China University of Mining and Technology (CUMT)

Xuzhou Coal Mine Safety Equipment Manufacture Co., Ltd.

Xuzhou Zhirun Mining Equipment Science and Technology Co., Ltd

Jiangsu Kampf Mechanical Technology Co., Ltd

Songyong Liu

Zhencai Zhu

Wei Li

Yuxing Peng

Gang Shen

Guohua Cao

Hongxiang Jiang

Gongbo Zhou

Hao Lu

Hongsheng Li

Zhiyuan Shi

Changlong Du

Kuidong Gao

Lei Si

Shaoyi Xu

Daolong Yang

Huifu Ji

Xinxia Cui

Xing Zhang

Ge Li

Wei Chen

Xiang Li

Gang Zhang

Fan Jiang

Xin Zhang

Yu Tang

Chaoquan Tang

Guoan Chen

Dagang Wang

Ping Zhou

Changhua Hu

Fangfang Xing

Qingyong Du

Zenghui Liu

Cheng Cheng

Deqiang Cheng

Guopeng Zhang

Hai Liu

Leida Li

Yadong Wang

Yuan Sun

Wenting Lu

Xiaodi Zhang

Huihe Zhao

Xiansheng Gong

Wenxue Xu

Xiangdong Chang

Qizhi Xie

Hongzhuang Wu

Wei Tang

Houguang Liu

Jianhua Yang

Zhentao Mi

Junliang Liu

Zhengwei Hu

Qiao Gao

Jiang Hongxiang

Bowen Wang

Shuilin Wang

Pei Yang

Deyi Zhang

Hao Liu

Ping Wang

A roadway/tunnel excavation robot and an automatic cutting control method are provided. The robot includes a rack, a walking platform, a supporting and stabilizing mechanism, a milling mechanism, a telescoping mechanism, an inclined cutting feed adjusting mechanism, a horizontal swinging mechanism, a lifting mechanism and a controller. The milling mechanism includes a drive unit, a milling shaft, an eccentric rotary casing, a high-pressure jet nozzle unit, a tension and compression sensor and a direction sensor. Through the deflection of a center line of an inner hole of the eccentric rotary casing, the milling mechanism drives a milling cutter head to carry out a rotational oscillation motion for rock breaking. The telescoping mechanism, the inclined cutting feed adjusting mechanism, the lifting mechanism and the horizontal swinging mechanism are controlled such that the milling mechanism performs coal rocks milling.

Roadway/tunnel excavation robot and automatic cutting control method

An apparatus includes a current excitation source, a roadheader telescopic protection cylinder, an electric rotating apparatus, auxiliary cutting teeth, a cutting head entity, a transmission shaft, an optical fiber ring protective housing, an optical fiber ring, an optical fiber current sensor control unit and a recovery electrode. The apparatus transmits an auxiliary current Iand a monitoring current Ito a coal seam. The auxiliary current Iand the monitoring current Iare homologous currents that are incompatible, and the auxiliary current Isqueezes the monitoring current I, so the monitoring current Imonitors the environment of the coal seam. The monitoring current Iflows to the coal seam as, and a return current Iflows through the transmission shaft and a roadheader expansion part. The optical fiber ring measures the return current I, when the roadheader is heading forward and encounters abnormal geological bodies.

Environmental monitoring apparatus and method for mine tunneling robot

The present invention discloses a hoisting container pose control method of a double-rope winding type ultra-deep vertical shaft hoisting system. The method comprises the following steps of step 1, building a mathematical model of a double-rope winding type ultra-deep vertical shaft hoisting subsystem; step 2, building a position closed-loop mathematical model of an electrohydraulic servo subsystem; step 3, outputting a flatness characteristics of a nonlinear system; step 4, designing a pose leveling flatness controller of a double-rope winding type ultra-deep vertical shaft hoisting subsystem; and step 5, designing a position closed-loop flatness controller of the electrohydraulic servo subsystem.

Hoisting container pose control method of double-rope winding type ultra-deep vertical shaft hoisting system

The present invention discloses a hard rock roadway and tunnel boring machine with actively rotating hobs, including a rack provided with a crawler track unit. The rack is provided with a hydraulic power unit and a high-pressure abrasive jet generation system connected therewith. A transmission box is fixedly arranged at one of ends of the rack. The transmission box is provided with two input shafts and one output shaft. The input shafts are connected with planetary reduction mechanisms. Input ends of the planetary reduction mechanisms are connected with cantilever disc driving motors. A cantilever disc is fixed to the output shaft. Four cantilevers are hinged to the cantilever disc. Cantilever driving motors are further arranged on the cantilever disc. Actively rotating hob devices are arranged at ends of the cantilevers away from the cantilever disc. The transmission box is further provided with rotary sealing devices.

