China University of Mining and Technology (cumt)

Xuzhou Coal Mine Safety Equipment Manufacture Co., Ltd.

Xuzhou Liren Monorail Transportation Equipment Co., Ltd.

Xuzhou Zhirun Mining Equipment Science and Technology Co., Ltd

Inner Mongolia University of Technology

Anhui University of Science & Technology

Xuzhou Kerui Mining Technology Co., Ltd

Jiangsu Tianming Machinery Group Co., Ltd.

Changzhou Development & Manufacture Centre Co., Ltd.

Jiangsu Tianming Machinery Group

Huaihai Institute of Technology

Yuxing Peng

Zhencai Zhu

Gongbo Zhou

Guohua Cao

Hao Lu

Gang Shen

Wei Li

Yu Tang

Fan Jiang

Xiang Li

Songyong Liu

Wei Wang

Dagang Wang

Weihong Peng

Changhua Hu

Mai Du

Chaoquan Tang

Guoan Chen

Qingyong Du

Qingguo Wang

Fuping Zheng

Xing Zhang

Xin Zhang

Shanzeng Liu

Ping Zhou

Yidong Zhang

Chunli Hua

Hengzhen Hu

Mingquan Qiu

Yuhong Huang

Ying Wang

Hongxiang Jiang

Yong Ren

MengMeng Gao

Benliang Hao

Zhiyuan Shi

Mingzhong Wang

Lu Yan

Yuan Sun

Zaigang Xu

Hua Chen

Ge Li

Hao Chen

Lei Wang

Gang Zhang

Zhiqiang Zhang

Jiancong Qin

Yang Yang

Ke Wang

Lei Wei

Yiping Ma

Panpan Yang

Yongcun Guo

Xin Shu

Jianrong Yang

Hongqiao Kang

Xiao Chen

Yandong Wang

Chuansheng Zhang

Niansheng Liu

Libing Wang

Houlian Wang

Jinsong Chen

Zhi Liu

Hong Lai

Changlong Du

Pengpeng Chen

Xingtao Huang

Chaofan Zhang

Shuman Cheng

Wenwen Yi

Hongsheng Li

Yadong Wang

Tongqing Li

Lin Luo

Yaobin Lv

Junhua Yi

Qiao Gao

Hui Jiang

Chi Ma

Meilin Wang

Jiang Fan

Fahui Shi

Xingming Xiao

Yunwang Li

Qihang Yu

Wenxue Xu

Xiansheng Gong

Shuang Cao

Xiangdong Chang

Lifei Jiang

Jun Qian

Shizhe Feng

Naige Wang

Sunyang Wu

Zhentao Mi

Qianping Wu

Kaiyu Dai

The present disclosure discloses a scene self-adaptive method for controlling an unmanned driving of a monorail hoist transportation robot. The method comprises the following steps: constructing an industrial internet of things platform for a monorail hoist; constructing a digital twin system for the monorail hoist; controlling a virtual unmanned driving of the monorail hoist; establishing a shadow following model for the monorail hoist; controlling an entity monorail hoist in real time by a virtual monorail hoist; comparing the entity monorail hoist driven by data with the monorail hoist driven by a driver with the shadow following mode; and designing a self-adaptive program for complex scenes: improving a loading velocity of a new roadway scene through merging root nodes and compressing data, implementing an environment self-adaptation, a platform self-adaptation, and a terminal self-adaptation.

Scene self-adaptive method for controlling unmanned driving of monorail hoist transportation robot

A high-energy-efficiency lithium battery monorail hoist locomotive includes a driving unit, a battery unit and a bearing trolley. The bearing trolley bears cargoes, the battery unit outputs the power to the driving unit, and the driving unit drives the locomotive to move. The battery unit includes a battery management system (BMS), an ultra capacitor and a battery pack formed by single cells. The BMS obtains the minimum state of charge difference value ΔSOCbetween the single cells, the state of charge SOCof each single cells, the maximum state of charge SOCamong the single cells and the minimum state of charge SOCamong the single cells. The ultra capacitor and the battery pack are controlled by the BMS to charge and discharge. The charging and discharging of the battery pack are managed by the BMS, and the ultra capacitor plays a buffering role in the charging and discharging process.

