CN111577272A - Bracket-assisted coal mining process and coal mining system - Google Patents
Bracket-assisted coal mining process and coal mining system Download PDFInfo
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- CN111577272A CN111577272A CN202010432199.0A CN202010432199A CN111577272A CN 111577272 A CN111577272 A CN 111577272A CN 202010432199 A CN202010432199 A CN 202010432199A CN 111577272 A CN111577272 A CN 111577272A
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- 239000003245 coal Substances 0.000 title claims abstract description 142
- 238000005065 mining Methods 0.000 title claims abstract description 68
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 47
- 238000005520 cutting process Methods 0.000 claims abstract description 20
- 238000005070 sampling Methods 0.000 claims description 33
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
- E21C25/10—Rods; Drums
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/02—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices
-
- 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/14—Telescopic props
- E21D15/44—Hydraulic, pneumatic, or hydraulic-pneumatic props
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D15/00—Props; Chocks, e.g. made of flexible containers filled with backfilling material
- E21D15/50—Component parts or details of props
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
- E21F13/066—Scraper chain conveyors
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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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)
- Structural Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a bracket-assisted coal mining system and a coal mining process, wherein the coal mining system comprises: the coal mining machine is arranged on the scraper conveyor, and is characterized in that at least 3 pushing connecting rods are arranged at intervals on the rear side of the scraper conveyor, a pushing oil cylinder is arranged on the rear side of each pushing connecting rod, and the rear end of each pushing oil cylinder is connected with a hydraulic support; a telescopic oil cylinder is arranged on the pushing connecting rod, a scraper conveyor connecting block is arranged at the top of the telescopic oil cylinder, the scraper conveyor connecting block is connected with a scraper conveyor, and the telescopic oil cylinder can lift the scraper conveyor connecting block; the scraper conveyer connecting block on be equipped with the track, be equipped with portable detection device on the track. The invention has the advantages and beneficial effects that: the automatic cutting of the coal mining machine, the automatic alignment of the scraper conveyor, the automatic alignment of the hydraulic support and other operations under the condition of automatic environment sensing can be realized, and the automatic coal mining operation is realized in the thin coal seam.
Description
Technical Field
The invention belongs to the technical field of coal mine excavation, and particularly relates to a support-assisted coal mining system suitable for a fully mechanized coal mining face of a thin coal seam in a coal mine.
Background
In the past, the coal mining process of the fully mechanized coal mining face is mature, and different coal mining processes can be adopted according to the thickness and the trend of a coal seam. According to the height, a one-time mining full-height mode and a comprehensive top coal caving mode can be adopted, the application range of the special one-time mining full-height mode is wider and wider, and the coal mining process is gradually increased from 2-4 meters to nearly ten meters of one-time mining full-height. For the coal mining operation of the thin coal seam, due to the limitation of height, workers usually cannot walk vertically along the working face, and only stolonizing operation is performed at some time, so that the labor intensity of the workers for mining the coal of the thin coal seam is higher.
In order to efficiently develop coal mining work, the fully mechanized coal mining face is generally required to ensure three straightness, namely, the working face coal wall is straight, the conveyor is straight, and the hydraulic support is straight, and various detection systems for ensuring the three straightness are developed for the purpose, so that obviously, when a worker cannot vertically walk in a thin coal seam to perform coal mining work, the three straightness is difficult to ensure.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a coal mining process and a system suitable for a thin coal seam, which can realize support-assisted coal mining, top-down mining and elevation mining control and a vertical feed cutting process.
The technical scheme of the invention is as follows:
in a first aspect, the present invention provides a support assisted coal mining system comprising: the coal mining machine is arranged on the scraper conveyor, the rear side of the scraper conveyor is provided with at least 3 pushing connecting rods at intervals, the rear side of each pushing connecting rod is provided with a pushing oil cylinder, a stroke sensor is arranged in each pushing oil cylinder, the rear end of each pushing oil cylinder is connected with a hydraulic support, the top of each hydraulic support props against the top wall of a coal seam when the hydraulic support is supported, and the pushing oil cylinders can drag the pushing oil cylinders when the hydraulic support contracts; the pushing connecting rod is provided with a telescopic oil cylinder, the top of the telescopic oil cylinder is provided with a scraper conveyer connecting block, the scraper conveyer connecting block is connected with a scraper conveyer, and the telescopic oil cylinder can lift the scraper conveyer connecting block so as to adjust the angle of the scraper conveyer; the scraper conveyer connecting block is provided with a track, and the track is provided with a movable detection device; the tracks comprise long tracks and short tracks, and the plurality of short tracks are connected in series to realize the bending of the tracks; the movable detection device comprises a gyroscope, a laser ranging radar, UWB positioning equipment and a wireless communication module.
