CN111022044B - Continuous mining system and mining operation method for short-wall working face of underground coal mine - Google Patents

Abstract

A continuous mining system and a mining operation method for a short wall working face of an underground coal mine belong to coal mining machinery and are used for short wall mechanized mining of the underground coal mine. The continuous mining system comprises a continuous miner, a movable bendable belt conveyor, a crawler-type self-moving tail for a telescopic belt conveyor and a centralized control platform; the continuous miner is connected with the movable bendable belt conveyor, the movable bendable belt conveyor is connected with the telescopic belt conveyor through a crawler-type self-moving tail, and the centralized control platform is arranged in a cab of the movable bendable belt conveyor. Compared with the traditional short-wall mining process, the mining system provided by the invention has the advantages that the mining efficiency is improved, the labor investment is reduced, and the operation safety is improved.

Description

Continuous mining system and mining operation method for short-wall working face of underground coal mine

Technical Field

The invention belongs to coal mining machinery, and particularly relates to a continuous mining system and a mining operation method for a short-wall working face of an underground coal mine. The method is used for short wall mechanized mining of the underground coal mine.

Background

There are two types of conventional shortwall mining processes. The blasting mining has low mechanization degree, low resource recovery rate and poor operation safety, has great influence on normal production and living of people on the ground, and has limited application in China. The other is that a plurality of devices such as continuous miner, shuttle car and feeding crusher and operators are used together, the devices are distributed, the shuttle car is moved back and forth to alternate operation, production is discontinuous, matching is difficult, efficiency is low, unified control is difficult to achieve, the one-time coal mining depth of the continuous miner is not more than 10m, a large number of branch roadways are required to be excavated, and tunneling and supporting workload is large.

Disclosure of Invention

The invention provides a continuous mining system and a mining operation method for a short-wall working face, which integrate coal cutting, moving and walking, coal loading, transferring and automatic control.

The technical scheme of the invention is as follows:

A continuous mining system for a short-wall working surface consists of a continuous miner, a movable bendable belt conveyor, a crawler-type self-moving tail for a telescopic belt conveyor and a centralized control platform.

The continuous miner is connected with the movable bendable belt conveyor, the movable bendable belt conveyor is connected with the telescopic belt conveyor through a crawler-type self-moving tail, and the centralized control platform is arranged in a cab of the movable bendable belt conveyor.

The continuous miner comprises a cutting part, a loading shovel plate, a crawler travel chassis, a scraper conveyor, an inertial navigation positioning and orientation system and an explosion-proof camera.

The bottom of the continuous miner is a crawler walking chassis, the front part of the continuous miner is provided with a cutting part, a loading shovel plate is arranged below the cutting part, a scraper conveyor is arranged behind the loading shovel plate, and an inertial navigation positioning and orientation system is arranged on the crawler walking chassis. The explosion-proof camera is positioned above the cutting part.

The continuous miner is connected with a receiving mechanism of the movable bendable belt conveyor.

The movable bendable belt conveyor consists of a receiving mechanism, a bendable rack, a discharging mechanism, a bendable adhesive tape and a rear power platform.

The receiving mechanism is connected with the bendable rack, the unloading mechanism and the rear power platform in sequence.

The unloading mechanism is provided with a motorized roller and a tensioning roller.

The bendable rack consists of a plurality of sections of unit racks, the length of each unit rack is 0.65m, and the units are connected end to end through pin shafts and joint bearings. Each section of unit frame is provided with a carrier roller.

The flexible adhesive tape is respectively wound on the motorized pulley of the material receiving mechanism, the carrier roller of the flexible frame 8, the motorized pulley of the unloading mechanism and the tensioning pulley.

A plurality of groups of walking tires are arranged below the bendable rack. And steel wheels are arranged below the discharging mechanism and the rear power platform.

A pair of cycloid gears with power are arranged on two sides of the bottom of the rear power platform.

The material receiving mechanism and the travelling tire at the front half part of the bendable rack are positioned on the ground. The running tire of the rear half of the flexible frame is located on the pin rack.

The steel wheels below the unloading mechanism and the rear power platform are positioned on the plane track on the pin rack.

