CN113148547A - Combine and adopt working face double rope support formula to remove and patrol and examine load-bearing platform system - Google Patents
Combine and adopt working face double rope support formula to remove and patrol and examine load-bearing platform system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
- B65G19/18—Details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
- B65G19/18—Details
- B65G19/20—Traction chains, ropes, or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/44—Belt or chain tensioning arrangements
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
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Abstract
The invention provides a double-rope support type mobile inspection bearing platform system for a fully mechanized mining face, which comprises a double-ring-shaped steel wire rope, a double-steel-wire rope driving device, a mobile inspection bearing platform, a limit sensor, an anti-collision locking device, a double-rope pressing guide device, a double-steel-wire rope tail pulley sliding device, a steel wire rope tensioning device and a remote centralized control module; the mobile inspection bearing platform can carry an inspection robot or other inspection instrument equipment. The double-rope supporting type mobile patrol inspection bearing platform system is installed on a cable trough rear baffle of the fully mechanized mining face scraper conveyor, and the platform installation length is matched with the length of a chute in the middle of the fully mechanized mining face scraper conveyor. The intelligent coal mine safety production inspection robot has the advantages of simple structure, convenient system processing and installation and strong adaptability, can be used in complex environment places such as fully mechanized coal mining working faces and the like, and provides guarantee for stable movement of the intelligent coal mine safety production inspection robot or other inspection instruments and equipment and creation of an optimal inspection operation scene.
Description
Technical Field
The invention relates to the field of mobile inspection of a fully mechanized coal mining face, in particular to a double-rope support type mobile inspection bearing platform system of the fully mechanized coal mining face.
Background
The fully-mechanized mining face is used as a coal mine underground production moving site, has the characteristics of severe working environment (threatened by various disasters such as water, fire, gas, dust, a roof plate, rock burst and the like), variable geological conditions, limited space operation, more mechanical equipment, high temperature and humidity, inconvenience in personnel walking, moving working scene (the working face continuously moves along with the advancing of mining, and the personnel, equipment, facilities and the like also continuously move along with the advancing), and the like, and belongs to a region with multiple coal mine safety production accidents. In the coal face safety accident, most of reasons are caused by that the safety monitoring is not in place and the accident hidden danger is not eliminated. The real-time full-time airspace safety monitoring on the coal face plays a key role in safety production, even unmanned and few-person intelligent coal mining, and a mobile inspection system bearing an inspection robot or other inspection instruments can perform mobile inspection within the maximum range of the coal face according to requirements, and plays a decisive role in monitoring the full-time airspace intelligent mining safety production state of the face. The mobile inspection system carries an inspection robot or other inspection instruments and equipment to realize real-time monitoring on personnel, equipment, facilities, environment, geological conditions and the like on the coal mining working face, the data acquired by monitoring is fully utilized to guide intelligent safe production and remote centralized control, and the unmanned inspection and unmanned and few-person mining of the working face are realized to have important decision support effect.
In the prior art, a track-based mobile inspection system generally adopts two forms of a rigid track and a flexible steel wire rope track. One device is based on a small chute type rigid track inspection system, and has the defects that a gap is formed between chute sections, and the gap is increased along with the pushing and sliding action of a bracket, so that the inspection walking device frequently collides and vibrates when moving, and the monitoring precision of inspection equipment is influenced; the other device is a coal mine fully-mechanized mining working surface inspection robot, the technology is based on a flexible steel wire rope track inspection system, the inspection system is installed below a top beam of a hydraulic support and is a single-rope suspension type inspection system, the defect is that violent vibration is easily generated when the hydraulic support moves, and when the cable car carries the inspection robot to monitor two sides and passes through an auxiliary supporting steel wire rope device, one side of the cable car is influenced by the auxiliary supporting steel wire rope device.
The prior art is driven by a motor, so that potential safety hazards exist in explosion prevention; in addition, the problems of complex equipment processing and installation, the blocking influence on the pitch offset, the collision vibration and the monitoring vision field side and the like exist, and the stable movement of the inspection device (robot) is not facilitated.
Disclosure of Invention
In view of the problems, the double-ring-shaped steel wire rope, the limiting sensor, the anti-collision locking device, the double-pressing-rope guiding device and the steel wire rope tensioning device are adopted, so that the problems of inter-section offset, collision vibration, blocking influence on one side of a monitoring vision field and unstable operation of the inspection device are solved; the power adopts hydraulic pressure or safe voltage, has solved and has removed the system of patrolling and examining and adopt motor drive, arouse the problem of gas explosion easily.
According to one aspect of the invention, the double-rope support type mobile inspection bearing platform system for the fully mechanized mining face comprises a double-ring-shaped steel wire rope, a double-steel-wire-rope driving device, a mobile inspection bearing platform, a limit sensor, an anti-collision locking device, a double-rope pressing guide device, a double-steel-wire-rope tail pulley sliding device, a steel wire rope tensioning device and a remote centralized control module; double-rope supporting type mobile patrol inspection bearing platform system is installed on a cable trough rear baffle of a scraper conveyor positioned on a fully mechanized mining face, wherein:
the double annular steel wire ropes are two long annular steel wire ropes which are arranged between the double steel wire rope driving device and the double steel wire rope tail pulley sliding device and hung in parallel;
the double-steel-wire-rope driving device is arranged on a cable trough rear baffle of a first section middle chute moved by the head or the tail of the scraper conveyer; when the double steel wire rope driving device is arranged at the machine head and the machine tail of the scraper conveyer, the double steel wire rope tail wheel sliding device and the steel wire rope tensioning device are arranged at the machine head of the scraper conveyer;
the movable inspection bearing platform is arranged on an upper layer rope of the double-annular steel wire rope;
the limiting sensor and the anti-collision holding lock device are arranged on one side, provided with a rope, of the cable groove rear baffle of the same section of middle chute arranged on the double-steel-wire-rope driving device, or on the cable groove rear baffle of one section of middle chute, close to one side, provided with the rope, of the middle chute arranged on the double-steel-wire-rope tail-pulley sliding device;
the double-rope pressing guide device is arranged in the middle of a cable groove rear baffle plate of the middle chute between the double-steel-wire-rope driving device and the double-steel-wire-rope tail pulley sliding device;
the double-steel-wire-rope tail pulley sliding device is arranged on a cable groove rear baffle of a chute in the middle of the second section of the machine head or the machine tail of the scraper conveyor;
the steel wire rope tensioning device is arranged on a cable trough rear baffle of a chute in the middle of a first section of the head or tail of the scraper conveyer; the remote centralized control module is installed on the remote centralized control cabin centralized control host.
