CN113738365B - Coal mining method based on tracking type transportation equipment - Google Patents
Coal mining method based on tracking type transportation equipment Download PDFInfo
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- CN113738365B CN113738365B CN202111157306.4A CN202111157306A CN113738365B CN 113738365 B CN113738365 B CN 113738365B CN 202111157306 A CN202111157306 A CN 202111157306A CN 113738365 B CN113738365 B CN 113738365B
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- 239000003245 coal Substances 0.000 title claims abstract description 48
- 238000005065 mining Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000005641 tunneling Effects 0.000 claims abstract description 41
- 239000000463 material Substances 0.000 claims abstract description 21
- 238000009412 basement excavation Methods 0.000 claims description 54
- 239000010878 waste rock Substances 0.000 claims description 12
- 238000007599 discharging Methods 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 9
- 230000032258 transport Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000005457 optimization Methods 0.000 description 4
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C41/00—Methods of underground or surface mining; Layouts therefor
- E21C41/16—Methods of underground mining; Layouts therefor
- E21C41/18—Methods of underground mining; Layouts therefor for brown or hard coal
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- 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
-
- 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
-
- 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
- E21F15/00—Methods or devices for placing filling-up materials in underground workings
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention relates to a coal mining method based on a tracking type conveying device, which comprises a tunneling operation and a gangue throwing operation, wherein at least one of the tunneling operation and the gangue throwing operation uses the tracking type conveying device to convey materials, the tracking type conveying device comprises a self-walking device and a belt conveyor arranged on the self-walking device, and the movement tracks of a head, a body and a tail of the tracking type conveying device are the same. According to the invention, the tracking type conveying equipment is utilized to convey the coal and the gangue, so that the movement of the coal conveying equipment and the gangue conveying equipment along with a heading machine and a gangue throwing machine is realized, and the stoppage of the movement of the coal conveying equipment and the gangue conveying equipment in the heading and gangue throwing backfilling operation process is avoided, thereby realizing the continuous conveying of the coal and the gangue and the continuous heading and gangue throwing operation, simplifying the production process and improving the operation efficiency.
Description
Technical Field
The invention relates to the technical field of coal mining, in particular to tunneling and gangue throwing operation, and specifically relates to a coal mining method based on tracking type conveying equipment.
Background
The existing coal mining process comprises mining and gangue backfilling after mining. When the development machine performs excavation and mining in the excavation roadway, a belt conveyor is arranged behind the development machine, and the belt conveyor conveys coal materials excavated and mined by the development machine to a transportation branch roadway; when the gangue is backfilled, the gangue is conveyed into the lane to be filled from the transportation branch lane through the belt conveyor. Because the belt conveyor cannot integrally and automatically move, after a certain distance is tunneled or waste rock is thrown and filled, the belt conveyor needs to be stopped for integrally moving, the operation is complex, the time and the labor are wasted, and the production continuity cannot be guaranteed. And because the belt conveyor cannot bend and turn, the length of the belt conveyor is far smaller than that of an excavation roadway or a roadway to be filled, otherwise, the belt conveyor cannot enter the excavation roadway or the roadway to be filled from a transportation branch roadway, and therefore transfer equipment is often required to move back and forth between the belt conveyor and the transportation branch roadway for feeding, and because the excavation roadway and the roadway to be filled are narrower, the transfer equipment cannot turn around and only can advance and retreat, so that the operation efficiency is seriously influenced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a coal mining method based on tracking type conveying equipment, which adopts the tracking type conveying equipment which can bend and turn and can move automatically to convey coal and gangue, thereby solving the technical problem that a belt conveyor needs to be stopped for moving during tunneling or gangue throwing.
The invention provides a coal mining method based on a tracking type conveying device, which comprises tunneling operation and waste rock throwing operation, wherein at least one of the tunneling operation and the waste rock throwing operation uses the tracking type conveying device for material conveying, the tracking type conveying device comprises a self-walking device and a belt conveyor arranged on the self-walking device, and the movement tracks of a head, a body and a tail of the tracking type conveying device are the same.
According to the scheme, the whole self-moving of the tracking type conveying equipment is realized through the self-moving device, the stop movement is not needed, the material is conveyed through the belt conveyor while the whole self-moving of the tracking type conveying equipment is realized, the tunneling and gangue throwing operation modes of walking and feeding are realized, and the operation continuity is ensured; the movement tracks of the headstock, the car body and the car tail of the tracking type conveying equipment are the same, and after the headstock turns, the car body bends and moves along with the headstock, so that the problem that the length of the coal and gangue conveying equipment is limited is solved.
