CN-116733466-B - Ultra-thin coal seam coal rock trace identification method and self-adaptive coal rock cutting device and method

CN116733466BCN 116733466 BCN116733466 BCN 116733466BCN-116733466-B

Abstract

An ultra-thin coal seam coal rock trace identification method, a self-adaptive coal rock cutting device and a self-adaptive coal rock cutting method belong to the technical field of ultra-thin coal seam mining, and aim to solve the problems that the existing coal rock identification method is poor in accuracy of coal rock trace identification and the existing coal mining machine cannot be subjected to self-adaptive adjustment. The method for identifying the coal-rock trace of the ultra-thin coal seam extracts parameters in the process of cutting different coal-rock proportions through experiments, wherein the parameters comprise the voltage and current of a cutting motor of a coal cutter, the vibration frequency and amplitude of a rocker arm of the cutting motor of the coal cutter, and the frequency and energy of coal wall acoustic emission, the respective corresponding sensitivity is obtained based on the parameters, and the functional relation between the proportion occupied by each parameter and the respective variation and the rock depth variation is obtained, so that the coal-rock trace is obtained. The self-adaptive coal rock cutting device is provided with a spring rigidity relaxation device and a hydraulic supporting device which are respectively connected to the rocker arm in the horizontal direction and the vertical direction, and the spring rigidity relaxation device and the hydraulic supporting device have an interlocking function.

Inventors

QIN TAO
DUAN YANWEI
WANG ZHENSUO
WANG BAOCHEN
LIU GANG
LIU YONGLI
HOU XIANGANG
LIU ZHIJUN
CHI XUEHAI
WANG DONGWEI
WANG LEI

Assignees

黑龙江科技大学

Dates

Publication Date: 20260505
Application Date: 20230626

Claims (9)