Optionally, the dual wire rope drive comprises a dual wire rope drive drum and further comprises one of a hydraulic motor and a servo motor.
Optionally, the mobile inspection bearing platform is mounted on the upper layer ropes of the double-annular steel wire rope by using the rope clamps, and the rope clamps are equidistantly arranged on the two upper layer ropes; the double-steel-wire-rope driving roller synchronously drives a double-annular steel wire rope, and the double-annular steel wire rope drives the mobile inspection bearing platform to move back and forth; the movable inspection bearing platform can be provided with inspection instruments.
Optionally, the number of the limit sensors is two, and the two limit sensors are installed between the double-steel-wire-rope driving device and the double-steel-wire-rope tail-wheel sliding device, wherein one limit sensor is installed at one end close to the double-steel-wire-rope driving device, and the other limit sensor is installed at one end close to the double-steel-wire-rope tail-wheel sliding device;
when the limit sensor touches the mobile inspection bearing platform, the limit sensor sends a touch signal to the remote centralized control module, the remote centralized control module receives the touch signal and then sends a stop instruction to the mobile inspection bearing platform, and the mobile inspection bearing platform stops moving after receiving the stop instruction; the remote centralized control module issues a reverse movement instruction to the mobile inspection bearing platform, and then the mobile inspection bearing platform moves reversely.
Optionally, the number of the anti-collision clasping devices is two, one anti-collision clasping device is installed between the double-steel-wire-rope driving device and the limit sensor close to one end of the double-steel-wire-rope driving device, and the other anti-collision clasping device is installed between the double-steel-wire-rope tail-wheel sliding device and the limit sensor close to one end of the double-steel-wire-rope tail-wheel sliding device;
when spacing sensor trouble, and the removal patrols and examines load-bearing platform and take place to touch and do not stop with spacing sensor, and the removal patrols and examines load-bearing platform and continue to move and take place to touch with crashproof armful lock when taking place to touch, and the removal patrols and examines load-bearing platform will be embraced by crashproof armful lock and can not continue to move, prevents to remove to patrol and examine load-bearing platform and two wire rope drive arrangement or two wire rope tailwheels slip device and take place to interfere the collision.
Optionally, the dual compression rope guide comprises a dual compression rope wheel and a dual guide wheel;
the double-pressure rope wheel is used for limiting the up-and-down displacement of the lower layer rope of the double-annular steel wire rope; the double guide wheels are used for limiting the displacement of the upper layer rope of the double-ring-shaped steel wire rope in the vertical and horizontal directions, and the double-ring-shaped steel wire rope and the scraper conveyor are ensured to be kept consistent in the vertical and horizontal states.
Optionally, the double-steel-wire-rope tail pulley slipping device comprises a double-steel-wire-rope tail pulley and a tail pulley sliding rail frame, and the double-steel-wire-rope tail pulley is used for sliding back and forth on the tail pulley sliding rail frame to tension or loosen the double-annular steel wire rope.
Optionally, the steel wire rope tensioning device comprises a tensioning steel wire rope, a tensioning hydraulic cylinder body, a hydraulic cylinder body fixing frame and one of a tension sensor and a pressure sensor, wherein the tension sensor is installed in the middle of the tensioning steel wire rope or the pressure sensor is placed in the tensioning hydraulic cylinder body.
Optionally, the remote centralized control module consists of a power module, a communication module, a data acquisition module, a hydraulic control module and a remote centralized control system; the data acquisition module is communicated with the communication module in a wireless or wired mode; the remote centralized control system, the communication module and the hydraulic control module are communicated in a wired mode;
the power module comprises a power supply and distribution system and a hydraulic power system, the power supply and distribution system is used for providing electric power for the fully mechanized working face double-rope support type mobile inspection bearing platform system, and the hydraulic power system is used for providing hydraulic power for the fully mechanized working face double-rope support type mobile inspection bearing platform system;
the communication module comprises a wired communication system and a wireless base station module; the wireless base station module and the data acquisition module communicate with each other in a wireless or wired mode; the wired communication system carries out bidirectional interactive communication with the remote centralized control system and the hydraulic control module through an industrial looped network or a private network;
the data acquisition module comprises an acquisition transmission module and an encoder, and is used for acquiring and transmitting related sensing data to realize the self-adaptive control and remote centralized control of the system;
the hydraulic control module comprises an electro-hydraulic control system, a controller and an electro-hydraulic reversing valve group.
Has the advantages that:
according to the fully mechanized mining face double-rope supporting type mobile inspection bearing platform system, the driving device and the tensioning device are driven by hydraulic pressure serving as power or a servo motor with safe voltage, explosion prevention is safe and reliable, and the system can be applied to complex scenes of fully mechanized mining faces of coal mines with any gas grade.
