Underground coal mine intelligent rail transportation system

Abstract

The underground coal mine intelligent rail transportation system comprises a rail conveying assembly and a hoisting assembly, the rail conveying assembly comprises multiple sets of supports, an upper rack, an annular guide rail, a driving assembly and a movable support, the supports are distributed along the two sides of the upper rack at intervals, and the bottoms of the supports are supported on the ground of an underground roadway; the upper rack is an annular rack, the bottom side of the upper rack is provided with an annular guide rail which is designed to be convex downwards, the upper rack is provided with a driving assembly, and the driving assembly comprises a main chain wheel, an auxiliary chain wheel, a chain belt and a first motor; the hoisting assembly is installed on the lower side of the movable support and does circumferential reciprocating motion along the track when the chain belt is in linkage with the main chain wheel and the auxiliary chain wheel, the hoisting assembly comprises a guide rail frame, an installation frame, a second motor, a main bevel gear and a suspension arm module, the guide rail frame is a cross-shaped frame body formed by welding a plurality of pieces of I-shaped steel, and the installation frame is connected to the guide rail frame. The transportation system can be used for carrying materials in a roadway and carrying small electromechanical equipment / accessories.

Description

Technical Field

[0001] The present invention relates to the field of underground transportation, and in particular to an intelligent rail transportation system for underground coal mines. Background Art

[0002] In coal mining production, underground mining is the most important method, so the study of underground mining technology has very important practical significance. The application of underground mining technology must be adapted to the geology of coal mines and the distribution of coal seams. And formulate a mining plan in advance to determine the application of equipment and support methods. In open-pit mining, direct mining is generally adopted, but in underground mining, due to the constraints of environmental, equipment and other conditions, a top-down mining method is usually adopted. With the continuous development of mining technology, directional mining methods have gradually been widely used.

[0003] With the development of my country's coal industry and the extensive use of fully mechanized mining machinery, the conveyor belts in the chute and the main tunnel are getting longer and longer, the speed is getting faster and faster, and the transportation volume is getting larger and larger. However, the transformation of underground tunnels is difficult, which makes the transportation cost of narrow materials and equipment parts higher and higher, and reduces work efficiency.

[0004] Based on the above situation, the prior art proposes devices for transporting equipment accessories, such as:

[0005] 1) Chinese patent publication number CN110939480B proposes a rail-type underground electromechanical equipment transportation device. In this technical application, the transportation device cooperates with a quadrilateral suspension structure to perform inertial buffering in the front and rear directions, and uses a support guide plate to support and slide the side walls to protect and shock-absorb the equipment. The transportation device is characterized in that the suspension frame is suspended on the track, the suspension frame can slide along the track, the car is fixed on the lower side of the suspension frame, two groups of support guide parts are symmetrically placed at the bottom of the car, the support guide parts can deflect relative to the car, the track cross-section is "T"-shaped, and sliding grooves are respectively opened on both sides of the vertical plate of the "T"-shaped structure, and they pass through the two ends of the track respectively, the bottom of the "T"-shaped vertical plate is opened with a groove, and the horizontal plate of the "T"-shaped structure is symmetrically opened with two groups of open grooves, the spacing between the two open grooves in the same group is 10-20cm, and mounting screw holes are provided between the two adjacent open grooves.

[0006] 2) Chinese patent publication number CN205400803U proposes an underground suspended transport device, which includes a track and a transport vehicle in the technical application; the track is fixed to the side wall of the tunnel along the horizontal direction of the tunnel, and the transport vehicle is suspended on the track and driven by a power supply to run horizontally along the track. The above-mentioned transport device fixes the track to the side wall of the tunnel in the horizontal direction of the tunnel and suspends the transport vehicle on the track, so that the transport vehicle can run along the side wall of the tunnel, so that the transport vehicle can carry staff to conduct rapid safety inspections in existing narrow tunnels, and realize the function of rapid transportation of goods; the transport device is simple to manufacture and install, low cost, does not occupy tunnel space, and the inspection of passengers is labor-saving and efficient.