When the coal mining machine is used for tunneling operation, the feeding end of the tracking type conveying equipment is positioned in the excavation roadway, the discharging end of the tracking type conveying equipment is positioned outside the excavation roadway, the tracking type conveying equipment is in a bending state and follows the tunneling machine to move automatically, and the tracking type conveying equipment conveys coal materials excavated by the tunneling machine out of the excavation roadway while moving integrally. The optimized scheme utilizes the bending walking characteristic of the tracking type conveying equipment, receives the coal materials excavated and collected by the heading machine through the feeding end, directly conveys the coal materials out of the excavation roadway through the discharging end, avoids the back and forth movement of the transfer equipment in the excavation roadway, and greatly improves the heading operation efficiency.
As optimization, after the excavation and mining of one excavation roadway is finished, the whole tracking type conveying equipment automatically moves out of the excavated excavation roadway, and when the heading machine moves to the next excavation roadway, the heading operation is continued. According to the optimization scheme, the characteristic that the tracking type conveying equipment can move bidirectionally is utilized, after the excavation of the excavation roadway is finished, the discharging end is taken as the front end to integrally move out to the conveying branch roadway, a moving space is reserved for the heading machine, the operation steps are greatly simplified, and the operation connection time between the two excavation roadways is saved.
When the sum of the length of the excavation roadway and the distance between the excavation roadway and the transportation roadway is smaller than the length of the tracking type transportation equipment, the discharging end of the tracking type transportation equipment turns from the transportation roadway to enter the transportation roadway, and the coal materials excavated by the heading machine are conveyed to the transportation roadway through the tracking type transportation equipment. According to the optimization scheme, the coal in the excavation roadway is directly conveyed to the conveying roadway by utilizing the bendable tracking characteristic of the tracking type conveying equipment, conveying through the conveying equipment of the conveying branch roadway is not needed, and the operation efficiency is further improved.
When the gangue throwing operation is optimized, gangue is transported through the hanging conveyor belt arranged in the transportation branch roadway, the discharge end of the tracking type transportation equipment is positioned in the roadway to be filled, the discharge end of the tracking type transportation equipment is positioned in the transportation branch roadway, the tracking type transportation equipment is in a bending state, the gangue transported by the hanging conveyor belt is shunted to the part of the tracking type transportation equipment positioned in the transportation branch roadway by the gangue shunt, the gangue is transported to the roadway to be filled through the tracking type transportation equipment, the tracking type transportation equipment gradually withdraws from the roadway to be filled along with the progress of the gangue filling, and the tracking type transportation equipment transports the gangue while moving integrally and automatically. According to the optimized scheme, when the gangue is conveyed, the tracking type conveying equipment automatically moves integrally, the gangue is conveyed into the lane to be filled from the conveying branch lane directly through the tracking type conveying equipment, and along with the filling, the tracking type conveying equipment automatically moves out of the lane to be filled step by step, so that the gangue conveying process is simplified, and the gangue throwing and filling efficiency is improved.
The method comprises the following steps of alternately performing tunneling operation and gangue throwing operation, conveying coal materials excavated by a tunneling machine out of an excavation roadway through a tracking type conveying device during tunneling operation, enabling the tracking type conveying device to withdraw from the excavation roadway to a conveying branch roadway after a plurality of excavation roadways are excavated and adopted, enabling one end of the tracking type conveying device to turn and enter a roadway to be filled along the conveying branch roadway, conveying gangue into the roadway to be filled through the tracking type conveying device during gangue throwing operation, performing gangue throwing and filling, enabling the tracking type conveying device to automatically move along the conveying branch roadway after filling of the roadway is completed, enabling one end of the tracking type conveying device to turn and enter the excavation roadway, and performing tunneling operation again. The optimization scheme realizes alternate tunneling operation and gangue throwing operation, shortens the linking time of tunneling and gangue throwing, further improves the mining efficiency, adopts the same tracking type conveying equipment to convey coal and gangue, reduces the number of underground equipment and investment cost, and selects the position of the tracking type conveying equipment according to the position of the required conveying equipment by utilizing the characteristics of flexible tracking and bidirectional movement of the tracking type conveying equipment, thereby having high universality and good flexibility and further improving the mining efficiency of the coal mine.
The beneficial effects of the invention are as follows: the tracking type conveying equipment is utilized to convey the coal and the gangue, so that the movement of the coal conveying equipment and the gangue conveying equipment along with a development machine and a gangue throwing machine is realized, and the stoppage of the coal conveying equipment and the gangue conveying equipment in the development and gangue throwing backfilling operation process is avoided, thereby realizing the continuous conveying of the coal and the gangue and the continuous development and gangue throwing operation, simplifying the production process and improving the operation efficiency.