1. The self-adaptive coal and rock cutting device comprises a walking servo motor (1), a transmission belt wheel (2), an integral machine seat (3), a sliding block (4), a motor seat (5), a traveling platform, a rocker arm (6), an excavating roller (7), a coal cutter cutting motor, a linear guide rail pair (8) and an upright post (9), and is characterized by further comprising a spring rigidity relaxation device (10) and a hydraulic supporting device (11); The coal mining machine comprises an integral machine base (3), a linear guide rail pair (8), a plurality of sliding blocks (4), a traveling servo motor (1), a traveling platform and a driving device, wherein the integral machine base (3) is arranged along the traveling direction of coal mining operation in the length direction; the travelling platform is provided with a motor seat (5) and an upright post (9), one end of a rocker arm (6) is arranged on the travelling platform, and the other end of the rocker arm (6) is provided with an excavating roller (7); The device comprises a vertical column, a spring rigidity relaxation device, a hydraulic support device, a traveling platform, a hydraulic rod end, a spring rigidity relaxation device, a vertical plane and a horizontal plane, wherein one end of the spring rigidity relaxation device is arranged on the vertical column, and the other end of the spring rigidity relaxation device is rotationally connected to the upper side surface of a rocker arm (6); The coal cutter cutting motor is arranged on the motor base (5), is positioned at one end of the rocker arm (6) close to the travelling platform, and drives the excavating roller (7) to rotate through a transmission device arranged in the rocker arm so as to cut a coal seam; the elastic rigidity relaxation device comprises a first electrohydraulic servo telescopic rod, a rigid spring and a first encoder, wherein the telescopic rod section of the first electrohydraulic servo telescopic rod is connected with the rigid spring, the rigid spring is hinged to the upper side surface of a rocker arm, the first electrohydraulic servo telescopic rod is controlled by a computer to realize the movement of the telescopic rod, and the first encoder is used for measuring the movement distance of the telescopic rod so as to give the rigidity coefficient of the spring; the hydraulic supporting device comprises a second encoder and a second electrohydraulic servo telescopic rod, wherein the second electrohydraulic servo telescopic rod is hinged to the lower side face of the rocker arm, the second electrohydraulic servo telescopic rod is controlled by a computer to realize the movement of the telescopic rod, and the second encoder is used for measuring the movement distance of the telescopic rod The spring-rigid relaxation device has an interlocking function with the hydraulic support device, i.e. the hydraulic support device provides support when the spring-rigid relaxation device is in a relaxed state, and the spring-rigid relaxation device provides support when the hydraulic support device provides support in a relaxed state.
2. The adaptive coal rock cutting device of claim 1, wherein the first electrohydraulic servo telescopic rod is controlled by a computer to realize the following moving process of the telescopic rod: the computer controls the servo motor to inject the hydraulic oil in the oil source into the first electrohydraulic servo telescopic rod through the high-pressure pipeline to realize the extension of the hydraulic servo telescopic rod, and when the elastic rigidity relaxation device starts to work, the oil source pressure relief valve is opened to introduce the hydraulic oil into the oil tank containing the pump, and at the moment, the telescopic rod of the first electrohydraulic servo telescopic rod moves freely to become the relaxation device.
3. The adaptive coal rock cutting apparatus of claim 2, wherein the outer portions of the rigid spring and the telescoping rod section of the first electrohydraulic servo telescoping rod are provided with a shield.
4. A self-adaptive coal rock cutting device according to claim 2 or 3, wherein the second electrohydraulic servo telescopic rod is controlled by a computer to achieve the same telescopic rod movement process as the first electrohydraulic servo telescopic rod is controlled by a computer to achieve the telescopic rod movement process.
5. The method for identifying the trace of the coal rock of the ultrathin coal seam is characterized by comprising the following steps of: S1, arranging a similar simulated coal stratum in a laboratory environment, wherein the similar simulated coal stratum is of a cuboid structure, a cutting area of the similar simulated coal stratum comprises a coal layer and a rock layer, the coal layer and the rock layer of the cutting area respectively form a cuboid structure in a right triangle structure and an inverse triangle structure, the coal layer is positioned below the similar simulated coal stratum, the rock layer is positioned above the lower part of the similar simulated coal stratum, the coal layer is thinned from thickness along the cutting direction, the rock layer is thickened from thickness, and different coal-rock proportions exist at different mining positions, namely the cutting rock depth; Linearly arranging an acoustic emission probe in a similar simulated coal rock stratum; S2, utilizing the self-adaptive coal rock cutting device or the constant proportion model of the self-adaptive coal rock cutting device according to claim 1 to mine similar simulated coal rock layers, wherein a plurality of groups of test conditions are set in the mining process to simulate, and the plurality of groups of test conditions comprise different traction speeds and different mining drum rotation speeds; In the process of simulating multiple groups of test conditions, acquiring electric signals of a cutting motor of the coal mining machine, wherein the electric signals comprise voltage signals and current signals, and a hydraulic supporting device is fixed at the moment to acquire voltage signals and current signals of cut coal and rock in different proportions; The method comprises the steps of collecting three-dimensional vibration signals on a rocker arm while collecting voltage and current signals, and obtaining vibration frequencies and vibration amplitudes in three dimensions; The method comprises the steps of collecting voltage and current signals, collecting acoustic emission signals of a coal mining cutting surface by