[0007] 3) Chinese patent publication number CN118004890B discloses a monorail crane for underground transportation. In this technical application, it includes a track, on which a cab, a drive group and a plurality of hangers for lifting materials are arranged. The hangers and the cab can move under the drive of the drive group. A brake group is installed on the cab. A monorail crane for underground transportation also includes: a pair of rotating wheels, which are rotatably arranged on the hanger and can rotate along the track; a sliding cylinder, which is slidably arranged on the track and connected to the drive group through a universal joint; a friction block, which is arranged corresponding to the hanger and is located between the pair of rotating wheels, and a fixed plate is fixedly connected to the sliding cylinder, and the friction block is slidably arranged on the fixed plate. The friction block can abut against the track, and the friction block and the fixed plate are connected by a first compression spring. This application can improve the braking effect on the inertial movement of the hanger and reduce safety hazards.

[0008] The above-mentioned prior arts all use new structures to deal with the problem of parts transportation / personnel transportation in the tunnel. However, when dealing with material transportation in the tunnel, it is also necessary to build a new material conveyor line. On the one hand, the cost of two conveyor lines is relatively high. On the other hand, building two transportation systems in the same tunnel will inevitably lead to tunnel congestion. Based on this, the present invention proposes a rail transportation system that can cope with material transportation and small electromechanical equipment / parts transportation in the tunnel. Summary of the invention

[0009] The purpose of the present invention is to provide an intelligent rail transportation system for underground coal mines, which can cope with the material handling in the tunnel and the handling of small electromechanical equipment / accessories. The transportation system can switch the usage mode according to the material carried. In the material handling mode, materials can be suspended and unloaded. In the electromechanical equipment handling mode, the carrying capacity is stronger.

[0010] To achieve the above object, the present invention provides the following technical solution: an intelligent rail transportation system for underground coal mines, comprising:

[0011] The rail conveying assembly is distributed in an annular manner along the underground tunnel, and includes a bracket, an upper frame, an annular guide rail, a driving assembly and a movable support, wherein the bracket is provided with multiple groups and is distributed at intervals along both sides of the upper frame, and the bottom of the bracket is supported on the ground of the underground tunnel; the upper frame is an annular frame, and an annular guide rail with a downward convex design is provided on the bottom side of the upper frame, and the driving assembly is installed on the upper frame, and the driving assembly includes a main sprocket, a secondary sprocket, a chain belt and a first motor, wherein the main sprocket and the secondary sprocket are distributed on both sides of the bottom of the upper frame and are located on the inner side of the annular guide rail, and the main sprocket and the secondary sprocket are linked by the chain belt, and the first motor is installed on the top side of the upper frame and its shaft end is connected to the main sprocket;

[0012] The lifting assembly is installed on the lower side of the moving support and performs circumferential reciprocating motion along the track when the chain belt links the main sprocket and the secondary sprocket. The lifting assembly includes a guide rail frame, a mounting frame, a second motor, a main bevel gear and an arm module, wherein the guide rail frame is a cross-shaped frame formed by welding multiple I-beams, and the mounting frame is connected to the guide rail frame.

[0013] Preferably, a plurality of locking pins are arranged at intervals on the outer periphery of the chain belt, a plurality of movable supports are arranged and are spaced apart along the annular guide rail, a pulley frame is arranged on the movable support and is clamped on both sides of the annular guide rail and is slidably connected to the annular guide rail, and a lock connected to the locking pin on the chain belt is arranged at the rear end of the movable support. The track conveying assembly is a reciprocating circulation conveyor. When working, the first motor drives the main sprocket and uses the chain belt to link the secondary sprocket. Since the chain belt is connected to the lock on the movable support through the locking pin, when the chain belt reciprocates in the circumferential direction, the chain belt will drive the movable support to move synchronously, so as to move the lifting assembly installed at the bottom of the movable support.

[0014] Preferably, the mounting frame includes a first mounting plate fixed to the lower side of the guide rail frame by bolts, a second mounting plate distributed on the upper side of the guide rail frame, and a plurality of support rods connecting the first mounting plate and the second mounting plate. The second motor is installed on the second mounting plate, and the shaft end of the second motor is connected to the main bevel gear.