High-energy-efficiency lithium battery monorail hoist locomotive and battery management system thereof

The present disclosure discloses a method for collaboratively controlling a multi-channel braking system of a mine hoist, including obtaining the abrasion loss of the brake shoe by detecting position information of the brake shoe of each of disc brakes in real time, dividing abrasion loss levels by determining different abrasion degrees of the brake shoe, formulating three braking force distributing modes: an average distribution, a proportional distribution, and an index distribution according to the abrasion loss levels, thereby dynamically adjusting a set braking pressure of each of the disc brakes, tracking and controlling the set braking pressure through the disc brakes by adopting a pressure closed-loop control method by utilizing a pressure signal feedback from an oil pressure sensor, implementing a collaborative braking control of the multi-channel braking system of the mine hoist based on the abrasion loss of the brake shoe.

Method for collaboratively controlling multi-channel braking system of mine hoist

The disclosure discloses a device for detecting idling time of a brake shoe of a monorail hoist and a detection method thereof. The device includes a contact detection unit, a common end roller unit, an idling time detection unit and detection lines. The contact detection unit installed on a brake of the monorail hoist includes a tube in connection with the brake shoe. The common end roller unit is installed on a frame of the monorail hoist and corresponds to a travelling track. A metal probe corresponding to the travelling track is arranged inside the tube. A limiting bolt corresponding to a raised cylindrical block formed on the metal probe is formed on an inner side wall of the tube. The metal probe is contactable with the travelling track or the limiting bolt when the brake shoe brakes.

Device for detecting idling time of brake shoe of monorail hoist and detection method thereof

The present disclosure discloses a method for positioning an auxiliary transportation vehicle in a coal mine and a positioning system thereof. The method comprises: acquiring a rotation velocity of each wheels and a rotation angle of a steering wheel, constructing a kinematics model based on wheels not for steering of the vehicle and a kinematics model based on wheels for steering of the vehicle respectively, and constructing a kinematics model based on a geometric center of the vehicle according to the above two kinematics models; and according to a travelling condition of the vehicle, integrating the kinematics model based on the geometric center with a strap-down inertial navigation system for positioning, when the vehicle is in a normal travelling state; and integrating, the kinematics model based on the wheels not for steering with the strap-down inertial navigation system for positioning, when the vehicle is in an abnormal travelling state.

Method for positioning auxiliary transportation vehicle in coal mine and positioning system thereof

A high-precision positioning system for a monorail hoist in a mine includes two gear carriers symmetrically arranged on both sides of an I-beam track. Each of the gear carriers includes a positioning wheel and a plurality of travelling wheels. The travelling wheels are travelling on an upper end face of a bottom plate of the I-beam track, and the positioning wheel is in engagement transmission with a rack at a lower end of the bottom plate of the I-beam track. The gear carriers include an installation bracket and a connecting seat configured to connect the monorail hoist. The installation bracket includes an inertial measuring unit and a single-chip microcomputer that are electrically connected with each other. The positioning wheel includes a rotation angle sensor and the rotation angle sensor is electrically connected to the single-chip microcomputer. A headstock at both ends of the monorail hoist includes a coordinate updating unit.

High-precision positioning system for underground monorail hoist in coal mine and positioning method thereof

The disclosure discloses a system for controlling a multi-point synchronous braking of a monorail hoist and a utilization method thereof. The system comprises a contact detection unit, a common end roller unit, a hydraulic unit, a synchronous control unit and connection cables. The contact detection unit is installed on a brake shoe of a monorail hoist. The common end roller unit is installed on a travelling track and connected with a frame of the monorail hoist. The contact detection unit includes a tube in connection with the brake shoe. A metal probe corresponding to the travelling track is arranged inside the tube. A circular boss is formed on the metal probe. A limiting bolt corresponding to the circular boss is formed on an inner side wall of the tube. The metal probe is contactable with the travelling track or the limiting bolt when the brake shoe brakes.

System for controlling multi-point synchronous braking of monorail hoist and utilization method thereof

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.

Series-parallel monorail hoist based on oil-electric hybrid power and controlling method thereof

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.