Adopt double annular wire rope to carry on the removal and patrol and examine load-bearing platform, the load-bearing platform is patrolled and examined in the removal, not only can let the removal patrol and examine the more steady operation of load-bearing platform, can also increase the removal and patrol and examine load-bearing platform's visual height to this has increased the removal and has patrolled and examined load-bearing platform's visual area, has solved the removal and has patrolled and examined load-bearing platform operation process vibration, and monitoring vision field one side has the problem that blocks the influence.
The adoption spacing sensor and anticollision embrace the lock ware, provide the guarantee for the safe and reliable operation that removes to patrol and examine load-bearing platform. The mobile patrol inspection bearing platform can be reliably and stably moved, the relative position of the working face where the mobile patrol inspection bearing platform is located is determined in real time, a proper patrol inspection robot or other patrol inspection instrument equipment is carried on the mobile patrol inspection bearing platform, the interference state of a coal roller, a side protection plate, a top plate and a coal wall of the working face can be monitored in an unmanned mode, the interference state of the coal roller, a side protection plate, a top plate and a coal wall of a scraper conveyor is achieved, the states of load, broken top side, pushing sliding of a pull frame, beveling feed and the like are achieved, and remote video and virtual visual guarantee is provided for safe and efficient production of an unmanned intelligent mining working face.
The distance between all sections of chutes is adjusted by adopting the steel wire rope tensioning device and adjusting the tension value of the tensioning steel wire rope, so that the problems that along with dynamic propulsion of a fully mechanized mining face, gaps can be generated among the chute sections in the process of pushing and sliding the pulling frame, along with propulsion of the fully mechanized mining face, the gaps are increased, collision and vibration are frequent when the inspection walking device moves, and the monitoring precision of inspection equipment is influenced are solved.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic side view of a combined mining face double-rope support type mobile inspection bearing platform system in accordance with a first embodiment of the present invention;
fig. 2 is a schematic top view illustrating a combined structure of a fully mechanized mining face double-rope supporting type mobile inspection bearing platform system according to a first embodiment of the present invention;
fig. 3 shows a schematic cross-sectional view of a double-pressure-rope guide device and a scraper conveyor of a fully mechanized mining face double-rope support type mobile inspection bearing platform system according to a first embodiment of the invention;
fig. 4 shows a schematic diagram of a logic principle of a remote centralized control module of the fully mechanized mining face double-rope support type mobile inspection bearing platform system according to the first embodiment of the invention.
Description of reference numerals: 1. a double annular wire rope; 2. a double wire rope drive device; 3. moving the polling bearing platform; 4. a limit sensor; 5. an anti-collision locking device; 6. a double compression rope guide; 7. a double-wire rope tail pulley sliding device; 8. a steel wire rope tensioning device; 9. a power module; 10. a communication module; 11. a data acquisition module; 12. a hydraulic control module; 13. a remote centralized control module; 14. the double steel wire ropes drive the roller; 15. a double wire rope tail pulley; 16. an encoder; 17. a hydraulic motor; 18. a servo motor; 19. double-pressure rope wheels; 20. double guide wheels; 21. a tailwheel slide rail frame; 22. tensioning the steel wire rope; 23. tensioning the hydraulic cylinder; 24. a hydraulic cylinder body fixing frame; 25. a tension sensor; 26. a pressure sensor; 27. an electro-hydraulic control system; 28. a controller; 29. an electro-hydraulic reversing valve bank; 30. a hydraulic power system; 31. a remote centralized control system; 32. a collection transmission module; 33. a power supply and distribution system; 34. a wired communication system; 35. a wireless base station module; 36. a cable trough tailgate; 37. connecting the mounting frame plate; 38. a middle chute.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In the related technology, a gap is formed between the chute sections, and the gap is increased along with the pushing and sliding action of the bracket, so that the frequent collision and vibration are caused when the inspection walking device moves, and the monitoring precision of inspection equipment is influenced; the single-rope suspension type inspection system is adopted, severe vibration is easily generated when the hydraulic support moves, and when the inspection robot carried by the cable car monitors two sides and passes through the auxiliary supporting steel wire rope device, one side of the cable car is influenced by the blocking of the auxiliary supporting steel wire rope device; the motor is used for driving, so that potential safety hazards exist in explosion prevention; in addition, the problems of complex equipment processing and installation, the blocking influence on the pitch offset, the collision vibration and the monitoring vision field side and the like exist, and the stable movement of the inspection device (robot) is not facilitated.
In view of the above, the double-rope supporting type mobile inspection bearing platform system for the fully mechanized mining face provided by the invention has the advantages that the driving device and the tensioning device are driven by hydraulic pressure serving as power or a servo motor with safe voltage, the explosion prevention is safe and reliable, and the system can be applied to complex scenes of the fully mechanized mining face of any gas grade coal mine. Adopt double annular wire rope to carry on the removal and patrol and examine load-bearing platform, the load-bearing platform is patrolled and examined in the removal, not only can let the removal patrol and examine the more steady operation of load-bearing platform, can also increase the removal and patrol and examine load-bearing platform's visual height to this has increased the removal and has patrolled and examined load-bearing platform's visual area, has solved the removal and has patrolled and examined load-bearing platform operation process vibration, and monitoring vision field one side has the problem that blocks the influence. The adoption spacing sensor and anticollision embrace the lock ware, provide the guarantee for the safe and reliable operation that removes to patrol and examine load-bearing platform. The mobile patrol inspection bearing platform can be reliably and stably moved, the relative position of the working face where the mobile patrol inspection bearing platform is located is determined in real time, a proper patrol inspection robot or other patrol inspection instrument equipment is carried on the mobile patrol inspection bearing platform, the interference state of a coal roller, a side protection plate, a top plate and a coal wall of the working face can be monitored in an unmanned mode, the interference state of the coal roller, a side protection plate, a top plate and a coal wall of a scraper conveyor is achieved, the states of load, broken top side, pushing sliding of a pull frame, beveling feed and the like are achieved, and remote video and virtual visual guarantee is provided for safe and efficient production of an unmanned intelligent mining working face. The distance between all sections of chutes is adjusted by adopting the steel wire rope tensioning device and adjusting the tension value of the tensioning steel wire rope, so that the problems that along with dynamic propulsion of a fully mechanized mining face, gaps can be generated among the chute sections in the process of pushing and sliding the pulling frame, along with propulsion of the fully mechanized mining face, the gaps are increased, collision and vibration are frequent when the inspection walking device moves, and the monitoring precision of inspection equipment is influenced are solved.