[0015] Preferably, four groups of boom modules are provided and distributed along each side of the guide frame. The boom module includes a screw, an boom frame, a slide, an electric cylinder and a support plate. The screw is rotatably installed on the top side of the guide frame, and the front side of the screw shaft end is connected to a secondary bevel gear that meshes with the main bevel gear.

[0016] Preferably, the slide is sleeved on the screw, the two sides of the lower end of the slide are slidably connected to the I-beam grooves of the guide frame, the boom frame is connected to the lower end of the slide, and the boom frame moves along the guide frame when the screw rotates; the bottom of the boom frame is connected to the support plate through a pin shaft, and the front end of the support plate is provided with a support tooth, the rear end of the electric cylinder is movably installed on the inner side of the boom frame, the front piston rod end of the electric cylinder is hinged to the support plate, and a groove is provided on the side of the support plate close to the support tooth. When the second motor rotates, the second motor engages the secondary bevel gear on each boom module through the main bevel gear, so that the screws on the four groups of boom modules rotate simultaneously. At this time, the boom frames on the four groups of boom modules are in a state of being close to or far away, and the boom frames can be used to suspend materials and transport electromechanical equipment. When suspending materials, the second motor can be used to drive the four groups of boom modules to be apart, and the support plates on the four groups of boom modules can be connected with the hooks of the materials using the grooves thereon to suspend the materials. At the same time, in order to realize the automatic unloading of the suspended materials, the electric cylinder can be used to drive the support teeth to deflect to complete the automatic unloading work; when suspending small electromechanical equipment, the second motor is first used to drive the four groups of boom modules to be apart, and then the boom modules are brought together to clamp and support the equipment.

[0017] Preferably, the second mounting plate is connected to the third mounting plate, and a quick-release structure connected to the third mounting plate is arranged at the bottom of the movable support, the quick-release structure includes a quick-release plate, a slot plate, a limit plate and a hand-tightened bolt, wherein the quick-release plate is connected to the bottom of the movable support, and a long slot and a slot plate are arranged on the end face of the quick-release plate, wherein the long slot is adjacent to the slot plate, and the third mounting plate is slidably plugged into the slot plate.

[0018] Preferably, the limit plate is arranged in the long slot and can move forward and backward along the long slot. The limit plate is a telescopic pin structure with elastic force. A hand-tightening bolt is arranged on the outer side of the quick-release plate, and the hand-tightening bolt extends into the long slot and is connected to the limit plate. Since the limit plate is an elastic structure, when the third mounting plate is connected to the slot plate, the limit plate will be in a compressed state, and the height of the limit plate is lower than the height of the long slot. When the third mounting plate is installed in place, the limit plate is driven forward by the hand-tightening bolt to limit and fix the third mounting plate, thereby realizing the rapid installation of the entire lifting assembly.

[0019] The operating principle of the above operating system is as follows:

[0020] 1) The rail system is powered on for self-checking. When working, the first motor drives the main sprocket and uses the chain belt to link the secondary sprocket, so that the chain belt drives the moving support to move synchronously, so that the lifting assembly moves along the lane and reciprocates from the loading position to the unloading position;

[0021] 2) When the lifting component is to the loading position, the working mode of the boom module is adjusted according to the transported material / electromechanical equipment. In the material handling mode, the second motor drives the four boom modules to be in a distanced state, and the pallets on the four boom modules can be connected to the hooks of the materials by utilizing the grooves thereon to suspend the materials. Each boom module can lift a group of materials. When the boom module reaches the unloading position, the electric cylinder can be used to drive the support teeth to deflect to complete the automatic unloading work; in the electromechanical equipment handling mode, the second motor is first used to drive the four boom modules to be in a distanced state, and then the boom modules are brought together to clamp and support the equipment. Compared with the material handling mode, the electromechanical equipment handling mode has a stronger carrying capacity and can transport some small electromechanical equipment to the underground. The transportation system adopting the material and electromechanical mixed mode can save the cost of constructing two transportation systems separately. Moreover, constructing two transportation systems in the same lane will inevitably lead to lane congestion.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The transportation system of the present invention can cope with the material handling in the tunnel and the handling of small electromechanical equipment / accessories. The transportation system can switch the usage mode according to the material carried. In the material handling mode, the material can be suspended and unloaded. In the electromechanical equipment handling mode, the carrying capacity is stronger.

