Method to adjust automatic control of plough level in plough systems of coal industry

FIELD: mining.

SUBSTANCE: in the proposed method for adjustment of automatic control of plough level in existing breaking faces for each plough stage they register depth of cutting and angle of longitudinal inclination produced as a difference angle between the inclination of the shield support frame bed roof slab and inclination of the face conveyor in direction of mining. In the calculation device they calculate variation of face height per plough stage so that in the calculation device with each position of the face conveyor corresponding to one plough stage they correlate face height as the plan height. At the same time in process of achievement of the corresponding position in the face with the shield support frame following the plough with a delay in time, they calculate actual height of the face on the basis of values taken by inclination sensors installed on the shield support frame and compare them with the plan height stored in the memory. The value of heights difference determined for the appropriate position in the face between the plan height and actual height during the following plough stages is taken into account in the sense of effect of self-training by the calculation device in process of setting of the angle of longitudinal inclination adjustment in the plough stage for achievement of the plan height of the face.

EFFECT: higher accuracy and reliability of plough control in a bed profile.

23 cl, 10 dwg

 

The invention relates to a method for adjusting automatic level control plane in a hydraulic shield support and have made it a guide plane of the plow face conveyer active Stopes in underground mining of coal, while the AFC, including allocated to it a plane, is arranged to change its position in the direction of development by relying on lining consisting of a control room management system swept by the Executive body, and through the management system swept Executive body is set the caster angle for the installation movement of the plow in the direction of the notches as a movement on the rise, motion to dive or neutral movement.

The problem with automatic control horizon plow grooves, as in the direction of development, and sewage extraction is, in particular, that, on the one hand, to obtain a sufficiently large width of the bottom space in order to ensure the passage of downhole equipment, such as, without collision between the plane and the cores shield roof support when promoting the plow past them, and on the other hand, to maintain as low as possible output of waste rock during mining operations, in accordance with these is to keep the mining operation horizon formation without capturing too much of the side of the breed. Essentially available before treatment notch data field on the layer thickness, the horizon soil layer or roof of the reservoir and the presence of saddles and/or depressions, as in the direction of development, and in the direction of movement of the plow are too inaccurate to base automated control of the plane and supports, including maintaining the required height of the face.

Equipped with cutters of the plane is determined by setting a constant height of cut and the relatively small depth of cut with the order of magnitude of about 60 mm, so that in contrast to cutting production, cutting height, at least during the course of the plane along the front of the sewage works, is not changeable. In plow notches system level control plane is arranged by means located between the face conveyor in the form of a stationary guide plane and attached to the skeleton shield lining of the control cylinder in the form of so-called management system swept by the Executive body. Thus, by means of a variable using the control system swept by the Executive body of the inclination of the face conveyor in the direction of development in addition to neutral in the a horizon management, downhole pipe and, thereby, sent it to the plane that is the same and during mining can be passed a motion to dive towards the development, in which the plane occupait in the blade by cutting slitting open his incisors into the soil layer, or the movement on the rise, in which the plane performs rising treatment notch.

In the framework of mining using the plow should be possible to keep a certain width of the bottom space, however this bottom width of the space is determined by the distance between the ceiling of the roof of the reservoir and the base runner of the corresponding frame panel lining in the area of the path of its movement. First of all, when changing the horizon of the soil layer or soft soil layer, which has a lower hardness than subject extraction of coal, it is important to observe the specified height of the face through constant monitoring and adjusting the level control of the plane.

If the soil layer is harder than to be stoping the reservoir, the level control of the plane is also possible according to the method of the plane of the boundary layer on the ground layer, wherein the solid ground layer adopts certain guiding function for the plane. Within known for this method using the prescribed level slitting open cutter plane of the sensor is determined, cut whether slitting open the chisel plow on the side of the rock, i.e. in the soil reservoir, or in a corner. This method is vulnerable, above all, by his devices, the private security since the corresponding sensor and related analyzing device is mounted in an extremely harsh environment in the plane or on the plane and are therefore subject to the relevant loads or defects. In addition, the mobility of a plane requires a power supply hardware through the battery and transmission of data by radio with a few located in the bottom transponders, with radioslave, primarily in the lower faces with a high content of ferromagnetic components downhole equipment, control is very difficult. In addition, this method also in his testimony burdened with errors or causes a corresponding time lag when possible required regulation, as more or less reliable indication of the cut plane of the material can be issued only after a few strokes of the plane, that is, after a few, usually after about five, advances past the skeleton of the shield supports.

Therefore, the basis of the invention is to develop a method specified in the beginning of the form in which all operating conditions of the existing stope is possible automation of the plane and supports, including obtaining certain width of the bottom space and/or maintain the current treatment for the HH on the horizon soil layer.

The solution to this problem should, including preferred options for implementation and improvements of the invention, the content of the claims, which set forth after this description.

For this purpose, the invention provides a method in which for each turn of the plow is logged depth of cut and the resulting as a differential angle between the inclination of the overlap of the roof of the formation of cores shield lining and slope of the AFC towards the development of the caster angle, and the resulting change in the height of the face in the calculation of the speed of the plane in the computing device is calculated so that at the computing device, each respective one more turn of the plow position the AFC in the bottom corresponds to the height of the face as the target height, and when reaching the appropriate position in the face as a plane with time delay skeleton shield lining based on registered mounted on the front panel supports the tilt sensor value is calculated the actual height of the face and compared with the stored planned height, and some for the corresponding position in the face value of the difference of heights between the target height and the actual height in terms of the effect of learning is taken into account by vychislitelnykhsistem when the task set for reaching the target height of the face of the caster angle to a plane at the turn of the plow.

The method steps according to the invention is based, primarily, from the fact that depending on the depth of cut of the plow with each course of the plane based on the set of caster angle is obtained changing the height of the face relative to the adopted unchanged or remaining the same and by lying on the roof of the seam overlap the top of formation of each frame shield lining fixed horizon roof of the reservoir. Set by caster angle dive plane, respectively, leads to an increase in the height of the slaughter, and the rise of the plane leads to a decrease in the height of the face. Thus, depending on the control system swept by the Executive body of the caster angle on the basis of the existing height of the face, can be calculated theoretically available after the execution progress of a plough target height of the face. However, due to the respectively prevailing operating conditions in industrial practice the planned height is not achieved. Moreover, it turns out, the smaller the actual height of the face, which according to the invention, while achieving the relevant provisions in the pit is defined as a plane with time delay skeleton shield lining. Calculation of the actual height is based on registered mounted on the frame of a shield to the ETUI sensors tilt values; however, registration is required quantities and the method of calculation of themselves are not the subject of invention.

