CN113756830B - Method for rapidly tunneling branch roadway of continuous mining and continuous filling working face - Google Patents

Method for rapidly tunneling branch roadway of continuous mining and continuous filling working face Download PDF

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CN113756830B
CN113756830B CN202110957899.6A CN202110957899A CN113756830B CN 113756830 B CN113756830 B CN 113756830B CN 202110957899 A CN202110957899 A CN 202110957899A CN 113756830 B CN113756830 B CN 113756830B
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control system
stress value
fully mechanized
excavator
speed
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CN113756830A (en
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路彬
葛金福
纪庆宣
史新浩
王潘忠
刘仕磊
王中青
田利
孙元亮
范廷安
杨洪伟
王东生
黄杰
于泽民
黄山
陈良
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Inner Mongolia Green Mine Technology Co ltd
Inner Mongolia Mingfeng Mining Engineering Co ltd
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Ordos Green Mine Technology Service Co ltd
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/003—Linings or provisions thereon, specially adapted for traffic tunnels, e.g. with built-in cleaning devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00—Setting anchoring-bolts
    • E21D20/003—Machines for drilling anchor holes and setting anchor bolts
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries

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  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • Structural Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

本发明涉及连采连充工作面支巷快速掘进方法，包括，步骤S1截割落煤、步骤S2支撑空顶区、步骤S3永久支护、步骤S4支架前移、步骤S5设备倒运，在步骤S1这配置有综掘机自行走带式转载车，综掘机机前端设置有硬度检测装置、应力检测板，在步骤S2中配置有门式支架、门型履带移架车，在步骤S3中配置有单臂锚杆钻车，在步骤S5中配置有支架搬运车。本发明通过控制系统根据支巷煤层硬度选择综掘机的初始推进速度与初始截割转速，控制系统根据综掘机的实时应力与控制系统内部设置的标准预设范围应力值对比，控制调节综掘机的推进速度与截割转速，实现智能控制调节的开采过程，在保障综掘机稳定运行的情况下，最大程度的提高开采效率。

Figure 202110957899

The present invention relates to a rapid excavation method for continuous mining and continuous charging working face support roadway, including: step S1 cutting falling coal, step S2 supporting the empty roof area, step S3 permanent support, step S4 moving the support forward, step S5 equipment backward transport, in step S2 S1 is equipped with a self-propelled belt-type transfer vehicle of a fully mechanized excavator. The front end of the fully mechanized excavator is provided with a hardness detection device and a stress detection plate. In step S2, a portal bracket and a portal crawler frame transfer vehicle are configured. In step S3 A single-arm rocker is arranged, and in step S5, a bracket carrier is arranged. In the present invention, the control system selects the initial propulsion speed and the initial cutting speed of the fully mechanized excavator according to the hardness of the coal seam in the branch road, and the control system controls and adjusts the comprehensive excavator according to the comparison between the real-time stress of the fully mechanized excavator and the standard preset range stress value set inside the control system. The propulsion speed and cutting speed of the excavator realize the intelligent control and adjustment of the mining process, and maximize the mining efficiency while ensuring the stable operation of the fully mechanized excavator.

Figure 202110957899

Description

Method for rapidly tunneling branch roadway of continuous mining and continuous filling working face
Technical Field
The invention relates to the technical field of coal mining, in particular to a method for quickly tunneling a branch roadway of a continuous mining and filling working face.
Background
China is a large energy country, coal resources are abundant, the yield and the reserve are at the top of the world, coal is used as industrial power fuel, is commonly used in the aspects of power generation, transportation, metallurgy and the like, and is also an important civil life fuel, most of farmers in China still use coal as an important life fuel, coal is also an important chemical raw material, a plurality of important chemical raw materials and derivatives thereof, such as coal gas, coal tar, nitrogen fertilizer, pesticide, plastic, synthetic fiber and other hundreds of products can be obtained after coking, distillation and the like, some coal seams contain rare or radioactive elements such as gallium, germanium, uranium and the like, can be comprehensively utilized, and it is very important to reasonably develop and utilize coal resources.
The coal mining in China is a traditional industry, the content of high technology is low, but at present, the rapid development of the scientific technology allows us to understand that the scientific technology is the first productivity, the coal mining technology and the coal mining method play an important role in the production cost and the economic benefit of the capacity of coal mining production equipment, the existing coal mining technology and the existing coal mining method cannot achieve the expected mining effect, the intelligent control and adjustment process is lacked, the result of low mining efficiency is caused, the good mining technology can greatly save manpower, labor and financial resources, the profit is increased by times, and the effect of getting twice with half the effort is achieved.
Disclosure of Invention
Therefore, the invention provides a method for quickly tunneling a branch roadway of a continuous mining and continuous filling working face, which is characterized in that the continuous mining and continuous filling working face is equipped with a comprehensive tunneling machine to cut coal, is matched with a self-walking belt type transfer vehicle to discharge the coal, a door type support temporary support, a single-arm anchor rod drill carriage mechanical support, a support carrier vehicle and a door type crawler frame moving vehicle device to transport, realizes 'mining, supporting, transporting and transporting' continuous parallel operation, and is used for overcoming the problem that intelligent control and adjustment are lacked in the coal mining process in the prior art.
