A slope construction anti-rollover device and an application method thereof

Abstract

The application discloses an inclined shaft construction anti-rollover device and an application method thereof. A track vehicle can move in an inclined shaft along a track through external traction. An anti-rollover mechanism is installed on a working platform of the track vehicle, and a slag removing mechanism is also installed on the track vehicle. When the track vehicle moves forward and backward along the track under the action of external traction, the track vehicle drives the anti-rollover mechanism and the slag removing mechanism to move in the inclined shaft. The slag removing mechanism can rotate on the working platform to perform slag removing work on the wall surface around the parking position of the track vehicle. When the slag removing mechanism works, an intelligent control strategy is adopted to adjust the support pressure of a hydraulic cylinder of the anti-rollover mechanism according to the stress of the slag removing mechanism and the stress of the track vehicle, so that the track vehicle is prevented from rolling over due to the force between the slag removing mechanism and the wall surface of the inclined shaft during the slag removing work. The application has the advantages of simple structure and high reliability, and the safety and working performance of the track vehicle and the working device are considered.

Description

Technical Field

[0001] This invention belongs to the field of inclined shaft construction technology, and in particular relates to an anti-rollover device and its control strategy for preventing the railcar from overturning when the working mechanism on the inclined shaft railcar is working. Background Technology

[0002] In many fields such as railways, tunnels, and pumped storage, the working faces are often deep and large in diameter. After drilling, additional treatments such as muck removal, shotcreting, and anchoring are required. This necessitates the use of railcars operating within inclined shafts. During construction within these shafts, equipment is typically mounted on the railcar, and workers operate from there. The forces exerted by the equipment on the railcar during construction can potentially cause instability or derailment, compromising worker safety and leading to significant economic losses. Furthermore, railcars lacking anti-tipping capabilities or with poor anti-tipping performance limit the application of certain equipment, causing considerable inconvenience to construction and requiring more personnel to complete the work. This not only affects construction progress but also introduces numerous uncontrollable safety hazards. Therefore, railcars with high safety and construction stability within inclined shafts require further optimization. Summary of the Invention

[0003] In order to solve the problems existing in the background art, the purpose of the present invention is to provide an anti-rollover device for inclined shaft construction and its application method. The present invention is used to prevent the railcar from rolling over when the working mechanism on the inclined shaft railcar is working.

[0004] The technical solution adopted in this invention is as follows:

[0005] I. A device for preventing rollover during inclined shaft construction:

[0006] It includes a railcar, an anti-tipping mechanism, a track, and a slag removal mechanism. The track is fixedly installed on the inner wall of the inclined shaft and is set along the length of the inclined shaft. The railcar is connected to the track and can move back and forth along the axial direction of the track. The anti-tipping mechanism and the slag removal mechanism are both fixedly installed on the railcar. When the railcar moves back and forth along the axial direction of the track under the action of external traction force, the railcar drives the anti-tipping mechanism and the slag removal mechanism to move back and forth along the length of the inclined shaft. The slag removal mechanism is used to remove slag from the inner wall of the inclined shaft, and the anti-tipping mechanism is used to prevent the railcar from tipping over during the slag removal operation.

[0007] The anti-tipping mechanism includes a retractable support cylinder, a support cylinder fixing seat, a retractable tilt adjustment cylinder, a tilt adjustment cylinder fixing seat, and a support. The support is fixedly connected to the railcar. One end of the support cylinder is connected to the support via the support cylinder fixing seat and can swing back and forth. The other end of the support cylinder is a free end, and the free end of the support cylinder faces the inner wall of the inclined shaft. One end of the tilt adjustment cylinder is connected to the support via the tilt adjustment cylinder fixing seat, and the other end of the tilt adjustment cylinder is connected to the support cylinder. The tilt adjustment cylinder is used to adjust the swing amplitude of the support cylinder back and forth, thereby controlling the tilt angle of the support cylinder relative to the upper surface of the railcar.