[0024] 2. The lifting assembly of the present invention is installed using a quick-install structure, which makes the loading and unloading of the entire lifting assembly more convenient and meets daily maintenance requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a structural schematic diagram of a track conveying assembly in an embodiment of the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of the lifting assembly in Embodiment 1 of the present invention;

[0028] Figure 4 This is a schematic structural diagram of a boom module in Embodiment 1 of the present invention;

[0029] Figure 5 This is a schematic diagram of the connection structure between the movable support and the third mounting plate in Embodiment 2 of the present invention;

[0030] Figure 6 Schematic diagram of the quick-install structure in Example 2 of the present invention.

[0031] In the figure:

[0032] 1. Track conveying assembly; 11. Bracket; 12. Upper frame; 13. Annular guide rail; 14. Main sprocket; 15. Secondary sprocket; 16. Chain belt; 17. First motor; 18. Pulley frame; 19. Moving support;

[0033] 2. Lifting assembly; 21. Guide rail frame; 22. First mounting plate; 23. Second mounting plate; 24. Third mounting plate; 25. Second motor; 26. Main bevel gear; 27. Boom module; 271. Screw rod; 272. Boom frame; 273. Slide; 274. Electric cylinder; 275. Support plate; 276. Groove;

[0034] 3. Quick-release structure; 31. Quick-release plate; 32. Slot plate; 33. Limit plate; 34. Hand-tightened bolts. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0037] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] See also Figure 1 The present invention provides a technical solution: an intelligent rail transportation system for underground coal mines, comprising a rail transportation component 1 and a lifting component 2.

[0039] See also Figure 1 , Figure 2 , Figure 5In this embodiment, the rail conveying assembly 1 is distributed in a ring shape along the underground tunnel, including a bracket 11, an upper frame 12, a ring guide rail 13, a driving assembly and a mobile support 19, wherein the bracket 11 is provided with multiple groups and is distributed at intervals along both sides of the upper frame 12, and the bottom of the bracket 11 is supported on the ground of the underground tunnel; the upper frame 12 is an annular frame, and the bottom side of the upper frame 12 is provided with a ring guide rail 13 with a downward convex design, and the upper frame 12 is equipped with a driving assembly, and the driving assembly includes a main sprocket 14, a secondary sprocket 15, a chain belt 16 and a first motor 17, wherein the main chain The main sprocket 14 and the auxiliary sprocket 15 are distributed on both sides of the bottom of the upper frame 12 and are located on the inner side of the annular guide rail 13. The main sprocket 14 and the auxiliary sprocket 15 are linked by a chain belt 16. The first motor 17 is installed on the top side of the upper frame 12 and its shaft end is connected to the main sprocket 14; a plurality of locking pins are arranged at intervals on the outer periphery of the chain belt 16, and a plurality of movable supports 19 are arranged and distributed at intervals along the annular guide rail 13. A pulley frame 18 is provided on the movable support 19, which is clamped on both sides of the annular guide rail 13 and is slidably connected to the annular guide rail 13. A lock buckle connected to the locking pin on the chain belt 16 is provided at the rear end of the movable support 19.

[0040] In this embodiment, the track conveying component 1 is a reciprocating conveyor. When working, the first motor 17 drives the main sprocket 14 and uses the chain belt 16 to link the secondary sprocket 15. Since the chain belt 16 is connected to the lock on the movable support 19 through a locking pin, when the chain belt 16 reciprocates in a circumferential direction, the chain belt 16 will drive the movable support 19 to move synchronously, so as to move the lifting component 2 installed at the bottom of the movable support 19.