Drawings
FIG. 1 is a schematic illustration of a tunneling operation using the method of the present invention;
FIG. 2 is a schematic illustration of a tunneling operation with a relatively close distance between the excavation roadway and the transport roadway;
FIG. 3 is a schematic illustration of a gangue throwing operation using the method of the present invention;
FIG. 4 is a schematic illustration of alternate ripping and gangue throwing operations using the method of the present invention;
The figure shows:
1. The system comprises a transportation roadway, a digging roadway, a tracking type transportation device, a translational transfer conveyor, a hanging conveyer belt, a tunneling machine, a transportation roadway, a gangue throwing device, a roadway to be filled, a coal pillar, a gangue diverter and a gangue diverter, wherein the transportation roadway is 2, the digging roadway is 3, the tracking type transportation device is 4, the translational transfer conveyor is 5, the hanging conveyer belt is 6, the tunneling machine is 7, the transportation roadway is 8, the gangue throwing device is 9, the roadway to be filled is 10, the coal pillar is 11, and the gangue diverter is arranged.
Detailed Description
In order to clearly illustrate the technical characteristics of the scheme, the scheme is explained below through a specific embodiment.
The coal mining method based on the tracking type conveying equipment comprises tunneling operation and waste rock throwing operation, wherein the tunneling operation and the waste rock throwing operation use the tracking type conveying equipment 3 for material conveying. The tracking type conveying equipment 3 comprises a self-walking device and a belt conveyor arranged on the self-walking device, materials are conveyed to the other end from one end through the belt conveyor, the whole advancing or the whole retreating of the tracking type conveying equipment is realized through the self-walking device, and the moving tracks of the head, the body and the tail of the tracking type conveying equipment are the same. The vehicle head, the vehicle body and the vehicle tail form a self-walking device, the vehicle head and the vehicle tail of the tracking type conveying equipment are provided with walking wheels and steering devices, the vehicle body of the tracking type conveying equipment comprises a plurality of sections of frame units hinged through vertical shafts, annular chains which are closed along the circumferential direction and driving devices for driving the annular chains to rotate, the plane where the annular chains are located is a vertical plane, crawler bodies formed by the frame units are located in annular spaces of the annular chains, limiting devices are arranged on the annular chains, the limiting devices limit the relative displacement of the annular chains and the frame units in the width direction, and when adjacent frame units rotate relatively, corresponding annular chain portions are bent correspondingly. The frame units are provided with brackets with carrier rollers, and the conveying belts of the belt conveyor are arranged on the carrier rollers of the brackets, so that the conveying belts are bent along with the relative rotation between the frame units. The frame unit at the foremost end and the frame unit at the rearmost end are respectively provided with a driving wheel meshed with the annular chain, each driving wheel is connected with a driving motor, when the driving device drives the annular chain to rotate, the upper side edge of the annular chain is supported on the upper surface of the frame unit, the lower side edge of the annular chain supports the lower surface of the frame unit, the annular chain and the frame unit relatively slide, the frame unit at the foremost end is fixedly connected with the headstock, and the frame unit at the rearmost end is fixedly connected with the tailstock, so that crawler-type tracking walking of equipment is realized.
The coal mining method of the present invention will be described in detail by way of specific examples:
Example 1
During tunneling operation, as shown in fig. 1, a feeding end of the tracking type conveying equipment enters the excavation roadway 2 along with the tunneling machine 6, a discharging end of the tracking type conveying equipment is positioned in a conveying branch roadway 1 outside the excavation roadway, the tracking type conveying 3 equipment is in a bending state, and an included angle formed by the conveying branch roadway and the excavation roadway is consistent with the bending angle of the tracking type conveying equipment; the translational transfer conveyor 4 is arranged between the discharge end of the tracking type conveying equipment and the hanging conveying belt 5 of the conveying branch roadway, the tracking type conveying equipment follows the heading machine to move automatically through the self-walking device, the translational transfer conveyor 4 follows the tracking type conveying equipment to move automatically, and in order to improve the conveying effect, the heading machine, the tracking type conveying equipment and the translational transfer conveyor in the embodiment move synchronously. The tracking type conveying equipment conveys coal materials excavated by the tunneling machine back out of the excavation roadway through the belt conveyor while the whole body moves forward along with the tunneling machine, the translational transfer conveyor conveys the coal materials conveyed by the belt conveyor of the tracking type conveying equipment to the hanging conveying belt, and the hanging conveying belt outputs the coal materials.