In connection with the deviation between the target height and the actual height of the face with constant use, installed on the control system swept by the Executive body of the caster angle would not reach a given technique development height of the face, or would have reached only with a significant time delay. In this respect, according to the invention, respectively, subject to compliance with specified height leveling the difference of heights between the target height and the actual height is taken into account when installing the caster angle, in this case, for example, to achieve a certain elevation, subject to the specified height of the face through consisting of several turns of a plane cycle regulation of the caster angle is set to a value greater or smaller corresponding to the set value of the difference of heights in order, respectively, achieved the actual height of the face corresponded to the desired height. On the basis of the produced each time the course of the plow register values and calculation of changes in height and establishing feedback reception of the height of the slaughter at the same position in the mine installed a closed loop to regulate the deposits for level control of the plane. As computing device through continuous treatment notch continuously monitors and controls the conversion of the caster angle in actually occurring change of the height of the slaughter, guarantees that the effect of self-learning through stored at the computing device is capable of learning algorithms, so that the control correlates with right angles to the longitudinal tilt control system swept Executive body respectively actually achieved or achievable height of the face.

According to one example embodiment of the invention provides that on the basis set to achieve the desired height of the face by containing many passages of the plow control cycles of the caster angle is calculated resulting in the progress of a plough given the slope of the AFC towards the development and agree with the measured at each position in the mine per turn plow through installed on the downhole Assembly line tilt sensors the actual slope of the AFC, when installed deviations optional adjusts the current for the next stroke plane angle of longitudinal inclination. Due to this forced available in the checking of the actual height of the fence is on the next plane with time delay hull shield lining the time delay can be reduced, so it's accordingly a large loop. The fact that the slope of the AFC shall be registered immediately after each of the regulatory process regarding the caster angle and can be called as the first corrective value for the level control.

If according to one embodiment of the invention provides that the respectively specified computing device, the caster angle is correlated with the resulting on the progress of the plane the difference of the heights in the height of the face, and the computing device are stored identified under the effect of the self-study boundary angles of the longitudinal tilt range of reflection within which respectively applicable, including different angles of the longitudinal inclination not produce changes in the height in the height of the face, thus take into account the effect of having a greater hardness than the hardness of the coal of soil formation in the sense of denition of the boundary layer or the slave in the boundary layer of the plane. Because, despite installed on the dive angle of longitudinal inclination of the control system swept by the Executive body, the moves of the plane will not change the height of the slaughter, it is clear that the plane moves in contact with the soil layer, but the solid ground layer prevents the penetration of the article is UGA movement on the dive. Only when the caster angle exceeds a certain value as the upper limit, the movement of the immersion becomes so strong that the plane crashes into the soil layer. On the other hand, as the lower limit is fixed by the caster angle at which the plane starts to execute the movement on the rise. Located between the upper and lower limit of the caster angle range can be classified as the range of reflectivity, which changes the caster angle remain without influence on the height of the face as the soil layer does not allow changes in the level of the plow, and thus is plow a groove in the boundary layer, that is, the plow on the horizon formation. Based on the effect of learning computing device as the control system can identify the range of reflection.

Accordingly, according to one embodiment of the invention, for all cases in which the range of a plow in the boundary layer due to other operational effects should be abandoned, provided that the installation needed to achieve the desired height of the face, resulting in movement of the plane to climb or dive the plane of the caster angle is taken into account the value of the respectively valid range reflection, and Hugo is the longitudinal slope for the implementation of the movement for lifting or movement in the immersion set on lying outside the range of reflectance values.

The effect of self-plane relative to the resulting when the angle of longitudinal inclination of the actual height of the face can act only so long as you do not change the position of the slitting open of the cutter on the plane. Changing the position of the slitting open of the cutter on the plane also changes the handling of the plane, as fixed mounted caster angle, such as when mounted on a lower tendency to dive slitting open the cutter plane, gives less elevation change than when on a greater tendency dive slitting open the cutter. In this regard, according to one embodiment of the invention provides that when changing the position of the slitting open of the chisel plow, considering the tendency of immersion, the trend of rising or neutral movement of the plow, the computing device sends information about the changed position of the slitting open of the cutter.

Accordingly, according to one embodiment of the invention provides that in computing device requesting appropriate to the installed position of the slitting open of the cutter, studied at passed stoping characteristic for the relationship between the caster angle and the difference of the heights. If such a characteristic of the computing device is not stored,the control device during the subsequent moves of the plane should develop adapted to the new position of the slitting open of the cutter response.

Using the method according to the invention is possible automatic traversal of saddles and basins, according to one example embodiment of the invention by determining the slope of the overlap of the roof of the formation of cores shield roof support towards the development of a recognizable outline of the basin and/or the saddle in the direction of development, and the computing device is adapted trace cut plane parallel to the outline of the roof of the reservoir, and through adaptation of the caster angle control system level of a plow adapted obtained the desired height of the face that includes the corresponding radius of curvature of the depressions or saddles extra height. If the control device detects the reduction of the radius of curvature of the depression or saddle, it is considered additional height is again withdrawn.

Continuous recording of changes in the height of the cores shield lining allows to make conclusions about respectively the coming convergence, if the skeleton shield lining during operation of the plow, that is, when standing shield roof support is determined by the loss of height. Thus, according to one embodiment of the invention provides that by means of what is happening, as from course to course of Struga and easy slaughter check the height of the cores shield crepe is determined in accordance with the coming convergence and continuously recorded through adaptation attracted to install the caster angle of the horizon plane of the magnitude of the difference in heights. Occurred the loss of height should be again compensated by increasing the caster angle to achieve or maintain the desired height of the shaft and, thereby, by increasing the installed plow planned height or actual height.

You might also provide for periods of inactivity of the current slaughter in determining the magnitude of the difference of the heights involved the expected convergence. For example, before the end of the week, the width of the bottom space can be deliberately increased by increasing the caster angle and thereby increase the magnitude of the difference in heights in order, despite coming at the end of the week the convergence to the beginning of the week at the disposal had the desired height of the slaughter to resume the slaughter.

If within the production downtime occur, for example, rises soles, which also lead to a decrease in the height of the face, such rises soles result in changes to the provisions of the AFC and simple, which are recognized by the control system and easy operation of the plow or the issuance of on-mountain. Accordingly, one exemplary embodiment of the invention provides that, when occurring during the downtime of the face lifting of the sole registered the change in the slope face is onveyer when a simple plow, and before you begin Struga re-calculated required to achieve the desired height of the bottom of the caster angle.

According to one example embodiment of the invention provides that multiple cores shield lining and related cylinders swept the Executive body of the management system swept by the Executive body of the joint in the managed system automatic control groups.

