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 platform part of a six-degree-of-freedom motion platform. An attitude perception and sensing set at least includes three UWB tags being configured to acquire position information.

Abstract: Tandem methods and devices for separating coal and gangue based on visible light and an X-ray are provided. The method comprises: determining, based on a visible light image, an image feature set and a target region of coal gangue; recognizing the coal gangue and removing large gangue in the coal gangue; performing imaging on the coal gangue after the large gangue is removed; extracting a target image and determining a gray scale value of the target image; obtaining samples of coal and gangue of different granularity levels by performing sampling; establishing a database and obtaining a separation threshold of coal and gangue of each granularity level of the current mining area; forming a mapping set and storing the database in a storage space; and obtaining a gray scale value of subsequent coal gangue, importing the gray scale value of the subsequent coal gangue into the mapping set to subsequently separate coal and gangue.

Abstract: A system of monitoring vibration of a blasting model test for a jointed rock mass and a method are provided. The system includes: a loading subsystem for three-way load, a model-surface blasting-vibration acquisition subsystem, and a model-interior dynamic stress-strain acquisition subsystem. The system and the method are provided, and a blasting model for a transparent jointed rock mass and a monitoring method that are obtained can analyze the influence of a joint inclination angle on propagation and attenuation laws of blasting stress waves in the jointed rock mass, and can analyze the influence of different millisecond blasting modes on the stability of an existing tunnel in the jointed rock mass, and can capture a real-time dynamic evolution process of cracks. The stress and strain measurement technologies used can perform omnibearing monitoring and recording for large deformations of surrounding rock under blasting load, and can resist the electromagnetic interference.

Abstract: The present invention discloses a multi-energy complementary system for a co-associated abandoned mine and a use method. The multi-energy complementary system for a co-associated abandoned mine includes a mining mechanism, a grouting mechanism and an energy mechanism. In the present invention, the mining of coal and uranium resources is realized through the mining mechanism, the subsidence and seepage reduction of the stratum is realized through the grouting mechanism, and the effective utilization of waste resources is realized through the energy mechanism. Finally, with the efficient cooperation of the three mechanisms, safe and efficient development and utilization of co-associated resources in the full life cycle are realized, and the purposes of green and efficient mining of coal and uranium resources and secondary development of a coal seam goaf are achieved, thereby facilitating the realization of dual-carbon goals and the development of low-carbon green energy.

Abstract: An intelligent experimental device for collaborative mining of associated resources includes a signal transmission mechanism, a pressure maintaining mechanism, a feeding mechanism, and a reaction mechanism. The signal transmission mechanism includes a centralized controller, an annunciator, signal receivers, a power supply, a power cord, signal transmitters, and signal sensing valves. The pressure maintaining mechanism includes ambient and axial pressure oil chambers, ambient and axial pressure pumps, ambient and axial pressure liquid distribution tanks, a comprehensive pressure distribution pipe, and hydraulic transmission pipes. The feeding mechanism includes monitoring analyzers, temperature controllers, solution transfer pipes, seepage pumps, mixture conveying pipes, a comprehensive liquid distributor, an aggregate chamber, a liquid chamber, an oil chamber, a gas chamber, a mixing chamber and an analytical purifier.

Abstract: A gas-liquid spray dust settlement system for a fully mechanized mining face includes an atomization humidification subsystem, a boundary mist curtain subsystem, and a dust mist recycling subsystem that are all arranged outside the fully mechanized mining face, where the boundary mist curtain subsystem includes high-pressure blade nozzles mounted to hydraulic supports. The atomization humidification subsystem includes a spray dust settler mounted to a rocker arm of a coal cutter and configured to spray water mist completely covering the high-pressure blade nozzle. The dust mist recycling subsystem includes a wind-water linkage dust remover mounted to a semi-encircling support base, arranged under the spray dust settler, and configured to collect the water mist sprayed by the spray dust settler.

Abstract: The present invention proposes a coal and gangue separation device, including a first supporting seat, a guide part and multiple material bins. The guide part is hinged with the first supporting seat; the guide part rotates in a vertical direction; and inlets of the plurality of material bins are sequentially distributed on a rotation track of a movable end of the guide part. In the coal and gangue separation device of the present invention, the high-pressure airflow of a high-pressure nozzle does not directly act on the materials, but on grate bar driving mechanisms; and cantilever grate bars are driven to rotate by the grate bar driving mechanisms so as to directionally discharge the mineral aggregate. Therefore, the gangue can accurately enter a gangue collection bin; and the clean coal can accurately enter a clean coal collection bin.