When the sum of the length of the excavation roadway and the distance between the excavation roadway and the conveying roadway 7 is smaller than the length of the tracking conveying equipment, as shown in fig. 2, the discharging end of the tracking conveying equipment turns from the conveying branch roadway 1 to enter the conveying roadway, the discharging end of the tracking conveying equipment is positioned in the excavation roadway, the coal materials excavated by the heading machine 6 are directly conveyed to the conveying roadway 7 through the tracking conveying equipment, and the coal materials are conveyed without using a translational transfer conveyor and a hanging conveying belt, so that the operation efficiency is greatly improved.
After the excavation and mining of a certain excavation roadway are finished, the whole tracking type conveying equipment takes the discharge end as the front end to automatically move out of the excavated excavation roadway, and when the heading machine moves to the next excavation roadway, the tunneling operation is continued.
When the gangue throwing operation is carried out, as shown in fig. 3, gangue is transported by a hanging conveyer belt 5 arranged in a transportation branch lane, the discharge end of a tracking type transportation device is positioned in a transportation branch lane which is positioned outside the lane to be filled, the tracking type transportation device is in a bending state, an included angle formed by the transportation branch lane and the lane to be filled is consistent with the bending angle of the tracking type transportation device, the gangue transported by the hanging conveyer belt 5 is split to the part of the tracking type transportation device which is positioned in the transportation branch lane by a gangue splitter 11, the gangue is transported to a gangue throwing device 8 in the lane to be filled by the tracking type transportation device, the gangue throwing device 8 throws the gangue into the lane to be filled 9 formed between two coal pillars 10, the gangue throwing device 8 and the tracking type transportation device 3 gradually exit the lane to be filled along with the progress of the gangue filling, and the gangue is transported while the whole self-moving; after the filling of the roadway to be filled is finished, the gangue throwing equipment 8 firstly enters the roadway to be filled, and the discharging end of the tracking type conveying equipment moves to the roadway to be filled along with the gangue throwing equipment, so that the gangue throwing operation is continued.
Example two
As shown in fig. 4, the difference between the present embodiment and the first embodiment is that the tunneling operation and the gangue throwing operation are alternately performed, and the same tracking type conveying device is used to convey the coal and the gangue, so that the investment cost is greatly reduced. Specifically, the tunneling operation is carried out firstly, coal materials excavated by the tunneling machine are conveyed out of an excavation roadway through a belt conveyor of a tracking type conveying device during the tunneling operation, after a plurality of excavation roadways are excavated and mined, the tracking type conveying device exits from the excavation roadway to a conveying branch roadway and automatically moves along the whole conveying branch roadway, one end of the tracking type conveying device turns to enter a roadway to be filled, gangue is conveyed into the roadway to be filled through the tracking type conveying device during the gangue throwing operation, the gangue is filled along the whole conveying branch roadway after the filling of the roadway is completed, one end of the tracking type conveying device turns to enter the excavation roadway again, the tunneling operation is carried out again, the gangue throwing operation is carried out again after a plurality of excavation roadways are excavated and mined, seamless connection of tunneling and gangue throwing is achieved, and mining operation efficiency is greatly improved.
Of course, the above description is not limited to the above examples, and the technical features of the present invention that are not described may be implemented by or by using the prior art, which is not described herein again; the above examples and drawings are only for illustrating the technical scheme of the present invention and not for limiting the same, and the present invention has been described in detail with reference to the preferred embodiments, and it should be understood by those skilled in the art that changes, modifications, additions or substitutions made by those skilled in the art without departing from the spirit of the present invention and the scope of the appended claims.
Claims (5)
1. The coal mining method based on the tracking type transportation equipment comprises tunneling operation and gangue throwing operation and is characterized in that: at least one of tunneling operation and gangue throwing operation uses a tracking type conveying device for material conveying, wherein the tracking type conveying device comprises a self-walking device and a belt conveyor arranged on the self-walking device, and the movement tracks of a head, a body and a tail of the tracking type conveying device are the same;
The method comprises alternately performing tunneling operation and gangue throwing operation, and firstly performing tunneling operation, conveying coal materials excavated by a tunneling machine out of an excavation roadway through a tracking type conveying device, after a plurality of excavation roadways are excavated, withdrawing the tracking type conveying device from the excavation roadway to a conveying branch roadway, automatically moving along the whole conveying branch roadway, turning one end of the tracking type conveying device into a roadway to be filled, conveying gangue into the roadway to be filled through the tracking type conveying device during gangue throwing operation, performing gangue throwing filling, and after filling of the roadway to be filled, automatically moving the tracking type conveying device along the whole conveying branch roadway, turning one end of the tracking type conveying device into the excavation roadway, and performing tunneling operation again.
