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 PDFInfo
- Publication number
- 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
- Authority
- CN
- China
- Prior art keywords
- control system
- stress value
- roadheader
- speed
- standard
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention relates to a continuous mining and continuous filling working face roadway supporting fast tunneling method which comprises the steps of S1 cutting coal drop, S2 supporting a vacant top area, S3 permanent supporting, S4 bracket forward moving and S5 equipment reverse conveying, wherein a comprehensive excavating machine self-walking belt type transfer vehicle is arranged at S1, a hardness detection device and a stress detection plate are arranged at the front end of the comprehensive excavating machine, a door type bracket and a door type caterpillar band type frame transfer vehicle are arranged at S2, a single-arm anchor rod drill vehicle is arranged at S3, and a bracket transfer vehicle is arranged at S5. According to the invention, the control system selects the initial propelling speed and the initial cutting rotating speed of the roadheader according to the hardness of the branch coal seam, and the control system controls and adjusts the propelling speed and the cutting rotating speed of the roadheader according to the comparison between the real-time stress of the roadheader and the stress value of the standard preset range arranged in the control system, so that the mining process of intelligent control and adjustment is realized, and the mining efficiency is improved to the greatest extent under the condition of ensuring the stable operation of the roadheader.
Description
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. A method for quickly tunneling a branch roadway of a continuous mining and filling working face is characterized by comprising the following steps of,
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;
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 bracket and a portal tracked carrier vehicle are configured, when the fully-mechanized excavating machine cuts a coal seam of a branch roadway to form an empty roof area, the portal bracket is transported to the empty roof area by the portal tracked carrier vehicle, the portal bracket temporarily supports the empty roof area at an interval of 1.2 meters, 15 portal brackets are provided in total, 13 of the portal brackets temporarily support the empty roof area, 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 in a crawler type, the upper part of the gantry crawler frame moving vehicle is in 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.
2. The continuous mining and continuous filling face branch roadway rapid tunneling method as claimed in claim 1, wherein in step S1, an initial propelling speed matrix V of the fully-mechanized excavating 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 V0Set V to0(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 W0Set 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 detector is arranged at the front end of the fully-mechanized excavating machineA hardness detection device for detecting the hardness Ps of the coal seam at the head of the branch roadway, and a control system for determining the hardness Ps of the coal seam and a standard hardness matrix P0In the comparison, the first step is to compare the parameters,
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;
and when the 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 rotating speed as W1.
3. The method for rapidly tunneling the branch roadway of the continuous mining and filling working face As claimed in claim 2, wherein a stress detection plate is arranged at the front end of the fully-mechanized excavator, a first standard stress value A1 and a second standard stress value A2 are arranged in the control system, when the fully-mechanized excavator works, the control system selects an initial propelling speed Vi and an initial cutting rotating speed Wi of the fully-mechanized excavator, wherein i =1, 2 and 3, when a 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 adjusts the propelling speed of the fully-mechanized excavator and the cutting rotating speed of the fully-mechanized excavator according to a comparison result.
4. The continuous mining and continuous filling working face branch roadway rapid tunneling method according to claim 3, characterized in that 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 more than 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 fully-mechanized excavating machine are not adjusted.
5. The method for rapidly tunneling a branch roadway of a continuous mining and filling working face As claimed in claim 3, wherein after the control system compares a 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 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 excavating machine 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.
6. The method for rapidly tunneling a branch roadway of a continuous mining and filling working face As claimed in claim 5, wherein after the control system adjusts the propelling speed of the fully-mechanized excavator 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 fully-mechanized excavator to Wa, Wa = Wix [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 speed Wm of the roadheader, and when Wa is larger than Wm, the control system adjusts the cutting speed Wm of the roadheader.
7. The continuous mining and filling face branch roadway fast tunneling method As claimed in claim 6, wherein after the control system adjusts the cutting rotation speed of the roadheader to Wa, the stress detection board detects the real-time stress value As2 again, and the operation of adjusting the cutting rotation speed by comparing the real-time stress value is repeated until the cutting rotation speed is stopped when A1 is not less than As2 is not less than A2.
8. The method for rapidly tunneling a branch roadway of a continuous mining and filling working face As recited in claim 5, wherein 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 for controlling the fully-mechanized excavating machine to Vz, wherein Vz = Vi x [1- (As-a 2)/As ] + Q.
9. The continuous mining and filling face branch roadway fast tunneling method As claimed in claim 6, wherein after the control system adjusts the propelling speed of the fully-mechanized excavating machine to Vz, the stress detection board detects the real-time stress value 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 greater than A2, the control system adjusts the cutting rotation speed of the fully-mechanized excavating machine to Wz, and Wz = Wix [1- (As 3-A2)/As 3] + P.