In order to achieve the aim, the invention provides a method for quickly tunneling a branch roadway of a continuous mining and filling working face, which comprises the following steps,
step S1, cutting and dropping coal, cutting and crushing the coal layer at the head of the branch roadway, and transporting the cut and crushed coal out of the branch roadway;
step S2, supporting a vacant top area, cutting and crushing a coal seam at the head of a branch roadway to form a vacant top area, and temporarily supporting the vacant top area;
step S3, permanent support, namely, permanent support is carried out on the branch roadway part which is subjected to temporary support;
step S4, the support moves forward, the temporary support of the branch roadway part which completes the permanent support moves forward, and the temporary support is carried out in the empty roof area of the front branch roadway;
step S5, the equipment is transported, and when the branch roadway is communicated, the equipment is transported to the head-on position of the next branch roadway;
in the step S1, a fully-mechanized excavating machine and a self-walking belt type transfer vehicle are configured, the fully-mechanized excavating machine is connected with an external control system, and a hardness detection device and a stress detection plate are arranged at the front end of the fully-mechanized excavating machine; the self-walking belt type transfer vehicle is connected with the comprehensive excavating machine;
the control system is internally provided with an initial propelling speed matrix of the roadheader and an initial cutting rotating speed matrix of the roadheader, and is also provided with a standard hardness matrix;
when the roadheader works, a first standard stress value and a second standard stress value are arranged inside the control system, the stress detection plate detects real-time stress applied to the front end of the roadheader, the control system compares the real-time stress with the first standard stress value and the second standard stress value, and the propelling speed and the cutting rotating speed of the roadheader are adjusted in real time according to a comparison result;
the self-walking belt type transfer vehicle is connected with the roadheader and is used for conveying coal cut by the roadheader out of a branch roadway;
in the step S2, a portal support and a portal crawler transfer vehicle are configured, when the roadheader cuts a coal seam of a branch roadway to form an empty roof area, the portal support is transported to the empty roof area by the portal crawler transfer vehicle, the portal support temporarily supports the empty roof area at an interval of 1.2 meters, 15 portal supports are provided in total, 13 of the portal supports are temporarily supported, and 2 are recycled for standby;
the gate-type support adopts a frame structure system and consists of a top beam and two hydraulic supports, the hydraulic supports are provided with quick connecting devices, the gate-type support can complete supporting and contracting operations, the bottom of each hydraulic support is provided with an anti-skidding base, the middle part below the top beam is provided with an upper positioning latch, and after the gate-type support is supported, an anti-toppling connecting rod is arranged between the gate-type supports;
the walking part of the gantry crawler frame moving vehicle is a crawler type, the upper part of the gantry crawler frame moving vehicle is a triangular stable structure, the top end of the gantry crawler frame moving vehicle is provided with a rotating mechanism, a lifting platform and lower positioning latch teeth, and the lower positioning latch teeth can be meshed with the upper positioning latch teeth;
in the step S3, a single-arm anchor drill carriage, an anchor rod, and an anchor cable are configured, and after the temporary support in the step S2 is completed, a person completes a permanent support for a branch roadway through the single-arm anchor drill carriage, the anchor rod, and the anchor cable;
in step S4, the portal frame and the portal crawler transfer vehicle are arranged, and after the permanent support of the portal frame is completed, the portal frame is moved forward to the head by using the portal crawler transfer vehicle to prepare for temporary support of the next circulating overhead area;
in the step S5, a rack truck is configured, where the rack truck is provided with a carrying rotating mechanism, a carrying lifting platform, and a carrying positioning latch, the carrying positioning latch can be engaged with the upper positioning latch, when the roadheader penetrates a branch roadway, the roadheader retracts to a working surface to tunnel a next branch roadway, and the rack truck transports the gate-type rack to the next branch roadway.
Further, in the step S1, an initial propelling speed matrix V of the fully-mechanized mining machine is set in the control system0Initial cutting rotating speed matrix W of roadheader0The control system is also internally provided with a standard hardness matrix P0For said initial propulsion speed matrix V0Setting V0(V1, V2, V3), wherein V1 represents a preset first initial propulsion speed, V2 represents a preset second initial propulsion speed, V3 represents a preset third initial propulsion speed, V1 < V2 < V3; for initial cutting rotation speed matrix W0Setting W0(W1, W2, W3), wherein W1 represents a preset first initial cutting rotational speed, W2 represents a preset second initial cutting rotational speed, W3 represents a preset third initial cutting rotational speed, and W1 < W2 < W3; for the standard hardness matrix P0Setting P0(P1, P2), wherein P1 represents a preset first standard hardness value, P2 represents a preset second standard hardness value, P1 < P2;
the front end of the fully-mechanized excavating machine is provided with the hardness detection device for hardness detectionThe device detects the coal bed hardness Ps of the roadway head, and the control system combines the coal bed hardness Ps with a standard hardness matrix P0In comparison, the method has the advantages that,
when Ps is less than P1, the control system selects the initial propelling speed of the roadheader as V3 and the initial cutting rotating speed as W3;
when the P1 is more than or equal to Ps and less than the P2, the control system selects the initial propelling speed of the roadheader to be V2 and the initial cutting rotating speed to be W2;
when P2 is less than or equal to Ps, the control system selects the initial propelling speed of the roadheader as V1 and the initial cutting speed as W1.
Further, a stress detection plate is arranged at the front end of the roadheader, a first standard stress value A1 and a second standard stress value A2 are arranged in the control system, when the roadheader works, the control system selects the initial propelling speed of the roadheader to be Vi and the initial cutting rotating speed to be Wi, wherein i =1, 2 and 3, when the real-time stress value detected by the stress detection plate is As, the control system compares the real-time stress value As with the first standard stress value A1 and the second standard stress value A2, and the propelling speed of the roadheader and the cutting rotating speed of the roadheader are adjusted according to the comparison result.
Further, after the control system compares the real-time stress value As with the first standard stress value A1 and the second standard stress value A2, when the result is that the A1 is not less than or equal to the A2, the control system judges that the real-time stress value As is within the standard stress value range, and the propelling speed and the cutting rotating speed of the roadheader are not adjusted.
Further, after the control system compares the real-time stress value As with the first standard stress value A1 and the second standard stress value A2, when the result is that As is less than A1, the control system judges that the real-time stress value As is less than the first standard stress value A1, and the control system adjusts the propelling speed of the fully-mechanized excavator to Va, Va = Vix [1+ (A1-As)/A1 ] + Q, wherein Q is a propelling speed adjusting parameter; the control system is also internally provided with the maximum propelling speed Vm of the fully-mechanized roadheader, and when Va is larger than Vm, the control system adjusts the propelling speed of the fully-mechanized roadheader to Vm.
Further, after the control system adjusts the propelling speed of the roadheader to Va, the stress detection board detects that the real-time stress value is As1 again, the control system compares the real-time stress value As1 with the first standard stress value A1 and the second standard stress value A2 again, and when As1 is less than A1, the control system adjusts the cutting speed of the roadheader to Wa, Wa = Winx [1+ (A1-As 1)/A1 ] + P, wherein P is a cutting speed adjusting parameter; the control system is also internally provided with the maximum cutting rotating speed Wm of the roadheader, and when Wa is larger than Wm, the control system adjusts the cutting rotating speed Wm of the roadheader.
Further, after the control system adjusts the cutting rotating speed of the roadheader to Wa, the stress detection plate detects that the real-time stress value is As2 again, the operation of comparing and adjusting the cutting rotating speed by the real-time stress value is repeated, and the adjustment of the cutting rotating speed is stopped until A1 is not less than As2 and not more than A2.