Cycloid gears at the bottom of the rear power platform are meshed with the pin racks. The movable bendable belt conveyor can move back and forth relative to the telescopic belt conveyor by the crawler-type self-moving machine tail.

The crawler-type self-moving tail for the telescopic adhesive tape machine consists of an end head assembly, a bend pulley, a frame, a crawler travelling mechanism, a pin rack and an adhesive tape.

The end head assembly is connected with the frame. The frame is formed by connecting a plurality of sections of rigid frame units (each unit is 3m long) end to end through pin shafts. The rigid frame units connected with the end head assemblies are provided with bend pulleys, and the rest rigid frame units are provided with carrier rollers.

A plurality of groups of crawler travelling mechanisms are arranged below the two sides of the frame. Pin racks are paved on two sides above each rigid frame unit.

The adhesive tape is wound on the bend roller and the carrier roller on the rigid frame unit respectively.

The centralized control platform consists of a driving position, an explosion-proof computer, a display and a centralized operation panel.

The centralized control platform is internally provided with a driving position, an explosion-proof computer, a display and a centralized operation panel. The driving position is fixed at the rear of the centralized control platform, and the explosion-proof computer is arranged at the front of the centralized control platform; the display is arranged above the explosion-proof computer, and the centralized operation panel is arranged right opposite to the driving position and is positioned above the explosion-proof computer. The explosion-proof computer is connected with the display and the centralized operation panel.

A continuous mining operation method of a short-wall working face of an underground coal mine comprises the steps that the width of a branch roadway of the short-wall working face is 6m, the length of the branch roadway is 300m, the width of a mining cave is 3.3m, the included angle between the longitudinal direction of the mining cave and the central line of the branch roadway is 45-90 degrees, and the maximum depth of the mining cave is 90m; the method is characterized in that the coal seam is partitioned according to a certain length and a certain width, and the double-wing or single-wing mining operation is carried out in the partitioned branch roadway by the short-wall working face continuous mining system.

The length and the width are not fixed, and the distribution condition of the coal seam is adopted. Typically not exceeding 1000 meters.

The movable bendable belt type transfer conveyor immediately follows the continuous miner to enter a mining cave, coal flows are transferred from a conveyor of the continuous miner to the movable bendable belt type transfer conveyor and then are unloaded onto a rubber belt at the tail of the crawler type self-moving conveyor for the telescopic rubber belt again, so that coal is transported out, and continuous transportation is realized; after one working surface is completed, the continuous miner and the movable bendable belt conveyor are retracted, then the telescopic belt conveyor is retracted by the crawler-type self-moving conveyor tail, and finally the whole system is moved to the next working surface to start the next cycle.

The double-wing mining operation process is to arrange a mining cave at one side of a short wall working face branch roadway.

The single-wing mining operation process is to arrange mining tunnels at two sides of a branch roadway of a short-wall working face, and the two sides of the mining tunnels are axisymmetric by taking the branch roadway as an axis.

The invention has the following beneficial effects:

1. According to the invention, a driver remotely operates the continuous miner by observing video pictures in a display on a centralized control platform, cuts coal and transfers the cut coal to a movable bendable adhesive tape transfer machine, and the mining direction is ensured according to an inertial navigation positioning and orientation system, so that the depth of a mining cave reaches 90m.

2. The mining system equipment control is completed in the centralized control platform, and the mining system equipment control is located in a protection area in a branch roadway far away from a working face, so that the safety of personnel operation is ensured.

3. Compared with the traditional short-wall mining process, the mining system has the advantages that the mining efficiency is improved, the labor investment is reduced, and the operation safety is improved;

4. The mining system integrates coal cutting, movable walking, coal loading, transferring and automatic control, adopts an autonomous directional mining and remote control mode, and adopts parallel continuous operation of mining, transferring and transporting, thereby solving the problems of imperfect matching, insufficient transportation capacity and poor personnel operation environment after the existing short-wall mining process equipment.