[0041] Example 1: Please refer to Figure 1 , Figure 3 In this embodiment, the lifting assembly 2 is installed on the lower side of the mobile support 19 and performs circumferential reciprocating motion along the track when the chain belt 16 links the main sprocket 14 and the secondary sprocket 15. The lifting assembly 2 includes a guide rail frame 21, a mounting frame, a second motor 25, a main bevel gear 26 and an arm module 27, wherein the guide rail frame 21 is a cross-shaped frame body formed by welding multiple I-beams, and the guide rail frame 21 is connected to the mounting frame. The mounting frame includes a first mounting plate 22 locked on the lower side of the guide rail frame 21 by bolts, a second mounting plate 23 distributed on the upper side of the guide rail frame 21, and a plurality of support rods connecting the first mounting plate 22 and the second mounting plate 23. The second motor 25 is installed on the second mounting plate 23, and the shaft end of the second motor 25 is connected to the main bevel gear 26.

[0042] See also Figure 3 , Figure 4 In this embodiment, four groups of boom modules 27 are provided and are distributed along each side of the guide rail frame 21. The boom module 27 includes a screw 271, an boom frame 272, a slide 273, an electric cylinder 274 and a support plate 275. The screw 271 is rotatably installed on the top side of the guide rail frame 21, and the front side of the shaft end of the screw 271 is connected to a secondary bevel gear meshing with the main bevel gear 26.

[0043] In this embodiment, the slide 273 is sleeved on the screw 271, and the two sides of the lower end of the slide 273 are slidably connected to the I-beam grooves 276 of the guide frame 21, and the boom frame 272 is connected to the lower end of the slide 273. The boom frame 272 moves along the guide frame 21 when the screw 271 rotates; the bottom of the boom frame 272 is connected to the support plate 275 through a pin shaft, and the front end of the support plate 275 is provided with a support tooth. The rear end of the electric cylinder 274 is movably installed on the inner side of the boom frame 272, and the front piston rod end of the electric cylinder 274 is hinged to the support plate 275, and a groove 276 is provided on the side of the support plate 275 close to the support tooth.

[0044] In this embodiment, the boom frame 272 is a liftable structure, and the boom frame 272 can drive its bottom support plate 275, electric cylinder 274, etc. to perform lifting actions to complete the lifting and material taking work.

[0045] In this embodiment, when the second motor 25 rotates, the second motor 25 engages the secondary bevel gear on each boom module 27 through the main bevel gear 26, so that the screws 271 on the four boom modules 27 rotate simultaneously. At this time, the boom frames 272 on the four boom modules 27 are in a close or far away state, and the boom frames 272 can be used to suspend materials and transport electromechanical equipment. When suspending materials, the second motor 25 can be used to drive the four boom modules 27 to be far away, and the support plates 275 on the four boom modules 27 can be connected with the hooks of the materials by using the grooves 276 thereon, so as to suspend the materials. At the same time, in order to realize the automatic unloading of the suspended materials, the electric cylinder 274 can be used to drive the support teeth to deflect to complete the automatic unloading work; when suspending small electromechanical equipment, the second motor 25 is first used to drive the four boom modules 27 to be far away, and then the boom modules 27 are brought together to clamp and support the equipment.

[0046] Example 2: Please refer to Figure 5 , Figure 6The second mounting plate 23 is connected to the third mounting plate 24, and a quick-loading structure 3 connected to the third mounting plate 24 is arranged at the bottom of the movable support 19. The quick-loading structure 3 includes a quick-loading plate 31, a slot plate 32, a limit plate 33 and a hand-tightening bolt 34, wherein the quick-loading plate 31 is connected to the bottom of the movable support 19, and a long slot and a slot plate 32 are arranged on the end face of the quick-loading plate 31, wherein the long slot is adjacent to the slot plate 32, and the third mounting plate 24 is slidably plugged into the slot plate 32; the limit plate 33 is arranged in the long slot and can move forward and backward along the long slot, the limit plate 33 is a telescopic pin structure with elastic force, and a hand-tightening bolt 34 is arranged on the outer side of the quick-loading plate 31, and the hand-tightening bolt 34 extends into the long slot and is connected to the limit plate 33. Since the limit plate 33 is an elastic structure, when the third mounting plate 24 is connected to the slot plate 32, the limit plate 33 will be in a compressed state, and the height of the limit plate 33 is lower than the height of the long slot. When the third mounting plate 24 is installed in place, the limit plate 33 is driven forward by hand-tightening the bolts 34 to limit and fix the third mounting plate 24, thereby realizing the rapid installation of the entire lifting assembly 2.