Further, after comparing the real-time stress value As with the first standard stress value A1 and the second standard stress value A2, when the result is that As is > A2, the control system judges that the real-time stress value As is larger than the second standard stress value A2, and the control system adjusts the propelling speed of the fully-mechanized excavator to Vz, wherein Vz = Vix [1- (As-A2)/As ] + Q.
Further, after the control system adjusts the advancing speed of the roadheader to Vz, the stress detection board detects that the real-time stress value is As3 again, the control system compares the real-time stress value As3 with the first standard stress value A1 and the second standard stress value A2 again, and when As3 is larger than A2, the control system adjusts the cutting rotating speed of the roadheader to Wz, and Wz = Winx [1- (As 3-A2)/As 3] + P.
Further, after the control system adjusts the cutting rotating speed of the roadheader to Wz, the stress detection plate detects that the real-time stress value is As4 again, the operation of comparing and adjusting the cutting rotating speed by the real-time stress value is repeated, and the adjustment of the cutting rotating speed is stopped until A1 is not less than As4 and not more than A2.
Compared with the prior art, the continuous mining and continuous filling working face branch roadway rapid tunneling method has the advantages that the coal layer of the working face branch roadway is cut and fallen by the aid of the roadheader, the hardness of the coal layer of the branch roadway head is detected by the aid of the hardness detection device and the stress detection plate arranged at the front end of the roadheader, the initial propelling speed and the initial cutting rotating speed of the roadheader are selected according to the hardness of the coal layer, the roadheader can be enabled to reach a good state when the roadheader starts to work while the normal operation of the roadheader is guaranteed, stress applied to the roadheader when the roadheader is propelled is detected by the stress detection plate, the propelling speed and the cutting rotating speed of the roadheader are further accurately adjusted, and mining efficiency of the roadheader is enabled to reach an optimal state; by arranging the door type support, a hollow area of a branch roadway is temporarily supported, so that the support of the fully-mechanized excavating machine can be finished without stopping the fully-mechanized excavating machine while the safety is guaranteed, and the working efficiency of the fully-mechanized excavating machine is improved; after the temporary support is finished, the temporary support area is permanently supported, so that the safety of the branch roadway is further guaranteed; the door-shaped crawler frame moving vehicle follows the mining progress of the fully-mechanized excavating machine in real time, temporary supporting work is completed at any time, and the mining progress of the fully-mechanized excavating machine is further guaranteed; when the mined branch roadway is communicated, the portal support is conveyed to the next branch roadway through the support carrier, so that the mining efficiency can be improved, the empty top area of the branch roadway is avoided when the comprehensive excavator mines the branch roadway, and the mining safety is further improved.
Further, the control system is provided with an initial propulsion speed matrix V of the roadheader0And initial cutting rotation speed matrix W0The hardness of the coal seam of the branch roadway is detected before mining begins, and the initial propelling speed and the initial cutting rotating speed of the roadheader are selected according to the detected result, so that the roadheader can keep high mining efficiency at the initial stage of entering a mining state, mechanical damage of the roadheader is reduced, and the service life of the roadheader is prolonged.
Particularly, after the control system selects the initial propelling speed and the initial cutting rotating speed of the roadheader, the roadheader enters a working state, the real-time stress applied when the roadheader is propelled is detected through the arranged stress detection plate, and the control system adjusts the propelling speed of the roadheader and the cutting rotating speed of the roadheader according to the first standard stress value and the second standard stress value which are arranged in the control system, so that intelligent regulation control is realized, and the mining efficiency of the roadheader is improved.
Further, when the stress detection board detects a standard range value of real-time stress in the control system when the fully-mechanized excavating machine is propelled, the control system judges that the fully-mechanized excavating machine is in the optimal working state, the working state of the fully-mechanized excavating machine is not adjusted, and the mining efficiency of the fully-mechanized excavating machine is guaranteed.
Particularly, when the real-time stress on the fully-mechanized excavating machine is smaller than a standard value range, the branch roadway coal seam is easy to mine, the real-time stress approaches to the standard range by improving the propelling speed, the mining efficiency of the fully-mechanized excavating machine is further improved, the maximum propelling speed is arranged in the control system, the regulated propelling speed cannot exceed the maximum propelling speed, and the safety in the branch roadway is guaranteed while the fully-mechanized excavating machine is protected from mechanical damage.
Further, after the propelling speed of the roadheader is increased, if the stress detected by the stress detection board is still smaller than the standard range value, the control system increases the cutting rotating speed of the roadheader, the mining efficiency of the roadheader is improved, meanwhile, intelligent control and adjustment are achieved, the control system is provided with the maximum cutting rotating speed, and the safety of the roadheader and the safety of branch roadways are further guaranteed.
Furthermore, after the cutting rotating speed of the roadheader is adjusted, real-time intelligent adjustment control is realized by repeatedly detecting and adjusting the real-time stress until the real-time stress is adjusted to be within the range of the standard stress value, and the mining efficiency of the roadheader is guaranteed.
Particularly, when the real-time stress detected by the stress detection plate is larger than a standard range, the control system reduces the propelling speed of the fully-mechanized excavating machine, mechanical damage to the fully-mechanized excavating machine caused by overlarge stress is avoided by reducing the propelling speed, and safety in a branch roadway is guaranteed.
Further, when the control system reduces the propelling speed of the roadheader and the real-time stress detected by the stress detection plate is still larger than the standard range value, the control system reduces the cutting rotating speed of the roadheader, intelligent control and adjustment are realized, and the safety of branch roadways is guaranteed.
Furthermore, after the cutting rotating speed of the roadheader is reduced by the control system, the real-time stress is adjusted to be within the standard range through repeated detection and adjustment operations, so that the roadheader is prevented from being unnecessarily damaged by machinery, real-time control and adjustment are realized, and the normal operation of the roadheader is guaranteed under the condition of real-time change of mining conditions.