Example one
Referring to fig. 1, a schematic side view of a composite structure of a fully mechanized mining face double-rope support type mobile inspection bearing platform system is shown, and referring to fig. 2, a schematic top view of a composite structure of a fully mechanized mining face double-rope support type mobile inspection bearing platform system is shown, as shown in fig. 1 and fig. 2, a fully mechanized mining face double-rope support type mobile inspection bearing platform system comprises a double-ring-shaped steel wire rope 1, a double-steel wire rope driving device 2, a mobile inspection bearing platform 3, a limit sensor 4, an anti-collision locking device 5, a double-pressing rope guiding device 6, a double-steel wire rope tail pulley 15 sliding device 7, a steel wire rope tensioning device 8 and a remote centralized control module 13; the bearing platform system is patrolled and examined in removal of two rope support formulas and is installed on the cable groove backplate 36 of scraper conveyor who is located to combine to adopt the working face, wherein:
the double-ring-shaped steel wire rope 1 is two long ring-shaped steel wire ropes which are arranged between the double-steel-wire-rope driving device 2 and the double-steel-wire-rope tail wheel 15 sliding device 7 and hung in parallel; the double-ring-shaped steel wire rope 1 is made of steel wire ropes, and the diameter of each rope is selected according to the total weight of the mobile patrol inspection bearing platform 3 and a patrol inspection robot or other patrol inspection instrument equipment carried by the mobile patrol inspection bearing platform.
The double-steel-wire-rope driving device 2 is arranged on a cable trough rear baffle 36 of a first section middle chute 38 moved by the head or the tail of the scraper conveyer; when the double-steel-wire-rope driving device 2 is arranged at the head of the scraper conveyer, the sliding device 7 of the double-steel-wire-rope tail wheel 15 and the steel-wire-rope tensioning device 8 are arranged at the tail of the scraper conveyer, and when the double-steel-wire-rope driving device 2 is arranged at the head of the scraper conveyer, the sliding device 7 of the double-steel-wire-rope tail wheel 15 and the steel-wire-rope tensioning device 8 are arranged at the head of the scraper conveyer.
The movable inspection bearing platform 3 is arranged on an upper layer rope of the double-ring-shaped steel wire rope 1.
The limiting sensor 4 and the anti-collision locking device 5 are arranged on the side with a rope on the cable trough back baffle 36 of the middle chute 38 arranged on the same section of the double-steel-wire-rope driving device 2, or on the cable trough back baffle 36 of the middle chute 38 which is arranged on the sliding device 7 of the double-steel-wire-rope tail wheel 15 and is close to the side with the rope on the middle chute 38.
The double-rope pressing guide device 6 is arranged in the middle of a cable trough rear baffle plate 36 of a middle chute 38 between the double-rope driving device 2 and the double-rope tail wheel 15 sliding device 7.
The double-wire-rope tail wheel 15 sliding device 7 is arranged on a cable trough rear baffle 36 of a chute 38 in the middle of a second section of the head or tail of the scraper conveyor.
The steel wire rope tensioning device 8 is arranged on a cable trough rear baffle 36 of a first section middle chute 38 at the head or tail of the scraper conveyer; the remote centralized control module 13 is installed on the remote centralized control cabin centralized control host.
In the embodiment of the invention, a fixed double-rope support type mobile inspection bearing platform 3 is arranged on a cable trough rear baffle 36 of the existing fully mechanized mining face scraper conveyor, an inspection robot or other inspection instrument equipment can be carried on the bearing platform, and the bearing platform and the fully mechanized mining face equipment can run cooperatively or independently. 1 to 2 bearing platforms can be arranged, and when the bearing platforms are operated cooperatively, the distance between the bearing platforms and the front or rear supports of the front or rear roller of the coal machine is 2 to 4, and the working state parameters and the environmental information of the coal machine, the scraper conveyor and the hydraulic support can be detected; the coal machine can independently operate during the shutdown period, and mainly detects the non-working state parameters and the environmental information of the working face.
According to the fully mechanized mining face double-rope supporting type mobile inspection bearing platform system, the driving device and the tensioning device are driven by the servo motor 18 which uses hydraulic pressure as power or uses safe voltage, explosion prevention is safe and reliable, and the system can be applied to complex scenes of fully mechanized mining faces of coal mines of any gas grade.
Adopt 1 double-ring steel wire rope to carry on the removal and patrol and examine load-bearing platform 3, the removal is patrolled and examined load-bearing platform 3 and is arranged in 1 top of double-ring steel wire rope, not only can let the removal patrol and examine the more steady operation of load-bearing platform 3, can also increase the removal and patrol and examine the visual height of load-bearing platform 3 to this has increased the removal and has patrolled and examined the visual area of load-bearing platform 3, has solved the removal and has patrolled and examined the vibration of load-bearing platform 3 operation process, and monitoring vision field one side has the problem that blocks the influence.
