EP2467577A1 - Procédé pour pratiquer une ouverture de taille en utilisant des systèmes d'automatisation - Google Patents

Procédé pour pratiquer une ouverture de taille en utilisant des systèmes d'automatisation

Info

Publication number
EP2467577A1
EP2467577A1 EP09777996A EP09777996A EP2467577A1 EP 2467577 A1 EP2467577 A1 EP 2467577A1 EP 09777996 A EP09777996 A EP 09777996A EP 09777996 A EP09777996 A EP 09777996A EP 2467577 A1 EP2467577 A1 EP 2467577A1
Authority
EP
European Patent Office
Prior art keywords
walzenschrämladers
determined
height
cutting
shield
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.)
Granted
Application number
EP09777996A
Other languages
German (de)
English (en)
Other versions
EP2467577B1 (fr
EP2467577B8 (fr
Inventor
Martin Junker
Armin Mozar
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Marco Systemanalyse und Entwicklung GmbH
Original Assignee
RAG AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by RAG AG filed Critical RAG AG
Publication of EP2467577A1 publication Critical patent/EP2467577A1/fr
Publication of EP2467577B1 publication Critical patent/EP2467577B1/fr
Application granted granted Critical
Publication of EP2467577B8 publication Critical patent/EP2467577B8/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/282—Autonomous machines; Autonomous operations
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/302—Measuring, signaling or indicating specially adapted for machines for slitting or completely freeing the mineral
    • 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
    • E21D23/03—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor having protective means, e.g. shields, for preventing or impeding entry of loose material into the working space or support