Hard rock roadway and tunnel boring machine with actively rotating hobs

A large-tonnage coal dropping buffer skip for a mine is disclosed. A loading skip box () is installed at the top of a large-tonnage skip (), a coal dropping buffer device () is arranged on the inner sidewall of the large-tonnage skip (), and the coal dropping buffer device () includes: a frame () fixedly connected with the inner sidewall of the large-tonnage skip (); a lining plate guide frame () connected with the frame () through shock absorbers (), guide sliding grooves being formed in the lining plate guide frame (); a lining plate support () slidably nested in the guide sliding grooves in the lining plate guide frame (), hoisting lugs () for hoisting being arranged at the top end of the lining plate support (); and a lining plate () detachably connected with the lining plate support () through fasteners ().

Large-tonnage coal dropping buffer skip for mine

The present invention discloses a single-drive bidirectional-crawling pipe-cleaning robot, including a front body assembly, a transmission assembly, and a rear body assembly. The transmission assembly is driven by a single power source, and a transmission effect of a connecting rod mechanism, a gear mechanism, and an equal-dwell cam mechanism is used to implement alternate retraction and support of the front body assembly and the rear body assembly in a radial direction and a telescopic motion in an axial direction between the front body assembly and the rear body assembly and at the same time implement synchronous rotation of a dredging cutter head, so as to implement bidirectional crawling and pipe cleaning work of the robot along a pipe. The present invention is stable, reliable, compact, and practical, and implements single-drive bidirectional crawling and pipe cleaning in a pipe having a greatly changing pipe diameter, so that the obstacle negotiation performance and adaptability to pipe diameter changes of an in-pipe robot are effectively improved, the endurance of the in-pipe robot is improved, and practical engineering significance in cleaning of a horizontal pipe having a greatly changing pipe diameter is provided.

Single-drive bidirectional-crawling pipe-cleaning robot

The present invention discloses a self-detection device for a liner plate of a hoisting container and a detection method. The device mainly includes: a frame, a baffle-type hoist conveyor, a horizontal conveyor, a loading hopper assembly, an unloading hopper assembly, a liner plate assembly, and a hoisting container system. The loading hopper assembly is fixedly mounted to an upper right end of the frame, the unloading hopper assembly is fixedly mounted to a lower left end of the frame, the hoisting container system is arranged on an upper left portion of the frame and above the unloading hopper assembly, and the liner plate assembly is provided inside the hoisting container system. A feed port of the baffle-type hoist conveyor is connected to an unloading port of the unloading hopper, and a discharge port thereof is joined to a loading port of a loading hopper; and a feed port of the horizontal conveyor is connected to an unloading port of the loading hopper, and a discharge port thereof is arranged at a feed port on an upper end of the hoisting container system. The self-detection liner plate can simulate an impact, friction, and wear behavior on a liner plate of a hoisting container in an actual loading process; and can measure in real time an impact force and friction force bored by the liner plate when a material falls down to impact on the liner plate. In addition, the self-detection liner plate enables continuous loading of materials.

Self-detection device for liner plate of hoisting container and detection method

A vibrating type hard rock cutting mechanism with a function of directional high-speed abrasive jet advanced slitting includes a disc-shaped hob, a cutting main shaft and a valve plate. When the vibrating type hard rock cutting mechanism works, an outlet of a high-pressure abrasive jet generating system is communicated to a cutting mechanism abrasive jet inlet. An abrasive jet enters an abrasive jet nozzle through flow channels in the valve plate, the cutting main shaft and the disc-shaped hob and forms a directional high-speed abrasive jet. The cutting main shaft is directly driven to rotate by an axial permanent magnet motor. The cutting mechanism enables the disc-shaped hob to vibrate under the action of a vibration motor. A macro crack is formed on a rock mass by rotating the abrasive jet. The rotating disc-shaped hob can be wedged into the formed crack in a vibration manner by swinging the cutting mechanism.