Abstract: A sprayer for settling dust of a coal mine includes: an outer housing, having at least one opening configured to spray water mist; a sprayer, placed in the outer housing, configured to spray water mist through the opening; a plurality of water curtain nozzles, configured to spray water curtain lines outside the opening to block suspended dust; and a support, configured to support the outer housing. The water curtain nozzles are in an equidistant arrangement around a center of the opening. A plurality of the water curtain nozzles are constructed such that the nozzles are all oriented toward the same point, to form a circular or conical water curtain.

Abstract: A device for measuring a flow velocity and a flow direction and geological parameters of groundwater through cross holes of deep wells includes detectors and a device for throwing the tracer source. A method includes measuring a correspondence between a conductivity and a concentration of a tracer solution at different temperatures in a laboratory; selecting at least two boreholes; selecting a target aquifer section; placing the detectors in the target aquifer section in the hole to test a conductivity background value and a temperature value; using the device for throwing the tracer source to place the tracer solution in the hole for throwing the tracer source, and using the detectors to measure a water conductivity and temperature in a detection hole, to obtain a distribution curve of a tracer solution solubility with time; performing cross-test, and calculating the seepage flow velocity and flow direction of groundwater in the hole.

Abstract: An improved system of monitoring vibration of a blasting model test for a jointed rock mass and a method are provided. The system includes: a loading subsystem for three-way load, a model-surface blasting-vibration acquisition subsystem, and a model-interior dynamic stress-strain acquisition subsystem. The system and the method are provided, and a blasting model for a transparent jointed rock mass and a monitoring method that are obtained can analyze the influence of a joint inclination angle on propagation and attenuation laws of blasting stress waves in the jointed rock mass, and can analyze the influence of different millisecond blasting modes on the stability of an existing tunnel in the jointed rock mass, and can capture a real-time dynamic evolution process of cracks. The stress and strain measurement technologies used can perform omnibearing monitoring and recording for large deformations of surrounding rock under blasting load, and can resist the electromagnetic interference.

Abstract: A simulation test system for gas extraction from a tectonically-deformed coal seam in-situ by depressurizing a horizontal well cavity. A coal series stratum structure reconstruction and similar material simulation subsystem simulates a tectonically-deformed coal reservoir. A horizontal well drilling and reaming simulation subsystem constructs a U-shaped well in which a horizontal well adjoins a vertical well, and performs a reaming process on a horizontal section thereof. A horizontal well hole-collapse cavity-construction depressurization excitation simulation subsystem performs pressure-pulse excitation and stress release on the horizontal well, and hydraulically displaces a coal-liquid-gas mixture such that the mixture is conveyed towards a vertical well section. A product lifting simulation subsystem further pulverizes the coal and lifts the mixture. A gas-liquid-solid separation simulation subsystem separates the coal, liquid and gas.

Abstract: A simulation test method for gas extraction from a tectonically-deformed coal seam in-situ by depressurizing a horizontal well cavity. A coal series stratum structure reconstruction and similar material simulation subsystem simulates a tectonically-deformed coal reservoir. A horizontal well drilling and reaming simulation subsystem constructs a U-shaped well in which a horizontal well adjoins a vertical well, and performs a reaming process on a horizontal section thereof. A horizontal well hole-collapse cavity-construction depressurization excitation simulation subsystem performs pressure-pulse excitation and stress release on the horizontal well, and hydraulically displaces a coal-liquid-gas mixture such that the mixture is conveyed towards a vertical well section. A product lifting simulation subsystem further pulverizes the coal and lifts the mixture. A gas-liquid-solid separation simulation subsystem separates the coal, liquid and gas.

Abstract: The present invention discloses an embedded scraper rotation angle detection device for a scraper conveyor and a detection method. The detection device includes two extensible detection devices, two signal detection units and a remote processing unit. The two extensible detection devices and the two signal detection units are disposed at two ends of a scraper respectively. The signal detection units detect movement displacements of the extensible detection devices in real time and send out signals through wireless transmission modules, the wireless transmission modules and a wireless receiving module are used for data transmission, and a signal display processing module is used to calculate a rotation angle value of the scraper in real time, output and display the rotation angle value simultaneously, compare the rotation angle value measured in real time with a set safety threshold, and send out an alarm indication when the rotation angle value exceeds the safety threshold.

Abstract: A simulation test system for gas extraction from a tectonically-deformed coal seam in-situ by depressurizing a horizontal well cavity. A coal series stratum structure reconstruction and similar material simulation subsystem simulates a tectonically-deformed coal reservoir. A horizontal well drilling and reaming simulation subsystem constructs a U-shaped well in which a horizontal well adjoins a vertical well, and performs a reaming process on a horizontal section thereof. A horizontal well hole-collapse cavity-construction depressurization excitation simulation subsystem performs pressure-pulse excitation and stress release on the horizontal well, and hydraulically displaces a coal-liquid-gas mixture such that the mixture is conveyed towards a vertical well section. A product lifting simulation subsystem further pulverizes the coal and lifts the mixture. A gas-liquid-solid separation simulation subsystem separates the coal, liquid and gas.