Definitions

  • the invention relates to a method for an automatic production of a defined Strebö réelle in a longwall conveyor, a Walzenschrämlader as a mining machine and a hydraulic shield removal having Streb ses in underground coal mining.
  • the invention is therefore an object of the invention to provide a method of the type mentioned, by means of which on the basis of
  • the invention sees in its basic idea a method for the
  • Roller skid loader determined and determined from the so
  • the invention has the advantage that initially due to be determined with a relatively low cost
  • the other parameters used in the invention consist in detecting the cutting of the mining machine by determining their absolute average height on the one hand and the respective depth of cut on the other hand, which is derived from the detection of the path of the individual Schildausbaugestelle. Based on the data obtained so far, the hanging slope horizon can be used as a reference variable for the cutting work.
  • the control of the cutting operation can be further improved by the inclination sensors mounted on at least three of the four main components of each shield assembly such as Bodenkufe, Biuchschüd, Tragkekein and Hangendkappe determined the inclination of the hanging end cap against the horizontal and from the measured data in a computer unit
  • Roller Skimmer loader cut strut space is determined, and in which due to the recorded data, the geometry of the
  • the cutting heights of the leading to the Hangendrough perform
  • the control method according to the invention is improved by determining the inclination of the conveyor and / or the scraper loader against the horizontal in the direction of travel of the shield extension by means of inclination sensors mounted on conveyors and / or drum skid steer loaders.
  • the arrangement of an inclination sensor on the roller cutter initially suffices.
  • the inclination angle of the conveyor and / or Walzenschrämlader in a relationship to at the
  • Adjustment of the cutting height of the Walzenschrämladers preferably compensated by an increase of the so-called undercut, wherein the recumbent roller cuts into the prone horizon, as a rule
  • Roller cutter to be oriented.
  • the approach of a saddle is detected by the detected change in inclination of the adjacent hanging wall end cap of the Schildausbaugestells.
  • Shield extension can be the height change in the sense of a reduction in the height for each further step of the process
  • Shield outposts are calculated.
  • Target height of the longwall is maintained.
  • the inclination sensors arranged on the shield extension points also provide a measure of the inclination of the shield extension point transversely to the direction of dismantling, since saddles and depressions may also be pronounced in the direction of the grooving of the roller scraper during the course of the longwall.
  • Another disadvantage is that the cutting profile always starts from a constant depth of cut of the rolls and so far remain over the course of the course changing cutting depths for the subsequent determination of the extraction work disregarded.
  • nachzufahrenden cutting profile are used, wherein at the subsequent mining trips entering angle deviations
  • Streb fiter and the shield removal manufactures lead deviations in the angular position, in particular the horizontal roller to a pivoting of the cutting plane of the Walzenschrämladers, this pivoting progressively reinforced in successive mining trips, thus at required undercuts of the roller a diving effect of
  • Strengthening equipment is reinforced. Therefore, it is intended to make a correction for detected angular deviations.
  • Deviations of the cut inevitably, because the distances of the mountain means tapes for hanging and lying are assumed to be constant.
  • Control according to the invention be associated with the advantage that the position of the Hangendhorizontes can be constantly checked due to the data obtained from the position of the Schildausbautechniken data, so that mismanagements of the cutting work can be avoided.
  • Cutting guide of the leading Hangendwalze is made to adapt to the course of the hanging wall, with an adjustment of the cutting guide of the trailing lying roller to a correction of the
  • the slope of the slope is adjusted to match the slope of the slope and, if necessary, a correction of the height of the slope
  • Streb absorberlage deviates.
  • a supplementary control measure that measured by at least one attached to the roller body of the Walzenschrämladers radar sensor, the distance between the upper edge of the roller body and the bottom of the underused Hangung the hanging wall of the shield support frame and as an actual value for the passage height the Walzenschrämladers is entered under the Schildausbaugestellen in a computer unit and compared there with a stored target value, which are generated at a detected deviation control commands for adjusting the cutting height of at least one of the two rolls of Walzenschrämladers.
  • the clearance height measured as the distance between the upper edge of the machine body and the underside of the wall end cap of the shield extension, is a direct measure for the longwall, as the Strebö réelle from the height of passage and occupied by the longwall equipment and thus invariable distances to the hanging wall on the one hand and to the foot or the free-lying horizon by the lying roller pruning horizon on the other hand composed. So is the above the clearance height distance to the hanging wall through the
  • Lying horizontally resting longwall conveyor and the movable thereon machine body of the Walzenschrämladers is specified.
  • the value measured for the clearance height can be used directly as a synonym for the height of the longwall.
  • the control operations are thus faster to perform.
  • the predetermined value for the longwall opening in the computer unit is specified either by the storage site data, ie in particular by the seam thickness, or else by the minimum clearance height of the longwall equipment.
  • the target value can also be represented as a target value for the passage opening depending on the design data of the longwall equipment.
  • the strut height determination carried out on the basis of the radar measurement can be supplemented by the fact that from those at the shield extension points
  • Passage height can not be detected in advance and taken into account in determining the recovery parameters, is associated with the complementary determination of the longwall at the front end of the Hangendkappe the advantage that the thus obtained at individual Schildausbaugestellen Data provide additional information on the behavior of individual sections of the front panel or the entire front panel as the penetration progresses.
  • Shield outposts consists of overhead hanging walls or whether one
  • the corresponding face opening data can provide information about a possible fall from the hanging wall, the occurrence of
  • FIG. 1 shows a shield support frame with inclination sensors arranged thereon in conjunction with a longwall conveyor and a roller skid loader as a mining machine in a schematic side view
  • FIG. 2 shows the longwall equipment according to FIG. 1 in operational use in a schematic representation