using an acoustic emission system, carrying out Fourier transform on the collected acoustic emission signals, and analyzing the frequency and the count of acoustic emission under different coal-rock proportions; S3, extracting parameters in the process of cutting different coal and rock proportions, wherein the parameters comprise the voltage and current of a cutting motor of the coal cutter, the vibration frequency and amplitude of a rocker arm of the cutting motor of the coal cutter, and the frequency and energy of coal wall acoustic emission, and the sensitivity of the cutting motor of the coal cutter is U m , the current sensitivity of the cutting motor of the coal cutter is A m , the amplitude sensitivity of the rocker arm is P m , the frequency sensitivity of the rocker arm is F m , the sensitivity of the acoustic emission energy is E m , and the frequency sensitivity of the acoustic emission is F m ; (1) (2) (3) (4) (5) (6) U, A, P, F, E, f respectively represent the voltage of a cutting motor of the coal cutter, the current of the cutting motor of the coal cutter, the amplitude of a rocker arm, the frequency of the rocker arm, the acoustic emission energy and the acoustic emission frequency, the corresponding parameter subscript P represents the numerical value of a parameter when a certain coal-rock proportion is cut, and the corresponding parameter subscript c represents the numerical value of a parameter of a cutting coal body; For U m 、A m 、P m 、F m 、E m 、f m corresponding to cutting coal and rock under different cutting rock depths, a homogenization method is adopted to obtain the proportion of each parameter, which is respectively recorded as 、、、、、 ; Meanwhile, the respective variation of U m 、A m 、P m 、F m 、E m 、f m corresponding to the cutting of coal and rock under different cutting rock depths is obtained in the cutting process, and the functional relation of the respective corresponding rock depth variation is obtained: (13) (14) (15) (16) (17) (18) Wherein, the 、、、、、 Respectively representing the functional relation between the transverse rows of each coal cutter cutting motor voltage, coal cutter cutting motor current, rocker amplitude, rocker frequency, acoustic emission energy and acoustic emission frequency and rock depth variation, - Representing respective corresponding rock depth variations; Finally, calculating the depth L S of the cut rock under multi-parameter fusion through the relation between the weight and the variable and the distance, namely the rocker arm variation L S : (19) Wherein, the For the voltage variation of the cutting motor of the coal cutter, the corresponding rock cutting depth variation , For the current change of the cutting motor of the coal cutter, the corresponding depth change of the cutting rock , The corresponding rock cutting depth variation is the vibration amplitude variation of the rocker arm , The corresponding rock cutting depth variation is the vibration frequency variation of the rocker arm Is that Acoustic emission energy variation corresponding to the depth variation of rock to be cut , For acoustic emission counting variation, the corresponding variation of depth of rock cut ; The obtained rocker arm variation L S is actually the identification result of the coal-rock track, and the radius of the rocker arm is added to be the coal-rock track.
6. The method for identifying the trace of the coal rock of the extremely thin coal seam according to claim 5, wherein the specific gravity of each parameter obtained by adopting the homogenization method is as follows: (7) (8) (9) (10) (11) (12)。
7. A method of identifying very thin seam coal rock traces as claimed in claim 5 or 6 wherein the coal and rock layers are in accordance with the drum diameter in the elevation of regular and reverse triangular formations respectively.
8. The method for identifying the trace of the coal rock of the extremely thin coal seam according to claim 7, wherein when the similar simulated coal rock layers of the triangular coal rock structure are arranged in a laboratory environment, the similar simulated coal rock layers corresponding to the coal layers with different hardness are respectively arranged for experiments.
9. An adaptive coal rock cutting method is characterized in that an adaptive coal rock cutting device according to any one of claims 1 to 4 is used for cutting, a traction speed and a digging roller rotation speed are set for coal rock cutting, in the coal rock cutting process, an ultrathin coal seam coal rock trace identification method according to any one of claims 5 to 8 is used for identifying a coal rock trace, namely a rocker arm change amount L S is obtained, and the adaptive adjustment is performed based on the obtained rocker arm change amount L S , wherein the adaptive adjustment process is as follows: When the coal seam is cut initially, the information of the top and bottom plates of the coal seam can be revealed, so that the height of a supporting device is adjusted, the roller is guaranteed to enter the coal body completely, initial cutting is guaranteed to be carried out in the coal body, after the roller enters the coal body completely, the supporting device is automatically depressurized and becomes a pressureless telescopic structure, at the moment, a coal rock rigidity relaxation device is started, the stretching roller is enabled to be in a pull-back state according to the fact that the spring rigidity force is larger than the cutting force of the coal seam, namely, the stretching roller is lifted when the coal seam is cut completely, the stability after the coal rock trace is achieved, when the rock body is cut, the cutting motor voltage of the coal cutter, the current of the cutting motor of the coal cutter, the amplitude of the rocker arm, the rocker arm frequency, the acoustic emission energy and the acoustic emission frequency can be changed in the rock body cutting process, so that the adjustment of the coal cutter height is carried out by using an ultra-thin coal seam coal trace identification method, at the moment, the elastic rigidity relaxation device is instantaneously depressurized, the pressureless telescopic structure is converted, the automatic lifting of the rocker arm is carried out according to the L S , the automatic lifting of the rocker arm is automatically depressurized, the supporting device is converted into the pressureless structure, and the supporting state is enabled to carry out to cut the coal rigid relaxation device, and the rock cutting is cut.

