CN105179007B - A kind of fully-mechanized mining working inspection running device - Google Patents
A kind of fully-mechanized mining working inspection running device Download PDFInfo
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- 238000007689 inspection Methods 0.000 title claims abstract description 40
- 238000005065 mining Methods 0.000 title claims abstract description 31
- 238000009434 installation Methods 0.000 claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
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- 238000001931 thermography Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 11
- 239000003245 coal Substances 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 4
- 238000011160 research Methods 0.000 abstract description 4
- 239000011435 rock Substances 0.000 abstract description 3
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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
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
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Abstract
一种综采工作面巡检行走装置，包括回转驱动系统，所述回转驱动系统设置在所述综采工作面刮板运输机的电缆溜槽的外侧，包括驱动部分、回转部分、中部槽部分、控制部分和设备平台部分，所述驱动部分设置在靠近所述刮板运输机的机头一侧，所述回转部分设置在靠近所述刮板运输机的机尾一侧。本发明为综采工作面提供了一种可靠、便捷的巡检装置和巡检方法；对于视频监控工作面，整个工作面仅需安装一台高清摄像仪，就能够实现对整个工作面的快速巡检，极大降低了投资成本；设置有设备平台，可方便的搭载各种设备，对于工作面找直、煤岩分解、煤矸识别等科学研究，为传感器的安装提供了便利，方便可靠易维护。
A fully-mechanized mining face inspection walking device, including a rotary drive system, the rotary drive system is arranged on the outside of the cable chute of the fully-mechanized mining face scraper conveyor, including a driving part, a rotary part, a middle trough part, a control part and the equipment platform part, the driving part is arranged on the side close to the nose of the scraper conveyor, and the turning part is arranged on the side near the tail of the scraper conveyor. The present invention provides a reliable and convenient inspection device and inspection method for fully mechanized mining working faces; for video monitoring working faces, only one high-definition camera needs to be installed on the entire working face to realize rapid monitoring of the entire working face. Inspection, which greatly reduces the investment cost; equipped with an equipment platform, which can be conveniently equipped with various equipment, for scientific research such as straightening of the working face, coal rock decomposition, coal gangue identification, etc., it provides convenience for the installation of the sensor, which is convenient and reliable easy to maintain.
Description
技术领域technical field
本发明涉及一种井下工作面的巡检行走装置，尤其涉及一种用于综采工作面采煤机和轨道运输系统的巡检行走装置。The invention relates to an inspection traveling device for an underground working face, in particular to an inspection traveling device for a shearer and a rail transportation system of a fully mechanized mining face.
背景技术Background technique
少人化、无人化综采工作面的技术研究和应用是煤炭行业的一项重点科技任务，也是煤炭企业进行安全、高产高效开采的必由之路。目前，液压支架自动跟机技术、采煤机记忆截割技术、“三机”集控技术等已得到广泛应用，并取得理想效果。但是，随着煤炭开采技术的不断发展进步，对更高水平的自动化技术如工作面自动找直技术、煤岩分界技术、煤矸识别技术、视频拼接技术等越来越迫切。然而，现有工作面空间狭小，缺乏一个独立的能够自由运行的监测平台来支撑上述技术的研究和应用，从一定程度上阻碍了技术进步。同时，这些技术所涉及传感器种类繁多且价格昂贵，如高精度惯性导航传感器、激光雷达传感器、红外热成像传感器、高清摄像仪等，狭小的工作面工作空间使各传感器的布置和维护都异常困难。The technical research and application of less-manned and unmanned fully-mechanized mining face is a key scientific and technological task in the coal industry, and it is also the only way for coal enterprises to carry out safe, high-yield and efficient mining. At present, hydraulic support automatic follow-up technology, shearer memory cutting technology, "three machines" centralized control technology, etc. have been widely used and achieved ideal results. However, with the continuous development and progress of coal mining technology, higher levels of automation technologies such as automatic face alignment technology, coal-rock boundary technology, coal gangue recognition technology, video splicing technology, etc. are becoming more and more urgent. However, the existing working face is limited in space and lacks an independent monitoring platform that can run freely to support the research and application of the above technologies, which hinders technological progress to a certain extent. At the same time, these technologies involve a wide variety of expensive sensors, such as high-precision inertial navigation sensors, lidar sensors, infrared thermal imaging sensors, high-definition cameras, etc. The narrow working space makes the arrangement and maintenance of each sensor extremely difficult .