  • FIG. 1 Mining machine, 4a-c the longwall equipment according to FIG. 1 in case of throughputs and crossings of saddles in a schematic representation, FIG.
  • FIG. 7 shows a longwall equipment with a roller skid loader and shield extension points shown in operation with their overhead end caps in a schematic front view, in FIG
  • Fig. 8 the longwall equipment of Figure 7 in side view.
  • the longwall equipment shown in FIG. 1 initially comprises a
  • Arrangement two stamps 12 are attached, of which in Figure 1, only one stamp is recognizable and carry at its upper end a hanging end cap 13. While the Hangendkappe 13 protrudes at its front (left) end in the direction of to be described Walzenschrämladers, at the rear (right) end of the Hangendkappe 13 a fracture shield 14 is articulated by means of a hinge 15, wherein the fracture shield of the two in the side view on the Bodenkufe 11 resting support arms 16 is supported.
  • three inclination sensors 17 are attached to the shield support 10, namely an inclination sensor 17 on the bottom skid 11, an inclination sensor 17 in the rear region of the wall end cap 13 in the vicinity of the joint 15 and a tilt sensor 17 on the fracture shield 14.
  • a tilt sensor may also be provided on the fourth movable component of the shield support frame 10, the support links 16, wherein in each case three tilt sensors must be installed of the four possible tilt sensors 17 in order to determine the position of the shield support frame with the inclination values determined therefrom to determine a working space.
  • the invention is not limited to the arrangement of the inclination sensors shown concretely in FIG. 1, but encompasses all possible combinations of three inclination sensors on the four movable components of the shield support frame.
  • the shield support frame shown in Figure 1 is struck on a longwall conveyor 20, which also has a tilt sensor 21, so that in terms of the control of the longwall equipment in general also here data can be obtained in terms of conveyor position.
  • Streb makeuper 20 is a roll skid loader 22 having an upper roller 23 and a lower roller 24 out, wherein also in the region of
  • a tilt sensor 25 is disposed, further comprises a sensor 26 for detecting the respective location of the Walzenschrämladers 22 in the longwall and reed rods 27 for measuring the cutting height of
  • roller Skid Loader 22 The metrological equipment of the longwall equipment is supplemented by the arrangement of sensors 18 on the punches 12, by means of which the change in the altitude of the hanging end cap 13 by
  • a Wegmesssystem 19 is integrated in the Bodenkufe 1 1, by means of which the respective Schreithub of Schildausbaugestells 10 in relation to the longwall conveyor 20 can be determined. Since the longwall conveyor 20 is advanced towards the coal thrust by means of cylinders supporting on the plate extension points 10, the horizontal spacing of the plate extension 10 during retightening is in each case the depth of cut of the rollers of the oblique loader 22
  • the arrangement of the inclination sensor 21 on the longwall conveyor 20 is not absolutely necessary as long as the inclination sensor 25 is set up on the drum skid loader 22. In one In such a case, the inclination sensor 21 can improve the
  • Flözhorizont 32 is won in by the Walzenschrämlader 22, wherein the cutting height 33 of the advancing in the direction 34 Verhiebsrhythm
  • Walzenschrämladers 22 is set so that a lying incision 35 is cut by the lower roller 24.
  • the front upper roller 23 is adjusted so that it is a narrow under the hanging wall 30
  • Coal packs can stand, which dissolves in the wake of the cutting work automatically from the hanging wall.
  • the set cutting height 33 is entered in Figure 2. It can be seen that in this case the plate height 36 is set larger than the cutting height 33, so that a collision-free passage of the roller cutter loader 22 under the plate removal points 10 can be assumed.
  • FIGS. 3 a and 3 b the relationships which result when the engine is shown are shown in FIGS. 3 a and 3 b
  • Difference angle 37 between the Bodenkufe 1 1 and the lower roller 24 of the Walzenschrämladers 22 expresses. It will be appreciated that in such a case, the risk of collision between the roller cutter loader 22 and the pad removal points 10 increases and this risk can be accommodated by changing the cutting height. The same applies to the situation shown in Figure 3b, in which the Walzenschrämlader 22 has a dip inclination. Again, there is a corresponding
  • Differential angle 37 the basis of the detected by the tilt sensors 17 and 25 and 21 positions of Walzenschrämlader 22nd and shield support frame 10 can be determined, and the respectively entering differential angle 37 are in the longwall control accordingly
  • the shield support frame 10 is not retraced by the full amount, but with respect to the longwall conveyor 20 with roller skid loader 22 remains slightly so that a passage distance is maintained.
  • FIGS. 5 and 6a, b show the inclusion of a control technique in which, at the beginning of the extraction of the drum skid loader 22, a so-called learning run takes place in which the hanging roller 23 and the horizontal roller 24 are each manually controlled along the respective slope horizon 30 or horizontal horizon , The recorded thereby profile is stored as a cutting profile and traced in subsequent winning rides each.
  • the roller skid loader 22 is moved in the direction of travel (arrow 38) by means of rollers 23 and 24, the rollers 23, 24 being moved on the
  • roller skid loader 23 the mit Victoria's trademark for Roller skid loader 23 the mit Victoria's trademark for Roller skid loader 23 the mit Victoria's trademark for Roller skid loader 23 the mit Victoria's trademark for Roller skid loader 23 the mit Victoria's trademark for Roller skid loader 23 the mit Victoria's trademark for Roller skid loader 23 the mit Victoria's trademark for Roller skid loader 23 the mit Victoria's trademark for Roller skid loader 23 the mit cancellede mountain portion strongly increases, whereby also the portion "grown” coal increases.
  • the shift of the wavy storage in the Flözhorizont 32 can be thereby by the here not detecting inclination of the position of the shielding expansion point 10, which in particular follow the course of the hanging wall 30 as a reference variable, so that with these values the difference between the actual seaming process and the adjusted cutting profile becomes clear and can be corrected accordingly.
  • a seaming horizon 32 existing between the hanging wall 30 and the lying 31 is produced by means of a
  • a roller skid loader 22 which has the support arms 40 supported on a machine body 41 held cutting rollers 23 and 24.
  • the cutting roller 23 operates as on
  • the two radar sensors 42 are arranged on the machine body, which are flush with the surface of the machine body 41.
  • the radar sensors 42 send out vertically upwards towards the Hangendkappen 13 signals and take the reflected signals again, so that the distance between the Hangendkappen 11 and the machine body 14 can be determined in a simple manner, already early on during the recovery drive according to Roller Skid Loader 22.
  • the two radar sensors 42 are respectively disposed at the front and rear ends of the machine body 41 and flush with the surface of the machine body 41. How not next
  • Thickness of the seaming horizon 32 lower than that by arrow 44