Compared with the traditional short wall mining process, the invention has the advantages of high production efficiency, high automation degree, reduced personnel number and safe operation. And the long-distance mining tunnel can be realized, and the workload of digging a branch roadway is reduced. The crawler-type self-moving tail of the telescopic adhesive tape machine adopts crawler-type movement to realize mechanical rapid advancing and retreating. The inertial navigation positioning and orientation system realizes the directional mining under the underground GPS-free environment, ensures the safety of the coal pillar (ensures the width dimension of the coal pillar and prevents collapse). The complete equipment is provided with a remote centralized control platform, and realizes remote operation coal mining with the help of an inertial navigation positioning and orientation system and video display, thereby realizing unmanned working face.

Drawings

FIG. 1 is a block diagram of a continuous miner in a shortwall face continuous mining system.

Fig. 2 is a top view of fig. 1.

FIG. 3 is a block diagram of a mobile flexible belt conveyor in a shortwall face continuous mining system.

Fig. 4 is a top view of fig. 3.

Fig. 5 is a partial (front) structural view of the mobile bendable belt conveyor.

Fig. 6 is a top view of fig. 4.

Fig. 7 is a view in the direction A-A of fig. 5.

FIG. 8 is a block diagram of a crawler-type self-moving tail for a retractable taping machine.

Fig. 9 is a top view of fig. 6.

Fig. 10 is a structural diagram of the centralized control platform.

FIG. 11 is a schematic illustration of a shortwall face continuous mining system operation (single wing).

FIG. 12 is a schematic illustration of a shortwall face continuous mining system operation (double winged).

Fig. 13 is a structural view of the receiving mechanism.

Fig. 14 is a top view of fig. 13.

Fig. 15 is a connection structure diagram between unit frames.

Fig. 16 is a top view of fig. 15.

Fig. 17 is a structural view of the discharging mechanism.

Fig. 18 is a top view of fig. 17.

FIG. 19 is a block diagram of a head assembly

Fig. 20 is a top view of fig. 19.

In the figure, 1, a cutting part, 2, a loading shovel plate, 3, a crawler chassis, 4, a scraper conveyor, 5, an inertial navigation positioning and orientation system, 6, an explosion-proof camera, 7, a material receiving mechanism, 8, a flexible rack, 9, a discharging mechanism, 10, a flexible adhesive tape, 11, a rear power platform, 12, an end head assembly, 13, a bend pulley, 14, a rack, 15, a crawler mechanism, 16, a pin rack, 17, a driving position, 18, an explosion-proof computer, 19, a display, 20, a centralized operation panel 21, an adhesive tape, 22, a coal seam, 23, a mining chamber, 24, a branch roadway, 25, a continuous mining system, 26 and a centralized control platform, 27, belt rollers, 28, belts, 30, connecting plates, 31, vertical supports, 32, horizontal supports, 33, idler rollers, 34, pressure plates, 35, motorized rollers, 36, running tires, 37, unit frames, 38, tensioning rollers, 39, tensioning cylinders, 40, steel wheels, 41, cycloidal gears, 42, hydraulic motors, 43, cutting rollers, 44, rollers, 45, a receiver frame, 46, a left track, 47, a right track, 48, a buffer idler roller, 49, a connecting frame, 50, a coal baffle, 51, a spherical sliding bearing, 52, a discharge frame, 53, a slope transition section, 54, a hydraulic cylinder, 55, an end frame, 56, and a hydraulic platform.

Detailed Description

A continuous mining system for a short-wall working face of an underground coal mine comprises a continuous miner, a movable bendable belt conveyor, a crawler-type self-moving tail for a telescopic belt conveyor and a centralized control platform.

The continuous miner is connected with the movable bendable belt conveyor, the movable bendable belt conveyor is connected with the crawler-type self-moving tail for the telescopic belt conveyor, and the centralized control platform is fixed at the front end of the crawler-type self-moving tail for the telescopic belt conveyor.

As shown in fig. 1 and 2, the continuous miner comprises a cutting part 1, a loading shovel plate 2, a crawler chassis 3, a scraper conveyor 4, an inertial navigation positioning and orientation system 5 and an explosion-proof camera 6.