In a second aspect, the present invention provides a coal mining process employing a support assisted coal mining system as described above, comprising:
step one, initializing the position and the coordinate of a system;
step two, enabling the movable detection device to move on the track and obtain the track of the movable detection device and the distance from the movable detection device to the coal wall;
determining coordinate values of the scraper conveyor in a plane coordinate system and a coal wall profile according to the track of the movable detection device and the distance from the movable detection device to the coal wall;
determining a stroke value of a pushing oil cylinder required for alignment according to coordinate values of the scraper conveyor and the coal wall hub in a plane coordinate system, and controlling the pushing oil cylinder and the hydraulic support to perform alignment;
fifthly, after the alignment is finished, the hydraulic support props the top wall of the coal seam, the top mining and face-up mining control is carried out through a telescopic oil cylinder, and a pushing oil cylinder pushes a scraper conveyor, a coal mining machine and a cutting roller to move forwards to carry out coal mining operation;
and after the coal wall is cut once, repeating the steps from two to five.
The making the movable detection device travel on the track and obtain the self track and the distance to the coal wall comprises the following steps: enabling the movable detection device to walk upwards on the track, and scanning the coal wall of the thin coal seam through a laser ranging radar to obtain the profile characteristics of the coal wall and the distance from each position of the profile of the coal wall to the laser radar; track characteristics of the movable detection device running along the track are recorded through the gyroscope, and the track characteristics comprise the pitch angle of each sampling point track, namely the pitch angle of the scraper conveyer and the front and back displacement of each sampling point of the track on the horizontal plane, namely the horizontal displacement of the scraper conveyer.
And determining the coordinate value of the scraper conveyor in the plane coordinate system and the coal wall profile according to the track of the movable detection device and the distance from the movable detection device to the coal wall, wherein the coordinate value of the distance from each position of the scraper conveyor and the coal wall profile to the laser radar in the plane coordinate system is determined through UWB positioning equipment.
Confirm the required lapse hydro-cylinder stroke numerical value of alignment according to the coordinate value of scraper conveyor and coal wall wheel hub in the plane coordinate system, control and lapse hydro-cylinder and hydraulic support and carry out the alignment, include: straightening by a scraper conveyor, straightening by a coal wall and straightening by a hydraulic support.
Scraper conveyor alignment specifically includes: the movable detection device walks in the aligning direction of the scraper conveyor on the track, deviation values delta y of parallel lines of an X axis are recorded at sampling points through the gyroscope, after data recording of all the sampling points is completed, one sampling point is selected as a reference, the pushing connecting rod and the scraper conveyor are pushed through the pushing oil cylinder, the deviation values of other sampling points in the aligning direction are equal to the deviation value of the reference sampling point, and therefore the alignment of the scraper conveyor is achieved.
The coal wall alignment specifically includes: the movable detection device travels along the straightening direction of the scraper conveyor on the track, deviation values delta y of parallel lines with an X axis are recorded at sampling points through a gyroscope, the distance y1 between a coal wall and the movable detection device is measured through a laser ranging radar, then the deviation value y2 of the coal wall at each sampling point and the parallel lines with the X axis is y1+ delta y, after data recording of all the sampling points is completed, one sampling point is selected as a reference, a vertical feed process is firstly carried out, a push connecting rod and the scraper conveyor are pushed through a push oil cylinder, the coal wall cutting depth of the cutting roller is further controlled, the coal wall cutting depth is larger than y2, the scraper conveyor is pushed through the push oil cylinder, straightening of the scraper conveyor is completed, and finally, cutting of the next coal wall is completed, and straightening of the coal wall is realized.
The hydraulic support alignment specifically includes: after the straightening of the scraper conveyor is completed, the hydraulic support moves forwards by pulling the pushing cylinders, so that the extension of each pushing cylinder is consistent, and the straightening of the hydraulic support is realized.