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)
  • Mechanical Engineering (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Conveyors (AREA)

Abstract

L'invention concerne un procédé pour pratiquer automatiquement une ouverture définie de taille dans des installations d'exploitation par taille dans des mines de houille souterraines, comprenant un transporteur de taille (20), au moins une machine d'extraction (22) ainsi qu'un soutènement à bouclier hydraulique, selon lequel l'inclinaison des éléments composant le bouclier par rapport à l'horizontale est déterminée au moyen de détecteurs d'inclinaison (17) montés sur au moins trois des quatre principaux éléments de chaque châssis de soutènement à bouclier (10) et la hauteur perpendiculaire à la stratification du châssis de soutènement à bouclier (10) est calculée dans une unité de calcul et selon lequel la profondeur de coupe de la chargeuse-haveuse à tambour (22) lors de chaque passe d'abattage est déterminée en détectant la voie de marche du châssis de soutènement à bouclier, et selon lequel la hauteur de coupe de la chargeuse-haveuse à tambour (22) est en outre détectée, l'angle de la courbe du toit étant déterminé sur chaque châssis de soutènement à bouclier (10) par l'intermédiaire de la géométrie de l'espace de taille calculée sur la base de données enregistrées et le réglage de la hauteur de coupe de la haveuse-chargeuse à tambour (22) étant aligné sur l'angle de la courbe du toit pour pratiquer l'ouverture définie de taille.
EP09777996.1A 2009-08-20 2009-08-20 Procédé pour pratiquer une ouverture de taille en utilisant des systèmes d'automatisation Not-in-force EP2467577B8 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2009/006033 WO2011020484A1 (fr) 2009-08-20 2009-08-20 Procédé pour pratiquer une ouverture de taille en utilisant des systèmes d'automatisation

Publications (3)

Publication Number Publication Date
EP2467577A1 true EP2467577A1 (fr) 2012-06-27
EP2467577B1 EP2467577B1 (fr) 2017-05-24
EP2467577B8 EP2467577B8 (fr) 2017-09-27

Family

ID=42026438

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09777996.1A Not-in-force EP2467577B8 (fr) 2009-08-20 2009-08-20 Procédé pour pratiquer une ouverture de taille en utilisant des systèmes d'automatisation

Country Status (6)

Country Link
US (1) US8708421B2 (fr)
EP (1) EP2467577B8 (fr)
CN (1) CN102713148B (fr)
AU (1) AU2009351410B2 (fr)
RU (1) RU2505677C2 (fr)
WO (1) WO2011020484A1 (fr)

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Title
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Publication number Publication date
EP2467577B1 (fr) 2017-05-24
EP2467577B8 (fr) 2017-09-27
CN102713148B (zh) 2015-07-15
CN102713148A (zh) 2012-10-03
WO2011020484A1 (fr) 2011-02-24
RU2505677C2 (ru) 2014-01-27
US8708421B2 (en) 2014-04-29
RU2012105576A (ru) 2013-08-27
AU2009351410A1 (en) 2012-03-08
AU2009351410B2 (en) 2014-10-09
US20120161493A1 (en) 2012-06-28

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