Adopt spacing sensor 4 and crashproof locking device 5, provide the guarantee for the safe and reliable operation that removes to patrol and examine load-bearing platform 3. Can let remove and patrol and examine load-bearing platform 3 and remove reliably steadily to confirm the relative position of its place working face in real time, patrol and examine load-bearing platform 3 and carry on suitable robot or other appearance equipment of patrolling and examining in the removal, can realize that the working face unmanned monitoring coal machine cylinder interferes the state with group's board, roof, coal wall, scraper conveyor load, the broken of group's top, the carriage that draws pushes away swift current, oblique cutting feed state etc. provide long-range video and virtual visual guarantee for unmanned intelligent mining working face safety, high-efficient production.
The distance between all sections of chutes is adjusted by adopting the steel wire rope tensioning device 8 and adjusting the tension value of the tensioning steel wire rope 22, so that the problems that along with the dynamic propulsion of the fully mechanized mining face, in the process of pushing and sliding the pull frame, gaps can be generated among the sections of the chutes, along with the propulsion of the fully mechanized mining face, the gaps are increased, the collision and vibration are frequent when the routing inspection walking device moves, and the monitoring precision of routing inspection equipment is influenced are solved.
Based on the fully mechanized coal mining face measurement robot device, the invention provides the following specific examples, and on the premise of no conflict, the examples can be combined at will to form a new fully mechanized coal mining face double-rope support type mobile inspection bearing platform system.
In an embodiment of the invention, the double rope drive 2 comprises a double rope drive drum 14 and further comprises one of a hydraulic motor 17 and a servo motor 18. The servo motor 18 adopts a safe voltage servo motor 18, the safe voltage is not more than 36V, the hydraulic pressure or the safe voltage is adopted to provide power for the double-steel-wire-rope driving device 2, the explosion prevention is safe and reliable, and the double-steel-wire-rope type coal mine fully-mechanized mining device can be applied to complex scenes of coal mine fully-mechanized mining working faces of any gas grade.
The double-steel-wire-rope driving roller 14 is made of a hard resin material, wherein the hard resin material can be nylon, the Rockwell hardness of the nylon is 90, and the dry Rockwell hardness of the nylon is 118; the resin can also be other resin with the Rockwell hardness of more than 90, and the hard resin material can prevent the generation of sparks due to friction during operation, further prevent the gas explosion in the coal mine fully-mechanized coal mining face and improve the safety performance of the coal mine fully-mechanized coal mining face.
In the embodiment of the invention, the mobile inspection bearing platform 3 is arranged on the upper layer ropes of the double-ring steel wire rope 1 by using the rope clamping devices, and the rope clamping devices are arranged on the two upper layer ropes at equal intervals; the quantity of card rope ware is 4, and two upper ropes equidistance set up 2 card rope ware, and the card rope ware is connected with wire rope smoothly, can pass through the leading wheel smoothly.
The bottom plate of the mobile inspection bearing platform 3 is higher than the upper edge distance of the rear baffle 36 of the cable trough of the middle chute 38, and the principle that the mobile inspection bearing platform does not interfere with the folded coal cable in a dragging mode. The double-steel-wire-rope driving roller 14 synchronously drives the double-annular steel wire rope 1, and the double-annular steel wire rope 1 drives the mobile inspection bearing platform 3 to move back and forth; the mobile patrol inspection bearing platform 3 is provided with patrol inspection instrument equipment, which can be a patrol inspection robot or other patrol inspection instrument equipment, replaces manpower to patrol and inspect personnel, equipment, a coal seam top and bottom plate, a coal wall, an environment and the like of a fully mechanized mining face, and provides a monitoring data acquisition supporting platform for straightening of the working face equipment, coal rock boundary, coal and gangue identification, cooperative operation and the like.
In the embodiment of the invention, the number of the limit sensors 4 is two, two limit sensors 4 are installed between the double-steel-wire-rope driving device 2 and the double-steel-wire-rope tail-wheel 15 sliding device 7, wherein one limit sensor 4 is installed at one end close to the double-steel-wire-rope driving device 2, and the other limit sensor 4 is installed at one end close to the double-steel-wire-rope tail-wheel 15 sliding device 7.
When the limit sensor 4 touches the mobile inspection bearing platform 3, the limit sensor 4 sends a touch signal to the remote centralized control module 13, the remote centralized control module 13 receives the touch signal and then issues a stop instruction to the mobile inspection bearing platform 3, and the mobile inspection bearing platform 3 stops moving after receiving the stop instruction; the remote centralized control module 13 issues a reverse movement instruction to the mobile inspection bearing platform 3, and then the mobile inspection bearing platform 3 moves reversely.
In the embodiment of the invention, the number of the anti-collision locking devices 5 is two, one anti-collision locking device 5 is arranged between the double-steel-wire-rope driving device 2 and the limit sensor 4 close to one end of the double-steel-wire-rope driving device 2, and the other anti-collision locking device 5 is arranged between the double-steel-wire-rope tail wheel 15 sliding device 7 and the limit sensor 4 close to one end of the double-steel-wire-rope tail wheel 15 sliding device 7.
When spacing sensor 4 trouble, and the removal is patrolled and examined bearing platform 3 and is taking place to touch and not stop with spacing sensor 4, when the removal is patrolled and examined bearing platform 3 and continue to move and take place to touch with crashproof locking device 5, the removal is patrolled and examined bearing platform 3 and will be embraced the locking device 5 by crashproof and can not continue to move, prevents to remove to patrol and examine bearing platform 3 and two wire rope drive arrangement 2 or two wire rope tailwheels 15 displacement device 7 and take place to interfere the collision, provides the guarantee for the safe and reliable operation that the bearing platform 3 was patrolled and examined in the removal.