The cutting part 1 is connected with the crawler travel chassis 3 and is arranged at the forefront of the whole machine; the crawler travel chassis 3 is arranged below the scraper conveyor 4 and is connected with the cutting part 1, the loading shovel plate 2 and the scraper conveyor 4; the scraper conveyor 4 is arranged in the middle of the whole machine and is connected with the crawler chassis 3; the inertial navigation positioning and orientation system 5 is fixedly arranged on the crawler chassis 3, and the explosion-proof camera 6 is fixedly arranged above the cutting part 1 and positioned behind the cutting roller.

The cutting part 1 consists of a cutting roller, a cantilever, a cutting motor and a cutting speed reducer.

The cutting motor is located the inside of cutting the cantilever, and the cutting reduction gear is located the place ahead of cutting the cantilever, and the cutting reduction gear links to each other with the cutting cantilever. The outer surface of the cutting speed reducer is provided with a cutting roller. The cutting motor drives the cutting speed reducer to drive the cutting roller to rotate.

The loading shovel 2 consists of a shovel body, a loading motor, a loading speed reducer, a star wheel and a chain wheel, wherein the loading motor is connected with the loading speed reducer, the loading speed reducer drives the star wheel and the chain wheel to rotate, and the loading motor and the loading speed reducer are arranged in the shovel body.

The crawler travel chassis 3 comprises a crawler chain, a travel motor, a travel speed reducer, a crawler beam, a driving sprocket, a guide tensioning wheel and an intermediate frame. The walking motor is connected with the walking speed reducer, the walking speed reducer is connected with the driving sprocket, the driving sprocket is connected with the track chain, the middle frame is respectively connected with the track beams on two sides, and the guide tensioning wheel is arranged at the rear end of the track beam.

The loading shovel plate 2 is connected with the scraper conveyor 4 through an intermediate frame to form a front-back lapped conveying groove.

The continuous miner of the invention can adopt a thin seam continuous miner disclosed in China patent No. 201820227072.3. Except that the inertial navigation positioning and orientation system 5 of the present invention is used in place of the gyroscope orientation apparatus of the above patent.

As shown in fig. 3,4, 5, 6, 7 and 8, the movable bendable belt conveyor comprises a receiving mechanism 7, a bendable rack 8, a discharging mechanism 9, a bendable adhesive tape 10 and a rear power platform 11.

As shown in fig. 13 and 14, the receiving mechanism 7 is composed of a receiving portion frame 45, a motorized pulley 35, a buffer roller 48, a left crawler 46, a right crawler 47, and a motor, and the left crawler 46 and the right crawler 47 are located on both sides of the receiving portion frame 45 and connected to the receiving portion frame 45. The motorized pulley 35 and the buffer roller 48 are mounted on the receiver frame 45. The motorized pulley 35 is connected to a motor that drives the motorized pulley 35 to rotate.

As shown in fig. 15 and 16, the flexible frame 8 is composed of a unit frame 37, an upper carrier roller 27, a lower carrier roller 33, a pressure plate 34, a running tire 36, a connecting pin, and a spherical sliding bearing 51, wherein the upper carrier roller 33 and the lower carrier roller 33 are respectively installed at the middle position of the unit frame 37, and are used for supporting flexible adhesive tapes. The pressure plates 34 are mounted on both sides of the unit frame 37, and are provided up and down to prevent the flexible adhesive tape from deviating and derailing. The running tires 36 are arranged in a pair at intervals of 2-3 unit frames, and are respectively arranged on two sides of the unit frames. The unit frames 37 are connected by spherical sliding bearings 51 and connecting pins, and can swing left and right and up and down by a certain angle.

The unloading mechanism is composed of a frame body, a motorized pulley, a tensioning pulley 38, a tensioning cylinder 39 and a steel wheel 40, as shown in fig. 17 and 18. The frame body is provided with 2 motorized rollers which are arranged in tandem, and the 2 motorized rollers of the unloading mechanism and the motorized rollers of the receiving mechanism drive the bendable adhesive tape together. The middle position of the frame body is provided with a tensioning roller, and the tensioning roller can move back and forth in the frame body through the push-pull of the tensioning oil cylinder, so that the flexible adhesive tape can be tensioned or loosened. The steel wheels are located at the bottom of the frame, 4 in front and back, for movement on the pin rack 16.

