Method for automatic production of specified width of bottomhole space by means of drum radiolocating navigation based on inclination in shearer-loader with drum actuator

FIELD: mining.

SUBSTANCE: method for automatic production of specified width of bottomhole space consists in determination of a distance between the upper edge of the drum base and the lower side during mining, accordingly, bringing the rest of the shield support bed top cover. At the same time the specified distance is measured by means of at least one radiolocating sensor fixed on the base of the shearer-loader drums. The actual value for tunnelling height of the shearer-loader with a drum actuator under the shield support is introduced into a unit of a computing machine and compared with the specified value stored in it. At the same time, if a deviation is established, control commands are generated for adaptation of cut height of at least one of two cutting drums of the shearer-loader. Also a device is disclosed for realisation of the proposed method, where radiolocating sensors are arranged at the side of the drum base manhole and may be installed aflush into the surface of the drum base.

EFFECT: exclusion of collision of a shearer-loader working element drum and frame of a shield mechanised support.

21 cl, 5 dwg

 

The invention relates to a method for automated reception of the given width of the bottom space in the active Stopes with the AFC Shearer drum (screw) the Executive authority as the mining machine, and hydraulic consisting of a control room shoring, underground mining of coal.

When the control current treatment faces during mining, in General, we are talking about the best possible use of available machine capacity in order to prevent downtime if possible there should be a need to automate management processes in order to prevent erroneous human decisions. The first steps of automation control are under development or already in use, such as, for example, the touch recognition/management of the boundary layer, the method step-by-step training, recognition and management in the reverse direction by mechanized roof supports, automated step-by-step movement of powered roof supports and automatically maintaining the inclination of the AFC.

The problem with automation control clearing face, among other things, is to ensure that in the anterior region of the overlap of the roof seam of each individual hull shield of powered roof supports have is fast enough, corresponding to the layer height that is sufficient width of the bottom space in order to ensure the passage of the Shearer drum Executive body without interference, since any collision of the Shearer drum Executive body overlapping the top of formation of the skeleton of the shield mechanized lining because of the very small width of the bottom of the space leads to the corresponding malfunction or damage to the means of production.

Therefore, the basis of the invention lies in the task of developing a method specified at the beginning of the form, which provides guidance on the possible clash between the treatment combine with the drum by the Executive body and the skeleton shield of powered roof supports or helps to prevent the corresponding collision.

The solution to this problem should, including favorable options for implementation and improvements of the invention, the content of the claims that follow this description.

In particular, the invention provides a way in which through at least one fixed on the basis of the Shearer drums with drum Executive body of the radar sensor measures the distance between the upper edge of the base drum and the bottom side during mining operation according to the respectively supply support overlapping roof seam panel lining and as the actual value for the wall height of the Shearer drum Executive body under the shield the shield is entered into the computing unit machine, and there is compared to a stored predetermined value, while when the deviation of the generated control commands to adjust the height of cut at least one or both of the cutting drums of the Shearer drum by the Executive body.

With the invention involves the advantage that the management goal is to maintain the preset width of the bottom space during the mining passages of the Shearer drum Executive body can be achieved with relatively low cost. Measured as the distance between the upper edge of the base drum and the bottom side of the overlap of the roof shield layer lining the gate height is a direct measure for the width of the bottom space, because the width of the bottom space consists of wall height and employed downhole equipment and, thus, invariant distances to the top of formation, on the one hand, and to the soil layer or freely cut the drum in the soil reservoir horizon soil layer, on the other hand. So, beyond the wall height the distance to the top of formation specified dimensions overlap of the roof of the reservoir, while the distance of radar sensors to horizon soil layer is set to a constructive height lying on the horizon is ocvi layer AFC and moved it to the base of the drums. Thus, appropriately sized for the wall height value may be directly involved as a synonym for the height of the bottom space. While management operations can be performed faster. Specified in the block computing machine set value for the width of the bottom space or specified data field, i.e. first of all the capacity of the reservoir, or a defined minimum wall height of downhole equipment. Also, a given value may also be provided depending on the design data downhole equipment as specified value for the entry doorway.