Drawings
FIG. 1 is a flow chart of the continuous mining and continuous filling working face branch roadway rapid tunneling method of the invention;
FIG. 2 is a schematic diagram of branch roadway excavation work of the continuous mining and continuous filling working face branch roadway rapid excavation method of the invention;
fig. 3 is a schematic diagram of the equipment reverse transportation operation of the continuous mining and continuous filling working face branch roadway rapid tunneling method.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to 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.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, which is a flowchart of the continuous mining and continuous filling face branch roadway rapid tunneling method of the present invention, the present invention discloses a continuous mining and continuous filling face branch roadway rapid tunneling method, including, step S1 cutting coal, step S2 supporting a vacant roof area, step S3 permanent supporting, step S4 bracket forward moving, step S5 equipment back conveying, wherein,
step S1, cutting and dropping coal, cutting and crushing the coal layer at the head of the branch roadway, and transporting the cut and crushed coal out of the branch roadway;
step S2, supporting a vacant top area, cutting and crushing a coal seam at the head of a branch roadway to form a vacant top area, and temporarily supporting the vacant top area;
step S3, permanent support, namely, permanent support is carried out on the branch roadway part which is subjected to temporary support;
step S4, the support moves forward, the temporary support of the branch roadway part which completes the permanent support moves forward, and the temporary support is carried out in the empty roof area of the front branch roadway;
step S5, equipment is transported, and when the branch roadway is communicated, the equipment is transported to the head-on position of the next branch roadway;
referring to fig. 2 and 3, fig. 2 is a schematic diagram of branch roadway excavation work of the continuous mining and continuous filling working face branch roadway rapid excavation method of the present invention, fig. 3 is a schematic diagram of equipment reverse transportation work of the continuous mining and continuous filling working face branch roadway rapid excavation method of the present invention, which includes a comprehensive excavator 1, a self-walking belt type transfer cart 2, a hardness detection device 3, a stress detection plate 4, a portal frame 5, a portal frame type track transfer cart 6, a frame transfer cart 7, a single-arm anchor rod drilling cart (not shown in the figure), and a control system (not shown in the figure),
in the step S1, a fully-mechanized excavating machine 1 and a self-walking belt type transfer vehicle 2 are configured, the fully-mechanized excavating machine 1 is connected with an external control system, and a hardness detection device 3 and a stress detection plate 4 are arranged at the front end of the fully-mechanized excavating machine 1; the self-walking belt type transfer vehicle 2 is connected with the comprehensive excavating machine 1;
an initial propelling speed matrix of the roadheader 1 and an initial cutting rotating speed matrix of the roadheader 1 are arranged in the control system, the control system is also provided with a standard hardness matrix, the hardness detection device 3 detects the hardness of the coal bed at the roadway head, the control system compares the hardness of the coal bed with the standard hardness matrix, and the initial propelling speed of the roadheader 1 and the initial cutting rotating speed of the roadheader 1 are selected;
when the roadheader 1 works, a first standard stress value and a second standard stress value are arranged inside the control system, the stress detection plate 4 detects real-time stress applied to the front end of the roadheader 1, the control system compares the real-time stress with the first standard stress value and the second standard stress value, and the propelling speed and the cutting rotating speed of the roadheader 1 are adjusted in real time according to a comparison result;
the self-walking belt type transfer vehicle 2 is connected with the roadheader 1 and is used for conveying coal cut by the roadheader 1 out of a branch roadway;
in the step S2, door-type supports 5 and door-type crawler transfer vehicles 6 are configured, when the roadheader 1 cuts a coal seam of a branch roadway to form an empty roof area, the door-type crawler transfer vehicles 6 transport the door-type supports 5 to the empty roof area, the door-type supports 5 temporarily support the empty roof area at an interval of 1.2 meters, 15 door-type supports 5 are provided in total, 13 temporary supports are provided, and 2 door-type supports are cyclically used;
the gate-type support 5 adopts a frame structure system and consists of a top beam and two hydraulic supports, the hydraulic supports are provided with quick connecting devices, the gate-type support 5 can complete supporting and contracting operations, the bottom of each hydraulic support is provided with an anti-skidding base, the middle part below the top beam is provided with an upper positioning latch, and after the gate-type support 5 is supported, an anti-toppling connecting rod is arranged between the gate-type supports 5;
the walking part of the gantry crawler type moving frame vehicle 6 is crawler type, the upper part of the gantry crawler type moving frame vehicle is of a triangular stable structure, the top end of the gantry crawler type moving frame vehicle is provided with a rotating mechanism, a lifting platform and lower positioning latch teeth, and the lower positioning latch teeth can be meshed with the upper positioning latch teeth;
in the step S3, a single-arm anchor drill carriage, an anchor rod, and an anchor cable are configured, and after the temporary support in the step S2 is completed, a person completes a permanent support for a branch roadway through the single-arm anchor drill carriage, the anchor rod, and the anchor cable;
in step S4, the portal frame 5 and the portal crawler transfer car 6 are arranged, and after the permanent support of the portal frame 5 is completed, the portal frame 5 is moved forward to the head by using the portal crawler transfer car 6 to prepare for temporary support of the next circulating overhead area;
in the step S5, a rack truck 7 is disposed, the rack truck 7 is provided with a carrying rotating mechanism, a carrying lifting platform, and a carrying positioning latch, the carrying positioning latch can be engaged with the upper positioning latch, when the roadheader 1 penetrates a branch roadway, the roadheader 1 retracts to a working surface to tunnel the next branch roadway, and the rack truck 7 transports the portal rack 5 to the next branch roadway.
The method for rapidly tunneling the continuous mining and filling working face branch roadway comprises the steps that a comprehensive excavator 1 is adopted to cut and drop coal of a coal bed of the working face branch roadway, a hardness detection device 3 and a stress detection plate 4 are arranged at the front end of the comprehensive excavator 1 to detect the hardness of the coal bed of a branch roadway head, the initial propelling speed and the initial cutting rotating speed of the comprehensive excavator 1 are selected according to the hardness of the coal bed, the comprehensive excavator 1 can reach a good state when working is started while the normal operation of the comprehensive excavator 1 is guaranteed, the stress detection plate 4 detects the stress applied when the comprehensive excavator 1 is propelled, the propelling speed and the cutting rotating speed of the comprehensive excavator 1 are further accurately adjusted, and the mining efficiency of the comprehensive excavator 1 reaches the best state; by arranging the door type support 5, a vacant roof area of a branch roadway is temporarily supported, so that the comprehensive excavator 1 can be supported without stopping the comprehensive excavator while the safety is guaranteed, and the working efficiency of the comprehensive excavator 1 is improved; after the temporary support is finished, the temporary support area is permanently supported, so that the safety of the branch roadway is further guaranteed; the door-shaped track moving frame vehicle 6 follows the mining progress of the fully-mechanized excavating machine 1 in real time, temporary supporting work is completed at any time, and the mining progress of the fully-mechanized excavating machine 1 is further guaranteed; when the mined branch roadway is communicated, the portal support 5 is carried to the next branch roadway by the support carrier 7, so that the mining efficiency can be improved, the branch roadway does not have a hollow top area when the comprehensive excavator 1 mines the branch roadway, and the mining safety is further improved.