As each frame shield lining has a different tuning tolerance when configuring installed on it tilt sensors, a fully parallel mechanical alignment of the tilt sensors relative to the skeleton of the shield supports impossible. Depending on the quality of the mechanical main alignment of the tilt sensors on a single frame of a shield roof support may encounter errors when determining the caster angle as the difference between the slope of the overlap of the roof of the reservoir and tilt the AFC. To minimize such errors according to one embodiment of the invention provides that for each individual frame shield lining within the group is determined by the caster angle for the corresponding cylinder swept the Executive body, and from certain angles the longitudinal tilt belonging to the group of cores shield lining on the course average, and in the automatic control system of the group is set corresponding to the average value of the caster angle.

As torsional overload protection respectively connected with each other trays AFC can be provided that in systems of automatic control groups adjacent in the bottom connected by means of a control system of groups of cores shield lining effect for adjacent groups angles to the longitudinal tilt coordinate with each other in such a way as to prevent mechanical overloading of the compounds given to a group of partial sections of the tray AFC not exceeded the preset maximum difference between the current for adjacent groups of the corners of the longitudinal tilt.

For the same reason, it can be provided that the operating agreement for adjacent groups of the corners of the longitudinal tilt between the groups involved existing differences in the height of the provisions of the AFC. By means of this takes into account the maximum permissible radius of bending branches AFC around the axis of the advancing stope.

Accordingly, it can be provided that existing between the groups towards the development of a protrusion and/or indentation when passing the AFC and cores shield lining along fantacising work involved in the agreement are applicable to the adjacent groups of the corners of the longitudinal tilt, moreover, taken into account the maximum allowable bending radius of the branch conveyor about the vertical axis of the downhole equipment.

In order to reduce or eliminate mutual influence required, under certain circumstances, after each stroke of the plane of podregulirovan the caster angle on separate frames panel lining or jointly managed groups of cores shield roof support according to one embodiment of the invention provides that the managed computing device, the readjustment of the caster angle each time the course of the plow takes place only once after the passage of the plow and the completion of the shifting of cores shield lining.

Concerning the requirement of the location of the AFC as an important parameter to establish or check the caster angle as a differential angle between the inclination of the overlap of the roof of the formation of cores shield lining and slope of the AFC towards the development according to the first example embodiment of the invention provides that the group are related to each other through a system of automatic control of groups of cores shield lining attached to the Central mounted on the face conveyor tilt sensor. Alternatively, it may be provided that within the group related the data with each other via a system management lining of cores shield lining respectively installed many are located on separate trays AFC sensors tilt.

To determine the inclination of the face conveyor in the direction of development according to one embodiment of the invention can be enough of one set to face the conveyor tilt sensor.

To improve the quality measurement may be provided, which is mounted on the face conveyor unit tilt sensors made in the form of having two tilt sensor of the same design dual sensor. Related to this is the advantage that both sensors are mutually verify the accuracy of the readings within the field of reliability and in the case of deviations outside the tolerance range can throw an error signal with respect to the accuracy of the readings, which is recognizable sensor drift.

Another advantage is that the failure of one sensor, the second sensor may continue, and the system can generate a message about the damage.

In addition, the registration accuracy of the angle can be improved if, according to one embodiment, mounted on the face conveyor unit tilt sensors consists of two identical, installed with opposite direction of rotation around the measuring axis. The system of two opposite direction of rotation around the measuring axis of the same sensors in differential mode can be used for the compensatie caused by vibration (rotational) error sensors and to significantly damp the display of the measurement results without loss of accuracy. Average actual angle of the AFC, which is the AFC ranges may be displayed in a largely exempt from torsional vibrations, as both sensor oscillate with the same frequency and amplitude, and opposite the evaluation method of interference is compensated blocked by oscillating portion of the signal, so that the angle of the display remains largely as when the system is at rest.

If within the automatic control of groups of cores shield supports and a respective cylinders swept the Executive body of the management systems used swept Executive body is connected to the node of the hydraulic supply and control of the hydraulic cylinders are connected to each other, there may occur such an effect that the passage of the plow AFC pressed onto the corresponding hull shield lining. In response to the associated displacement of hydraulic fluid located in the direction of motion before the plane belonging to one and the same system of automatic control groups of hydraulic cylinders may be derived, resulting in can occur undesirable changes in the corresponding corner of a longitudinal inclination. To prevent such reactions can be provided that on arausiaca between cores shield lining and the face conveyor hydraulic cylinders swept the Executive body of the management system swept Executive authority by acting separately their piston surface and the annular surface hydraulically aceramic check valves after achieving a controlled situation made with the possibility of hydraulic lock, with check valves assigned to them by control lines are connected with associated automatic control groups.

Under such separately locked hydraulic cylinders from time to time you may need to synchronize the cylinders swept by the Executive body, and for this purpose, according to one proposal, all the cylinders swept by the Executive body move to end stop and then set the necessary in the corresponding position in the pit the AFC and set him on the plane the caster angle.

Further, the invention is seen again on the basis of the drawing in a separate aspects. Shown:

Figure 1: downhole equipment with which specifies the movement of the plane in a dive caster angle in schematic side view,

Figa: curve development height in the bottom when using downhole equipment according to figure 1 while having a lot of moves plow cycle regulation,

Figure 2: schematic representation of the relation installed on the control system swept doers is the principal organ of the corners of the longitudinal tilt in relation to actually install the caster angle when solid, having a greater hardness than coal soil layer,

Figa: object figure 2 in a different way images

Figb: object figure 2 with the influence of the position of the slitting open of the cutter,

Figure 3: object figure 2 when soft, have a lower hardness than coal soil layer,

Figa: object figure 3 in the image according to figure 2A,

Figa: behavior management system swept Executive body within automatic control groups without a separate block of cylinders swept Executive body,

Figb: object figure 4A in a separate block of cylinders swept Executive body,

Figure 5: to be installed in automatic level control process in schematic representation.

Schematically depicted in figure 1 downhole equipment has, first of all, the frame 10 shield lining with an overlap of 11 of the roof of the reservoir and the base runner 12; between the supporting skid 12 and the ceiling 11 of the roof of the reservoir has two parallel racks 13, of which figure 1 is only visible one. While the ceiling 11 of the roof layer on its front (left) end is in the direction of the mining machine on the rear (right) end of the slab 11 of the roof seam hinge set goaf shield 14. The design of this frame 10 shield lining is known, so it is more on the quarterly is not explained. At least on her ceiling 11 of the roof of the reservoir has a sensor 15 tilt. As further shown, on the frame 10 shield lining installed additional tilt sensors on the support skid 12 and the goaf shield 14 and/or load-bearing goaf shield 14 driving levers. Using registered by the tilt sensors of the measurement results can be calculated height of the rack panel lining between the ceiling 11 of the roof of the reservoir and the base runner 12.