If during the mining pass of the Shearer drum-Executive authority is established that, for example, also contains a safety margin given value of the entry opening underplayed or exceeded, that of establishing deviations can be formed control commands, which change or align the overall height of cut of both cutting drums which again is achieved specified, subject to compliance with the width of the bottom space. With particular advantage in comparison with known methods is negligible downtime on the regulation of only two successive mining passes, it is then to the AFC promoted to freely cut the horizon soil layer, and on the next pass of the Shearer drum-the Executive body of the success of regulation, measured then be job passing the height can be controlled. It is still available downtime on regulation inevitably obtained from the necessary distance between the cutting drums, the face conveyer and mounted on a moving downhole pipeline grounds drums radar sensors.

In accordance with one example embodiment of the invention provides that the change of the height of the cut is made after the completion of mining progress of the Shearer drum Executive body along the stope, so that conditions during the mining operation in each case remain constant and in each case available for comparison purposes.

Alternatively, it can be provided that changing the height of cut of the cutting drum is continuously in response to the detected block machines deviation of the actual value from the target by adapting to changes in the position of the downhole equipment at the moment.

In accordance with one example embodiment of the invention applied on the ends of the base reels are respectively the radar sensor is Ki, consequently in the direction of the front radar sensor gives the actual signals for the measured distance. Alternatively, it may be provided that is perceived by both radar sensors signals are continuously transmitted to a computing unit of the machine and evaluated there, if installed deviations of the measured front in the direction of the radar sensor to the wall height from the target value are immediately formed a management team for the rear in the direction of movement of the cutting drum of the Shearer drum by the Executive body.

If, in accordance with one example embodiment of the invention provides that the additionally installed at successive mining passages respectively formed management teams correction values for the height of cut of the cutting drums are compared with each other, and the set of correction values total value involved in measures for the outbreak of convergence and taken into account during future mining aisles when an appropriate adaptation of the height of the cut, thus can be made conclusions about the outbreak of the convergence time. If during the first mining course there is a need for correction vicotires, then for the next production progress can be checked whether a given cut bottom width space after correction. If again there is a need for correction, it can be invoked only started the convergence time.

In accordance with one example embodiment of the invention provides that the determination of the height of the stope through radar measurements is reinforced by the fact that through established at least three of the four main structural parts of each frame shield of powered roof supports - supporting skid, goaf shield, bearing the arms and the area of overlap of the roof of the reservoir side of the dam sensors tilt determined by the tilt of the details panel of the lining relative to the horizontal in the direction of the step, and from the measured data in the unit of a computing machine by comparing with stored therein that define a geometric direction of the parts and set them moving during step basic data respectively is calculated corresponding to the layer height (h1) skeleton shield of powered roof supports on the front end of the overlap of the roof of the reservoir as a measure for the actual width of the bottom space, and so determined the actual value of RA is the couple of the height of the shield serves to processing the actual value of the measure wall height unit computing machine. While radar measurement in each case produces an output only during the passage of the mining machine under the corresponding skeleton shield of powered roof supports and therefore too small gate height may not be immediately recognized and taken into account when establishing the parameters of production, with the additional setting of the width of the bottom space by registering the height of the shield is connected the advantage thus obtained on separate cores shield of powered roof supports data additionally explain the behavior of individual sections of the front of the treatment works or the entire front of the treatment works when moving forward stoping, resulting in a possible integral control processes corresponding stope.