[0047] In this embodiment, a camera (not shown in the figure) for detecting and identifying the transported items is disposed on the bottom side of the first mounting plate 22, and the lifting component 2 realizes intelligent switching of the lifting mode based on the recognition result of the camera.

[0048] The operating principle of the above operating system is as follows:

[0049] 1) The rail system is powered on for self-test. When working, the first motor 17 drives the main sprocket 14, and uses the chain belt 16 to link the secondary sprocket 15, so that the chain belt 16 drives the moving support 19 to move synchronously, so that the lifting assembly 2 moves along the lane and reciprocates from the loading position to the unloading position;

[0050] 2) When the lifting component 2 is to the loading position, the working mode of the boom module 27 is adjusted based on the recognition result of the camera. In the material handling mode, the second motor 25 drives the four groups of boom modules 27 to be in a away state. The support plates 275 on the four groups of boom modules 27 can be connected with the hooks of the materials by using the grooves 276 thereon to suspend the materials. Each boom module 27 can lift a group of materials. When the boom module 27 reaches the unloading position, the electric cylinder 274 can be used to drive the support teeth to deflect to complete the automatic unloading work; in the electromechanical equipment handling mode, the second motor 25 is first used to drive the four groups of boom modules 27 to be in a away state, and then the boom modules 27 are brought together to clamp and support the equipment. Compared with the material handling mode, the electromechanical equipment handling mode has a stronger bearing capacity and can carry some small electromechanical equipment to the underground. The transportation system using the material and electromechanical mixed mode can save the cost of constructing two transportation systems separately, and constructing two transportation systems in the same lane will inevitably lead to lane congestion.

[0051] The above-mentioned transportation system is intelligently controlled by the control system. The control system is based on PLC (Programmable Logic Controller) or embedded controller for central control. The system communicates with various hardware modules through I / O interfaces. The main control modules include motors, sensors, cameras, solenoid valves, etc. The following is the specific control process:

[0052] A: Track conveyor system control unit:

[0053] First motor 17 control (main sprocket motor):

[0054] A1: Control the start and stop of the first motor 17 to ensure the rotation of the main sprocket 14. Drive the main sprocket 1414 through the timing signal to achieve the reciprocating motion of the chain belt 16.

[0055] A2: Detect the movement state of the chain belt 16 (such as whether the chain belt 16 is stuck) according to the real-time signal and perform self-check, and automatically adjust the motor speed to adapt to the load change on the track.

[0056] Chain belt 16 transmission control:

[0057] A3: The chain belt 16 can precisely control the speed and direction of the chain belt 16 by controlling the motor (such as PWM speed regulation), ensuring that the chain belt 16 can synchronously drive the mobile support 19.

[0058] A4: Use a sensor to detect the tension and tension of the chain belt 16 to ensure that the chain belt 16 does not slip or run under overload.

[0059] The mobile support 19 is coordinated with the lifting assembly 2:

[0060] A5: According to the position of the movable support 19 and the position of the lifting assembly 2, the speed and running state of the chain belt 16 are determined and regulated to ensure the smooth movement of the lifting assembly 2 on the track.

[0061] A6: Use a position sensor to accurately control the parking and starting positions of the mobile support 19.

[0062] B: Lifting component control unit:

[0063] Second motor 25 control (hoisting component motor):

[0064] B1: Start the second motor 25 to control the rotation of the boom module 27 , and accurately control the rotation of the screw 271 through the meshing of the main bevel gear 26 and the auxiliary bevel gear, thereby controlling the lifting and retracting of the boom frame 272 .