On the frame 10 shield lining pinned face conveyor 16, which it converts to is not shown in more detail to the face (left) side has a guide 18 of the plow installed on the plane 17. The face conveyor 16 with the installed plane 17 is installed with the possibility of rotation relative to the frame 10 shield lining through cylinder 19 swept the Executive body. To that shown in figure 1 the example of the implementation of the face conveyor 16 with the plane 17 is rotated in the direction of immersion, namely, installed through cylinder 19 swept the Executive body of the angle 20 of the longitudinal tilt, which is a differential angle between the position of the slab 11 of the roof of the reservoir frame 10 shield lining and the inclination of the face conveyor 16 in the direction of development. For this purpose, a corresponding inclination of the face conveyor 16 in the direction of the management software can be registered or identified through the established on the face conveyor 1 6 sensor 15 tilt.

In this regard, it follows from figure 1A with the image 17 of the plow moves within one control cycle, with each stroke plane is achieved adopted a constant depth 21 cutting, namely, for each work machine 22 from the bottom up and for each movement 23 downhill. In connection with the established in the depicted example implementation for a dip in the second half of the cycle, the regulation specified decreasing caster angle in a given computing device for each turn 22, 23 of a plane is determined by the expected target height of the face or achievable in the calculation of the progress of a plough planned altitude difference, which for 17 moves the plane of the depicted cycle regulation is applied in the form of the curve 24. The corresponding test actually reached the actual height of the face leads to a change caused in the form of the curve 25. In accordance with this reference designator 26 marked the difference of the heights, which must be cut in order to achieve the desired height of the face. Value 27 corresponds in fact freely cut of height differences in the actual height of the face so that the magnitude 28 height difference of a recognized or designated computing device as the magnitude of the differences between values 26 and 27. Thus, because the individual works Struga reduce the up and moves downhill 22, 23 should be set to the angle 20 of the longitudinal tilt, caster angle should be set taking into account the loss of height between the target height and the actual height of more value 28 of height differences and so to increase 27 actual height corresponded to ultimately necessary to increase 26 height. This means that the resulting angle of longitudinal inclination of the curve 24 for the planned height should be set so that the curve 25 for the actual height of the end on the magnitude of the necessary height difference. Because the computing device integrated algorithm learning management system or computing device able to learn the actual conversion of planned height to the actual height and used to calculate a management strategy for the following moves Struga. For this purpose in starting work again producing enterprises must first be made promotion stope about 20 m with manual level control of the plane in which the control system is passively studying the characteristics of the control for the corresponding face. After this can be used automatic level control plane, which in the course of further advancing stope continues to study the characteristics of the control and continuously to optimizer the t management strategy.

Convert angle 20 of the longitudinal tilt the difference in heights of the face to establish or maintain the desired height of the face depends on the conditions of lateral breed primarily in the soil layer as the top layer should remain as untouched as it forms a guide horizon for panel lining. If the soil layer is softer than subject extraction of coal, compliance with the specified height of the face is very difficult, because the plane without guide horizon must be managed, so to speak, " floating" in the range of a given height. This requires frequent control interventions, as the system of the drag conveyor constantly exceeding their target horizon, so I have to constantly be readjusting. This unstable equilibrium when managing technologically causes a great range of variation of the height of the slaughter, which carries the risks of capture of waste rock, leaving stacks of coal under the roof and leaving the control range of supports.

If the soil layer is harder than the coal, the horizon soil layer can be involved as a guide plane for plane, in the sense of operation of the plow in the boundary layer. Solid ground layer means that, in spite mounted on the immersion of the caster angle, the first plane does not cut into the soil formation, and while not the motrya on the resulting from the installation of the caster angle of the planned height, in the calculation of the speed of the plane will not change the actual height. Soil formation, so to speak, reflects the controlled movement of the plow, which specified range for the caster angle can be named by the range of reflection. This range of reflection relative to the preset caster angle extends from the lower limit, which marks the boundary line for lifting the plow, to the upper limit, above which is in communication with the set angle of longitudinal inclination of the plane overcomes the resistance of the soil layer, cuts into the soil layer and thereby performs efficient movement on the dive. These ranges shown in figure 2, the right half, as an example, with the current respectively for the current caster angle range of 30 dives, range 31 reflection and range 32 rise.

As already stated, made in calculating the actual height of each turn plow, effective caster angle deviates from the set caster angle, as shown in figure 2, the left half. When the current angle of longitudinal inclination almost completely eliminated the range of reflection, although set in the range of the reflection angle of longitudinal inclination, so here set in the range of reflection angles cont the high inclination does not lead to a difference in actual height.

Appropriate conditions are also visible under figa with mapped feature 33 management. When installed between+3 gon and -3 gon angle of longitudinal inclination of the change in the existing caster angle does not occur; when this management strategy assumes that the caster angle to match the range of reflection during operation of the plow is set by the control system or computing device in the middle of the range of reflection, especially in order to have enough freedom to fluctuations in the conversion set caster angle in machinery, without that left the range of the reflection and the plane could effectively perform unwanted oblique movement.

On figb shows the following figa conditions with regard to installed on slitting open the chisel plow trends immersion or trends rise. As shown by the dashed line 34 for characteristics control characteristics control for the dive plane becomes more gentle than weaker installed by slitting open cutter plow the main trend of the dive, and the later can be initiated effective movement on the dive. To the lift range is appropriate. The weaker installed installed by slitting open the cutter bases of the second trend dive the steeper runs the stroke characteristic of the 34 control in the range of hoist for lifting, and the sooner we can start the movement of the plane on the rise.

In figures 3 and 3A depict conditions in accordance with figure 2, and 2A for the case of application when the soil layer is softer than subject extraction of coal. In this case, there is no educated soil formation guide horizon, so the plane is immediately followed by the installation of caster angle. There is no range of reflection (figure 3), and is buspirona change between the lifting plane and dive plane (figa). Because this transition. on figa represented by the value+2 rut, and it is to be installed on slitting open the cutter plane tendency of the dive.

In figures 4A, 4B shows the effect of the execution of the cylinders swept by the Executive body. As follows from figa, when interconnected cylinders 35 swept the Executive body may occur such effect that the passage of the plow face conveyor is pressed against the corresponding skeleton shield lining, so located in the region of passage of the plow cylinder 35 swept Executive body is displaced hydraulic fluid. Forced out there, the hydraulic fluid can flow to located in the direction of motion before the plane is m, belonging to the same system of automatic control of groups of cylinders 35 swept the Executive body and there to ensure the nomination of the cylinder swept by the Executive authority, however, at the same time involves changing the caster angle in this range. To prevent such reactions, it may be provided that the cylinders 35 swept Executive body provided with respectively one separate lock, so that the cylinders 35 swept the Executive body after reaching its controlling position is made with the possibility of hydraulic lock. As follows from figb, the passage of the plow cylinders 35 swept Executive body is not affected.

