle that occur are included in the future control strategy by the computer unit, but the control angle is only adjusted after the next planing pass. Due to such a strategy, the control shaft passes through the face trailing the plow. Unstable regulation due to feedback effects from adjacent control groups on one another is reliably avoided.

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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)
  • Control Of Conveyors (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Agricultural Machines (AREA)
  • Lining And Supports For Tunnels (AREA)
EP09802108A 2008-12-17 2009-12-11 Verfahren zur einstellung einer automatischen niveausteuerung des hobels in hobelbetrieben des steinkohlenbergbaus Not-in-force EP2366059B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL09802108T PL2366059T3 (pl) 2008-12-17 2009-12-11 Sposób ustawiania automatycznego sterowania poziomem struga przy wybieraniu strugowym w górnictwie węgla kamiennego

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008062381 2008-12-17
PCT/EP2009/008863 WO2010075947A1 (de) 2008-12-17 2009-12-11 Verfahren zur einstellung einer automatischen niveausteuerung des hobels in hobelbetrieben des steinkohlenbergbaus

Publications (2)

Publication Number Publication Date
EP2366059A1 EP2366059A1 (de) 2011-09-21
EP2366059B1 true EP2366059B1 (de) 2013-03-06

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EP09802108A Not-in-force EP2366059B1 (de) 2008-12-17 2009-12-11 Verfahren zur einstellung einer automatischen niveausteuerung des hobels in hobelbetrieben des steinkohlenbergbaus

Country Status (7)

Country Link
US (1) US8562077B2 (ru)
EP (1) EP2366059B1 (ru)
CN (1) CN102257243B (ru)
PL (1) PL2366059T3 (ru)
RU (1) RU2487995C2 (ru)
UA (1) UA98900C2 (ru)
WO (1) WO2010075947A1 (ru)

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WO2018223028A1 (en) * 2017-06-02 2018-12-06 Joy Global Underground Mining Llc Adaptive pitch steering in a longwall shearing system
CN108748154A (zh) * 2018-06-11 2018-11-06 浙江国自机器人技术有限公司 一种标定机械臂的系统及方法
CN108481330A (zh) * 2018-06-11 2018-09-04 浙江国自机器人技术有限公司 一种控制机械臂的系统及方法
US11085295B2 (en) * 2019-01-24 2021-08-10 Huaneng Tibet Yarlungzangbo River Hydropower Development Investment Co., Ltd. Tunnel boring robot and remote mobile terminal command system
CN109838265B (zh) * 2019-03-18 2024-04-02 中国矿业大学 一种沿空留巷端头支架迁移时保护顶板托盘的装置
CN111119885B (zh) * 2019-12-18 2021-09-14 宿州市龙兴机械制造有限公司 一种便于调节的刨煤刀机构的加工及使用方法
CN114439527B (zh) * 2021-12-16 2023-04-28 中国矿业大学 一种智能固体充填液压支架工况位态表征方法
CN114439528A (zh) * 2021-12-16 2022-05-06 中国矿业大学 一种智能充填液压支架结构干涉自主控制方法

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SU1756557A1 (ru) * 1990-06-29 1992-08-23 Московский Горный Институт Способ программного управлени очистным комбайном в профиле пласта
DE4117732C2 (de) * 1991-05-30 1994-02-03 Hemscheidt Maschf Hermann Verfahren zum Abbau von Kohleflözen mit definierter Schnittiefenvorgabe mit Spielausgleich
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DE4414578C2 (de) * 1994-04-27 2003-02-13 Dbt Gmbh Vorrichtung zur automatischen Einstellung des Schneidhorizontes einer Bergbau-Gewinnungsanlage
RU2130553C1 (ru) * 1996-03-06 1999-05-20 Долинский Аркадий Маркович Угледобывающий агрегат
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DE202005016177U1 (de) * 2005-10-12 2005-12-22 Dbt Gmbh Firstmeißelträgerverstellung und Gewinnungshobel hiermit
CN2869320Y (zh) * 2005-12-23 2007-02-14 中煤张家口煤矿机械有限责任公司 用于刨煤机刨头的调高装置
DE102007060170B4 (de) 2006-12-30 2015-10-15 Tiefenbach Control Systems Gmbh Einrichtung zum Kohleabbau im Streb eines Bergwerks
EA018180B1 (ru) * 2008-02-19 2013-06-28 Раг Акциенгезельшафт Способ автоматического создания заданного призабойного пространства при струговой очистке в подземной разработке каменного угля
CN201228546Y (zh) * 2008-06-27 2009-04-29 三一重型装备有限公司 一种用于刨煤机刨头的调高装置

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US20110248548A1 (en) 2011-10-13
RU2011123380A (ru) 2013-01-27
PL2366059T3 (pl) 2013-10-31
CN102257243B (zh) 2013-11-06
WO2010075947A9 (de) 2010-12-16
CN102257243A (zh) 2011-11-23
EP2366059A1 (de) 2011-09-21
US8562077B2 (en) 2013-10-22
UA98900C2 (ru) 2012-06-25
RU2487995C2 (ru) 2013-07-20
WO2010075947A1 (de) 2010-07-08

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