Specifically, in the step S1, an initial propelling speed matrix V of the fully-mechanized mining machine 1 is provided in the control system0Initial cutting rotation speed matrix W of roadheader 10The control system is also internally provided with a standard hardness matrix P0For said initial propulsion speed matrix V0Setting V0(V1, V2, V3), wherein V1 represents a preset first initial propulsion speed, V2 represents a preset second initial propulsion speed, V3 represents a preset third initial propulsion speed, V1 < V2 < V3; for initial cutting rotation speed matrix W0Setting W0(W1, W2, W3), wherein W1 represents a preset first initial cutting rotational speed, W2 represents a preset second initial cutting rotational speed, W3 represents a preset third initial cutting rotational speed, and W1 < W2 < W3; for the standard hardness matrix P0Setting P0(P1, P2), wherein P1 represents a preset first standard hardness value, P2 represents a preset second standard hardness value, P1 < P2;
the hardness detection device 3 is arranged at the front end of the roadheader 1, the hardness detection device 3 detects the coal bed hardness Ps of the roadway head, and the control system enables the coal bed hardness Ps and the standard hardness matrix P to be obtained0In comparison, the method has the advantages that,
when Ps is less than P1, the control system selects the initial propelling speed of the roadheader 1 to be V3 and the initial cutting rotating speed to be W3;
when the P1 is more than or equal to Ps and less than the P2, the control system selects the initial propelling speed of the roadheader 1 to be V2 and the initial cutting rotating speed to be W2;
and when the P2 is less than or equal to Ps, the control system selects the initial propelling speed of the roadheader 1 as V1 and the initial cutting speed as W1.
The control system is provided with an initial propelling speed matrix V of the fully-mechanized excavating machine 10And initial cutting rotation speed matrix W0Detecting the hardness of the coal seam of the branch roadway before the beginning of mining according toThe detected result selects the initial propelling speed and the initial cutting rotating speed of the roadheader 1, so that the roadheader 1 can keep higher mining efficiency at the initial stage of entering a mining state, the mechanical damage of the roadheader 1 is reduced, and the service life of the roadheader 1 is prolonged.
Specifically, a stress detection plate 4 is arranged at the front end of the roadheader 1, a first standard stress value A1 and a second standard stress value A2 are arranged in the control system, when the roadheader 1 works, the control system selects the initial propelling speed Vi and the initial cutting rotating speed Wi of the roadheader 1, wherein i =1, 2 and 3, when the real-time stress value detected by the stress detection plate 4 is As, the control system compares the real-time stress value As with the first standard stress value A1 and the second standard stress value A2, and adjusts the propelling speed of the roadheader 1 and the cutting rotating speed of the roadheader 1 according to the comparison result.
When the control system selects the initial propelling speed and the initial cutting rotating speed of the roadheader 1, the roadheader 1 enters a working state, the real-time stress applied when the roadheader 1 is propelled is detected through the arranged stress detection plate 4, and the control system adjusts the propelling speed of the roadheader 1 and the cutting rotating speed of the roadheader 1 according to the first standard stress value and the second standard stress value which are arranged in the control system, so that the intelligent regulation control is realized, and the mining efficiency of the roadheader 1 is improved.
Specifically, after the control system compares the real-time stress value As with the first standard stress value a1 and the second standard stress value a2, when the result is that a1 is not less than or equal to a2, the control system judges that the real-time stress value As is within the standard stress value range, and the propelling speed and the cutting rotating speed of the roadheader 1 are not adjusted.
When the stress detection plate 4 detects a standard range value of real-time stress in the control system when the comprehensive excavator 1 is propelled, the control system judges that the comprehensive excavator 1 is in the optimal working state, the working state of the comprehensive excavator 1 is not adjusted, and the mining efficiency of the comprehensive excavator 1 is guaranteed.
Specifically, after the control system compares the real-time stress value As with a first standard stress value a1 and a second standard stress value a2, when the result is that As is < a1, the control system judges that the real-time stress value As is smaller than the first standard stress value a1, and the control system adjusts the propelling speed of the fully-mechanized excavating machine 1 to Va, wherein Va = Vi × [1+ (a 1-As)/a 1] + Q, and Q is a propelling speed adjusting parameter; the control system is also internally provided with a maximum propelling speed Vm of the fully-mechanized roadheader 1, and when Va is larger than Vm, the control system adjusts the propelling speed of the fully-mechanized roadheader 1 to Vm.
When the real-time stress on the fully-mechanized excavating machine 1 is smaller than the standard value range, it is indicated that the branch roadway coal seam is easy to mine at the moment, the real-time stress approaches the standard range by increasing the propelling speed, the mining efficiency of the fully-mechanized excavating machine 1 is further improved, the maximum propelling speed is set in the control system, the regulated propelling speed cannot exceed the maximum propelling speed, and the safety in the branch roadway is ensured while the fully-mechanized excavating machine 1 is protected from mechanical damage.
Specifically, after the control system adjusts the propelling speed of the roadheader 1 to Va, the stress detection plate 4 detects that the real-time stress value is As1 again, the control system compares the real-time stress value As1 with the first standard stress value a1 and the second standard stress value a2 again, and when As1 is less than a1, the control system adjusts the cutting speed of the roadheader 1 to Wa, Wa = Wi x [1+ (a 1-As 1)/a 1] + P, wherein P is a cutting speed adjusting parameter; the control system is also internally provided with the maximum cutting rotating speed Wm of the roadheader 1, and when Wa is larger than Wm, the control system adjusts the cutting rotating speed Wm of the roadheader 1.
After the propelling speed of the roadheader 1 is increased, if the stress detected by the stress detection plate 4 is still smaller than the standard range value, the control system increases the cutting rotating speed of the roadheader 1, the mining efficiency of the roadheader 1 is improved, meanwhile, intelligent control and adjustment are achieved, the control system is provided with the maximum cutting rotating speed, and the safety of the roadheader 1 and the safety of branch roadways are further guaranteed.
Specifically, after the control system adjusts the cutting rotation speed of the roadheader 1 to Wa, the stress detection plate 4 detects that the real-time stress value is As2 again, and repeats the operation of comparing and adjusting the cutting rotation speed by the real-time stress value until a1 is not less than As2 and not more than a2, and then stops adjusting the cutting rotation speed.
After the cutting rotating speed of the roadheader 1 is adjusted, real-time intelligent adjustment control is realized by repeatedly detecting and adjusting the real-time stress until the real-time stress is adjusted to be within the range of the standard stress value, and the mining efficiency of the roadheader 1 is guaranteed.