Finally, as follows from figure 5, to minimize the mutual influence of adjacent managed groups of cores shield lining can be activated following the plow control sequence, in which the shield the shield after the passage of the plow first systematically dosed moves. After completion of the process of movement of individual managed group of cores shield roof support each other consistently get the job management to set the caster angle for the next pass of the plow and then no longer make a readjustment. Thus the stage is repent potential impact of one of the control group due to the subsequent management of the group. The resulting deflection angle of longitudinal inclination involves computing device in a future management strategy, the caster angle which, however, is only available after the next pass of the plow. Based on this strategy, the management wave passes through the bottom, following the plow. Reliably prevents unstable regulation as a result of feedback effects related control groups at each other.

Disclosed in the above description, claims, abstract and drawing characteristics of the subject of this application can individually and also in any combinations to be essential for carrying out the invention in its various variants of implementation.

1. The installation method is automatic level control plane (17) in active Stopes in underground coal mining, equipped with a hydraulic shield support and the face conveyor (16), guides the plow (17) is made to face the conveyor guide (18) of the plane, with the face conveyor (16), including guided it to plow (17), is arranged to change its position in the direction of development by relying on lining consisting of a control room management system swept by the Executive body, and through the management system swept Executive of the gun is set angle (20) of the longitudinal tilt to install motion of the plow (17) in the direction of development in the form of a movement on the rise, motion by immersion or neutral movement for each turn of the plow depth (21) cutting and resulting as a differential angle between the inclination of the slab (11) top of formation of the skeleton (10) shield lining and the inclination of the face conveyor (16) towards the development of the angle (20) of the longitudinal inclination of the register, and the computing device following this change the height of the face on the progress of a plough expect in such a way that the computing device, each corresponding to one course of the plane position of the face conveyor (16) in the bottom correlate the height of the face as the target height, and however, achievement of the relevant provision in the mine follows the plow (17) with time delay frame (10) shield lining calculate the actual height of the face based on the captured mounted on the frame (10) shield lining sensors (15) tilt values and compared with a stored routine, height, and some for the corresponding provisions in the slaughter value (28) the difference in height between the target height and the actual height at the turn of the plow taken into account in terms of the effect of self-learning computing device when the job is to be installed to achieve the planned height of the face angle (20) of the longitudinal tilt to plow (17).

2. The method according to claim 1, wherein based on the appropriate setting to achieve the desired height of the face by containing many passages of the plane of the loop regulation of the angle (20) of the longitudinal tilt of the computing device pre-calculate the resulting in the calculation of the speed of the plane specified inclination of the face conveyor (16) towards the development and agree with the measured at each position in the mine per turn plow through installed on the face conveyor (16) sensors (15) the slope of the actual inclination of the face conveyor (16), when installed deviations optional adjust the current for the next stroke plane angle (20) of the longitudinal tilt.

3. The method according to claim 1 or 2, in which the respectively specified computing device angle (20) of the longitudinal tilt correlated with the resulting calculated on the progress of a plough value (28) the difference of the heights, and retain the computing device identified under the effect of the self-study boundary angles of the longitudinal tilt range (31) reflection, within which the respectively applicable, including different angles of the longitudinal inclination not produce changes in the height of the slaughter.

4. The method according to claim 3, in which when installing necessary to achieve the desired height of the face, resulting in the movement for lifting or movement on the dive plane (17) angle (20) of the longitudinal tilt, take into account the value of the respectively valid range (31) reflection, and the angle (20) of the longitudinal tilt to effect the movement for lifting or movement on immersion installed on the outside of the range (31) reflects what I value.

5. The method according to claim 1 or 2, wherein when changing the position of the slitting open of the chisel plow with respect to trends dive, trends lifting or neutral movement of the plow on the computing device transmits information on the changed position of the slitting open of the cutter.

6. The method according to claim 5, in which the computing device requesting the right to set position slitting open cutter, studied at passed stoping characteristic for the ratio of the caster angle and the magnitude of the difference of the heights.

7. The method according to claim 1 or 2, in which by determining the slope of the floor (11) of the roof of the formation of the cores (10) shield roof support towards the development recognize the outline of the basin and/or the saddle in the direction of development, and the computing device sets the adaptation track cutting plane (17) parallel to the outline of the roof of the reservoir, and through adaptation of the angle (20) of the longitudinal tilt system level control plane set adapted specified height of the face that includes the corresponding radius of curvature of the depression or saddle extra height.

8. The method according to claim 1 or 2, in which through continuing as from the stroke plane to fly the plane, and when a simple slaughter check the height of the cores (10) shield lining is determined correspondingly to coming to the nvergence, and constantly take into account by adapting want to attract to set the angle (20) of the longitudinal tilt system level control plane size (28) the difference of the heights.

9. The method according to claim 8, in which for periods of non-current stope in determining the value (28) the difference of the heights attract the expected convergence.

10. The method according to claim 8, in which when encountered during idle time of slaughtering the rise soles register the change of the inclination of the face conveyor (16) when a simple plow (17), and before you begin plow again count necessary to achieve the desired height of the face angle (20) of the longitudinal tilt.

11. The method according to claim 1, in which multiple cores (10) shield lining and the associated cylinder (35) swept the Executive body of the joint group that is controlled by an automatic control system of the group.

12. The method according to claim 11, in which for each individual frame (10) shield lining within a group determine the angle (20) of the longitudinal slope for the corresponding cylinder (35) swept the Executive body, and from certain angles the longitudinal tilt of the cores (10) shield lining to form an average value, and the system of automatic control groups set the angle (20) of the longitudinal tilt corresponding to the average value.

13. The method according to claim 11 or 1, where automatic control groups adjacent in the bottom connected by means of the system management of groups of cores (10) shield lining effect for adjacent groups angles (20) of the longitudinal tilt coordinate with each other in such a way as to prevent mechanical overloading of the connections associated with a group of partial sections of the tray AFC (16) not exceeded the preset maximum difference between the current for adjacent groups angles (20) of the longitudinal tilt.

14. The method according to item 13, in which in the operating agreement for adjacent groups of angles (20) of the longitudinal tilt attract existing between groups differences in height in the position of the face conveyor (16).

15. The method according to item 13, which exist between the groups towards the development of a protrusion and/or indentation when passing the AFC (16) and the cores (10) shield lining along the front of the sewage treatment works are attracted to the agreement that are applicable to the adjacent groups of angles (20) of the longitudinal tilt.

16. The method according to claim 1, in which the managed computing device, the readjustment of the angle (20) of the longitudinal tilt occurs each time the course of the plane only once after the passage of the plow and the completion of the shifting of the cores (10) shield lining.

17. The method according to claim 11, in which a group connection is established with each other through a system of automatic control of groups of cores shield lining respectively correlated Central mounted on the face conveyor (16) sensor (15) of the slope.