10. The continuous mining and continuous filling working face branch roadway rapid tunneling method As claimed in claim 9, wherein after the cutting rotation speed of the fully mechanized excavating machine is adjusted to Wz by the control system, the stress detection plate detects the real-time stress value As4 again, and the operation of adjusting the cutting rotation speed by comparing the real-time stress value is repeated until the cutting rotation speed is adjusted when a1 is not less than As4 is not less than a 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110957899.6A CN113756830B (en) | 2021-08-20 | 2021-08-20 | Method for rapidly tunneling branch roadway of continuous mining and continuous filling working face |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110957899.6A CN113756830B (en) | 2021-08-20 | 2021-08-20 | Method for rapidly tunneling branch roadway of continuous mining and continuous filling working face |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113756830A CN113756830A (en) | 2021-12-07 |
| CN113756830B true CN113756830B (en) | 2022-07-05 |
Family
ID=78790513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110957899.6A Active CN113756830B (en) | 2021-08-20 | 2021-08-20 | Method for rapidly tunneling branch roadway of continuous mining and continuous filling working face |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113756830B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114776355B (en) * | 2022-04-18 | 2023-08-22 | 内蒙古满世煤炭集团罐子沟煤炭有限责任公司 | Method for determining reinforced support of coal seam breaking belt retracting channel |
| CN116591705A (en) * | 2023-06-27 | 2023-08-15 | 国家能源集团新疆能源有限责任公司 | Control method and device for tunneling speed of mine tunneling machine and electronic equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0037807A1 (en) * | 1980-04-04 | 1981-10-14 | VOEST-ALPINE Aktiengesellschaft | Temporary roof supporting device for galleries or tunnels |
| CN102735124A (en) * | 2012-07-05 | 2012-10-17 | 大同煤矿集团有限责任公司 | Deep hole explosion top board attenuation method |
| CN103397883A (en) * | 2013-08-21 | 2013-11-20 | 大同煤矿集团有限责任公司 | Comprehensive control method for rockburst in multiple-coalbed mining mine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT393150B (en) * | 1989-11-06 | 1991-08-26 | Voest Alpine Zeltweg | Mining recovery machine |
-
2021
- 2021-08-20 CN CN202110957899.6A patent/CN113756830B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0037807A1 (en) * | 1980-04-04 | 1981-10-14 | VOEST-ALPINE Aktiengesellschaft | Temporary roof supporting device for galleries or tunnels |
| CN102735124A (en) * | 2012-07-05 | 2012-10-17 | 大同煤矿集团有限责任公司 | Deep hole explosion top board attenuation method |
| CN103397883A (en) * | 2013-08-21 | 2013-11-20 | 大同煤矿集团有限责任公司 | Comprehensive control method for rockburst in multiple-coalbed mining mine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113756830A (en) | 2021-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11391151B2 (en) | Automatic coal mining machine and fluidized coal mining method | |
| US4740037A (en) | Continuous mining machine | |
| CN113756830B (en) | Method for rapidly tunneling branch roadway of continuous mining and continuous filling working face | |
| AU2014202712B2 (en) | Ore removal production line, twin ramps and ground support installation method | |
| CN205277432U (en) | A system for rapid tunneling | |
| CN110454219B (en) | Full-gangue underground automatic filling device and method | |
| CN1268831C (en) | Fully-mechanized mining working plane supplementary laneway multiple passage quick-speed moving process | |
| CN105464678A (en) | Rapid roadway tunneling method and system | |
| CN103670425A (en) | Excavating and supporting integrating method and carrying type lifting and transporting support manipulator for heading machine | |
| CN108457652B (en) | A kind of blockette segmentation full blast pressure shortwall even adopts placement method | |
| CN111622761B (en) | Mechanical room-column mining method for gently inclined medium-thickness ore body | |
| CN204476407U (en) | A kind of pick anchor parallel operations construction equipment | |
| CN205277431U (en) | Coal road tunnelling apparatus | |
| CN1782326B (en) | Method for treating waste rock in coal mine | |
| CN101302932A (en) | Method for underground chamber digging and laneway opening digging | |
| CN202703579U (en) | Large slope inclined shaft rail transport construction apparatus | |
| EP0513338B1 (en) | Launch vehicle for continuous mining apparatus | |
| CN116446870A (en) | Ultra-large-depth self-guiding excavating, supporting and anchoring integrated machine and use method | |
| CN109973118B (en) | Rail-mounted guniting material mine car for primary support of heavy-gradient inclined shaft and construction method | |
| CN201027540Y (en) | Coal-charging, coal-carrying and anchor stock supporting mechanically integrated device | |
| CN219774121U (en) | Tunneling system | |
| CN117803395A (en) | Construction method based on intelligent tunneling complete equipment | |
| CN114893199B (en) | A drilling and anchoring machine and drilling and anchoring system for high-gas mines | |
| CN214455248U (en) | Intelligent driving, loading and slag storage bin | |
| CN210768752U (en) | Tunneling system with front tunneling part and rear anchoring part |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 017010 Room 101, Unit 1, Building 1, Lanpeng Yangguang Jiayuan, Kangbashi District, Ordos City City, Inner Mongolia Patentee after: Inner Mongolia Green Mine Technology Co.,Ltd. Patentee after: Lu Bin Address before: 017010 Room 101, Unit 1, Building 1, Lanpeng Yangguang Jiayuan, Kangbashi District, Ordos City City, Inner Mongolia Patentee before: Ordos Green Mine Technology Service Co.,Ltd. Patentee before: Lu Bin |
|
| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231211 Address after: 016064 Commercial Building No.7, South Hongda C District, Xintong Huijing Street, Qipanjing Town, Etoke Banner, Ordos City, Inner Mongolia Autonomous Region Patentee after: Inner Mongolia Mingfeng Mining Engineering Co.,Ltd. Patentee after: Inner Mongolia Green Mine Technology Co.,Ltd. Address before: 017010 Room 101, Unit 1, Building 1, Lanpeng Yangguang Jiayuan, Kangbashi District, Ordos City City, Inner Mongolia Patentee before: Inner Mongolia Green Mine Technology Co.,Ltd. Patentee before: Lu Bin |
|
| TR01 | Transfer of patent right |