在现有技术中，CN102733856A公开了一种斜巷胶带运输自动巡检系统，其包括监控计算机、光端机、中继器、负载器、轨道、移动装置、全方位网络摄像机、无线发射装置以及检测传感器；全方位网络摄像机放置在移动装置内；移动装置设置在轨道上并能在轨道上来回运行；监控计算机与光端机通过光纤连接；光端机与中继器、中继器与中继器、中继器与负载器之间通过漏缆连接；全方位网络摄像机与无线发射装置连接；检测传感器与无线发射装无线连接。CN102720533A公开了一种皮带运输机无线视频巡检装置，包括用于实时采集皮带运输机工作状态的摄像机以及用于对摄像机采集的信息进行显示的显示器，还包括用于安装摄像机的固定机构、用于使摄像机沿皮带往复运动的操作机构以及用于控制操作机构进行动作的变频控制器；固定机构设置在操作机构上，操作机构根据变频控制器的指令通过驱动机构进行动作。In the prior art, CN102733856A discloses an automatic inspection system for tape transportation in inclined lanes, which includes a monitoring computer, an optical transceiver, a repeater, a loader, a track, a mobile device, an omnidirectional network camera, a wireless transmitting device and a detection sensor ;An all-round network camera is placed in the mobile device; the mobile device is set on the track and can run back and forth on the track; the monitoring computer and the optical transceiver are connected through optical fibers; the optical transceiver and the repeater, the repeater and the repeater, and the repeater It is connected with the load device through a leaky cable; the omnidirectional network camera is connected with the wireless transmitter; the detection sensor is connected with the wireless transmitter wirelessly. CN102720533A discloses a wireless video inspection device for a belt conveyor, which includes a camera for real-time acquisition of the working status of the belt conveyor and a display for displaying the information collected by the camera, and also includes a fixing mechanism for installing the camera, and a The operating mechanism for the camera to reciprocate along the belt and the frequency conversion controller for controlling the operation of the operating mechanism; the fixing mechanism is set on the operating mechanism, and the operating mechanism operates through the driving mechanism according to the instructions of the frequency conversion controller.
但上述现有技术涉及的巡检装置都是应用于电缆隧道或胶带机巷道，均不适用于综采工作面应用。现有的综采工作面视频监测解决方案是在整个工作面布置足够多的摄像仪，投资大、成本高、尤其维护工作量巨大，本发明中的巡检行走机构能够较好解决这一问题。However, the inspection devices involved in the above-mentioned prior art are all used in cable tunnels or belt conveyor roadways, and are not suitable for fully mechanized mining face applications. The existing video monitoring solution for the fully mechanized mining face is to arrange enough cameras on the entire working face, which requires a large investment, high cost, and especially a huge maintenance workload. The inspection walking mechanism in the present invention can better solve this problem .
发明内容Contents of the invention
为解决上述问题，本发明提出了一种工作面巡检行走装置，在现有工作面溜槽侧面安装固定一套回转驱动系统，作为各传感器的安装平台，使其独立于工作面其他设备自由运行，具备巡检模式和跟机模式两种工作模式。巡检模式下，设备平台能够以不高于60m/min的速度自由运行；跟机模式下，设备平台能够同采煤机速度一致，同步运行。两种工作模式，能够满足上述各传感器的不同应用需求。In order to solve the above problems, the present invention proposes a walking device for patrol inspection on the working face. A set of rotary drive system is installed and fixed on the side of the chute on the existing working face as the installation platform for each sensor, so that it can run freely independently of other equipment on the working face. , with two working modes: inspection mode and follow-up mode. In the inspection mode, the equipment platform can run freely at a speed not higher than 60m/min; in the follow-up mode, the equipment platform can run at the same speed as the shearer and run synchronously. Two working modes can meet the different application requirements of the above-mentioned sensors.
一种综采工作面巡检行走装置，包括回转驱动系统，所述回转驱动系统设置在所述综采工作面刮板运输机的电缆溜槽的外侧，包括驱动部分、回转部分、中部槽部分、控制部分和设备平台，所述驱动部分设置在靠近所述刮板运输机的机头一侧，所述回转部分设置在靠近所述刮板运输机的机尾一侧。A fully-mechanized mining face inspection walking device, including a rotary drive system, the rotary drive system is arranged on the outside of the cable chute of the fully-mechanized mining face scraper conveyor, including a driving part, a rotary part, a middle trough part, a control part and the equipment platform, the driving part is arranged on the side close to the nose of the scraper conveyor, and the turning part is arranged on the side near the tail of the scraper conveyor.
优选还包括第二驱动部分，所述第二驱动部分设置在靠近所述刮板运输机的机尾一侧。Preferably, a second driving part is also included, and the second driving part is arranged on the side close to the tail of the scraper conveyor.