18. The method according to claim 11, in which within the group connected with each other via a system management lining cores (10) shield lining accordingly there are many installed on separate trays AFC (16) of the tilt sensors.

19. The method according to claim 1, in which the inclination of the face conveyor (16) is measured by installed on the face conveyor (16) of the sensor (15) of the slope.

20. The method according to claim 1 or 19, which is mounted on the face conveyor (16) block of tilt sensors is designed as a dual sensor with two tilt sensor of the same design.

21. The method according to claim 1 or 19, which is mounted on the face conveyor (16) block of tilt sensors consists of two identical fixed rotation in opposite directions around the axis of measurement.

22. The method according to claim 11, in which rests between the cores (10) shield lining and the face conveyor (16) hydraulic cylinders (35) swept the Executive body of the management system swept by the Executive body with the possibility of hydraulic lock by acting separately on their piston surface and the annular surface hydraulically released check valves after reaching their management positions, with non-return valves through sootnesenie the control lines are connected with associated automatic control groups.

23. The method according to item 22, in which intervals are synchronized cylinders (35) swept the Executive body due to the fact that all cylinders (35) swept the Executive body move to the end stop, and then install the necessary in the corresponding position of the face conveyor (16) in the bottom and set it Struga (17) angle (20) of the longitudinal tilt.



 

Same patents:

FIELD: mining.

SUBSTANCE: in order to control legged locomotion machine in underground fastening of long face, distance between conveyor and one of support sections is determined by means of sensor. At that sensor is an ultrasonic sensor and/or a chamber. The sensor is connected to control system, which actuates device for control of legged locomotion machine cylinder depending on signals.

EFFECT: improving reliability of control of conveyor and support section position.

18 cl, 4 dwg

FIELD: mining.

SUBSTANCE: hydraulic circuit for lava support contains set of units (units of shield support), where hydraulic power drives (cylinders 4) and appropriate to it hydraulic operating valves (auxiliary valves 16 and main valves 17) are connected to forcing line (1) and supplying line, and also with drain line (2) and withdrawal line. In supplying line there is located check valve (9), overlapping the flowing of hydraulic fluid from appropriate power drive to forcing line and actuated for locking irrespective of command, delivered to hydraulic operating valve, and from position of these operating valves. Locking valve is preferentially implemented in the form of nonreturn valve, overlapping the flowing of hydraulic fluid from appropriate power drive (4) to forcing line (1).

EFFECT: invention allows improving of hydraulic systems and providing ability of upgrade reputed systems without essential expenses.

4 cl, 2 dwg

FIELD: mining.

SUBSTANCE: invention concerns mining and is designed for hydraulic lining control. The hydraulic lining control system includes multiple sections adjustable for implementing of lining functions, i.e. relieving, shifting and arch action. Also each power gear of the system has hydraulic valves close to the respective power gears and divided into groups. Each group is connected to a hydraulic delivery pipe running along the aligned lining section by a group connection line blocked by a group shutoff valve subject to the state of control valves with all control valves unengaged.

EFFECT: improved reliability of lining control.

6 cl, 2 dwg

FIELD: mining.

SUBSTANCE: invention refers to mining industry and namely to control method of powered shield support. Method of controlled observance of a gap, preferably considering mine rock mechanics, between upper covering and coal face in mining faces is performed in the following way: during excavation of bituminous coal by means of underground method using slope sensors arranged at least on three of four main elements of each section of powered shield support there determined is slope of supporting covering and support slide in the cavity direction. On the basis of the measurement data, when changes in slope angle of supporting covering appear, influences on the gap between upper covering and coal face are determined in the calculation unit. Then, operating cycle of section of powered shield support, which includes unloading, supply and bracing, is controlled automatically to define an optimum gap between covering and coal face. Besides, slope sensors can be installed on support slide, goaf shield, load-carrying hinged cantilevers and in goaf area of supporting covering.

EFFECT: method allows monitoring and adjusting the gap between covering and coal face at advancing of extraction front; at that, hazard risk of formation roof destruction is minimised.

18 cl, 10 dwg

FIELD: construction.

SUBSTANCE: adaptive system for movement of a construction machine measures counteracting forces applied by soil surface to a milling drum, and in response to measured changes of these counteracting forces it controls a moving force fed to a moving drive of the machine, or moderates speed of lowering of a rotary milling drum.

EFFECT: early and quick detection of such changes in counteracting forces makes it possible for a control system to assist in prevention of forward or backward list phenomena accordingly in a construction machine.

21 cl, 9 dwg

FIELD: miningo.

SUBSTANCE: invention relates to mining, particularly, to mining machine displacing along conveyor. Proposed machine comprises sensor system arranged on machine frame 11 to perceive boundary zone mineral wealth/host rock. Note here that machine frame front side has sensor system mount. Note also that geological radar is used as the sensor system. Said mount can be adjusted over height. Besides, it is composed of several parts and comprises main box with to and/or bottom holes to house geological radar. Deflectors are arranged on both sides of said main box.

EFFECT: possibility to sound entire front of second working.

12 cl, 5 dwg

FIELD: oil and gas production.

SUBSTANCE: proposed device comprises hydraulic cylinders, electrically control hydraulic control valves, oil unit, and remote control board. It comprises also boom turn (lift) angle and telescope position transducers. Heading drive motor current transducer. Microcontroller with memory containing algorithm of defining face rock toughness, maximum feed rates depending upon motor current. To determine delivery of axial piston pump, an appropriate algorithm is used. Said pump is controlled via frequency inverter by PDM signal from microcontroller output. Mean voltage is selected from microcontroller to control induction motor squirrel-cage rotor rpm by adjusting pump shaft rpm.

EFFECT: otimised heading drive load current control.

2 dwg

FIELD: mining.

SUBSTANCE: in control method of drum actuating element equipped at least with one lever of drum actuating element each electric hydraulic section of the support is equipped with its own electric hydraulic control instrument. Control commands are entered for correction of lever position of drum actuating element from control instrument of support section. And they are supplied from there to control system of drum actuating element.

EFFECT: improving control efficiency of the cut by means of drum actuating element.

8 cl

FIELD: mining.

SUBSTANCE: system to control mining machine comprises a hydraulic drive of travel and a drilling rod with a power hydraulic control unit, a hydraulic drive of a loading element and hydraulic cylinders of a drilling rig with a power hydraulic control unit, an electrohydraulic unit of power hydraulic units control with a system of electric interlocks, sources of supply for hydraulic drive and control systems. At the same time power hydraulic units to control a hydraulic drive of travel, a drilling rod, a hydraulic drive of a loading element and hydraulic cylinders of a drilling rig are equipped with additional locking devices installed between sections of the hydraulic control units.

EFFECT: locking of the caterpillar drive and loading element drive during operation of drilling equipment to ensure safety of maintenance personnel.

