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公开(公告)号：US20240141784A1
公开(公告)日：2024-05-02
申请号：US18031869
申请日：2022-09-30
Applicant: China University of Mining and Technology
Inventor： Hongxiang JIANG , Zhencai ZHU , Songyong LIU , Gang SHEN , Xiaodi ZHANG , Huihe ZHAO , Hongsheng LI
CPC classification number: E21D9/108 , E21D9/003 , E21D9/1066 , E21D9/1093
Abstract: Disclose are a roadway/tunnel excavation robot and an automatic cutting control method. The robot includes a rack, a moving 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; and the milling cutter head is in discontinuous contact with a rock mass. 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.
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32.发明公开公开(公告)号：US20240089879A1
公开(公告)日：2024-03-14
申请号：US18260532
申请日：2022-09-30
Inventor： Gongbo ZHOU , Chuansheng ZHANG , Fan JIANG , Lianfeng HAN , Shudong WANG , Xin LIU , Duifang GU , Tao WANG , Chuansong WANG , Libing WANG , Niansheng LIU , Fuxing SHI , Dongrun LIU , Lizheng LI , Zhencai ZHU
CPC classification number: H04W56/001 , H04B10/27 , H04W64/00 , H04W84/22
Abstract: The present disclosure discloses a time service and positioning network system for an underground chain-shaped large space in a coal mine. The system adopts a base station-level network internal time synchronization method which takes an optical fiber time service as a main part and takes a satellite time service as an auxiliary part to construct a time service and positioning network system with an unified time within the ad-hoc network base stations, based on the ad-hoc network base stations linearly arranged in the underground chain-shaped large space in the coal mine. Through the network construction, the network stabilization and the network application, the system unifies the time reference of the base station-level network and improves the positioning accuracy of the network application by utilization of the base station-level network internal time synchronization method. The system integrates the time service and positioning network system suitable for the underground coal mine and expands the network applicability based on an existing underground communication ring network.
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33.发明公开公开(公告)号：US20230382691A1
公开(公告)日：2023-11-30
申请号：US18022846
申请日：2022-05-23
Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY , Changzhou Development & Manufacture Centre Co., Ltd. , XUZHOU COAL MINE SAFETY EQUIPMENT MANUFACTURE CO., LTD.
Inventor： Chi MA , Yuxing PENG , Zhencai ZHU , Meilin WANG , Changhua HU , Fahui SHI , Xingming XIAO , Jun QIAN , Fan JIANG , Yunwang LI , Dagang WANG , Qihang YU
Abstract: The present disclosure provides a hoist for transferred materials in an underground auxiliary transportation system and a method thereof. The hoist includes a hoist body, guiding plates mounted at two ends of the hoist body through bolts, twist locks mounted at four ends of the hoist body, a driving unit configured to drive twist locks to rotate, transmission assemblies configured to connect the twist locks with the driving unit, ejector pins configured to prevent the twist locks from rotating mistakenly, and a sensor configured to control the hoist to operate and provide protection safety. The hoist provided by the present disclosure can satisfy the ground-to-air and ground-to-ground transferring requirements for underground materials, and the safety protection sensors can prevent a misoperation of the hoist, can adapt to standard containers of different sizes, has a certain adaptability to narrow terrains, and can improve the stability of the overall mechanism in cooperation with the rope-pulling mechanism. Descending, unlocking, locking and ascending can be automatically achieved and the operating efficiency can be improved.
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34.发明公开公开(公告)号：US20230349295A1
公开(公告)日：2023-11-02
申请号：US18013908
申请日：2022-08-31
Applicant: China University of Mining and Technology
Inventor： Gang SHEN , Zhencai ZHU , Song QU , Yunjie SA , Yu TANG , Xiang LI , Guan YUAN , Zhiou XU , Jiaqi ZHAO , Pengpeng CHEN
Abstract: The present application relates to an attitude self-correcting underground transportation apparatus based on UWB technology and a control method thereof. A transport clamping and fastening mechanism is mounted on an upper surface of an upper platform part of a six-degree-of-freedom motion platform. An attitude perception and sensing set at least includes three UWB tags, the UWB tags in the attitude perception and sensing set being evenly distributed on the side of the upper platform part of the six-degree-of-freedom motion platform. A control module is configured to send an electric signal to drive the six-degree-of-freedom motion platform and the transport clamping and fastening mechanism to grip an object to be transported, collect positioning information of the attitude perception and sensing set, calculate the attitude of the six-degree-of-freedom motion platform in real time, and perform attitude adjustment with reference to an expected position and attitude to maintain a smooth transportation process.
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35.发明公开公开(公告)号：US20230348238A1
公开(公告)日：2023-11-02
申请号：US18027374
申请日：2022-03-04
Applicant: China University of Mining and Technology , Xuzhou Liren Monorail Transportation Equipment Co., Ltd.
Inventor： Zhencai ZHU , Hao LU , Yidong ZHANG , Hengzhen HU , Fuping ZHENG , Yu TANG , Kang XU , Yuzhu ZHANG
Abstract: The present disclosure belongs to the technical field of mining equipment, and in particular related to an automatic driving system of a monorail hoist driven based on a digital twin and a method thereof. The system includes a railroad switch sensor module, a positioning system module, a data transferring system, an intelligent control system, a digital twin system and an automatic driving module. The railroad switch sensor module is configured to sense the connection-position state of a movable track in a monorail hoist railroad switch track. The data transferring system is configured to transmit the data on the surface and underground. A bidirectional transmission is performed between the intelligent control system and the railroad switch sensor module, a bidirectional transmission is performed between the intelligent control system and the positioning system module, and a bidirectional transmission is performed between the digital twin system and the intelligent control system.