Thus, from the ratio of the calculated and the measured width of the bottom space to apply to the corresponding Oistamo slaughter data fields, such as, for example, under certain conditions, varying along the length of the stope capacity of the reservoir can be pre-made the conclusion about whether there is a danger of collisions inside the downhole equipment in connection with pressing on the skeleton shield of powered roof supports roof seam or threatens to do exceeding the upper limit of permutations of cores shield mechanized the Oh lining in which the purpose of the automatic mode. The danger of collision is that when starting the convergence rack panel lining is pushed fully, and in connection with the pressing layer top frame panel mechanized lining is blocked and can no longer be pushed forward. Another possibility is that the steel structure at the lower border of changes in lemniscata the gearbox frame shield of powered roof supports, or in the joint overlap of the roof seam/edge of the roof rock is blocked and can no longer be advanced forward. Finally, there may also be an impact of the overlap of the roof of the formation of the skeleton of the shield of powered roof supports on the upper edge of the pole face of the conveyor, resulting in movement of the AFC and/or the promotion of the skeleton shield mechanized lining also prevents or at least greatly hindered. The above moments of danger, relate primarily to the passage of saddles or depressions in the reservoir that can be taken into account in advance by an appropriate setting of the cutting height of the Shearer drum by the Executive body. In addition, relevant data about the width of the bottom space can explain the possible collapse (talus) from the roof of the reservoir, the occurrence of stenosis of the reservoir, the movement of coal" of the Shearer drum COI is nitelines body or perhaps the cutting in the soil layer of the Shearer drum by the Executive body.

Thus, check the height of the shield gives the data for the expected width of the bottom space in the forecast, which can then be compared with the measured ones combine with the drum by the Executive body at its passage data. This can be better assessed degree of accuracy of both images of the action. Thus, both actions form complement each other, so when checking the corresponding width of the bottom space has redundancy. Another advantage is that in the case of one of the two systems to set the width of the bottom space extraction can be continued on the basis of the remaining measuring system.

In this regard, in accordance with one example embodiment of the invention provides that the actual value of the measure wall height taking into account the constructive height of the overlap of the roof of the reservoir and construction of the AFC and the Foundation of the drums are translated into the actual width of the bottom space and compared with the actual width of the bottom space as the result of calculating the height of the shield supports.

In addition, you must consider the fact that the slope of the cutting drums of the Shearer drum Executive body relative to the coal face in the direction of the notches can the be significant share when you change the width of the bottom space in the work of cutting. This slope is due to the fact that when adjusting the height of cut, primarily drum on the soil layer before resulting in the horizon soil formation stage, when promoting the AFC in the direction of the grooves because compared to the width of the AFC with moving base drums smaller width of cut of the cutting drums is the slope of the AFC to the soil reservoir or to the roof of the reservoir. Under normal geometric dimensions in the framework of the currently used downhole equipment at the angle of misalignment between the passing of the reservoir and the position of the face conveyor in the direction of extraction of only 6 gon turns out changing the height of the slaughter of up to 100 mm, which is correct only in the framework of further production cuts. For this purpose, in one refinement of the invention provides that the inclination of the face conveyor and/or of the Shearer drum Executive body relative to the horizontal in the direction of the grooves is determined by the installed on the conveyor and/or a mining combine with drum Executive body of the tilt sensors, it may be provided that the angle of inclination of the face conveyor and/or of the Shearer drum-the Executive body of the lead in the relationship, installed in the lane is the covering of the roof of the formation of the skeleton of the shield of powered roof supports and/or support the skid angle, and educated from this angle, the error involved in the calculation are installed at several successive cycles of step-by-step movement of the skeleton of the shield mechanized lining the actual width of the bottom space. Related to this is the advantage that the behavior of the front of the sewage treatment works is generally determined in advance, so that through timely contrariwise may be provided to counter the negative effects fitted in the mining width of the bottom space, since in accordance with one example embodiment of the invention provides that specified posredstvom set the angle between the inclination of the cutting drums of the Shearer drum Executive body in the direction of the grooves across the direction of the cut is taken into account when determining the necessary adjustments of the height of cut in line.