优选所述驱动部分包括驱动电机、减速器和回转链轮，所述驱动电机、减速器和回转链轮设置在驱动支架上。Preferably, the driving part includes a driving motor, a reducer and a rotating sprocket, and the driving motor, a reducer and a rotating sprocket are arranged on the driving bracket.
优选所述驱动电机同减速器之间安装有摩擦限矩联轴器，可设置其允许的最大扭矩，超出后则电机空转。当设备平台在某些意外情况下卡住不能正常行进时，可保证电机不会超载，保护系统安全。Preferably, a friction torque-limiting coupling is installed between the driving motor and the reducer, and the maximum allowable torque can be set, and the motor will run idly after the maximum torque is exceeded. When the equipment platform is stuck and cannot move normally under some unexpected circumstances, it can ensure that the motor will not be overloaded and the system will be protected.
优选所述中部槽部分包括驱动链条。Preferably said central trough portion comprises a drive chain.
优选所述中部槽部分通过安装架固定在所述采煤机电缆溜槽的外侧。Preferably, the middle trough part is fixed on the outside of the shearer cable chute by means of a mounting bracket.
优选所述中部槽部分上设置有设备平台。Preferably, an equipment platform is arranged on the middle tank part.
优选所述设备平台安装有大容量电池，可向各传感器供电；同时配备有wifi等无线传输模块，将传感器数据通过无线方式向外传输；Preferably, the device platform is equipped with a large-capacity battery, which can supply power to each sensor; at the same time, it is equipped with a wireless transmission module such as wifi, which transmits sensor data externally by wireless;
优选所述设备平台安装红外线发射器，运行过程中用于同安装于支架上的红外线接收器通讯，从而能够获取设备平台的位置；Preferably, the equipment platform is equipped with an infrared transmitter, which is used to communicate with the infrared receiver installed on the bracket during operation, so as to obtain the position of the equipment platform;
优选驱动电机加装速度或位置编码器，用于实时监测设备平台的运行速度；The drive motor is preferably equipped with a speed or position encoder for real-time monitoring of the running speed of the equipment platform;
优选所述控制部分包括变频调速控制系统，可设置综采工作面巡检行走装置工作于巡检模式或跟机模式。Preferably, the control part includes a frequency conversion speed regulation control system, which can set the inspection walking device of the fully mechanized mining face to work in the inspection mode or follow-up mode.
本发明为综采工作面提供了一种可靠、便捷的巡检装置和巡检方法；对于视频监控工作面，整个工作面仅需安装一台高清摄像仪，就能够实现对整个工作面的快速巡检，极大降低了投资成本；设置有设备平台，可方便的搭载各种设备，对于工作面找直、煤岩分解、煤矸识别等科学研究，为传感器的安装提供了便利，方便可靠易维护。The present invention provides a reliable and convenient inspection device and inspection method for fully mechanized mining working faces; for video monitoring working faces, only one high-definition camera needs to be installed on the entire working face to realize rapid monitoring of the entire working face. Inspection, which greatly reduces the investment cost; equipped with an equipment platform, which can be conveniently equipped with various equipment, for scientific research such as straightening of the working face, coal rock decomposition, coal gangue identification, etc., it provides convenience for the installation of sensors, which is convenient and reliable easy to maintain.
附图说明Description of drawings
附图1为本发明所述综采工作面巡检行走装置的一个实施例的结构布置示意图；Accompanying drawing 1 is the structural layout schematic diagram of an embodiment of the patrol walking device of fully mechanized mining face of the present invention;
附图2为本发明所述综采工作面巡检行走装置的另一个实施例的结构布置示意图；Accompanying drawing 2 is the structural layout schematic diagram of another embodiment of the inspection walking device of the fully mechanized mining face of the present invention;
附图3为驱动部分(第二驱动部分)的结构示意图；Accompanying drawing 3 is the structural representation of driving part (second driving part);
附图4为中部槽部分安装及结构示意图。Accompanying drawing 4 is a schematic diagram of the installation and structure of the middle tank.
附图标记如下：The reference signs are as follows:
1-驱动部分；2-中部槽部分；3-回转部分；4-采煤机；1’-第二驱动部分；1-drive part; 2-middle trough part; 3-revolving part; 4-shearer; 1'-second drive part;
5-采煤机电缆槽；6-采煤机电缆夹板；7-巡检装置中部槽；8-驱动链条；9-中部槽固定架；5- Shearer cable trough; 6- Shearer cable splint; 7- Middle trough of inspection device; 8- Drive chain; 9- Middle trough fixing frame;
10-驱动电机；11-减速器；12-回转链轮；13-驱动支架。10-drive motor; 11-reducer; 12-revolving sprocket; 13-drive bracket.