[0008] The aforementioned slag removal mechanism mainly consists of a slag remover and a slag removal monitoring system. The base of the slag remover is fixedly connected to the railcar, and the slag removal arm of the slag remover is movably mounted on the base along the circumference of the base to achieve 360-degree rotation of the slag removal arm. The slag removal monitoring system is installed on the base. The slag removal monitoring system is used to collect the displacement and working pressure of the hydraulic cylinder in the slag remover in real time, and at the same time to measure the position and posture of the slag remover relative to the railcar.

[0009] The anti-rollover mechanism also includes an anti-rollover monitoring system, which is installed on the railcar. The anti-rollover monitoring system is used to collect the piston displacement of the support cylinder and the tilt adjustment cylinder, and at the same time collect the working pressure of the support cylinder and the tilt adjustment cylinder.

[0010] II. An application method for an anti-rollover device in inclined shaft construction, comprising the following steps:

[0011] Step S1: Adjust the length and angle of the support cylinder and tilt adjustment cylinder in the anti-rollover mechanism so that the free end of the support cylinder contacts the inner wall of the inclined shaft.

[0012] Step S2: Start the muck-removing mechanism and obtain the overturning torque of the railcar generated by the muck-removing machine through the muck-removing monitoring system;

[0013] Step S3: During the movement of the railcar, the effective anti-rollover torque generated in real time by the anti-rollover mechanism is obtained through the anti-rollover monitoring system;

[0014] Step S4: Analyze the stress on the railcar by combining the overturning moment of the slag loader and the effective anti-overturning moment of the anti-overturning mechanism, and adjust the working pressure of the support cylinder according to the stress to ensure the safety of the railcar during operation.

[0015] The specific steps of S2 are as follows:

[0016] Step S2.1: Start the muck-removing mechanism and collect the displacement and working pressure of the hydraulic cylinder in the muck-removing machine in real time through the muck-removing monitoring system, and at the same time measure the position and posture of the muck-removing machine relative to the railcar.

[0017] Step S2.2: Based on the position data of the muck loader relative to the railcar and the displacement of the hydraulic cylinder, establish a three-dimensional model of the muck loader. Combine the working pressure of the hydraulic cylinder and the given muck loader force, perform a force analysis on the three-dimensional model of the muck loader to obtain the force on the muck loader base under different muck loader positions and muck loader forces.

[0018] Step S2.3: Substitute the stress condition of the muck loader base into the three-dimensional model of the railcar to obtain the railcar overturning moment generated by the muck loader due to muck loader; the railcar overturning moment is specifically the external torque applied by the muck loader to the railcar.

[0019] The specific steps of step S3 are as follows:

[0020] Step S3.1: The piston displacement of the support cylinder and tilt adjustment cylinder in the anti-rollover mechanism is collected in real time through the anti-rollover monitoring system, and the working pressure of the support cylinder and tilt adjustment cylinder is collected at the same time.

[0021] Step S3.2: Based on the piston displacement obtained in the above steps, establish a three-dimensional model of the anti-rollover mechanism. Combined with the working pressure of the support cylinder, perform a force analysis on the three-dimensional model of the anti-rollover mechanism to obtain the force on the support in the anti-rollover mechanism under different piston displacements and working pressures.

[0022] Step S3.3: Substitute the stress condition of the support into the three-dimensional model of the railcar to obtain the effective anti-rollover torque generated by the anti-rollover mechanism; the effective anti-rollover torque is specifically the external torque applied by the anti-rollover mechanism to the railcar.

[0023] The specific steps of S4 are as follows:

[0024] Step S4: Analyze the stress on the railcar based on the overturning moment of the loader's railcar and the effective anti-overturning moment of the anti-overturning mechanism to obtain the stress on the railcar, and adjust the working pressure of the support cylinder according to the stress situation:

[0025] If the stress on the railcar is less than its own bearing capacity, and the effective anti-rollover moment is greater than the railcar's rollover moment, it indicates that the railcar is in a safe operating state and no adjustments need to be made to the device.

[0026] Otherwise, it indicates that the railcar is not in a safe operating state. Adjust the working pressure of the support cylinder to ensure that the force on the railcar meets the requirements for safe operation, so as to ensure the safety of the railcar operation.