Regarding the device to implement explained above method provides that the radar sensors embedded flush in the surface of the drums, so therefore can be measured accurate value for the width of the bottom space. In order in each case to ensure the operation of the radar sensors, in accordance with one example implementation is tvline of the invention on the basis of the drums there is a device for flushing with water under high pressure for radar sensors, in accordance with one example embodiment of the invention is controlled using a time relay. In an alternative implementation can be provided that the device for flushing with water under high pressure is controlled depending on the event, that is, for example, is determined by the degree of pollution, and limiting the accuracy of measurement of pollution is activating device for flushing with water under high pressure.

In an alternative implementation can be provided that for the purification of radar sensors is provided by mechanically working the scraper device. And here may be provided by the management of the scraper device via the relay time or depending on the event. As in the example described above, the implementation located in the region of the surface of the drums radar sensors are located in the main area of contamination Foundation of drums, to reduce pollution, alternatively, may be provided to position the radar sensors on the side on the side of human hodka machine body, in this case, preferably, the radar sensors can be located between the base drum winches and, thus, mechanically protected areas. Referring to decrease polluted the I, it may be provided that the radar sensors are not with the "look" straight up to the ceiling of the roof shield layer of powered roof supports, and at an angle to the surface of the drums, so that the inclined surface thus radar sensors are less susceptible to contamination. During processing received from the radar sensor signals in this case it is necessary to take into account that measured a longer path of radar signals is converted into the vertical distance between the top edge of the base drum and the bottom side of the overlap of the roof shield layer lining.

In order to increase the measurement accuracy can be provided that two radar sensor is located at a distance from each other with mutually opposite direction of the radiation on the basis of the drums. In this case, both the magnitude of the propagation time of the signal can be converted into the desired determination of the distance, and resulting from this distance may be adjusted in relation to each other.

The drawing shows the examples of the invention, which are described below. Shown:

Figure 1: downhole equipment of the mining machine and is depicted only with their beams of the roof strata cores shield of powered roof supports in the operation of a schematic front view when seen in the direction of the notch.

Figa-2B: downhole equipment according to figure 1 in side view with the made for two successive mining pass the increase in the effective height of the bottom space.

Figure 3: skeleton shield of powered roof supports located on the tilt sensors in schematic side view.

How should primarily from figure 1, existing between the roof 10 of the reservoir and the soil layer 11 horizon layer 12 is developed with the help of the Shearer drum 13 with (screw) the Executive body, which has two fixed consoles through 15 on the base 14 of the drums of the cutting drum 16a and 16b. When indicated by the arrow 17, the direction of movement of the harvester drum 13 with the Executive body along the horizon 12 seam cutting drum 16a operates as cutting on the horizon of the roof of the reservoir ahead of the cutting drum, while cutting on the horizon soil layer cutting drum 16b operates as a trailing cutting drum. The area of the roof of the reservoir horizon 12 reservoir built to be directed perpendicularly to the direction 17 of movement of the Shearer drum 13 with the Executive body of the cores 25 shield of powered roof supports (figure 2), from which figure 1 is visible only overlap 28 of the roof seam.

In order to measure the checkpoint height between the upper edge of the base 14 of the bar the ANOVA and the lower side during mining operation, respectively, of the inlet bearing 28 overlap the top of formation of the corresponding frame 25 shield of powered roof supports, based on 14 reels are two radar sensor 18, which are flush mounted in the surface 14 of the drums. Radar sensors 18 send signals straight up towards the ceiling 28 of the roof of the reservoir and again takes the reflected signals, so that a simple image can be determined the distance between the beams 28 of the roof of the reservoir and the base 14 of the drums, namely early during the mining pass of the Shearer drum 13 with the Executive body. In the present embodiment, both the radar sensor 18 located respectively on the front and rear end of the base 14 of the drums and flush mounted in the surface of the drums. As more detail is not shown, may be provided appropriate treatment device in the form of mechanical scrapers or device for flushing with water under high pressure.