The flexible adhesive tape 10 adopts a flexible fabric laminated flame-retardant conveyor belt for coal mines disclosed in China patent No. 201420663965.4; or a mining movable flexible adhesive tape conveyor disclosed by 2015106066844 is adopted.

The rear power platform 11 consists of a platform, a hydraulic pump station, an electric cabinet, a driving motor, cycloid gears and steel wheels. The hydraulic pump station provides power to the drive motor and then rotates the cycloid gear. The electric cabinet provides power for the motor of the hydraulic pump station and 3 electric rollers.

The receiving mechanism 7 is connected with the bendable rack 8, the unloading mechanism 9 and the rear power platform 11 in sequence.

The receiving mechanism 7 and the bendable rack 8 are connected in the same way as the unit racks by spherical sliding bearings and connecting pins, and can swing left and right and up and down by a certain angle.

The unit frames are connected by spherical sliding bearings and connecting pins in the same mode, and can swing left and right and up and down by a certain angle.

The unloading mechanism 9 is provided with 2 motorized rollers and 1 tensioning roller. The bendable rack 8 is formed by connecting a plurality of sections of unit racks (each unit rack is 0.65m long) end to end through pin shafts and spherical sliding bearings. Each section of unit frame is provided with a carrier roller and a pressure plate.

The flexible adhesive tape 10 is wound on the motorized pulley of the receiving mechanism 7, the carrier roller of the flexible frame 8, the motorized pulley of the discharging mechanism 9 and the tensioning pulley.

The lower part of the flexible frame 8 is provided with a plurality of groups of walking tires. The steel wheels are arranged below the discharging mechanism 9 and the rear power platform 11. A pair of cycloid gears with power are arranged on two sides of the bottom of the rear power platform 11.

The material receiving mechanism 7 and the travelling tire of the front half part of the flexible frame 8 are positioned on the ground. The running tyre of the rear half of the flexible frame 8 is located on the pin rack 16.

The steel wheels under the unloading mechanism 9 and the rear power platform 11 are also positioned on the planar track on the pin rack 16. The cycloidal gears at the bottom of the rear power platform 11 mesh with the pin rack 16. The movable bendable belt conveyor can move back and forth relative to the telescopic belt conveyor by the crawler-type self-moving machine tail.

The crawler-type self-moving tail for the telescopic adhesive tape machine consists of an end head assembly 12, a bend pulley 13, a frame 14, a crawler running mechanism 15, a pin rack 16 and an adhesive tape 21.

As shown in fig. 19 and 20, head assembly 12 is comprised of head stock, ramp transition 53, hydraulic cylinder, hydraulic platform, and centralized control platform 26. The hydraulic platform and the centralized control platform are positioned at two sides of the end headstock. The slope transition section is obliquely arranged and positioned at the front part of the end head frame. The hydraulic cylinder controls the lifting of the slope transition section. One end of the hydraulic cylinder is connected with the end head frame, and the other end of the hydraulic cylinder is connected with the slope transition section.

The hydraulic platform is internally provided with a hydraulic pump station and an operating valve. The hydraulic pump station provides power for the hydraulic motor of the oil cylinder and the crawler travelling mechanism 15.

Head assembly 12 is coupled to frame 14.

The frame 14 is formed by connecting a plurality of rigid frame units (each unit is 3m long) end to end through pin shafts.

The rigid frame units connected with the end head assembly 12 are provided with bend pulleys 13, and the rest rigid frame units are provided with carrier rollers.

A group of crawler travelling mechanisms are arranged in each 4-5 sections of rigid frame units, and the crawler travelling mechanisms are positioned on two sides of the rigid frame units. The upper two sides of each rigid frame unit are lined with pin racks 16. The pin rack 16 is connected with (ear plates on both sides of the rigid frame unit via pins);

The adhesive tape 21 is wound around the bend drum 13, the idlers on the rigid frame unit.

As shown in fig. 10, the centralized control platform 26 is composed of a driver's seat 17, an explosion-proof computer 18, a display 19, and a centralized operation panel 20.