1 dwg

FIELD: physics.

SUBSTANCE: system consists of an optical direction selector, a photodetector unit, as well as: a unit for controlling the direction selector, a signal matching unit, a microcontroller, a decoder, a matrix background polling module, bus-type conditioners, an interrupt signal generating unit, a switch, electric drives, a unit for monitoring and controlling electric drives, an optical transmitter control unit, an optical transmitter, a photodetector. All of these elements are interconnected.

EFFECT: determination of spatial coordinates of a mini-shield with high accuracy, which enables real-time communication with apparatus fitted on the mini-shield through a laser beam, endowing this system with noise-immunity and high speed of operation.

1 dwg

FIELD: mining.

SUBSTANCE: extraction device of coal in longwall face of underground mine working consists of the following: many sections of powered support, which are installed near each other throughout the length of longwall face between gates; plough machine; chute and conveyor located in it with possibility of movement, which are located throughout the length of longwall face between extraction machine and support sections; several deflecting devices and control device. Plough machine is provided with possibility of being moved along the line of the mining face and equipped with rock detection sensor which is provided with possibility of transmitting radio data of the detected rock to the control device of the support by means of the transmitter installed on the plough and the radio receivers installed along the longwall face. Group of adjacent support sections and sections of the chute corresponds to each deflecting device. Deflecting device is connected to control unit of one of the support sections of the appropriate group, and depending on the data of the detected rock, it provides the possibility of lifting the chute sections of the appropriate group, which is accompanied with lowering of the tools of the plough machine, and lowering of the chute sections, which is accompanied with lifting of plough machine tools. Control device includes the following: bottomhole control unit located at the end of longwall face for control of functions of support sections in relation to unloading, transportation and bracing of the support; control units of sections, each of which is put into spatial and functional compliance with the appropriate support section for performing and further transmitting the commands from bottomhole control unit; and the bus connecting mainly in series the bottomhole control unit to control units of support sections. At that, rock sensor when moving beside each support section is provided with possibility of generating the measurement signal characterising the detected rock only for several, mainly not more than two measurement points. Measurement signals received at neighbouring measurement points are subject to analysis with a view to predominance of rock or coal. Depending on analysis results, there generated is deviation signal supplied to the common deflecting device common for all measurement points, and namely to the deflection of the chute sections, which causes the lifting of plough machine tools if analysis results show the predominance of rock at the analysed measurement points, and to deflection of the chute sections, which causes the lowering of the plough machine tools if the analysis results show coal predominance at the analysed measurement points.

EFFECT: possible quick correction of the plough machine position during the coal extraction, which causes the lifting and lowering of the plough.

9 cl, 2 dwg

FIELD: mining.

SUBSTANCE: invention relates to the field of mining and may be used in designs of mining machines and other fields of machine building. Hydraulic system of mining machine control is additionally equipped with hydraulic cylinders of telescope tightening, in working manifolds of which there is a hydraulic valve installed with logical function "OR", as well as controlled check valve with control cavity, besides inlet manifolds of hydraulic valve with logical function "OR", which is installed in working manifolds of hydraulic cylinders for telescope tightening, are connected to outlet channels of hydraulic valves with logical function "OR", which are installed in outlet channels of hydraulic distributors for control of hydraulic cylinders of actuator lift and rotation, and control cavity of controlled check valve is connected to outlet channel of hydraulic valve with logical function "OR", which is installed in outlet channels of hydraulic distributor for control of hydraulic cylinder of telescope extension.

EFFECT: invention increases rigidity and reliability of support structures of mining machine actuator, improves durability of machine as a whole.

1 cl, 1 dwg

FIELD: mining.

SUBSTANCE: device for orientation of tunnelling system during construction of curved tunnels includes the units located in line of sight and at the specified distance from each other, the end ones of which are rigidly fixed, one - in starting tube, and the other one - on tunnelling shield, intermediate units are installed inside the erected part of the tunnel, each unit is equipped with a photo sensor, light emitting element and roll sensor, also, the device is provided with sensor of amount of advance and data transfer channels between the device assemblies and computing unit with a display; at that, each unit is equipped with a plate with sector symmetric light-tight slots, plate is located on motor shaft the axis of which coincides with the direction of tunnelling operation, on both sides of the plate in horizontal and vertical planes passing through motor axis there installed are light-emitting elements directed to the plate side; at that, each unit contains differently directed photo sensors oriented parallel to motor axis.

EFFECT: improving the orientation accuracy of tunnelling system and operating characteristics of the device, and increasing standardisation of the device components.

3 dwg

FIELD: mining industry.

SUBSTANCE: device has two asynchronous electric engines, connected via reducers to drive sprockets of continuous traction chain, provided with plane carriages with their possible displacement along the guide, and hydraulic cylinders for displacing guide on pit-face. To windings of stators of first and second electric engines connected respectively are outputs of first and second frequency converters, inputs of which are connected to power grid and control inputs of which are connected respectively to outputs of first and second frequency adjusters. To frequency adjusters also connected are inputs of load detectors, to outputs of which load balancing block is connected, outputs of which are connected to inputs of first frequency adjuster. To inputs of both frequency adjusters output of load adjuster is connected, inputs of which are connected to load-setting block and load sensor for second engine. To output of second frequency converter connected are input of control block, other input of which is connected to signal block of base plant, and stator winding of third asynchronous engine, which via mechanical link is connected to first and second hydraulic pumps, having constant working volumes. Output of first hydraulic pump is connected to force hydro-main and input of second preventing hydraulic valve and to first inputs of two-position hydraulic distributors with electromagnetic control, to electromagnets of which outputs of control block are connected. Second inputs of two-positional hydraulic distributors with electromagnetic control are connected to control chambers of hydro-controlled two-positional hydro-distributors, which are part of hydro-blocks. Outputs of hydro-controlled two-positional distributors are connected to opposite hollows of volumetric dosing device of each hydro-block, and their inputs are connected respectively to outputs of hydro-distributors for controlling hydro-cylinder for moving the guide on pit-face, inputs of each of which are connected to force and drain hydro-mains, and outputs are connected to piston and rod hollows of appropriate hydro-cylinder.

EFFECT: higher efficiency.

1 dwg

FIELD: mining industry.