[0027] The muck-removing mechanism can rotate on the working platform to remove muck from the surrounding walls of the railcar parking position. When the muck-removing mechanism is working, the anti-tipping mechanism adjusts the support pressure of the hydraulic cylinder according to the force on the muck-removing mechanism and the railcar, preventing the railcar from tipping over due to the force between the muck-removing mechanism and the inclined shaft wall during the muck-removing operation, and eliminating the safety hazards of the railcar caused by the tipping mechanism, thus providing technical support for the construction of inclined shaft tunnels.

[0028] To address the problem of track car overturning due to excessive force between the construction equipment and the working face during inclined shaft tunnel construction, this invention proposes an anti-overturning device and its application method for inclined shaft construction. The device can reduce safety hazards and improve work efficiency. This invention has the advantages of simple structure and high reliability, balancing the safety and performance of the track car and working equipment.

[0029] The beneficial effects of this invention are:

[0030] 1. The anti-tipping mechanism proposed in this invention for inclined shaft track construction has adjustable support height, angle, and support force according to the construction environment. When not in operation, it can be retracted and placed on the track vehicle platform, which has the advantages of flexibility and convenience, as well as the advantages of multi-degree-of-freedom adjustment and controllable driving force.

[0031] 2. This invention employs an anti-rollover mechanism that not only provides multi-directional support for the railcar, but also allows for different support ranges to be set according to support requirements. The support force is adjustable, and the working pressure of the support hydraulic cylinder can be adjusted based on the posture and working force of the machinery, achieving safety and energy efficiency during construction at the working face. This solves the safety hazard caused by excessive rollover force generated by the working mechanism during inclined shaft tunnel construction, ensuring the safety of construction personnel and avoiding economic losses and excessive construction difficulty resulting from rollovers. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0033] Figure 1 This is a schematic diagram of the anti-rollover mechanism in an inclined shaft tunnel during longitudinal slag removal, as shown in the device of the present invention.

[0034] Figure 2 This is a schematic diagram of the anti-tipping mechanism in an inclined shaft tunnel during horizontal slag removal, as shown in the device of the present invention.

[0035] Figure 3 This is a schematic diagram of the anti-rollover mechanism retracting as shown in the device of the present invention;

[0036] Figure 4This is a structural diagram of the anti-rollover mechanism shown in the device of the present invention;

[0037] Figure 5 This is a schematic diagram of the tunnel support section for the anti-rollover mechanism;

[0038] Figure 6 This is a flowchart of the anti-rollover mechanism's operation.

[0039] The markings in the diagram are: 1. Railcar; 2. Anti-tipping mechanism; 2-1. Support cylinder; 2-2. Support cylinder mounting base; 2-3. Inclination adjustment cylinder; 2-4. Inclination adjustment cylinder mounting base; 2-5. Support; 3. Rail; 4. Slag removal mechanism. Detailed Implementation

[0040] The present invention will be described in detail below with reference to specific implementation examples. These examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way.

[0041] like Figure 1 and Figure 2 As shown, the device includes a railcar 1, an anti-tipping mechanism 2, a track 3, and a slag removal mechanism 4. The track 3 is fixedly installed on the inner wall of the inclined shaft and is set along the length of the inclined shaft. The railcar 1 is connected to the track 3 and can move back and forth along the axial direction of the track 3 by external traction. The anti-tipping mechanism 2 and the slag removal mechanism 4 are both fixedly installed on the railcar 1. When the railcar 1 moves back and forth along the axial direction of the track 3 under the action of external traction force, the railcar 1 drives the anti-tipping mechanism 2 and the slag removal mechanism 4 to move back and forth along the length of the inclined shaft. The slag removal mechanism 4 is used to remove slag from the inner wall of the inclined shaft, and the anti-tipping mechanism 2 is used to prevent the railcar 1 from tipping over during the slag removal operation.