具体实施方式Detailed ways
下面结合附图，对本发明所述的综采工作面巡检行走装置做进一步的详细描述。Below in conjunction with the accompanying drawings, a further detailed description will be given of the inspection walking device for fully mechanized mining face of the present invention.
一种综采工作面巡检行走装置，在现有工作面前部刮板运输机的电缆溜槽外侧，重新布置一套回转驱动系统，作为视频图像等装置的搭载平台。回转驱动系统包括驱动部分、回转部分、中部槽部分和控制部分，在一个实施例中，参见附图1，驱动部分设置在靠近刮板运输机的机头一侧，回转部分设置在靠近刮板运输机的机尾一侧，采用单机头驱动部，机尾作为从动回转，在另外的实施例中，参见附图2，当在较长的工作面使用时，需要在靠近刮板运输机的机尾一侧设置第二驱动部分，形成机头、机尾双驱动部，避免牵引驱动力不足。A fully-mechanized working face inspection walking device, in which a set of rotary drive system is re-arranged outside the cable chute of the scraper conveyor at the front of the existing working face, serves as a platform for carrying devices such as video images. The rotary driving system includes a driving part, a rotary part, a middle groove part and a control part. In one embodiment, referring to accompanying drawing 1, the driving part is arranged on the nose side of the scraper conveyor, and the rotary part is arranged near the scraper conveyor. On the tail side of the machine, a single head drive unit is used, and the tail is used as a driven rotation. In other embodiments, see Figure 2. When used on a long working surface, it needs to be close to the tail of the scraper conveyor. The second driving part is set on one side to form a double driving part of the nose and tail to avoid insufficient traction driving force.
驱动部分，包括第二驱动部分，其在结构上包括驱动电机、减速器和回转链轮，驱动电机、减速器和回转链轮设置在驱动支架上，参见附图3。通过电机控制器等控制设备控制驱动电机的启停和运转，并将驱动电机的旋转通过减速器输出到回转链轮上。驱动电机应加装速度或位置编码器，用于实时监测设备平台的运行速度，保证在跟机模式下其速度同采煤机速度的精确匹配，在本实施例中，驱动电机上加装的编码器是绝对值式编码器，通过电机的旋转获取设备平台位置。另外，在驱动电机同减速器之间加装摩擦限矩联轴器，可设置其允许的最大扭矩，超出后则电机空转，这样，当设备平台在某些意外情况下卡住不能正常行进时，保证电机不会超载，保护系统安全。The driving part includes a second driving part, which structurally includes a driving motor, a reducer and a rotary sprocket, and the driving motor, a reducer and a rotary sprocket are arranged on the drive bracket, see accompanying drawing 3 . The start, stop and operation of the drive motor are controlled by control equipment such as a motor controller, and the rotation of the drive motor is output to the rotary sprocket through the reducer. The drive motor should be equipped with a speed or position encoder for real-time monitoring of the running speed of the equipment platform to ensure that its speed matches the speed of the shearer accurately in the follow-up mode. In this embodiment, the drive motor is equipped with The encoder is an absolute encoder, which obtains the position of the equipment platform through the rotation of the motor. In addition, a friction torque-limiting coupling is installed between the driving motor and the reducer, and the maximum allowable torque can be set, and the motor will run idling after exceeding, so that when the equipment platform is stuck in some unexpected situations and cannot move normally , to ensure that the motor will not be overloaded, and to protect the safety of the system.
中部槽部分包括驱动链条、刮板和中部槽。中部槽为整体结构，驱动部分的回转链轮带动驱动链条和刮板在中部槽内运动，链条或者刮板上安装有设备平台，用于安装固定各传感器设备。参见附图4。可安装1个或2个设备平台，如果安装2个设备平台，则其安装间距优选为采煤机机身长度，主要用于在跟机模式下，同过视频或红外热成像仪等实时监控采煤机前后滚筒工作状态。设备平台内可加装惯性导航系统、高清摄像仪、红外热成像仪器、太赫兹发射器、雷达传感器、三维激光扫描传感器、瓦斯温湿度等安全类传感器等等仪器；设备平台同时安装有大容量电池，向各传感器供电；同时可配备wifi等无线传输模块，将传感器数据通过无线方式向外传输。设备平台可加装红外线发射器，运行过程中用于同安装于支架上的红外线接收器通讯，从而能够获取设备平台的位置。The middle tank part includes the drive chain, the scraper and the middle tank. The middle slot is an integral structure, and the rotary sprocket of the driving part drives the drive chain and the scraper to move in the middle slot. The chain or the scraper is equipped with an equipment platform for installing and fixing various sensor devices. See attached drawing 4. One or two equipment platforms can be installed. If two equipment platforms are installed, the installation distance is preferably the length of the shearer body. It is mainly used for real-time monitoring with video or infrared thermal imagers in the follow-up mode. The working status of the front and rear drums of the shearer. The equipment platform can be equipped with inertial navigation system, high-definition camera, infrared thermal imaging instrument, terahertz transmitter, radar sensor, three-dimensional laser scanning sensor, gas temperature and humidity and other safety sensors and other instruments; the equipment platform is also equipped with large capacity The battery supplies power to each sensor; at the same time, it can be equipped with a wireless transmission module such as wifi to transmit sensor data to the outside through wireless. The equipment platform can be equipped with an infrared transmitter, which is used to communicate with the infrared receiver installed on the bracket during operation, so as to obtain the position of the equipment platform.