Specifically, after the control system compares the real-time stress value As with the first standard stress value a1 and the second standard stress value a2, when the result is that As > a2, the control system determines that the real-time stress value As is greater than the second standard stress value a2, and the control system adjusts the propelling speed of the fully-mechanized excavating machine 1 to Vz, Vz = Vi × [1- (As-a 2)/As ] + Q.
When the real-time stress detected by the stress detection plate 4 is larger than the standard range, the control system reduces the propelling speed of the fully-mechanized excavating machine 1, mechanical damage to the fully-mechanized excavating machine 1 caused by overlarge stress is avoided by reducing the propelling speed, and safety in a branch roadway is guaranteed.
Specifically, after the control system adjusts the advancing speed of the roadheader 1 to Vz, the stress detection plate 4 detects that the real-time stress value is As3 again, the control system compares the real-time stress value As3 with the first standard stress value a1 and the second standard stress value a2 again, and when As3 > a2, the control system adjusts the cutting rotation speed of the roadheader 1 to Wz, and Wz = Wi x [1- (As 3-a 2)/As 3] + P.
When the control system reduces the propelling speed of the roadheader 1 and the real-time stress detected by the stress detection plate 4 is still larger than the standard range value, the control system reduces the cutting rotating speed of the roadheader 1, intelligent control and adjustment are realized, and the safety of branch roadways is guaranteed.
Specifically, after the control system adjusts the cutting rotation speed of the roadheader 1 to Wz, the stress detection plate 4 detects that the real-time stress value is As4 again, and repeats the operation of comparing and adjusting the cutting rotation speed by the real-time stress value until a1 is not less than As4 is not less than a2, and then stops adjusting the cutting rotation speed.
After the control system reduces the cutting rotating speed of the roadheader 1, the control system repeatedly detects and adjusts the operation until the real-time stress is adjusted to be within the standard range, so that the roadheader 1 is prevented from being unnecessarily damaged by machinery, the real-time control and adjustment are realized, and the normal operation of the roadheader 1 is ensured under the condition of real-time change of mining conditions.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1.一种连采连充工作面支巷快速掘进方法，其特征在于，包括，1. a kind of fast excavation method for continuous mining and continuous charging working face support roadway, is characterized in that, comprises, 步骤S1，截割落煤，将支巷迎头的煤层切割破碎，并将切割破碎的煤运输出支巷；Step S1, cutting the falling coal, cutting and breaking the coal seam facing the branch road, and transporting the cut and broken coal out of the branch road; 步骤S2，支撑空顶区，支巷迎头的煤层切割破碎后形成空顶区，将空顶区做临时支护；Step S2, supporting the empty roof area, forming the empty roof area after cutting and crushing the coal seam headed by the branch road, and using the empty roof area as temporary support; 步骤S3，永久支护,将完成临时支护的支巷部分做永久支护；Step S3, permanent support, the part of the branch road that has completed the temporary support is permanently supported; 步骤S4，支架前移，将完成永久支护的支巷部分的临时支护支架前移，在前方支巷的空顶区做临时支护；Step S4, the support is moved forward, the temporary support support of the branch road part that has completed the permanent support is moved forward, and the temporary support is performed in the empty roof area of the front branch road; 步骤S5，设备倒运，当支巷贯通后，将设备倒运至下个支巷迎头位置；Step S5, the equipment is transported backwards, when the branch road is penetrated, the equipment is backward transported to the head-on position of the next branch road; 在所述步骤S1中，配置有综掘机、自行走带式转载车，所述综掘机与外部控制系统相连，综掘机前端设置有硬度检测装置、应力检测板；所述自行走带式转载车与所述综掘机相连；In the step S1, a fully mechanized excavator and a self-propelled belt-type transfer vehicle are configured, the fully mechanized excavator is connected to an external control system, and a hardness detection device and a stress detection board are arranged at the front end of the fully mechanized excavator; the self-propelled belt The type transfer vehicle is connected with the fully mechanized excavator; 所述控制系统内部设有所述综掘机的初始推进速度矩阵、综掘机的初始截割转速矩阵，控制系统还设有标准硬度矩阵，所述硬度检测装置检测支巷迎头的煤层硬度，控制系统将煤层硬度与标准硬度矩阵对比，选择所述综掘机的初始推进速度与综掘机的初始截割转速；The control system is provided with the initial propulsion speed matrix of the fully mechanized excavator and the initial cutting speed matrix of the fully mechanized excavator, and the control system is also provided with a standard hardness matrix. The control system compares the coal seam hardness with the standard hardness matrix, and selects the initial propulsion speed of the fully mechanized excavator and the initial cutting speed of the fully mechanized excavator; 当所述综掘机工作时，所述控制系统内部设有第一标准应力值与第二标准应力值，所述应力检测板检测综掘机前端受到的实时应力，控制系统将实时应力与第一标准应力值与第二标准应力值对比，通过对比结果实时调节综掘机的推进速度与截割转速；When the fully mechanized excavator is working, the control system is provided with a first standard stress value and a second standard stress value. The first standard stress value is compared with the second standard stress value, and the propulsion speed and cutting speed of the fully mechanized excavator are adjusted in real time through the comparison results; 所述自行走带式转载车与所述综掘机连接，用以将综掘机截割的煤运出支巷；The self-propelled belt-type transfer vehicle is connected with the fully mechanized excavator to transport the coal cut by the fully mechanized excavator out of the branch road; 在所述步骤S2中，配置有门式支架、门型履带移架车，当所述综掘机对支巷的煤层截割后形成空顶区，所述门型履带移架车将所述门式支架运输至空顶区，门式支架对空顶区做临时支护，间隔为1.2米，共设置15个门式支架，其中13个临时支护，2个循环备用；In the step S2, a portal support and a portal crawler transfer vehicle are configured. When