SUBSTANCE: mining combine has extraction means, on which a body is mounted, having at least one first liquid outlet, for supplying liquid to material. Pipeline, through which liquid is fed to first liquid outlet, contains means for measuring flow and/or pressure of liquid in pipeline, for determining, in which of to layers outlet is positioned. Combine can have at least one second liquid outlet, placed in such a way, that first liquid outlet is in lower layer, and second liquid outlet is placed in upper layer. First liquid outlet can have one of multiple first liquid outlets spaced from each other, and second liquid outlet - one of multiple spaced from each other second liquid outlets. Efficiency of liquid flow through multiple spaced first outlets can surpass those of multiple spaced from each other second liquid outlets. Placement of second liquid outlet in separate body cover is possible. First and second liquid outlets can be directed downwardly relatively to direction of mining combine displacement. Method for controlling depth of position of mining combine extraction means includes placing two liquid outlets, interacting with material extraction means, in a material, while second liquid outlet is placed above first liquid outlet, liquid is fed to first and second liquid outlets and flow and/or pressure of liquid is measured. Layer, wherein liquid outlet lies, is detected, and first liquid outlet is placed in lower layer and second liquid outlet is placed in upper layer, to determine depth of position of extraction means relatively to two layers.

EFFECT: higher precision.

2 cl, 9 dwg

FIELD: mechanical engineering, particularly to perform remote control specially adapted for machines for slitting or completely freeing the mineral.

SUBSTANCE: system includes electric drive for cutting tools, hydraulic drive for feeder legs and crawler, two-stage control hydroblock to operate the hydraulic drive having inlet channel, hydrocylinder with piston cavity for support erector, control hydroblock adapted to operate support erector hydrocylinder, blocking hydrocylinder having spring-loaded shaft return means, two-positioned pilot spool, pumps, pressurizing means and discharge means. Pilot spool has outlet channel and hydrocontrol cavity to provide pilot spool fixation in two working positions. Outlet channel of pilot spool communicates with outlet channel of two-stage control hydroblock adapter to operate the hydraulic drive of feeder legs and crawler to provide alternate communication between outlet pilot spool channel and pressurizing and discharge means. Hydrocontrol cavity of pilot spool communicates with blocking hydrocylinder and piston cavity of support erector hydrocylinder.

EFFECT: increased safety for people present in zone of moving mining machine parts action.

1 dwg

Well drilling rig // 2265121

FIELD: mining industry, particularly for drilling exploratory and pressure-relief wells before mineral extraction from formations, including outburst-dangerous formations and ones characterized with high gas content.

SUBSTANCE: drilling rig comprises housing, support, drive to rotate drilling rod provided with cutting tool and hydraulic cylinder for cutting tool pulldown. Electrohydraulic valve is installed in hydraulic cylinder circuit. Electric drive of electrohydraulic valve is linked with load-sensing unit, which detects load applied to drilling rod rotation drive. The electric drive is connected to load-sensing unit through amplifier relay to provide bringing amplifier relay into operation when load applied to rotation drive exceeds nominal load by 20-30%. Cutting tool is made as symmetric screw conveying surfaces defining forward and reverse strokes connected one with another through generatrix. Side cutting edges of surfaces defining forward and reverse strokes are spaced apart.

EFFECT: increased operational reliability along with reduced power inputs for drilling, possibility to remove rod from well with negligible deviation thereof from predetermined direction of drilling.

2 cl, 3 dwg

FIELD: mining, particularly remote control specially adapted for machines for slitting or completely freeing the mineral.

SUBSTANCE: device comprises the first, the second and the third asynchronous motors. The first and the second electric drives are connected to drive sprocket of closed pull chain provided with plough carriages, which may move along guiding means. Device also has hydraulic cylinders to move guiding means to face, mechanical gear, the first and the second safety hydraulic valves, the first and the second hydraulic pumps, the first and the second frequency converters, the first and the second frequency regulators, load sensors, load balancing unit, load regulator, load assignment unit, control unit, initial setting signaling unit, hydraulic distribution means, which control hydraulic cylinders to move guiding means to face, hydraulic units, electrohydraulic unit, channel switching unit, flow meter, excavated seam thickness setting unit, breakage face length setting unit, multiplication unit, divider, optimizing peak-holding controller, control signal generation unit, asynchronous single-phase motor and screw gear made as a nut and screw. The first and the second hydraulic pumps include volume regulation means.

EFFECT: reduced specific energy consumption along with increased front plant output.

1 dwg

FIELD: mining.

SUBSTANCE: invention relates to mining, in particular, to navigation system of combined cutter-loader intended for operations in open-pit bench. This mining equipment includes a combined cutter-loader, a conveyor assembly, and a steering assembly, which joins said combined cutter-loader and conveyor assembly. In addition, this equipment includes a course sensor and a steering device, which is sensitive to signals from said course sensor. The first drive is located in combined cutter-loader, in conveyor assembly, or in steering assembly. The first drive is placed on one side of combined cutter-loader centreline. In addition, the second drive is located either in combined cutter-loader, or in conveyor assembly, or in steering assembly. The second drive is placed on another side of combined cutter-loader centreline. The first and the second drives are used to adjust angle of joint between combined cutter- loader and conveyor assembly on either side of parallel line in order to keep pre-defined direction of combined cutter-loader advancing.

EFFECT: precise driving of combined cutter-loader in order to increase coal cutting from mining zone.

22 cl, 13 dwg

FIELD: mining.

SUBSTANCE: device for control over arrow of operating member of mining machine consists of hydro-cylinders of vertical lifting an horizontal turn and of arrow telescope, of half-throttle, included into line feeding working fluid into piston cavities of lifting hydro-cylinders, of double-sided hydro-locks included into feeding lines of lifting hydro-cylinders and telescope, of main distributors of hydro-cylinders control for lifting, turn and telescope, which are successively arranged to provide free overflow of working fluid into tank in neutral position, of main electro-hydro-distributors for control over main distributors and over additional distributor automatically switched on. There is also a main and additional pumps, a pressurising collector, safety valves, test pressure gages, a pressure regulator, a tank for hydro-system working fluid, and a control panel with buttons for six commands. Further the device contains a control station with a circuit of three memory elements and the element of logical function or operation, additional distributors with back valves on their outputs and correspondingly with throttles on control lines, pointed sensors of feedback, installed correspondingly on the hydro-cylinders and connected to memory elements.

EFFECT: power stabilisation of operating member of mining machine, increased efficiency of working member drive operation, increased energy saving at mine working and grade of extracted coal.

3 cl, 4 dwg

FIELD: mining.

SUBSTANCE: system consists of optical master of direction- laser, of diaphragm, of photo-receiving device, of interface module, of sensors of position of each degree of actuator mobility, of tilt sensor, of blocks of control over electro-hydro-valves and of computer device. The photo-receiving device consists of semi-transparent mirror assembled at angle of 45 to lengthwise axis of the case of the device, of two screens - the tail and knife ones with zero-marks, and of two video-modules. The tail screen is arranged above reflecting surface of the semi-transparent mirror so, that it is parallel to lengthwise axis of the device, while the knife screen is located at some distance beyond non-reflecting surface and perpendicular to lengthwise axis. Each video-module is installed behind the corresponding screen at the focal distance of the objective.

EFFECT: upgraded reliability and efficiency of control over actuator.

6 dwg

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