The centralized control platform 26 is internally provided with a driving seat 17, an explosion-proof computer 18, a display 19 and a centralized operation panel 20. The driving position 17 is fixed behind the centralized control platform, and the explosion-proof computer 18 is arranged in front of the centralized control platform; a display 19 is provided above the explosion-proof computer 18, and a collective operation panel 20 is provided directly opposite the driver's seat 17 and above the explosion-proof computer 18. The explosion-proof computer 18 is connected with a display 19 and a centralized operation panel 20.

The connecting plate 30, the vertical support 31 and the horizontal support 32 are of an integral structure and belong to a rigid frame unit.

In the process of forward coal mining of the continuous miner, the movable bendable belt conveyor can walk along with the continuous miner, so that the material receiving mechanism 7 is always positioned below the unloading point of the scraper conveyor 4. In the moving process of the continuous miner, the material receiving part mechanism 5 is pulled, so that the dragging movable bendable belt type reversed loader moves, and the rear power platform 11 synchronously follows. The telescopic belt conveyor is kept in place by the crawler-type self-moving tail in the coal mining process.

The bottom of the rear power platform 11 is provided with a cycloid gear with power, the cycloid gear is meshed with the pin rack 16 to form traction force, the bendable belt conveyor can be pulled to retreat, and the synchronous walking with the continuous miner is realized through program control.

Information during the continuous miner operation, video during the mining operation transmitted back from the explosion-proof camera 6, the direction angle of the mining (the angle and the position of the mining are measured by adopting a gyroscope and an accelerometer) measured by the inertial navigation positioning system 5, temperature and current parameter data can be transmitted to an explosion-proof computer 18 in a centralized control platform and then displayed on a display 19, and personnel remotely control the continuous miner operation in a cab 17 through a centralized operation panel 20.

The gyroscope and the accelerometer are positioned in a module of the inertial navigation positioning and orientation system, the gyroscope is used for measuring the heading and the position of the airframe, and the accelerometer is used for measuring the pitching and rolling postures of the airframe. The inertial navigation positioning and orientation system is arranged above a crawler travel chassis of the continuous miner.

The running, loading and transporting mechanisms of the continuous miner are all driven by motors. The cutting roller is driven to rotate by a motor, and the up-and-down swing of the cantilever is realized through the hydraulic oil cylinder, so that the cutting function is realized.

The flexible adhesive tape 10 of the movable flexible belt conveyor is driven by 1 electric roller of the receiving mechanism 7 and 2 electric rollers of the discharging mechanism 9, and the cycloid gear of the rear power platform 11 is driven by a hydraulic motor.

The crawler travel mechanism 15 of the crawler type self-moving tail is driven by a hydraulic motor.

The state information (including video, heading and the like) of the continuous miner, the movable bendable belt type reversed loader and the crawler type self-moving tail is transmitted to the explosion-proof computer through the cable network and then to the display through the electric control box of each device. And the device actions and function control commands sent by the centralized operation panel are sent to the electric control boxes of all the devices through wired network signals, and then the actions of all the devices are controlled.

The operation flow of the continuous mining system comprises the following steps:

1. Preparing: and tunneling of the branch roadway is finished in advance. The continuous miner, the movable bendable belt conveyor and the telescopic belt conveyor are sequentially connected by the crawler type self-moving tail and are arranged at the initial position of the system shown in the figure 5, and the length of the upper and lower lap joint of the movable bendable belt conveyor and the telescopic belt conveyor by the crawler type self-moving tail is 100m.

2. And an operator operates the centralized operation panel in the centralized control platform through observing the display, operates the continuous miner to move, and synchronously follows the movable bendable belt conveyor. The continuous miner turns left or right, the mining operation is started along the planned mining cave direction, and the coal blocks which are mined out are transported away.

3. Continuous mining is carried out by the continuous miner and the movable bendable belt conveyor, so that the planned mining cave depth is completed. The continuous miner and the flexible belt conveyor then exit along the original path back to the original position.

4. If the system is double-wing mining, opposite-side mining is started, and then the system returns to the initial position. If single wing mining is performed, the next step is performed.

5. The continuous miner, the movable bendable belt conveyor and the telescopic belt conveyor are simultaneously moved by the crawler type self-moving tail (along the arrow direction of the mining sequence of 3m-5m in the figure 11) and retreated to the next mining cave position. The loop then starts the operation of step 2.