As, moreover, it follows from figure 1, indicated by arrow 19, the thickness of the horizon layer 12 is smaller than indicated by the arrow 20 minimum passage height downhole equipment, so to obtain or maintain the minimum wall height of 20 trailing cutting drum 16b performs one box 21 in the soil layer.

If you know certain through the application of radiolocation the x sensor 18 checkpoint height 22 (figa) between beams 28 of the roof of the reservoir and the base 14 of the drums, some of her simple way is determined by the actual height of the bottom space as the distance between the upper edge of the base 14 of the drums and the horizon 11 soil layer is set to a fixed value which consists of lying on the horizon soil layer AFC 23 and moving of the Shearer drum 13 with the Executive body of the steel structure.

As further represented in figure 2, during the mining operation by means of a radar sensor 18 is determined by the arrow 22 passage height between the ceiling 28 of the roof of the reservoir and the base 14 of the drums, which is defined existing between the roof 10 of the reservoir and the soil layer 11, the actual height of the bottom space. Figure 2 shows that the actual height of the bottom space less than the minimum gate height 20 downhole equipment, so that the trailing cutting drum 16b at each mining course must complete one additional cutting in the soil layer, in order to gradually increase overall freely cut the height of the bottom space. As also follows from a comparison of figures 2A-2B-2C, the two mining tunnels and, thereby, the two cuts can be satisfied with the success of the regulation to establish a minimum wall height of 20. On what they actually freely cut the height of the bottom space at each mining course of the Shearer drum 13 with the Executive body shall be determined without any time delay, at the same time taken into account and short-term, due to the convergence recovery of the soil layer 11, as in each case there is a setting to actually freely cut the height of the face in the light.

First of all, figv seen that face conveyor 23 and moving Shearer drum 13 with the Executive body after two steps are already on the corresponding desired target height of the bottom space of the soil level of the reservoir, while the hulls 25 shield of powered roof supports, despite the corresponding pull-up, are still at the initial level of soil formation according figa. If in accordance with this regulation of the mining work focuses message from the provisions of the cores 25 mechanized shield lining the determination of the actual height of the bottom space, it leads to incorrect results or conclusions, as presented on FIGU position downhole equipment identified in cores 25 mechanized shield lining the height of the bottom space is still classified as too small in relation to minimum entrance height downhole equipment, with the consequence that a mining combine with drum Executive body would be initiated additional incisions in the soil layer that is about, to increase presumably too small the actual height of the bottom space, although given the height of the bottom of the space has already been achieved since shown figv position of the Shearer drum 14 with the Executive body.

However, the height of the face, in addition to the use of radar sensors to a clearing processor 13 from the drum by the Executive body, may be supplemented and validated and improved in adjusting his behavior due to the fact that the additional registration of the actual height of the bottom space and also in the area of the cores 25 shield of powered roof supports. Do this for each frame 25 shield of powered roof supports fixed tilt sensors, so that is possible only on the basis of the determined lower-cost geometric conditions in the operation of the cores 25 shield mechanized roof supports to determine existing on the front end of the slab 28 of the roof of the reservoir bottom width space as defined for the corresponding layer height (h1).

