A battery-type unmanned monorail crane and its control method

Abstract

The invention discloses a battery-type unmanned monorail crane and a control method thereof, comprising a suspension rail, a braking device, a driving device, an intelligent cockpit, a lifting device and a power device, and the intelligent cockpit, the lifting device and the power device pass through the The driving device and the carrying trolley are hung on the suspension rail; sensors such as laser radar, depth camera, and millimeter-wave radar are installed in the intelligent cockpit to sense the surrounding environment information of the monorail crane in real time and realize the positioning and mapping of the monorail crane; electronic control is adopted The braking device realizes the pure electric braking of the monorail crane; the hoisting part adopts a close-connected hook to realize the automation in the process of grabbing and releasing the equipment by the monorail crane, and completes the unmanned loading and unloading equipment; the cockpit and hydraulic pump station are eliminated from the structure, and the structure It is more compact and can realize autonomous unmanned driving, providing the basis for unmanned and continuous auxiliary transportation in underground mines.

Description

technical field [0001] The invention relates to an unmanned monorail crane, in particular to a storage battery type unmanned monorail crane and a control method thereof. Background technique [0002] In the process of coal mining and transportation, the main transportation equipment plays an important role in the transportation of coal resources, and the auxiliary transportation equipment is responsible for all transportation tasks other than coal, such as materials, gangue, personnel, and equipment. The technical demand for exploring and developing efficient and continuous auxiliary transportation equipment is urgent . As an important equipment form of underground auxiliary transportation, the monorail crane lays the track on the top of the roadway and adopts the suspended rail transportation, which is not affected by the ground conditions of the roadway; at the same time, the monorail crane can transport materials and equipment from the ground warehouse directly to the und...

AI Technical Summary

Problems solved by technology

The application number is 202010059518.8, and the invention patent named "An Autopilot Wired Monorail Crane" discloses an automatic driving wire monorail crane that provides power for the monorail crane through the wire method. Leakage is a potential safety hazard and cannot be used in mines with high gas concentration

The application number is 202010420409.4, and the invention patent named "A Mine Auxiliary Transportation Monorail Crane" discloses a mine auxiliary transportation monorail crane, but only the driving part of the monorail crane is designed, and the monorail crane as a whole is not unmanned. design

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