煤矿短壁开采自动化连续运输系统设计与实现  

Design and implementation of automatic continuous transportation system forshor-wall mining in coal mine

作　　者：郝建生 HAO Jiansheng(Taiyuan Research Institute Co.,Ltd.,China Coal Technology&Engineering Group,Taiyuan 030006,China)

机构地区：[1]中国煤炭科工集团太原研究院有限公司,山西太原030006

出　　处：《煤炭科学技术》2021年第6期213-218,共6页Coal Science and Technology

摘　　要：采用短壁机械化开采技术提高资源采出率,解决我国煤矿井下煤柱及不规则块段开采、"三下"压煤开采、露天边帮压煤回收、延长矿井服务年限等方面,具有重要意义。目前,我国连续采煤机技术装备发展迅速,替代进口取得了较好的应用效果,后配套连运系统缺失一直制约矿井产量提升,亟待开发。带式输送机具有长距离连续运输、大运量、可靠性高、性价比高的特点,且易于实现自动化集中控制。为提升煤矿房柱式开采工艺中连续采煤机后配套运输系统生产能力,基于长距离动态运输、跟随连续采煤机轨迹自动行驶对实现后配套连续运输的重要性,探讨了汽车列车型式连运系统的可行性,提出了直接控制汽车列车连运系统循迹行驶的自动控制算法,研究了车辆单元铰接机构和不同工况转向行驶算法等关键技术难点,测试结果表明应用汽车列车型式的带式连运系统实现自动循迹行驶能有效解决房柱式开采工艺中实现连续运输的技术难题,实现连续运输系统自动行驶,跟随连续采煤机轨迹进行精准循迹控制,减少作业人员,提升了行驶灵活性和环境适应能力。It is of great significance to adopt short-wall mechanized mining technology to improve the resource recovery rate and to solve the problems of underground coal pillar and irregular block mining, " three-under" coal mining,open-pit side pressing coal recovery,prolonging mine service life and so on. At present,the technical equipment of continuous shearer in China is developing rapidly,and the replacement of import has achieved good application results. the lack of supporting continuous transportation system has been restricting the improvement of mine output and needs to be developed urgently. Belt conveyor has the characteristics of long-distance continuous transportation,large capacity,high reliability,high performance-to-price ratio,and it is easy to realize automatic centralized control. In order to improve the production capacity of the supporting transportation system behind the continuous shearer in the room and pillar mining technology of the coal mine,the importance of realizing the continuous transportation based on the long distance dynamic transportation and following the continuous shearer track is very important. In this paper,the feasibility of automobile-train type continuous transportation system is discussed,and an automatic control algorithm for directly controlling the tracking operation of automobile-train continuous transportation system is put forward. The key technical difficulties such as vehicle unit hinged mechanism and steering algorithm under different working conditions are studied. The test results show that the application of vehicle train type belt continuous transportation system to realize automatic tracking driving can effectively solve the technical problem of realizing continuous transportation in room and pillar mining technology,realize continuous transportation system automatic driving,follow continuous shearer trajectory for accurate tracking control,and reduce operators. It improves the driving flexibility and the ability to adapt to the environment.

关 键 词：短壁开采 连续运输 汽车列车 循迹行驶控制算法 带式连运系统 

分 类 号：TD67[矿业工程—矿山机电]