The invention has the advantages and beneficial effects that:
by the coal mining process described by the invention, mature products and technologies such as automatic control of an electric hydraulic control system, remote automatic control of a coal mining machine, video monitoring and the like are combined, so that automatic cutting of the coal mining machine, automatic straightening of a scraper conveyor, automatic straightening of a hydraulic support and the like under the condition of automatic environment sensing can be realized, and automatic coal mining operation is realized in a thin coal seam.
Drawings
FIG. 1 is a schematic top view of a support assisted coal mining system and fully mechanized coal face provided by the present invention;
FIG. 2 is a side view schematic of a support assisted coal mining system provided by the present invention.
Wherein: 1. a track; 2. a movable detection device; 3. a pushing cylinder; 4. a pushing connecting rod; 5. a scraper conveyor; 6. a coal mining machine; 7. a cutting drum; 8. a telescopic oil cylinder; 9. a hydraulic support; 10. scraper conveyor connecting block. A is an unexploited area; b is a mined-out area; c is the area along the working surface with the support; d is the area to be mined.
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 1 and 2, the present invention provides a coal mining system with support assistance, comprising: the coal mining machine comprises a coal mining machine 6 and a scraper conveyor 5, wherein a cutting roller 7 is arranged on the front side of the coal mining machine 6, the coal mining machine 6 is arranged on the scraper conveyor 5 and can move on the scraper conveyor, at least 3 pushing connecting rods 4 are arranged on the rear side of the scraper conveyor 5 at intervals, a pushing oil cylinder 3 is arranged on the rear side of each pushing connecting rod, a stroke sensor is arranged in each pushing oil cylinder, the rear end of each pushing oil cylinder is connected with a hydraulic support 9, the upper end and the lower end of each hydraulic support 9 are respectively provided with a top plate and a bottom plate, the top of each hydraulic support props against the top wall of a coal seam when being supported, and the hydraulic supports can be dragged by the; the pushing connecting rod 4 is provided with a telescopic oil cylinder 8, the top of the telescopic oil cylinder 8 is provided with a scraper conveyer connecting block 10, the scraper conveyer connecting block is connected with the scraper conveyer 5, and the telescopic oil cylinder 8 can lift the scraper conveyer connecting block 20 so as to adjust the angle of the scraper conveyer 5; a track 1 is arranged on the connecting block of the scraper conveyer, and a movable detection device 2 is arranged on the track; the tracks comprise long tracks and short tracks, and the plurality of short tracks are connected in series to realize the bending of the tracks; the movable detection device comprises a gyroscope, a laser ranging radar, UWB positioning equipment and a wireless communication module.
The invention provides a coal mining process adopting the bracket-assisted coal mining system, which comprises the following steps:
step one, initializing the position and the coordinate of a system;
step two, enabling the movable detection device 2 to move on the track 1 and acquiring the track of the movable detection device and the distance from the movable detection device to the coal wall;
determining coordinate values of the scraper conveyor in a plane coordinate system and a coal wall profile according to the track of the movable detection device 2 and the distance from the movable detection device to the coal wall;
fourthly, determining a stroke numerical value of a pushing oil cylinder required for alignment according to coordinate values of the scraper conveyor 5 and the coal wall hub in a plane coordinate system, and controlling the pushing oil cylinder 3 and the hydraulic support 9 to perform alignment;
fifthly, after straightening is completed, the top of the hydraulic support 9 is propped against the top wall of the coal seam, downward mining and upward mining control is performed through the telescopic oil cylinder 8, and the pushing oil cylinder 4 pushes the scraper conveyor 6, the coal mining machine 6 and the cutting roller 7 to move forwards to perform coal mining operation;
and after the coal wall is cut once, repeating the steps from two to five.
The making of the movable detection device 2 to travel on the track and to acquire its own track and distance to the coal wall includes: enabling the movable detection device to walk upwards on the track, and scanning the coal wall of the thin coal seam through a laser ranging radar to obtain the profile characteristics of the coal wall and the distance from each position of the profile of the coal wall to the laser radar; track characteristics of the movable detection device running along the track are recorded through the gyroscope, and the track characteristics comprise the pitch angle of each sampling point track, namely the pitch angle of the scraper conveyer and the front and back displacement of each sampling point of the track on the horizontal plane, namely the horizontal displacement of the scraper conveyer.
The coordinate values of the scraper conveyor 5 in the plane coordinate system and the coal wall profile are determined according to the track of the movable detection device 2 and the distance from the movable detection device to the coal wall, and the coordinate values of the horizontal displacement of the scraper conveyor and the distance from each position of the coal wall profile to the laser radar in the plane coordinate system are determined through UWB positioning equipment.