the fully mechanized excavator cuts the coal seam of the branch road to form an empty roof area, the portal crawler The gantry supports are transported to the empty roof area, and the gantry supports temporarily support the empty roof area with an interval of 1.2 meters. A total of 15 gantry supports are set, including 13 temporary supports and 2 circulating backups; 所述门式支架采用框架结构体系,由一根顶梁和两根液压支柱组成，所述液压支柱设置有快速连接装置，所述门式支架能够完成支撑、收缩操作，所述液压支柱底部设置有防滑底座，所述顶梁下方中部设置有上定位卡齿，门式支架支撑后，门式支架之间设置有防倾倒连接杆；The portal support adopts a frame structure system and consists of a top beam and two hydraulic struts. The hydraulic strut is provided with a quick connection device, and the portal support can complete the supporting and retracting operations. There is a non-slip base, an upper positioning tooth is arranged in the lower middle of the top beam, and after the portal bracket is supported, an anti-tipping connecting rod is arranged between the portal brackets; 所述门型履带移架车行走部位为履带式，上部为三角形稳定结构，顶端设置有旋转机构、升降平台、下定位卡齿，所述下定位卡齿能够与所述上定位卡齿相互咬合；The walking part of the portal crawler frame shifting vehicle is crawler type, the upper part is a triangular stable structure, and the top is provided with a rotating mechanism, a lifting platform, and a lower positioning tooth, and the lower positioning tooth can engage with the upper positioning tooth. ; 在所述步骤S3中，配置有单臂锚杆钻车、锚杆、锚索，当所述步骤S2中的临时支护完成后，由人员通过所述单臂锚杆钻车、所述锚杆、所述锚索，对支巷完成永久支护；In the step S3, a single-arm rock bolt drilling rig, an anchor rod, and an anchor cable are configured. The rod and the anchor cable complete the permanent support for the branch road; 在所述步骤S4中，配置有所述门式支架、所述门型履带移架车，当所述门式支架位置永久支护完成后，使用所述门型履带移架车将门式支架前移至迎头，准备进行下个循环空顶区的临时支护；In the step S4, the portal support and the portal crawler transfer vehicle are configured. After the permanent support of the portal support position is completed, the portal crawler transfer vehicle is used to move the portal support forward. Move to the head and prepare for the temporary support of the next circulation overhead area; 在所述步骤S5中，配置有支架搬运车，所述支架搬运车设置有搬运旋转机构、搬运升降平台、搬运定位卡齿，所述搬运定位卡齿能够与所述上定位卡齿相互咬合，当所述综掘机将支巷贯通后，所述综掘机回退至工作面，对下一支巷进行掘进，所述支架搬运车将所述门式支架倒运至下一支巷。In the step S5, a support truck is configured, and the support truck is provided with a conveying rotation mechanism, a conveying lifting platform, and a conveying positioning tooth, and the conveying and positioning tooth can be mutually engaged with the upper positioning tooth, After the fully mechanized excavator penetrates the branch road, the fully mechanized road excavator retreats to the working face to excavate the next branch road, and the support truck transports the portal support to the next branch road backwards. 2.根据权利要求1所述的连采连充工作面支巷快速掘进方法，其特征在于，在所述步骤S1中，所述控制系统内设有所述综掘机的初始推进速度矩阵V0、综掘机的初始截割转速矩阵W0、控制系统内还设有标准硬度矩阵P0,对于所述初始推进速度矩阵V0，设定V0（V1，V2，V3），其中，V1表示预设第一初始推进速度，V2表示预设第二初始推进速度，V3表示预设第三初始推进速度，V1＜V2＜V3；对于初始截割转速矩阵W0，设定W0（W1，W2，W3），其中，W1表示预设第一初始截割转速，W2表示预设第二初始截割转速，W3表示预设第三初始截割转速，W1＜W2＜W3；对于标准硬度矩阵P0,设定P0（P1，P2），其中,P1表示预设第一标准硬度值，P2表示预设第二标准硬度值，P1＜P2;2 . The method for fast excavation of a branch road in a continuous mining and continuous charging working face according to claim 1 , wherein in the step S1 , the control system is provided with an initial propulsion speed matrix V of the fully mechanized excavator. 3 . 0. The initial cutting speed matrix W 0 of the fully mechanized excavator, and a standard hardness matrix P 0 is also set in the control system. For the initial propulsion speed matrix V 0 , V 0 (V1, V2, V3) is set, wherein, V1 represents the preset first initial propulsion speed, V2 represents the preset second initial propulsion speed, V3 represents the preset third initial propulsion speed, V1<V2<V3; for the initial cutting speed matrix W 0 , set W 0 ( W1, W2, W3), where W1 represents the preset first initial cutting speed, W2 represents the preset second initial cutting speed, W3 represents the preset third initial cutting speed, W1<W2<W3; Hardness matrix P 0 , set P 0 (P1, P2), wherein, P1 represents the preset first standard hardness value, P2 represents the preset second standard hardness value, P1<P2; 所述综掘机的前端设置有所述硬度检测装置，硬度检测装置检测支巷迎头的煤层硬度Ps，控制系统将煤层硬度Ps与标准硬度矩阵P0对比，The front end of the fully mechanized excavator is provided with the hardness detection device, the hardness detection device detects the coal seam hardness Ps at the head of the branch road, and the control system compares the coal seam hardness Ps with the standard hardness matrix P 0 , 当Ps＜P1时，所述控制系统选择所述综掘机的初始推进速度为V3、初始截割转速为W3；When Ps<P1, the control system selects the initial propulsion speed of the fully mechanized excavator as V3 and the initial cutting speed as W3; 当P1≤Ps＜P2时，所述控制系统选择所述综掘机的初始推进速度为V2、初始截割转速为W2；When P1≤Ps<P2, the control system selects the initial propulsion speed of the fully mechanized excavator as V2 and the initial cutting speed as W2; 当P2≤Ps时，所述控制系统选择所述综掘机的初始推进速度为V1、初始截割转速为W1。When P2≤Ps, the control system selects the initial propulsion speed of the fully mechanized excavator as V1 and the initial cutting speed as W1. 3.根据权利要求2所述的连采连充工作面支巷快速掘进方法，其特征在于，所述综掘机前端设置有应力检测板，所述控制系统内设置有第一标准应力值A1、第二标准应力值A2，当所述综掘机工作时，所述控制系统选择所述综掘机的初始推进速度为Vi、初始截割转速为Wi，其中i=1、2、3，当所述应力检测板检测到的实时应力值为As，所述控制系统将实时应力值As与第一标准应力值A1、第二标准应力值A2进行对比，通过对比的结果调节综掘机的推进速度与综掘机的截割转速。3 . The method for fast excavation of a continuous mining and continuous charging working face support roadway according to claim 2 , wherein a stress detection board is provided at the front end of the fully mechanized excavator, and a first standard stress value A1 is provided in the control system. , the second standard stress value A2, when the fully mechanized excavator is working, the control system selects the initial propulsion speed of the fully mechanized excavator as Vi, and the initial cutting speed as Wi, where i=1, 2, 3, When the real-time stress value As detected by the stress detection board is As, the control system compares the real-time stress value As with the first standard stress value A1 and the second standard stress value A2, and adjusts the The propulsion speed and the cutting speed of the fully mechanized excavator. 