Vibrating type hard rock cutting mechanism with function of directional high-speed abrasive jet advanced slitting

A vertical shaft steel wire rope cage guide sliding sleeve wear amount detection device includes flexible printed circuit (FPC) flat cable units, voltage detection circuit units, a control system, and data display equipment. Two end faces of a vertical shaft steel wire rope cage guide sliding sleeve are provided with the FPC flat cable units, the FPC flat cable units being sequentially attached to end portion surfaces of the sliding sleeve along an outer periphery of a rope hole of a steel wire rope to form an enclosure; each FPC flat cable unit is connected to one voltage detection circuit unit; a signal input end of the control system is connected with the voltage detection circuit units, and a signal output end of a control module is connected to a wireless transmission module; and the data display equipment receives data transmitted by the wireless transmission module.

Vertical shaft steel wire rope cage guide sliding sleeve device and detection method thereof

A shock-absorbing and energy-collecting roller cage shoe including a base, a main energy-collecting module, two auxiliary energy-collecting modules, and a roller is provided. The base is provided with three containing spaces for containing the main energy-collecting module and the two auxiliary energy-collecting modules. In the three containing spaces, the main energy-collecting module and the two auxiliary energy-collecting modules are respectively connected fixedly to the base through wire rope shock absorbers, the main energy-collecting module and the two auxiliary energy-collecting modules are respectively pressed on the left side, the upper side and the lower side of the roller, and the right side of the roller is pressed on a cage guide. The energy-collecting modules collect vibrational energy generated by vibration in the operation process of a lifting container, and convert the vibrational energy into collectable piezoelectric energy. The piezoelectric energy can be used to supply electric energy to electricity-consuming installations, such as such as the illumination of the lifting container, and thereby the collection and utilization of energy are realized.

Shock-absorbing and energy-collecting roller cage shoe

Systems and methods for detecting a layer-to-layer transition of a lifting steel wire rope on a reel are described. The system includes a reel assembly for winding a steel wire rope on a reel and a tensioning assembly for tensioning a segment of said steel wire rope. The system further includes a loading assembly and a lead screw sliding assembly. The loading assembly provides a vertical loading to the tensioning assembly so as to generate a loading force between the tensioned steel wire rope and the steel wire rope wound around the reel. The lead screw sliding assembly drives the tensioning assembly so as to move on a horizontal guide rail to generate a relative displacement between the tensioned steel wire rope and the steel wire rope wound around the reel. The tensioning assembly is connected to the loading assembly via a first threaded rod and a static torque sensor.

Detection device and method for improving layer-to-layer transition of steel wire ropes

A drilling and bursting heading machine, comprising a drilling and bursting device (), an angle control device, a forward-backward telescopic device and a cantilever type heading machine (), wherein the drilling and bursting device () is mounted on a forward-backward moving component of the forward-backward telescopic device by means of the angle control device, and the forward-backward telescopic device is mounted on the cantilever type heading machine (); the drilling and bursting device () comprises a fixing support (-), as well as a rock drill component and a bursting component fixedly mounted on the fixing support (-) respectively; the angle control device comprises a mounting base (-), an auxiliary rotary hydraulic motor (-), an adjustment hydraulic cylinder (-) and a main rotary hydraulic motor (-); and when the forward-backward moving component of the forward-backward telescopic device completely extends out, the distance from a front end of the drilling and bursting device () to a working plane is shorter than the distance from a front end of a cutting head of the cantilever type heading machine () to the working plane. The drilling and bursting heading machine has a compact structure and is able to implement quick drilling and bursting on a hard rock stratum having a rock hardness f greater than 10 without increasing the energy consumption, so that the heading efficiency is improved and potential safety risks are reduced.

Drilling and bursting heading machine

A method for tracking a moving target based on an optical flow method, including, providing video images, and implementing pre-processing of the images to generate pre-processed images; implementing edge-detection of the pre-processed images and using an optical flow method to extract target information from the pre-processed images, and on the basis of a combination of the edge-detection information and the extracted target information, generating a complete moving target; using an optical flow method to perform estimation analysis of the moving target and using a forward-backward error algorithm based on feature point trace to eliminate light-generated false matching points; and creating a template image and implementing template image matching to track the moving target. The method and system for tracking a moving target based on an optical flow method have the advantages of accurate and complete extraction and the ability to implement stable tracking over a long period of time.

Method and system for tracking moving objects based on optical flow method

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Jiangsu, China

Songyong Liu