Description

Ultra-thin coal seam coal rock trace identification method and self-adaptive coal rock cutting device and method Technical Field The invention belongs to the technical field of ultra-thin coal seam mining, and particularly relates to a trace identification method, a self-adaptive coal and rock cutting device and a self-adaptive coal and rock cutting method. Background In the early working process of coal mining machines, the height of a roller needs to be controlled manually, and coal mining machines with a memory cutting function are commonly used for coal mining at present due to the limitation of coal mining working environments. Coal mining machines with memory cutting function identify coal and rock in a memory mining height mode, and although the coal mining machines are widely used at present, certain problems exist in mining of the coal mining machines with memory cutting function aiming at mining of extremely thin coal seams. On the one hand, because the coefficient of variation of the thin coal seam is relatively large in the deep mining process, when the coal mining machine with the function of memory cutting is used for mining according to the memory mining height, the coal mining machine can be used for cutting the extremely thin coal seam and suddenly changing into rock, and excessive cutting rock can cause serious pick abrasion and even cause the mining machine to break down and damage, and the mining risk is increased, meanwhile, the rock occupation in the mined coal is relatively high, the quality of the coal is reduced, the workload of subsequent coal dressing is increased, the working efficiency is reduced, and in addition, the environment is influenced by the gangue accumulation. On the other hand, in the thin seam mining process, the working face recovery rate requirement reaches 97%, and if the coal-rock trace cannot be accurately identified, the recovery rate requirement is difficult to reach. At present, coal and rock identification is divided into contact type and non-contact type, the contact type mainly comprises process signal monitoring such as vibration, acoustic emission, current, cutting mechanical parameters and the like, the non-contact type mainly comprises infrared thermal image, pattern identification, reflection spectrum, ultrasound, electromagnetic waves and the like, the effect of the existing coal and rock identification is poor due to the complexity of the coal and rock and the variability of the mining process, accurate identification of coal and rock traces cannot be realized, so that the loss of a mining roller of a coal mining machine is serious, even the damage of the mining roller is directly caused, and meanwhile, a cutting motor of the coal mining machine can work under limit working conditions, even overload work is directly damaged. Even more serious, if the rock layer is cut, safety accidents can be caused, and personnel and property safety is endangered. Disclosure of Invention The invention aims to solve the problems that the existing coal-rock identification method has poor accuracy in identifying coal-rock traces and the existing coal mining machine cannot carry out self-adaptive adjustment. The self-adaptive coal and rock cutting device comprises a walking servo motor 1, a driving belt pulley 2, an integral machine base 3, a sliding block 4, a motor base 5, a traveling platform, a rocker arm 6, an excavating roller 7, a coal cutter cutting motor, a linear guide rail pair 8, an upright post 9, a spring rigidity relaxation device 10 and a hydraulic supporting device 11; The whole machine seat 3 is arranged along the advancing direction of coal mining operation in the length direction, a linear guide rail pair 8 is arranged on the whole machine seat 3 along the length direction of the whole machine seat, a plurality of sliding blocks 4 are arranged on the linear guide rail pair, and the traveling servo motor 1 drives a transmission belt pulley to rotate, and the transmission belt pulley drives the sliding blocks 4 to slide along the linear guide rail pair 8; One end of the rocker arm 6 is arranged on the travelling platform, and the other end of the rocker arm 6 is provided with an excavating roller 7; The device comprises a vertical column, a spring rigidity relaxation device, a hydraulic support device, a traveling platform, a hydraulic rod end, a spring rigidity relaxation device, a vertical plane and a horizontal plane, wherein one end of the spring rigidity relaxation device is arranged on the vertical column, and the other end of the spring rigidity relaxation device is rotationally connected to the upper side surface of a rocker arm 6; the coal cutter cutting motor is arranged on the motor base 5, is positioned at one end of the rocker arm 6 close to the travelling platform, and drives the excavating roller 7 to rotate through a transmission device arranged in the rocker arm so as to cut a coal seam; the elastic rigidity relaxation device compris