Coal mining: the driver remotely operates the continuous miner by observing video pictures in a display on a centralized control platform, cuts coal and transfers the cut coal to a movable bendable adhesive tape reversed loader, and guarantees the mining direction according to an inertial navigation positioning and orientation system, wherein the depth of a mining cave is 90m at maximum.

Transportation: the movable bendable belt type transfer conveyor immediately follows the continuous miner to enter a mining cave, coal flows are transferred to the movable bendable belt type transfer conveyor from a conveyor of the continuous miner and then are unloaded onto a rubber belt of a crawler type self-moving tail of the telescopic rubber belt machine again, coal is transported out, and continuous transportation is achieved.

And (3) machine withdrawal: after one face is completed, the continuous miner and the mobile bendable belt conveyor are retracted, then the telescopic belt conveyor is retracted by the crawler-type self-moving conveyor tail, and then the whole system is moved to the next face to start the next cycle.

The equipment control in the process is completed in the centralized control platform, and the protection area in the branch lane far away from the working face is located, so that the safety of personnel operation is ensured.

Claims (5)

1. A continuous mining system for a short-wall working face of an underground coal mine comprises a continuous miner, a movable bendable belt conveyor, a crawler-type self-moving tail for a telescopic belt conveyor and a centralized control platform; the continuous miner is connected with a movable bendable belt conveyor, the movable bendable belt conveyor is connected with a telescopic belt conveyor through a crawler-type self-moving tail, and a centralized control platform is arranged in a cab of the movable bendable belt conveyor; the continuous miner is provided with an inertial navigation positioning and orientation system; the movable bendable belt type reversed loader consists of a receiving mechanism, a bendable rack, a discharging mechanism, a bendable adhesive tape and a rear power platform; the receiving mechanism is sequentially connected with the bendable rack, the unloading mechanism and the rear power platform; the bendable rack is connected end to end by a plurality of sections of unit racks; each section of unit frame is provided with a carrier roller and a pressure plate; a plurality of groups of walking tires are arranged below the bendable rack; the steel wheel is arranged below the discharging mechanism and the rear power platform; a pair of cycloid gears with power are arranged on two sides of the bottom of the rear power platform;

The bendable adhesive tape is wound on the motorized pulley of the receiving mechanism, the carrier roller of the bendable rack, the motorized pulley of the discharging mechanism and the tensioning pulley;

The crawler-type self-moving tail for the telescopic adhesive tape machine consists of an end head assembly, a bend pulley, a first frame, a crawler travelling mechanism, a pin rack and an adhesive tape;

The steel wheels below the unloading mechanism and the rear power platform are also positioned on the plane track on the pin rack; cycloid gears at the bottom of the rear power platform are meshed with the pin racks; the movable bendable belt conveyor can move back and forth relative to the telescopic belt conveyor by the crawler-type self-moving machine tail;

The end head assembly is connected with a first frame, the first frame is formed by connecting a plurality of sections of rigid frame units end to end, a bend pulley is arranged on the rigid frame unit connected with the end head assembly, and carrier rollers are arranged on the rest rigid frame units;

Each 4-5 sections of rigid frame units are provided with a group of crawler travelling mechanisms, and the crawler travelling mechanisms are positioned at two sides of the rigid frame units; pin racks are paved on two sides above each rigid frame unit; the pin rack is connected with two sides of the rigid frame unit; the adhesive tape is wound on the carrier roller on the bend pulley and the rigid frame unit;

The material receiving mechanism consists of a material receiving part frame, an electric roller, a buffer carrier roller, a left crawler mechanism, a right crawler mechanism and a motor, wherein the left crawler mechanism and the right crawler mechanism are positioned at two sides of the material receiving part frame and are connected with the material receiving part frame; the electric roller and the buffer carrier roller are arranged on the frame of the material receiving part; the motor drives the electric roller to rotate; the material receiving mechanism and the travelling tire at the front half part of the bendable rack are positioned on the ground; the walking tire at the rear half part of the bendable rack is positioned on the pin rack;

the unloading mechanism consists of a frame body, an electric roller, a tensioning oil cylinder and a steel wheel; the frame body is provided with 2 motorized rollers, the 2 motorized rollers are arranged in tandem, and the 2 motorized rollers and the motorized rollers of the material receiving mechanism drive the bendable adhesive tape together; the tensioning roller positioned in the middle of the frame body is pushed and pulled by the tensioning oil cylinder to move back and forth in the frame body so as to tension or relax the flexible adhesive tape; the steel wheels are positioned at the bottom of the frame body, and 4 steel wheels are used for moving on the pin racks;