[0065] B2: Adjust the speed of the motor so that the boom module 27 can adjust the working mode (material mode or equipment handling mode) according to the required material type or equipment weight.

[0066] Boom module 27 lifting control:

[0067] B3: The boom module 27 is lifted and lowered by the electric cylinder 274, which drives the lifting and lowering movement of the support plate 275. The control signal is fed back through the sensor to adjust the lifting speed and stroke of the electric cylinder 274 in real time to ensure that the lifting and lowering of materials or equipment can be accurately controlled.

[0068] Switching between material handling and equipment handling modes:

[0069] B4: The camera identifies the material and automatically switches the lifting mode according to the identification result. When the system identifies the material, the boom module 27 will be adjusted to the material handling mode (away state) and the electric cylinder 274 will complete the automatic lifting and unloading of the material.

[0070] For electromechanical equipment, the system switches to equipment handling mode (close state) according to the weight and type of the items to ensure that it can support the weight of the equipment.

[0071] C: Monitoring and alarm unit:

[0072] C1: Equipped with cameras and temperature and humidity sensors to detect material type and equipment status in real time.

[0073] C2: If any abnormality is found (such as material not being hoisted into place, motor failure, etc.), the system automatically sends an alarm signal to the remote monitoring system for timely processing.

[0074] D: Position sensor and position control unit:

[0075] D1: Install position sensors (such as photoelectric sensors, encoders, etc.) to monitor the positions of the lifting component 2 and the rail conveying system in real time to ensure that the lifting component 2 can accurately reach the loading and unloading positions.

[0076] D2: Load sensor and motor protection.

[0077] D3: The load sensor is used to monitor the working load of the chain belt 16 and the lifting component 2 to avoid motor overload. If the system detects that the load exceeds the set threshold, the motor power is automatically reduced and an alarm is issued to avoid damage to the equipment.

[0078] E: Control logic unit:

[0079] System initialization and self-test: When the control system starts, it first performs a self-test to ensure that all motors, sensors and actuators are in normal working condition.

[0080] Operation mode: The system can automatically select the circulation mode or the emergency mode according to the working environment. In the circulation mode, the lifting component 2 circulates back and forth on the track; in the emergency mode, the system is controlled and adjusted through the remote control terminal.

[0081] Intelligent scheduling and dynamic adjustment: The control system uses an intelligent scheduling algorithm to dynamically adjust the speed of the motor and the working state of the boom module 27 according to the operating state of the rail conveyor system, the position of the lifting component 2 and the type of lifting objects. The real-time feedback mechanism ensures that the system can cope with complex operating environments.

[0082] F: Remote monitoring and maintenance unit:

[0083] Remote monitoring: The system is equipped with a remote monitoring interface, which allows managers to view the status of the underground transportation system in real time, perform fault diagnosis and remote control.

[0084] Automatic diagnosis: The control system has an automatic fault detection function, which can detect faults of components such as motors, sensors, and chain belts 16 in a timely manner, and perform self-adjustment or alarm.

[0085] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent rail transportation system for underground coal mines, characterized in that: include: The track conveying assembly (1) is distributed in an annular shape along an underground tunnel, and comprises a support (11), an upper frame (12), an annular guide rail (13), a driving assembly and a movable support (19), wherein the support (11) is provided with a plurality of groups and is distributed at intervals along both sides of the upper frame (12), and the bottom of the support (11) is supported on the ground of the underground tunnel; the upper frame (12) is an annular frame, and an annular guide rail (13) with a downward convex design is provided on the bottom side of the upper frame (12); 12) is provided with a driving assembly, the driving assembly comprising a main sprocket (14), a secondary sprocket (15), a chain belt (16) and a first motor (17), wherein the main sprocket (14) and the secondary sprocket (15) are distributed on both sides of the bottom of the upper frame (12) and are located inside the annular guide rail (13), the main sprocket (14) and the secondary sprocket (15) are linked by the chain belt (16), and the first motor (17) is installed on the top side of the upper frame (12) and its shaft end is connected to the main sprocket (14); The lifting assembly (2) is mounted on the lower side of the movable support (19) and performs circumferential reciprocating motion along the track when the chain belt (16) links the main sprocket (14) and the auxiliary sprocket (15). The lifting assembly (2) comprises a guide rail frame (21), a mounting frame, a second motor (25), a main bevel gear (26) and a boom module (27), wherein the guide rail frame (21) is a cross-shaped frame body formed by welding a plurality of I-beams, and the mounting frame is connected to the guide rail frame (21).