As you can in this respect be seen on figure 3, the frame 25 mechanized shield roof support has a support (sliding) the runner 26, which in a parallel arrangement relative to each other are two stand and 27, of which figure 3 is visible only one and which at their upper end are the ceiling 28 of the roof of the reservoir. While the ceiling 28 of the roof of the reservoir at its front (left) end is in the direction of the Shearer drum 13 with the Executive body, on the rear (right) end overlap 28 of the roof of the reservoir by means of a hinge 30 is attached goaf shield 29, while the dam shield built in the form of two side resting on the supporting skid 26 bearing levers 31. In the present embodiment, on the frame 25 shield of powered roof supports installed three sensor 32 tilt, namely one sensor 32 tilt on the supporting skid 26, one sensor 32 tilt in the rear overlap region 28 of the roof of the reservoir near the hinge 30, and one sensor 32 tilt goaf shield 29. As not shown in more detail, the fourth movable parts of the frame 25 shield of powered roof supports - bearing levers 31 - may also be a tilt sensor, with four possible tilt sensors 32 in each case must be built three tilt sensor in order to use certain of their values of the slope to determine the position of the skeleton of the shield of powered roof supports in a mining space. Also shown in figure 3 in the rear overlap region 28 of the roof of the reservoir sensor 32 tilt can be moved in front of the YOYO overlap, if the profile overlap there is in the possession of the protected space. In this respect, the invention is not limited specifically shown in figure 3 location of tilt sensors, and covers all possible combinations of tilt sensors on the four movable parts of the skeleton shield of powered roof supports.

As also indicated in figure 3, based on the known kinematics of the skeleton of the shield 25 of powered roof supports, depending on the position of the supporting skid 26, goaf shield 29 and 28 overlap the roof of the reservoir relative to each other can be defined height h1h2and h3while the height h1applies to the determination of the corresponding stratum height of the bottom of the space, while the height h2forms a measure for possible excessive in height when fully extended hull shield of powered roof supports, or to the danger of collision, while the height h3may be involved in the consideration of convergence. The determination of the heights h1h2and h3can occur on the basis of measured values of the sensors 17 tilt, when measured by these sensors 17 values not shown in more detail unit computing machine are compared with the stored basic data for the geometric orientation of the parts and their features and advantages of the IKI move relative to each other. It may be provided that a separate hulls 25 shield of powered roof supports after they are built into the downhole equipment are calibrated due to the fact that the ceiling 28 of the roof seam goaf shield 29 and the base runner 26 via the manual inclinometer in the embedded state is measured, and the measured values are entered in the corresponding control unit frame 25 shield of powered roof supports. Since then in the control panel-support displays the values of the heights h1h2and h3these elevation values can additionally be measured by a measuring tapes, and then tilt sensors can be calibrated accordingly.

Disclosed in the above description, claims, abstract and drawings, the characteristics of the object of these documents can be separately and in any combination with each other is essential for the implementation of the invention in various forms of its implementation.

1. The automated way of obtaining a given width of the bottom space in the AFC (23), Shearer (13) with the drum by the Executive authority as the mining machine, and hydraulic consisting of a control room lining (25) active Stopes in underground mining of coal, which via at least one fixed on the base (14) of the Shearer drums (13) with drum Executive body of the radar sensor (18) measure the distance (22) between the upper edge of the base (14) of the drums and the bottom side during mining work accordingly, the inlet bearing cover (28) of the roof shield layer lining (25), and as the actual value for the wall height (22) of the Shearer (13) with drum Executive body under the shield the shield is introduced into the unit computing machine and compared there with the stored predetermined value, while when the deviation form the control commands for adjusting the height of cut at least one or both of the cutting drums (16a, b) of the Shearer (13) with the drum by the Executive body.

2. The method according to claim 1, wherein changing the height of cut is performed after completion of the mining pass of the Shearer (13) with drum Executive body along the bottom.

3. The method according to claim 1, wherein changing the height of cut of the cutting drums (16a, b) is continuous as a reaction to detected in block machines deviation of the actual value from the set.

4. The method according to claim 3, in which at both ends of the base (14) of the drums is a radar sensor (18), and accordingly in the direction of movement of the front radar sensor (18) gives the actual signals for the measured distance.

5. The method according to claim 3, in which at both ends of the base (14) of the drums is a radar sensor (18), and received both radar on what tchicai (18) signals are constantly transmitted to the computing unit of the machine and there process.

6. The method according to claim 4 or 5, in which case the set of deviations of the measured front in the direction (17) motion radar sensor (18) wall height (22) from the target value directly form the management team for the rear in the direction of movement of the cutting drum (16a, b) of the Shearer (13) with the drum by the Executive body.