In the embodiment of the invention, referring to fig. 3, a cross-sectional view of the double-pressure rope guide device 6 and the scraper conveyor of the fully mechanized mining face double-rope support type mobile inspection bearing platform system is shown, as shown in fig. 3, the double-pressure rope guide device 6 comprises a double-pressure rope wheel 19 and a double-guide wheel 20; the twin pressure rope guide 6 is connected to the central chute 38 by a connecting mounting frame plate 37.
The double-pressure rope wheel 19 is used for limiting the up-and-down displacement of the lower layer rope of the double-ring steel wire rope 1; the double guide wheels 20 are used for limiting the displacement of the upper layer rope of the double-ring steel wire rope 1 in the vertical and horizontal directions, and ensuring that the double-ring steel wire rope 1 and the scraper conveyer are kept consistent in the vertical and horizontal states; the double pressure rope wheel 19 and the double guide wheels 20 are made of hard resin materials, the hard resin materials can be nylon, the Rockwell hardness of the nylon is 90, and the dry Rockwell hardness is 118; the resin can also be other resins with the Rockwell hardness of more than 90, and the hard resin material can prevent the generation of sparks due to friction during operation, further prevent the gas explosion in the coal mine fully-mechanized coal mining face, improve the safety performance of the coal mine fully-mechanized coal mining face, and can be applied to complex scenes of the coal mine fully-mechanized coal mining face with any gas grade.
In the embodiment of the invention, the double-steel-wire-rope tail pulley 15 sliding device 7 comprises a double-steel-wire-rope tail pulley 15 and a tail pulley sliding rail frame 21, and the double-steel-wire-rope tail pulley 15 is used for sliding back and forth on the tail pulley sliding rail frame 21 to tension or loosen the double-annular steel wire rope 1. The double-steel-wire-rope tail pulley 15 is made of a hard resin material, wherein the hard resin material can be nylon, the Rockwell hardness of the nylon is 90, and the dry Rockwell hardness of the nylon is 118; the resin can also be other resins with the Rockwell hardness of more than 90, and the hard resin material can prevent the generation of sparks due to friction during operation, further prevent the gas explosion in the coal mine fully-mechanized coal mining face, improve the safety performance of the coal mine fully-mechanized coal mining face, and can be applied to complex scenes of the coal mine fully-mechanized coal mining face with any gas grade.
In the embodiment of the present invention, the steel wire rope tensioning device 8 includes a tensioning steel wire rope 22, a tensioning hydraulic cylinder 23, a hydraulic cylinder mount 24, and one of a tension sensor 25 and a pressure sensor 26, where the tension sensor 25 is installed in the middle of the tensioning steel wire rope 22 or the pressure sensor 26 is placed in the tensioning hydraulic cylinder 23.
Under the condition that the sensor adopts the tension sensor 25, when the working face scraper conveyor is in a linear state, the tension steel wire rope 22 is loosened, the tension of the tension steel wire rope 22 sensed by the tension sensor 25 is reduced, the sensed data is transmitted to the remote centralized control module 13, a tension instruction is issued after calculation, analysis and judgment, and the cylinder body plunger is contracted to maintain the tension steel wire rope 22 at a constant tension value, so that the tension degree of the double-ring-shaped steel wire rope 1 is ensured. When the working face scraper conveyor is in a bent state, the tension steel wire rope 22 is tensioned, the tension of the tension steel wire rope 22 sensed by the tension sensor 25 is increased, the sensed data is transmitted to the remote centralized control module 13, a loosening instruction is issued after calculation, analysis and judgment, and the cylinder body plunger extends to maintain the tension steel wire rope 22 at a basically constant tension value, so that the tension degree of the double-ring-shaped steel wire rope 1 is ensured.
Under the condition that the pressure sensor 26 is adopted as the sensor, when the working face scraper conveyor is in a linear state, the tensioning steel wire rope 22 is loosened, the pressure of the tensioning hydraulic cylinder 23 sensed by the pressure sensor 26 is reduced, the sensed data is transmitted to the remote centralized control module 13, a tensioning instruction is issued after calculation, analysis and judgment, and the amount of liquid supplied by the tensioning hydraulic cylinder 23 is reduced, so that the tensioning degree of the double-ring-shaped steel wire rope 1 is ensured. When the working face scraper conveyor is in a bending state, the tensioning steel wire rope 22 is tensioned, the pressure of the tensioning hydraulic cylinder body 23 sensed by the pressure sensor 26 is increased, the sensed data is transmitted to the remote centralized control module 13, a loosening instruction is issued after calculation, analysis and judgment are carried out, and the tensioning hydraulic cylinder body 23 is increased in liquid supply, so that the tensioning degree of the double-ring-shaped steel wire rope 1 is ensured.
Along with the dynamic propulsion of the fully mechanized mining face, in the process of pushing the sliding and pulling frame, gaps can be generated among the chute sections, and along with the propulsion of the fully mechanized mining face, the gaps can be increased.
In the embodiment of the invention, referring to fig. 4, a schematic diagram of a logic principle of a remote centralized control module 13 of the fully mechanized mining face double-rope support type mobile inspection bearing platform system is shown, and as shown in fig. 4, the remote centralized control module 13 is composed of a power module 9, a communication module 10, a data acquisition module 11, a hydraulic control module 12 and a remote centralized control system 31; the data acquisition module 11 communicates with the communication module 10 in a wireless or wired manner; the remote centralized control system 31, the communication module 10 and the hydraulic control module 12 are communicated in a wired mode.