2. The intelligent rail transportation system for underground coal mines according to claim 1, characterized in that: A plurality of locking pins are arranged at intervals on the outer periphery of the chain belt (16); a plurality of movable supports (19) are arranged and are distributed at intervals along the annular guide rail (13); a pulley frame (18) is arranged on the movable support (19) and is clamped on both sides of the annular guide rail (13) and is slidably connected to the annular guide rail (13); a lock buckle connected to the locking pin on the chain belt (16) is arranged at the rear end of the movable support (19).

3. The intelligent rail transportation system for underground coal mine according to claim 1, characterized in that: The mounting frame comprises a first mounting plate (22) fixed to the lower side of the guide rail frame (21) by bolts, a second mounting plate (23) distributed on the upper side of the guide rail frame (21), and a plurality of support rods connecting the first mounting plate (22) and the second mounting plate (23); a second motor (25) is mounted on the second mounting plate (23); and a shaft end of the second motor (25) is connected to a main bevel gear (26).

4. The intelligent rail transportation system for underground coal mines according to claim 1, characterized in that: The arm modules (27) are provided with four groups and are distributed along each side of the guide rail frame (21). The arm modules (27) include a screw rod (271), an arm frame (272), a slide (273), an electric cylinder (274) and a support plate (275). The screw rod (271) is rotatably mounted on the top side of the guide rail frame (21), and the front side of the shaft end of the screw rod (271) is connected to a secondary bevel gear meshing with the main bevel gear (26).

5. The intelligent rail transportation system for underground coal mines according to claim 4, characterized in that: The slide (273) is sleeved on the screw rod (271), and the two sides of the lower end of the slide (273) are slidably connected to the I-beam grooves (276) of the guide rail frame (21). The boom frame (272) is connected to the lower end of the slide (273), and the boom frame (272) moves along the guide rail frame (21) when the screw rod (271) rotates.

6. The intelligent rail transportation system for underground coal mines according to claim 4, characterized in that: The bottom of the boom frame (272) is connected to a support plate (275) via a pin shaft, a support tooth is arranged at the front end of the support plate (275), a rear end of the electric cylinder (274) is movably installed inside the boom frame (272), a front piston rod end of the electric cylinder (274) is hinged to the support plate (275), and a groove (276) is arranged on a side of the support plate (275) close to the support tooth.

7. The intelligent rail transportation system for underground coal mines according to claim 3, characterized in that: The second mounting plate (23) is connected to the third mounting plate (24); a quick-mounting structure (3) connected to the third mounting plate (24) is arranged at the bottom of the movable support (19); the quick-mounting structure (3) comprises a quick-mounting plate (31), a slot plate (32), a limit plate (33) and a hand-tightening bolt (34); the quick-mounting plate (31) is connected to the bottom of the movable support (19); a long slot and a slot plate (32) are arranged on the end surface of the quick-mounting plate (31); the long slot is adjacent to the slot plate (32); and the third mounting plate (24) and the slot plate (32) are slidably plugged.

8. The intelligent rail transportation system for underground coal mines according to claim 7, characterized in that: The limiting plate (33) is arranged in the long slot and can move forward and backward along the long slot. The limiting plate (33) is a telescopic pin structure with elastic force.

9. The intelligent rail transportation system for underground coal mines according to claim 7, characterized in that: A hand-tightening bolt (34) is arranged on the outer side of the quick-release plate (31), and the hand-tightening bolt (34) extends into the long slot and is connected to the limiting plate (33).

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