4.根据权利要求3所述的连采连充工作面支巷快速掘进方法，其特征在于，所述控制系统将实时应力值As与第一标准应力值A1、第二标准应力值A2对比后，当结果为A1≤As≤A2时，所述控制系统判定实时应力值As在标准应力值范围内，不对所述综掘机的推进速度与截割转速进行调节。4. The method for rapid excavation of a branch roadway in a continuous mining and continuous charging working face according to claim 3, wherein the control system compares the real-time stress value As with the first standard stress value A1 and the second standard stress value A2 , when the result is A1≤As≤A2, the control system determines that the real-time stress value As is within the standard stress value range, and does not adjust the propulsion speed and cutting speed of the fully mechanized excavator. 5.根据权利要求3所述的连采连充工作面支巷快速掘进方法，其特征在于，所述控制系统将实时应力值As与第一标准应力值A1、第二标准应力值A2对比后，当结果为As＜A1时，所述控制系统判定实时应力值As小于第一标准应力值A1，控制系统将所述综掘机的推进速度调整为Va，Va=Vi×[1+（A1-As）/A1]+Q,其中Q为推进速度调速参数；所述控制系统内还设有所述综掘机最大推进速度Vm，当Va＞Vm时，所述控制系统将所述综掘机的推进速度调整为Vm。5. The method for fast excavation of a branch roadway in a continuous mining and continuous charging working face according to claim 3, wherein the control system compares the real-time stress value As with the first standard stress value A1 and the second standard stress value A2 , when the result is As<A1, the control system determines that the real-time stress value As is less than the first standard stress value A1, and the control system adjusts the propulsion speed of the fully mechanized excavator to Va, Va=Vi×[1+(A1 -As)/A1]+Q, where Q is the speed regulation parameter of the propulsion speed; the control system is also provided with the maximum propulsion speed Vm of the fully mechanized excavator, when Va>Vm, the control system will The propulsion speed of the excavator is adjusted to Vm. 6.根据权利要求5所述的连采连充工作面支巷快速掘进方法，其特征在于，当所述控制系统将所述综掘机的推进速度调整为Va后，所述应力检测板再次检测到实时应力值为As1，控制系统将实时应力值As1与第一标准应力值A1、第二标准应力值A2进行再次对比，当As1＜A1时，所述控制系统将所述综掘机的截割转速调整为Wa，Wa=Wi×[1+（A1-As1）/A1]+P,其中P为截割转速调速参数；所述控制系统内还设有所述综掘机最大截割转速Wm，当Wa＞Wm时，所述控制系统将所述综掘机的截割转速调整为Wm。6 . The method for fast excavation of a branch roadway in a continuous mining and continuous charging working face according to claim 5 , wherein after the control system adjusts the advancing speed of the fully mechanized excavator to Va, the stress detection plate is again The real-time stress value As1 is detected, and the control system compares the real-time stress value As1 with the first standard stress value A1 and the second standard stress value A2 again. When As1<A1, the control system compares the The cutting speed is adjusted to Wa, Wa=Wi×[1+(A1-As1)/A1]+P, where P is the speed regulation parameter of cutting speed; the control system also has the maximum cutting speed of the fully mechanized excavator. Cutting speed Wm, when Wa>Wm, the control system adjusts the cutting speed of the fully mechanized excavator to Wm. 7.根据权利要求6所述的连采连充工作面支巷快速掘进方法，其特征在于，当所述控制系统将所述综掘机的截割转速调整为Wa后，所述应力检测板再次检测到实时应力值为As2，重复上述实时应力值对比调节截割转速操作，直至A1≤As2≤A2时停止对截割转速的调节。7 . The method for rapid excavation of a branch roadway in a continuous mining and continuous charging working face according to claim 6 , wherein when the control system adjusts the cutting speed of the fully mechanized excavator to Wa, the stress detection plate When the real-time stress value As2 is detected again, the above-mentioned real-time stress value comparison and adjustment of the cutting speed are repeated until A1≤As2≤A2, and the adjustment of the cutting speed is stopped. 8.根据权利要求5所述的连采连充工作面支巷快速掘进方法，其特征在于，所述控制系统将实时应力值As与第一标准应力值A1、第二标准应力值A2对比后，当结果为As＞A2时，所述控制系统判定实时应力值As大于第二标准应力值A2，控制系统将控制所述综掘机的推进速度调整为Vz，Vz=Vi×[1-（As–A2）/As]+Q。8. The method for fast excavation of a branch roadway in a continuous mining and continuous charging working face according to claim 5, wherein the control system compares the real-time stress value As with the first standard stress value A1 and the second standard stress value A2 , when the result is As>A2, the control system determines that the real-time stress value As is greater than the second standard stress value A2, and the control system adjusts the propulsion speed of the fully mechanized excavator to be Vz, Vz=Vi×[1-( As–A2)/As]+Q. 9.根据权利要求6所述的连采连充工作面支巷快速掘进方法，其特征在于，当所述控制系统将所述综掘机的推进速度调整为Vz后，所述应力检测板再次检测到实时应力值为As3，控制系统将实时应力值As3与第一标准应力值A1、第二标准应力值A2进行再次对比，当As3＞A2时，所述控制系统将所述综掘机的截割转速调整为Wz，Wz=Wi×[1-（As3-A2）/ As3]+P。9 . The method for fast excavation of a branch roadway in a continuous mining and continuous charging working face according to claim 6 , wherein, after the control system adjusts the advancing speed of the fully mechanized excavator to Vz, the stress detection plate is again The real-time stress value As3 is detected, and the control system compares the real-time stress value As3 with the first standard stress value A1 and the second standard stress value A2 again, when As3>A2, the control system will The cutting speed is adjusted to Wz, Wz=Wi×[1-(As3-A2)/As3]+P. 10.根据权利要求9所述的连采连充工作面支巷快速掘进方法，其特征在于，当所述控制系统将所述综掘机的截割转速调整为Wz后，所述应力检测板再次检测到实时应力值为As4，重复上述实时应力值对比调节截割转速操作，直至A1≤As4≤A2时停止对截割转速的调节。10 . The method for fast excavation of a working face with continuous mining and continuous charging according to claim 9 , wherein when the control system adjusts the cutting speed of the fully mechanized excavator to Wz, the stress detection plate When the real-time stress value As4 is detected again, the above-mentioned real-time stress value comparison and adjustment of the cutting speed are repeated until A1≤As4≤A2, and the adjustment of the cutting speed is stopped.
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