The required lapse hydro-cylinder stroke numerical value of alignment is confirmed according to the coordinate value of scraper conveyor 5 and coal wall wheel hub in the plane coordinate system, control lapse hydro-cylinder and hydraulic support and carry out the alignment, include: straightening by a scraper conveyor, straightening by a coal wall and straightening by a hydraulic support.
Scraper conveyor alignment specifically includes: the movable detection device walks in the aligning direction of the scraper conveyor on the track, deviation values delta y of parallel lines of an X axis are recorded at sampling points through the gyroscope, after data recording of all the sampling points is completed, one sampling point is selected as a reference, the pushing connecting rod and the scraper conveyor are pushed through the pushing oil cylinder, the deviation values of other sampling points in the aligning direction are equal to the deviation value of the reference sampling point, and therefore the alignment of the scraper conveyor is achieved.
The coal wall alignment specifically includes: the movable detection device travels along the straightening direction of the scraper conveyor on the track, deviation values delta y of parallel lines with an X axis are recorded at sampling points through a gyroscope, the distance y1 between a coal wall and the movable detection device is measured through a laser ranging radar, then the deviation value y2 of the coal wall at each sampling point and the parallel lines with the X axis is y1+ delta y, after data recording of all the sampling points is completed, one sampling point is selected as a reference, a vertical feed process is firstly carried out, a push connecting rod and the scraper conveyor are pushed through a push oil cylinder, the coal wall cutting depth of the cutting roller is further controlled, the coal wall cutting depth is larger than y2, the scraper conveyor is pushed through the push oil cylinder, straightening of the scraper conveyor is completed, and finally, cutting of the next coal wall is completed, and straightening of the coal wall is realized.
The hydraulic support alignment specifically includes: after the straightening of the scraper conveyor is completed, the hydraulic support is moved forwards by pulling the pushing cylinders, so that the elongation of each pushing cylinder is consistent, and the straightening of the hydraulic support is realized.
The present invention has been described in detail with reference to the examples, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (8)
1. A support-assisted coal mining system comprising: the coal mining machine is arranged on the scraper conveyor, and is characterized in that the rear side of the scraper conveyor is provided with at least 3 pushing connecting rods at intervals, the rear side of each pushing connecting rod is provided with a pushing oil cylinder, a stroke sensor is arranged in each pushing oil cylinder, the rear end of each pushing oil cylinder is connected with a hydraulic support, the top of each pushing oil cylinder props against the top wall of a coal seam when the hydraulic support is supported, and the pushing oil cylinders can drag the pushing oil cylinders when the hydraulic support is contracted; the pushing connecting rod is provided with a telescopic oil cylinder, the top of the telescopic oil cylinder is provided with a scraper conveyer connecting block, the scraper conveyer connecting block is connected with a scraper conveyer, and the telescopic oil cylinder can lift the scraper conveyer connecting block so as to adjust the angle of the scraper conveyer; the scraper conveyer connecting block is provided with a track, and the track is provided with a movable detection device; the tracks comprise long tracks and short tracks, and the plurality of short tracks are connected in series to realize the bending of the tracks; the movable detection device comprises a gyroscope, a laser ranging radar, UWB positioning equipment and a wireless communication module.
2. A coal mining process employing the support-assisted coal mining system of claim 1, comprising:
step one, initializing the position and the coordinate of a system;
step two, enabling the movable detection device to move on the track and obtain the track of the movable detection device and the distance from the movable detection device to the coal wall;
determining coordinate values of the scraper conveyor in a plane coordinate system and a coal wall profile according to the track of the movable detection device and the distance from the movable detection device to the coal wall;
determining a stroke value of a pushing oil cylinder required for alignment according to coordinate values of the scraper conveyor and the coal wall hub in a plane coordinate system, and controlling the pushing oil cylinder and the hydraulic support to perform alignment;
fifthly, after the alignment is finished, the hydraulic support props the top wall of the coal seam, the top mining and face-up mining control is carried out through a telescopic oil cylinder, and a pushing oil cylinder pushes a scraper conveyor, a coal mining machine and a cutting roller to move forwards to carry out coal mining operation;
and after the coal wall is cut once, repeating the steps from two to five.