Abstract: A device for measuring a flow velocity and a flow direction and geological parameters of groundwater through cross holes of deep wells includes detectors and a device for throwing the tracer source. A method includes measuring a correspondence between a conductivity and a concentration of a tracer solution at different temperatures in a laboratory; selecting at least two boreholes; selecting a target aquifer section; placing the detectors in the target aquifer section in the hole to test a conductivity background value and a temperature value; using the device for throwing the tracer source to place the tracer solution in the hole for throwing the tracer source, and using the detectors to measure a water conductivity and temperature in a detection hole, to obtain a distribution curve of a tracer solution solubility with time; performing cross-test, and calculating the seepage flow velocity and flow direction of groundwater in the hole.

Abstract: A simulation test method for gas extraction from a tectonically-deformed coal seam in-situ by depressurizing a horizontal well cavity. A coal series stratum structure reconstruction and similar material simulation subsystem simulates a tectonically-deformed coal reservoir. A horizontal well drilling and reaming simulation subsystem constructs a U-shaped well in which a horizontal well adjoins a vertical well, and performs a reaming process on a horizontal section thereof. A horizontal well hole-collapse cavity-construction depressurization excitation simulation subsystem performs pressure-pulse excitation and stress release on the horizontal well, and hydraulically displaces a coal-liquid-gas mixture such that the mixture is conveyed towards a vertical well section. A product lifting simulation subsystem further pulverizes the coal and lifts the mixture. A gas-liquid-solid separation simulation subsystem separates the coal, liquid and gas.

Abstract: A multi-arm hanging rail type casting cleaning robot comprises a traveling device, a rotating device, a lifting device, a working arm mounting seat, and four working arms mounted on an annular rail, wherein in addition to pneumatic grippers and magnetic cranes, cleaning tools such as pneumatic air picks and plasma cutters are further provided on end effecters of the working arms. The traveling device of the present invention adopts a four-point hanging supporting mode to realize long-distance stable traveling. Large arm adjusting cylinders and small arm adjusting cylinders are used to replace servo reducing motors to adjust postures of the working arms. The four working arms can jointly and synchronously work. The two pneumatic grippers, the two magnetic cranes, and the four cleaning tools can be flexibly transformed and replaced. The needs of cleaning operations can be satisfied.

Abstract: A series-parallel movable heavy-load casting robot, includes a four-driving-wheel type moving platform, a rotating device, an upright assembly, a lifting drive device, a parallel working arm, an end actuator and a binocular vision system. The four-driving-wheel type moving platform is driven by adopting four omnidirectional wheels, the platform utilizes rear hydraulic supporting legs and adjustable hydraulic supporting legs to implement stationary point self-balancing supporting, and a robot body has five freedom degrees of motion in space; and the rotating device and the lifting drive device can respectively implement rotating and lifting adjustment, the four-degree-of-freedom parallel working arm can carry out attitude adjustment for the end actuator, different end actuators can be changed according to working requirements.

Abstract: An omnidirectional multi-finger asynchronous gripper for a casting robot, includes a connecting seat, an arc-shaped support, a mounting seat, longitudinal clamping devices, transverse adjusting devices and transverse clamping devices. The omnidirectional multi-finger asynchronous gripper is mounted to a tail end of the casting robot through the connecting seat; each longitudinal clamping device can independently and longitudinally clamp a casting or a mold core, is adjustable in spacing through the transverse adjusting devices, can automatically adapt to castings or mold cores with different outlines and can realize effective fitting-type adaptive clamping of specially-shaped castings and mold cores; and the transverse clamping devices are used for transversely and independently clamping the casting or mold core and a clamping position or angle can be adjusted through a swinging angle adjuster.

Abstract: A magnetic piston shoe pair for an axial piston pump and the motor includes: pistons, coil suites, piston shoes and a swash plate, wherein the interior of the coil suite is a closed coil; the bearing surface that the end surface of the swash plate abuts the piston shoe is provided with micro-molding holes; the micro-molding holes are hemispherical; the back surface of the swash plate is provided with a primary iron core and two secondary iron cores; the iron cores are wound with coil; the coil is connected to an external alternating current power supply. When the pump/motor is working, the coil is energized to generate a magnetic field, thereby adsorbing the piston shoe on the swash plate. Meanwhile, the coil suite generates an inductive magnetic field.