7. The method according to one of claims 1 to 3, which further established when the following one after the other mining passages respectively formed management teams correction values for the height of cut of the cutting drums (16a, b) are compared with each other, and a certain quantity of correction of the total value attract as measures for the outbreak of convergence, and take into account future mining passages in identifying adaptation of the height of cut.

8. The method according to claim 1, in which means are installed in at least three of the four main parts of each frame (25) shield of powered roof supports, such as support runner (26), goaf shield (29), bearing levers (31), and the overlap area (28) of the roof of the reservoir side of the dam, sensors (32) slope determine the slope of the details panel of the lining relative to the horizontal in the direction of the step, and from the measured data in the unit of a computing machine by comparing with stored therein, the backside of the sponding geometric direction of the parts and set them moving during step basic data calculated in each case corresponding to the layer height (h 1) frame (25) shield of powered roof supports on the front end of the floor (28) of the roof of the reservoir as a measure for the actual value of the width of the bottom space, and so determined actual values for calculating the height of the shield lining serves the manufacturing of the actual value of the measure wall height unit computing machine.

9. The method according to claim 8, in which the actual values of the measurements to the wall height taking into account the constructive height of the floor (28) of the roof of the reservoir and construction of the AFC (23) and the base (14) drums are converted to the actual width of the bottom space and compare with the actual width of the bottom space as a result of calculating the height of the shield supports.

10. The method according to claim 1, in which the inclination of the face conveyor (23) and/or of the Shearer (13) with drum Executive body relative to the horizontal in the direction of the grooves are determined by mounted on the face conveyor (23) and/or a mining combine (13) with drum Executive body of the tilt sensors.

11. The method according to claim 10, in which the angle of inclination of the face conveyor (23) and/or of the Shearer (13) with drum Executive body of the lead in relation to a specific on the floor (28) of the roof of the formation of the skeleton (25) shield of powered roof supports and/or on the th base runner (26) angle and educated from this angle, the error involved in the calculation are installed at several successive cycles step frame (25) powered roof supports the actual width of the bottom space.

12. The method according to claim 11, in which the specified posredstvom set the angle between the inclination of the cutting drums (16a, b) of the Shearer (13) with drum Executive body in the direction of the grooves across the direction of the cut take into account when determining the necessary adjustment of the cutting height.

13. The device for implementing the method according to one of claims 1 to 12, in which radar sensors (18) embedded flush in the base surface (14) of the drums.

14. The device according to item 13, which on the basis of (14) reels are equipped with a device for washing radar sensors water under high pressure.

15. The device according to 14, in which a device for flushing with water under high pressure is controlled using a time relay.

16. The device according to 14, in which a device for flushing with water under high pressure is controlled depending on the event.

17. The device according to item 13, which on the basis of (14) drums installed mechanically working the scraper device.

18. The device for implementing the method according to one of claims 1 to 12, in which radar sensors (18) are located on the side on the side of human hodka base (14) of the drums.

19. The device according to p in which radar sensors (18) in its installed position at the system level Loeb the dock on the base (14) of the drums.

20. The device according to p or 19, in which radar sensors (18) are arranged at an angle to the surface (14) of the drums.

21. The device according to claim 20, in which two radar sensor (18) arranged at a distance from each other with mutually opposite direction of the radiation on the basis of (14) drums.



 

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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 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

FIELD: mining.

SUBSTANCE: group of inventions is related to system and methods for control of getting machine along bottomhole in underground mine tunnel, and also to mining face for method realisation. Method includes measurement of gas concentration and depending on measurement results, generation of warning signal. At the same time volume of production achieved by getting machine is additionally established. In case of insufficient correlation between volume of production and gas concentration, a warning signal is generated.

EFFECT: invention provides for possibility to minimise danger of methane gas explosion in mining face, to establish fact of gas sensor failure and/or manipulation with it.

26 cl, 3 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

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