3. The coal mining process of claim 2, the causing of the movable detection device to travel on a track and acquire its trajectory and distance to the coal wall, comprising: enabling the movable detection device to walk upwards on the track, and scanning the coal wall of the thin coal seam through a laser ranging radar to obtain the profile characteristics of the coal wall and the distance from each position of the profile of the coal wall to the laser radar; track characteristics of the movable detection device running along the track are recorded through the gyroscope, and the track characteristics comprise the pitch angle of each sampling point track, namely the pitch angle of the scraper conveyer and the front and back displacement of each sampling point of the track on the horizontal plane, namely the horizontal displacement of the scraper conveyer.
4. The coal mining process according to claim 2, wherein the determining the coordinate values of the scraper conveyor and the coal wall profile in the plane coordinate system according to the track of the movable detection device and the distance to the coal wall comprises determining the coordinate values of the horizontal displacement of the scraper conveyor and the distance from each position of the coal wall profile to the laser radar in the plane coordinate system through a UWB positioning device.
5. The coal mining process according to claim 2, wherein the step of determining a stroke value of a pushing cylinder required for alignment according to coordinate values of the scraper conveyor and the coal wall hub in a plane coordinate system, and controlling the pushing cylinder and the hydraulic support to perform alignment comprises the following steps: straightening by a scraper conveyor, straightening by a coal wall and straightening by a hydraulic support.
6. The coal mining process of claim 5, the scraper conveyor alignment body comprising: the movable detection device walks in the aligning direction of the scraper conveyor on the track, deviation values delta y of parallel lines of an X axis are recorded at sampling points through the gyroscope, after data recording of all the sampling points is completed, one sampling point is selected as a reference, the pushing connecting rod and the scraper conveyor are pushed through the pushing oil cylinder, the deviation values of other sampling points in the aligning direction are equal to the deviation value of the reference sampling point, and therefore the alignment of the scraper conveyor is achieved.
7. The coal mining process of claim 5, the coal wall alignment specifically comprising: the movable detection device travels along the straightening direction of the scraper conveyor on the track, deviation values delta y of parallel lines with an X axis are recorded at sampling points through a gyroscope, the distance y1 between a coal wall and the movable detection device is measured through a laser ranging radar, then the deviation value y2 of the coal wall at each sampling point and the parallel lines with the X axis is y1+ delta y, after data recording of all the sampling points is completed, one sampling point is selected as a reference, a vertical feed process is firstly carried out, a push connecting rod and the scraper conveyor are pushed through a push oil cylinder, the coal wall cutting depth of the cutting roller is further controlled, the coal wall cutting depth is larger than y2, the scraper conveyor is pushed through the push oil cylinder, straightening of the scraper conveyor is completed, and finally, cutting of the next coal wall is completed, and straightening of the coal wall is realized.
8. The coal mining process according to claim 5, wherein the hydraulic support alignment body comprises: after the straightening of the scraper conveyor is completed, the hydraulic support moves forwards by pulling the pushing cylinders, so that the extension of each pushing cylinder is consistent, and the straightening of the hydraulic support is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010432199.0A CN111577272A (en) | 2020-05-20 | 2020-05-20 | Bracket-assisted coal mining process and coal mining system |
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| CN202010432199.0A CN111577272A (en) | 2020-05-20 | 2020-05-20 | Bracket-assisted coal mining process and coal mining system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112431635A (en) * | 2021-01-28 | 2021-03-02 | 北京龙软科技股份有限公司 | Automatic alignment method, device and system for fully mechanized coal mining face based on geodetic coordinate sequence |
| CN114348550A (en) * | 2022-01-10 | 2022-04-15 | 乌审旗蒙大矿业有限责任公司 | Automatic alignment control system and method for intelligent coal face conveyor |
-
2020
- 2020-05-20 CN CN202010432199.0A patent/CN111577272A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112431635A (en) * | 2021-01-28 | 2021-03-02 | 北京龙软科技股份有限公司 | Automatic alignment method, device and system for fully mechanized coal mining face based on geodetic coordinate sequence |
| CN112431635B (en) * | 2021-01-28 | 2021-07-30 | 北京龙软科技股份有限公司 | Automatic alignment method, device and system for fully mechanized coal mining face based on geodetic coordinate sequence |
| CN114348550A (en) * | 2022-01-10 | 2022-04-15 | 乌审旗蒙大矿业有限责任公司 | Automatic alignment control system and method for intelligent coal face conveyor |
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