The power module 9 comprises a power supply and distribution system 33 and a hydraulic power system 30, wherein the power supply and distribution system 33 is used for providing electric power for the fully mechanized working face double-rope support type mobile inspection bearing platform system, and the hydraulic power system 30 is used for providing hydraulic power for the fully mechanized working face double-rope support type mobile inspection bearing platform system; the power supply and distribution system 33 is electrically powered from a fully mechanized mining face power supply system, and the hydraulic power system 30 is hydraulically powered from a fully mechanized mining face hydraulic support liquid supply system.
The communication module 10 comprises a wired communication system 34 and a wireless base station module 35; the wireless base station module 35 communicates with the data acquisition module 11 in a wireless or wired manner; the wired communication system 34 performs bidirectional interactive communication with the remote centralized control system 31 and the hydraulic control module 12 through an industrial ring network or a private network.
The data acquisition module 11 comprises an acquisition transmission module 32 and an encoder 16, and the data acquisition module 11 is used for acquiring and transmitting the related sensing data, so as to realize the self-adaptive control and the remote centralized control of the system.
The hydraulic control module 12 comprises an electro-hydraulic control system 27, a controller 28, an electro-hydraulic reversing valve group 29 and a hydraulic power system 30 of the fully mechanized mining face, and the electro-hydraulic reversing valve group 29 is used for respectively providing hydraulic power for the hydraulic motor 17 and the tensioning hydraulic cylinder body 23; the electro-hydraulic control system 27 utilizes a control command sent by the remote centralized control system 31 through the communication module 10 to the electro-hydraulic control system 27, and then the command is fed back to the controller 28 and the electro-hydraulic reversing valve group 29, so that the hydraulic motor 17 and the tensioning hydraulic cylinder 23 are controlled to work respectively; if the servo motor 18 is adopted, the power module 9 and the remote centralized control system 31 directly supply power and give commands to control the operation of the servo motor remotely or locally.
The remote centralized control module 13 can realize data interaction between the gateway centralized control center and the ground dispatching room remote centralized control system 31, the data acquisition module 11 and the hydraulic control module 12 through the wired communication system 34, and finally realize remote video and virtual visual manual intervention + automatic operation of the double-rope support type mobile inspection bearing platform system.
It should be understood that the description of the present invention, while indicating preferred embodiments of the present invention, may admit to other equally effective embodiments. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The fully mechanized coal mining face double-rope support type mobile inspection bearing platform system provided by the invention is introduced in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. The utility model provides a combine and adopt two rope support formula of working face and remove and patrol and examine load-bearing platform system which characterized in that: the device comprises a double-annular steel wire rope (1), a double-steel wire rope driving device (2), a mobile inspection bearing platform (3), a limit sensor (4), an anti-collision locking device (5), a double-pressure rope guiding device (6), a double-steel wire rope tail wheel sliding device (7), a steel wire rope tensioning device (8) and a remote centralized control module (13); the double-rope supporting type mobile inspection bearing platform system is arranged on a cable trough rear baffle (36) of a scraper conveyor on the fully mechanized mining face;
the double annular steel wire ropes (1) are two long annular steel wire ropes which are arranged between the double steel wire rope driving device (2) and the double steel wire rope tail pulley sliding device (7) and hung in parallel;
the double-steel-wire-rope driving device (2) is arranged on a cable trough rear baffle (36) of a first middle chute (38) moved by the head or the tail of the scraper conveyor; when the double-steel-wire-rope driving device (2) is arranged at the head of the scraper conveyor, the double-steel-wire-rope tail wheel sliding device (7) and the steel-wire-rope tensioning device (8) are arranged at the tail of the scraper conveyor, and when the double-steel-wire-rope driving device (2) is arranged at the head of the scraper conveyor, the double-steel-wire-rope tail wheel sliding device (7) and the steel-wire-rope tensioning device (8) are arranged at the head of the scraper conveyor;
the mobile inspection bearing platform (3) is arranged on an upper layer rope of the double-annular steel wire rope (1);
the limiting sensor (4) and the anti-collision locking device (5) are arranged on one side, with a rope, of the cable groove rear baffle (36) of the middle chute (38) on the same section, which is arranged on the double-steel-wire-rope driving device (2), or on the cable groove rear baffle (36) of the middle chute (38), which is adjacent to one side, with a rope, of the middle chute (38) on which the double-steel-wire-rope tail-wheel sliding device (7) is arranged;
the double-rope pressing guide device (6) is arranged in the middle of the cable groove rear baffle (36) of the middle chute (38) between the double-steel-rope driving device (2) and the double-steel-rope tail pulley sliding device (7);
the double-steel-wire-rope tail wheel sliding device (7) is arranged on the cable groove rear baffle (36) of the middle chute (38) at the head or the second section of the scraper conveyor;
the steel wire rope tensioning device (8) is arranged on a cable trough rear baffle (36) of the middle chute (38) at the first section of the head or tail of the scraper conveyor; the remote centralized control module (13) is installed on the remote centralized control cabin centralized control host.
2. The fully mechanized mining face double-rope supporting type mobile inspection bearing platform system according to claim 1, which is characterized in that: the double-wire-rope driving device (2) comprises a double-wire-rope driving roller (14) and further comprises one of a hydraulic motor (17) and a servo motor (18).