2. A coal mining method based on a tracking transportation apparatus as claimed in claim 1, wherein: during tunneling operation, the feeding end of the tracking type conveying equipment is positioned in the excavation roadway, the discharging end of the tracking type conveying equipment is positioned outside the excavation roadway, and the tracking type conveying equipment is in a bending state;
The tracking type conveying equipment moves along with the heading machine, and conveys coal materials excavated by the heading machine out of an excavation roadway while the tracking type conveying equipment moves integrally.
3. A method of coal mining based on a tracking transportation device as claimed in claim 2, wherein: after the excavation and mining of one excavation roadway are finished, the whole tracking type conveying equipment automatically moves out of the excavated excavation roadway, and when the heading machine moves to the next excavation roadway, the tunneling operation is continued.
4. A method of coal mining based on a tracking transportation device as claimed in claim 2, wherein: when the sum of the length of the excavation roadway and the distance between the excavation roadway and the transportation roadway is smaller than the length of the tracking type transportation equipment, the discharging end of the tracking type transportation equipment turns from the transportation roadway to enter the transportation roadway, and coal materials excavated by the heading machine are conveyed to the transportation roadway through the tracking type transportation equipment.
5. A coal mining method based on a tracking transportation apparatus as claimed in claim 1, wherein: during waste rock throwing operation, waste rock is transported through a hanging conveyer belt arranged in a transportation branch roadway, the discharge end of the tracking type transportation equipment is positioned in the roadway to be filled, the discharge end of the tracking type transportation equipment is positioned in the transportation branch roadway, the tracking type transportation equipment is in a bending state, the waste rock transported by the hanging conveyer belt is shunted to the part of the tracking type transportation equipment positioned in the transportation branch roadway by utilizing a waste rock shunt, the waste rock is transported to the roadway to be filled by the tracking type transportation equipment, the tracking type transportation equipment gradually exits the roadway to be filled along with the progress of waste rock filling, and the tracking type transportation equipment transports the waste rock while moving integrally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111157306.4A CN113738365B (en) | 2021-09-30 | 2021-09-30 | Coal mining method based on tracking type transportation equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111157306.4A CN113738365B (en) | 2021-09-30 | 2021-09-30 | Coal mining method based on tracking type transportation equipment |
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| Publication Number | Publication Date |
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| CN113738365A CN113738365A (en) | 2021-12-03 |
| CN113738365B true CN113738365B (en) | 2024-07-09 |
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| CN202111157306.4A Active CN113738365B (en) | 2021-09-30 | 2021-09-30 | Coal mining method based on tracking type transportation equipment |
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| CN116025355B (en) * | 2023-03-28 | 2023-06-13 | 中煤科工集团沈阳研究院有限公司 | Coal mining method for mining extremely thin coal seam |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104533429A (en) * | 2014-12-15 | 2015-04-22 | 中国矿业大学 | Double-roadway combining speedy drivage waste rock exhaust system and method |
| CN107934443A (en) * | 2017-11-28 | 2018-04-20 | 中国煤炭科工集团太原研究院有限公司 | The belt continuous haulage system that remote-controlled walking, tracking are turned |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2737739Y (en) * | 2004-09-28 | 2005-11-02 | 张磊 | Coal mine underwell driving belt conveyer for transporting waste rock |
| CN105736045B (en) * | 2016-04-20 | 2018-09-11 | 山东科技大学 | A kind of the pocket type filling system and its placement method of control gob floor gushing water |
| CN107191191A (en) * | 2017-07-07 | 2017-09-22 | 闫琳 | A kind of rock gangway fast digging technique of the breaking rock gangway anchor driving machine of three hammering blows |
| CN208731951U (en) * | 2018-07-24 | 2019-04-12 | 平煤神马建工集团有限公司 | A kind of Moveable belt transport device |
| CN111689130A (en) * | 2020-06-19 | 2020-09-22 | 中国铁建重工集团股份有限公司 | Synchronous self-moving transshipment transportation system |
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- 2021-09-30 CN CN202111157306.4A patent/CN113738365B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104533429A (en) * | 2014-12-15 | 2015-04-22 | 中国矿业大学 | Double-roadway combining speedy drivage waste rock exhaust system and method |
| CN107934443A (en) * | 2017-11-28 | 2018-04-20 | 中国煤炭科工集团太原研究院有限公司 | The belt continuous haulage system that remote-controlled walking, tracking are turned |
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