The end head assembly consists of an end head frame, a slope transition section, a hydraulic cylinder, a hydraulic platform and a centralized control platform; the hydraulic platform and the centralized control platform are positioned at two sides of the end headstock; the slope transition section is positioned at the front part of the end head frame; the hydraulic cylinder controls the lifting of the slope transition section; a hydraulic pump station and an operating valve are arranged in the hydraulic platform; the hydraulic pump station provides power for a hydraulic motor of the oil cylinder and the crawler travelling mechanism; the centralized control platform consists of a driving position, an explosion-proof computer, a display and a centralized operation panel; a driving position, an explosion-proof computer, a display and a centralized operation panel are arranged in the centralized control platform; the driving position is fixed at the rear of the centralized control platform, and the explosion-proof computer is arranged at the front of the centralized control platform; the display is arranged above the explosion-proof computer, and the centralized operation panel is arranged right opposite to the driving position and is positioned above the explosion-proof computer; the explosion-proof computer is connected with the display and the centralized operation panel;

in the process of forward coal mining of the continuous miner, the movable bendable belt conveyor walks along with the continuous miner, so that the receiving mechanism is always positioned below the unloading point of the scraper conveyor; in the moving process of the continuous miner, the material receiving part mechanism is pulled and the movable bendable belt conveyor is pulled to move, and the rear power platform synchronously follows; the telescopic belt conveyor is kept in place by a crawler-type self-moving tail in the coal mining process; the bottom of the rear power platform is provided with a cycloid gear with power, the cycloid gear is meshed with the pin rack to form traction force, the traction flexible belt conveyor retreats, and synchronous walking with the continuous miner is realized through program control.

2. The continuous mining system for the short wall working face of the underground coal mine according to claim 1, wherein the flexible frame consists of a unit frame, a carrier roller, a pressure plate, a traveling tire, a connecting pin and a spherical sliding bearing, the carrier roller is arranged in the middle of the unit frame, and the carrier roller is arranged at the upper part and the lower part and is used for supporting the flexible adhesive tape; the pressure plates are arranged on two sides of the unit frame, and are arranged up and down and used for preventing the bendable adhesive tape from deviating and derailing; the walking tires are arranged at intervals of 2-3 unit frames and are arranged on two sides of the unit frames; the unit frames are connected with the connecting pins through spherical sliding bearings, and can swing left and right and up and down by a certain angle.

3. The continuous mining system for the short wall working face of the underground coal mine, according to claim 1, wherein the rear power platform is composed of a platform, a hydraulic pump station, an electric cabinet, a driving motor, cycloidal gears and steel wheels; the hydraulic pump station provides power for the driving motor, and the driving motor drives the cycloidal gear to rotate; the electric cabinet provides power for the motor of the hydraulic pump station and 3 electric rollers.

4. The continuous mining system for the short wall working face of the underground coal mine according to claim 1, wherein the information in the working process of the continuous miner is transmitted to an explosion-proof computer in a centralized control platform from the video transmitted back from the explosion-proof camera and the parameters of the direction, the angle, the temperature and the current of the mining measured by the inertial navigation positioning and orientation system in the mining operation, and the information is displayed on a display, and a person remotely controls the continuous miner in a cab through a centralized operation panel.

5. The continuous mining system for the short wall working face of the underground coal mine according to claim 1, wherein state information of the continuous miner, the movable bendable belt conveyor and the crawler-type self-moving tail is transmitted to an explosion-proof computer through an electric cabinet and a wired network and displayed on a display; and the device actions and function control commands sent by the centralized operation panel are sent to the electric cabinet through wired network signals, and then the actions of all the devices are controlled.