中部槽部分根据现场工作面刮板运输机的节数和每节的长度进行设计，二者数量及长度一致，两个中部槽间有10mm间隙，防止支架推溜过程中发生干涉。中部槽刮板由圆钢加工，可以顺利通过中部槽间隙。装配好的中部槽部分通过安装架固定到采煤机电缆槽外侧。The middle trough is designed according to the number of sections and the length of each section of the scraper conveyor on the working face on site. The number and length of the two are consistent. There is a 10mm gap between the two middle troughs to prevent interference during the sliding process of the bracket. The scraper in the middle groove is processed by round steel, which can pass through the gap in the middle groove smoothly. The assembled middle trough part is fixed to the outside of the shearer cable trough through the installation frame.
回转部分包括回转链轮，驱动链条绕过回转链轮实现运转方向的改变，从而实现驱动链条的连续运动。The rotary part includes a rotary sprocket, and the drive chain bypasses the rotary sprocket to change the running direction, thereby realizing the continuous movement of the drive chain.
控制系统为变频调速控制系统，能够配置系统处于巡检模式和跟机模式，主要包括控制器、红外发射器、变频器、驱动电机减速器、电机编码器等。The control system is a frequency conversion speed control system, which can be configured in the inspection mode and follow-up mode, mainly including the controller, infrared transmitter, frequency converter, drive motor reducer, motor encoder, etc.
巡检模式时，通过控制器设定的速度值，以不高于60m/min的速度自由运行，可外接高清摄像仪等传感器，快速巡检整个工作面工况；跟机模式时，控制器通过监控中心实时采集采煤机的运行速度和方向，通过变频器、驱动电机控制设备平台同采煤机速度一致。In the inspection mode, the speed value set by the controller can run freely at a speed not higher than 60m/min, and external sensors such as high-definition cameras can be connected to quickly inspect the working conditions of the entire working face; in the follow-up mode, the controller The running speed and direction of the shearer are collected in real time through the monitoring center, and the equipment platform is controlled to be consistent with the speed of the shearer through the frequency converter and the drive motor.
红外线发射器安装在设备平台，在运行过程中用于同安装于支架上的红外线接收器通讯，从而使控制系统能够获取设备平台的位置；The infrared transmitter is installed on the equipment platform, and is used to communicate with the infrared receiver installed on the bracket during operation, so that the control system can obtain the position of the equipment platform;
为保证运行的安全，在原采煤机电缆槽机头及机尾部分装有硬件接近开关，平台装置运行至机头或机尾时，开关闭合，保证其在安全工作面范围内运行。In order to ensure the safety of operation, a hardware proximity switch is installed in the head and tail of the cable trough of the original shearer. When the platform device runs to the head or tail, the switch is closed to ensure that it operates within the safe working surface.
以上所述，仅为本发明专利较佳的具体实施方式，但本发明专利的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明专利揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明专利的保护范围之内。The above is only a preferred embodiment of the patent of the present invention, but the scope of protection of the patent of the present invention is not limited thereto. Anyone familiar with the technical field can easily think of All changes or replacements should be covered within the protection scope of the patent for the present invention.
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| CN112412536A (en) * | 2020-11-12 | 2021-02-26 | 临沂矿业集团菏泽煤电有限公司 | Stringing type mobile target inspection bearing system for fully mechanized mining face of mine and working method |
| CN113148547A (en) * | 2021-04-12 | 2021-07-23 | 北京龙软科技股份有限公司 | Combine and adopt working face double rope support formula to remove and patrol and examine load-bearing platform system |
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| CN201334922Y (en) * | 2009-01-08 | 2009-10-28 | 上海地铁盾构设备工程有限公司 | Car walking device with double rails and double beams |
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