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Patent Agency Ranking
36.发明公开公开(公告)号：US20230303130A1
公开(公告)日：2023-09-28
申请号：US18250673
申请日：2022-09-30
Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY , XUZHOU LIREN MONORAIL TRANSPORTATION EQUIPMENT CO., LTD.
Inventor： Hao LU , Zhencai ZHU , Yidong ZHANG , Hua CHEN , Zaigang XU , Mingzhong WANG , Mai DU , Hengzhen HU , Fuping ZHENG
Abstract: A series-parallel monorail hoist based on an oil-electric hybrid power and a controlling method thereof. The monorail hoist includes a cabin, a hydraulic driving system, a lifting beam, a gear track driving and energy storage system, and a speed adaptive control system connected in series with each other and travelling on a track. The monorail hoist is capable of implementing an independent drive by an electric motor or a diesel engine in an endurance mode, a hybrid drive of the electric motor and the diesel engine in a transportation mode, and a hybrid drive of the diesel engine and a flywheel energy storage system in a climbing mode, according to different operating conditions that include conditions of an upslope, a downslope and a load. Power requirements for the monorail hoist under various operating conditions are satisfied, and the excess energy is recovered during the process of travelling.
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公开(公告)号：US20230127366A1
公开(公告)日：2023-04-27
申请号：US17996664
申请日：2022-01-17
Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY
Inventor： Shaoyi XU , Zhencai ZHU , Wei LI , Wenting LU , Gang SHEN , Songyong LIU , Fangfang XING , Hongxiang JIANG , Lei SI
IPC: E21D9/00
Abstract: 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 Ie and a monitoring current Id to a coal seam. The auxiliary current Ie and the monitoring current Id are homologous currents that are incompatible, and the auxiliary current Ie squeezes the monitoring current Id, so the monitoring current Id monitors the environment of the coal seam. The monitoring current Id flows to the coal seam as, and a return current If flows through the transmission shaft and a roadheader expansion part. The optical fiber ring measures the return current If, when the roadheader is heading forward and encounters abnormal geological bodies.
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公开(公告)号：US20220073283A1
公开(公告)日：2022-03-10
申请号：US17418853
申请日：2019-11-26
Applicant: China University of Mining and Technology
Inventor： Dagang WANG , Ruixin WANG , Zhencai ZHU , Huilong ZHU , Gang SHEN , Xiang LI , Yu TANG
Abstract: A frictional force monitoring system for middle troughs of a scraper conveyor, comprising a scraper conveyor system and a sensing detection system. The scraper conveyor system consists of a machine body, middle troughs, thrust lugs, scrapers, a double chain, a sprocket, a speed reducer, an electric motor and a frequency converter. The sensing monitoring system consists of force receiving modules, a three-dimensional force sensor, and a pre-embedded temperature sensor. The frictional force monitoring system is able to monitor impact loads, frictional forces, friction coefficients, temperature, etc. between an annular chain, coal bulk, and middle troughs of the scraper conveyor under complex and severe operating conditions, and to provide the technical means for the design, safety early-warning and health evaluation of the scraper conveyor, and can provide a data basis for studying friction wear and fatigue breaking mechanism of middle troughs of a scraper machine.
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公开(公告)号：US20210247343A1
公开(公告)日：2021-08-12
申请号：US17264412
申请日：2020-03-13
Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY
Inventor： Shaoyi XU , Zhencai ZHU , Wei LI , Yanjing SUN , Fangfang XING , Hongyu XUE , Qiang PENG , Feng DONG , Guang CHEN
Abstract: When the heading machine tunnels, a current generated by a current excitation source enters a coal seam through a movable cutting pick to form a stray current. The stray current collected by a backflow net returns to a negative electrode of a power supply through a transition resistor. When information such as the water content of the coal seam changes, the stray current and a potential difference across the transition resistor also accordingly change, and the coal seam water content information is converted into an electric signal. When the potential difference across the transition resistor is applied to two ends of a piezoelectric ceramic, the piezoelectric ceramic extends or compresses, and the electric signal is converted into a strain signal. A sensing optical fiber converts the strain signal into an optical signal detectable by a photoelectric detector. The optical signal is analyzed to obtain the coal seam water content information.
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40.发明申请公开(公告)号：US20210070586A1
公开(公告)日：2021-03-11
申请号：US16772162
申请日：2019-09-12
Applicant: China University of Mining and Technology
Inventor： Gang SHEN , Zhencai ZHU , Xiang LI , Yu TANG , Guohua CAO , Gongbo ZHOU , Songyong LIU , Yuxing PENG , Hao LU
Abstract: 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. The present invention has the advantages that a system state variable derivation process is omitted, so that a design process of the controllers is greatly simplified. The response time of the controllers can be shortened, and a hoisting container can fast reach a leveling state. In an application process of the system, sensor measurement noise and system non-modeling characteristics can be amplified through state variable derivation, so that tracking errors can be reduced through design of the flatness controller. A control process is more precise, and good control performance is ensured.
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