3. The fully mechanized mining face double-rope supporting type mobile inspection bearing platform system according to claim 2, wherein: the mobile inspection bearing platform (3) is arranged on the upper layer ropes of the double-ring-shaped steel wire rope (1) by using rope clamps, and the rope clamps are arranged on the two upper layer ropes at equal intervals; the double-ring-shaped steel wire rope (1) is synchronously driven by the double-steel-wire-rope driving roller (14), and the double-ring-shaped steel wire rope (1) drives the mobile inspection bearing platform (3) to move back and forth; the mobile inspection bearing platform (3) can be provided with inspection instruments.
4. The fully mechanized mining face double-rope supporting type mobile inspection bearing platform system according to claim 1, which is characterized in that: the number of the limit sensors (4) is two, the two limit sensors (4) are arranged between the double-steel-wire-rope driving device (2) and the double-steel-wire-rope tail-wheel sliding device (7), one limit sensor (4) is arranged at one end close to the double-steel-wire-rope driving device (2), and the other limit sensor (4) is arranged at one end close to the double-steel-wire-rope tail-wheel sliding device (7);
when the limit sensor (4) touches the mobile inspection bearing platform (3), the limit sensor (4) sends a touch signal to the remote centralized control module (13), the remote centralized control module (13) receives the touch signal and then issues a stop instruction to the mobile inspection bearing platform (3), and the mobile inspection bearing platform (3) stops moving after receiving the stop instruction; the remote centralized control module (13) issues a reverse movement instruction to the mobile patrol inspection bearing platform (3), and then the mobile patrol inspection bearing platform (3) moves reversely.
5. The fully mechanized mining face double-rope supporting type mobile inspection bearing platform method according to claim 4, characterized in that: the number of the anti-collision locking devices (5) is two, one anti-collision locking device (5) is arranged between the double-steel-wire-rope driving device (2) and the limit sensor (4) close to one end of the double-steel-wire-rope driving device (2), and the other anti-collision locking device (5) is arranged between the double-steel-wire-rope tail-pulley sliding device (7) and the limit sensor (4) close to one end of the double-steel-wire-rope tail-pulley sliding device (7);
when spacing sensor (4) trouble, just remove patrol and examine load-bearing platform (3) with spacing sensor (4) take place to touch and do not stop, remove patrol and examine load-bearing platform (3) continue to remove with when anticollision armful lock ware (5) takes place to touch, remove patrol and examine load-bearing platform (3) will be embraced by anticollision armful lock ware (5) can not continue to remove, prevent remove patrol and examine load-bearing platform (3) with two wire rope drive arrangement (2) or two wire rope tailwheels slip device (7) and take place to interfere the collision.
6. The fully mechanized mining face double-rope supporting type mobile inspection bearing platform system according to claim 1, which is characterized in that: the double-pressure rope guide device (6) comprises a double-pressure rope wheel (19) and a double guide wheel (20);
the double-pressure rope wheel (19) is used for limiting the up-and-down displacement of the lower layer rope of the double-annular steel wire rope (1); the double guide wheels (20) are used for limiting the displacement of the upper layer rope of the double annular steel wire rope (1) in the vertical and horizontal directions, and the double annular steel wire rope (1) and the scraper conveyor are ensured to be consistent in the vertical and horizontal states.
7. The fully mechanized mining face double-rope supporting type mobile inspection bearing platform system according to claim 1, which is characterized in that: the double-steel-wire-rope tail wheel sliding device (7) comprises a double-steel-wire-rope tail wheel (15) and a tail wheel sliding rail frame (21), wherein the double-steel-wire-rope tail wheel (15) is used for sliding back and forth on the tail wheel sliding rail frame (21) to tension or loosen the double-annular steel wire rope (1).
8. The fully mechanized mining face double-rope supporting type mobile inspection bearing platform system according to claim 1, which is characterized in that: the steel wire rope tensioning device (8) comprises a tensioning steel wire rope (22), a tensioning hydraulic cylinder body (23), a hydraulic cylinder body fixing frame (24) and one of a tension sensor (25) and a pressure sensor (26), wherein the tension sensor (25) is installed in the middle of the tensioning steel wire rope (22) or the pressure sensor (26) is placed in the tensioning hydraulic cylinder body (23).
9. The fully mechanized mining face double-rope supporting type mobile inspection bearing platform system according to claim 1, which is characterized in that: the remote centralized control module (13) consists of a power module (9), a communication module (10), a data acquisition module (11), a hydraulic control module (12) and a remote centralized control system (31); the data acquisition module (11) is communicated with the communication module (10) in a wireless or wired mode; the remote centralized control system (31), the communication module (10) and the hydraulic control module (12) are communicated in a wired mode;
the power module (9) comprises a power supply and distribution system (33) and a hydraulic power system (30), the power supply and distribution system (33) is used for providing electric power for the fully mechanized working surface double-rope supporting type moving inspection bearing platform system, and the hydraulic power system (30) is used for providing hydraulic power for the fully mechanized working surface double-rope supporting type moving inspection bearing platform system;
the communication module (10) comprises a wired communication system (34) and a wireless base station module (35); the wireless base station module (35) and the data acquisition module (11) communicate with each other in a wireless or wired manner; the wired communication system (34) is in bidirectional interactive communication with the remote centralized control system (31) and the hydraulic control module (12) through an industrial looped network or a private network;
the data acquisition module (11) comprises an acquisition transmission module (32) and an encoder (16), and the data acquisition module (11) is used for acquiring and transmitting related perception data and realizing adaptive control and remote centralized control of the system;
the hydraulic control module (12) comprises an electro-hydraulic control system (27), a controller (28) and an electro-hydraulic reversing valve group (29).
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Cited By (1)
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| CN115122301A (en) * | 2022-09-01 | 2022-09-30 | 山西科达自控股份有限公司 | Mounting type inspection robot |
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