Hoist for transferred materials in underground auxiliary transportation system and method thereof

An intelligent reliability evaluation and service life prediction method for a kilometer deep well hoist brake, the method including: the establishment of a digital twin model for a hoist brake, data acquisition and synchronization, and reliability evaluation and service life prediction, wherein the digital twin model for the hoist brake can accurately reflect actual physical characteristics of the hoist brake, the data acquisition and synchronization can realize real-time mapping between a physical entity of the hoist brake and the digital twin model therefor, and furthermore, on the basis of the digital twin model for the hoist brake, the reliability evaluation and service life prediction are realized. Digital twin technology is combined with a reliability analysis method, so that real-time updating of reliability evaluation and service life prediction of the hoist brake are realized.

Intelligent reliability evaluation and service life prediction method for kilometer deep well hoist brake

The present disclosure provides a system for monitoring a scraper chain based on a measurement on transmittance of a torsion spring and a method thereof. The system includes a sprocket-wheel torsion detection device, a fixing device, a wireless receiver, an A/D converter and an industrial computer. In the method, the relative torsion of the two sprocket wheels is converted into the density change of the torsion spring, the light transmission area is converted into the current value by the laser sensing panel, a varying range of the torsion spring is calculated by the industrial computer through the preset threshold and its own program to monitor the operating conditions of the chain. The method has a novel concept, a stable and reliable system, and a high promotion value.

System for monitoring scarper chain based on measurement on transmittance of torsion spring and method thereof

A gear-track-detachable driving device in a monorail crane for a steep slope includes a driving mechanism, a traveling mechanism, a four-bar linkage mechanism, a connection mechanism, a meshing track plate and transition track plates. The driving mechanism includes driving motors, meshing gears, a bearing rod, and a bearing plate. The traveling mechanism includes traveling wheels, clamping wheels, a shell and telescopic struts. The linkage mechanism includes first and second rockers, a linkage, and a cylinder. The connection mechanism includes fixation plates, a connection plate and connection bolts. When the crane travels to the slope front, the cylinder drives the linkage mechanism to send the meshing gears onto the transition track and adjusts the linkage mechanism into a dead point state, and the telescopic struts are locked. After the crane enters the slope, the meshing gears cooperate with the meshing track plate to provide an auxiliary drive for the crane.

Gear-track-detachable driving device in monorail crane suitable for steep slope

A bidirectional anti-slipping apparatus includes a vehicle following stabilizing mechanism, a track, and two front and rear sets of locking mechanisms with opposite directions. The vehicle following stabilizing mechanism includes a protective shell, a middle vehicle capable of sliding and a hydraulic cylinder configured to control the middle vehicle to slide are arranged in the protective shell, a front vehicle and a rear vehicle are respectively fixed at two front and rear ends of the protective shell. Each locking mechanism includes two left and right groups of ratchet devices, each of the ratchet devices includes a fixing rod, a plurality of inner ratchet wheels capable of rotating unidirectionally are respectively fixed at two ends of the fixing rod on one side of the fixing rod proximate to the track, the inner ratchet wheels on the two front and rear sets of locking mechanisms rotate in opposite directions.

Bidirectional anti-slipping apparatus in monorail crane based on inner ratchet mechanism

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 drive system of a scraper conveyor and a control method. The drive system includes a nose sprocket, a tail sprocket, a nose sprocket drive mechanism, and a tail sprocket drive mechanism, where the nose sprocket drive mechanism is a hydraulic motor I, and the tail sprocket drive mechanism is a hydraulic motor II; and a hydraulic system that drives the hydraulic motor I and a hydraulic system that drives the hydraulic motor II include same hydraulic elements, and both include a three-position four-way solenoid directional valve, a two-position two-way solenoid directional valve, a two-position three-way solenoid directional valve, an accumulator, and an oil supplement valve group. The present invention is applicable to rapid starting and stopping of the scraper conveyor in a heavy load status while adjusting chain tension in real time, thereby resolving a power imbalance problem in a dual-drive system, and has a simple structure and a long service life.

Drive system of scraper conveyor and control method

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Jiangsu, China

Yuxing Peng