[0042] like Figures 3-5 As shown, the anti-rollover mechanism 2 includes a telescopic support cylinder 2-1, a support cylinder fixing seat 2-2, a telescopic tilt adjustment cylinder 2-3, a tilt adjustment cylinder fixing seat 2-4, and a support 2-5. The support 2-5 is fixedly connected to the railcar 1. One end (i.e., the root end) of the support cylinder 2-1 is connected to the support 2-5 by means of the support cylinder fixing seat 2-2, which can swing back and forth. The other end of the support cylinder 2-1 is a free end, and the free end of the support cylinder 2-1 faces the inner wall of the inclined shaft. One end (i.e., the root end) of the tilt adjustment cylinder 2-3 is connected to the support 2-5 by means of the tilt adjustment cylinder fixing seat 2-4, and the other end of the tilt adjustment cylinder 2-3 is connected to the root of the support cylinder 2-1. The tilt adjustment cylinder 2-3 is used to adjust the swing amplitude of the support cylinder 2-1 back and forth, thereby controlling the tilt angle of the support cylinder 2-1 relative to the upper surface of the railcar 1.

[0043] In specific implementation, the front-to-back direction of the device is the length direction of the inclined shaft. The anti-rollover mechanism 2 mainly includes a set of support cylinder assemblies and two sets of tilt adjustment cylinder assemblies. The support cylinder assembly is located in the middle of the two sets of tilt adjustment cylinder assemblies. The support cylinder assembly is mainly composed of several support cylinders 2-1 evenly spaced along the circumference of the support 2-5. Each set of tilt adjustment cylinder assemblies is mainly composed of several tilt adjustment cylinders 2-3 evenly spaced along the circumference of the support 2-5.

[0044] The slag removal mechanism 4 mainly consists of a slag remover and a slag removal monitoring system. The base of the slag remover is fixedly connected to the railcar 1. The slag removal arm of the slag remover can be moved around the base of the slag remover to achieve 360-degree rotation of the slag removal arm. The slag removal monitoring system is installed on the base. The slag removal monitoring system is used to collect the displacement and working pressure of the hydraulic cylinder in the slag remover in real time, and at the same time to measure the position and posture of the slag remover relative to the railcar 1.

[0045] The anti-rollover mechanism 2 also includes an anti-rollover monitoring system, which is installed on the railcar 1. The anti-rollover monitoring system is used to collect the piston displacement of the support cylinder 2-1 and the tilt adjustment cylinder 2-3, and at the same time collect the working pressure of the support cylinder 2-1 and the tilt adjustment cylinder 2-3.

[0046] The method of applying the device of the present invention includes the following steps:

[0047] Step S1: Adjust the length and angle of the support cylinder 2-1 and the tilt adjustment cylinder 2-3 in the anti-rollover mechanism 2 so that the free end of the support cylinder 2-1 contacts the inner wall of the inclined shaft.

[0048] Step S2: Start the muck-removing mechanism 4 and obtain the overturning torque of the railcar generated by the muck-removing machine through the muck-removing monitoring system;

[0049] Step S3: During the movement of the railcar 1, the effective anti-rollover torque generated in real time by the anti-rollover mechanism 2 is obtained through the anti-rollover monitoring system;

[0050] Step S4: Analyze the stress on the railcar 1 by combining the overturning moment of the slag remover and the effective anti-overturning moment of the anti-overturning mechanism 2, and adjust the working pressure of the support cylinder 2-1 according to the stress, so as to ensure the safety of the railcar 1 during operation.

[0051] Step S2 is as follows:

[0052] Step S2.1: Start the slag removal mechanism 4, and collect the displacement and working pressure of the hydraulic cylinder in the slag removal machine in real time through the slag removal monitoring system, and at the same time measure the current position and posture of the slag removal machine relative to the railcar 1.

[0053] Step S2.2: Establish a three-dimensional model of the railcar 1. Based on the position data of the muck loader relative to the railcar 1 and the displacement of the hydraulic cylinder, establish a three-dimensional model of the muck loader. Combine the working pressure of the hydraulic cylinder and the given muck loader force, perform a force analysis on the three-dimensional model of the muck loader to obtain the force on the muck loader base under different muck loader positions and muck loader forces. That is, establish the relationship between the muck loader position and muck loader force and the force on the muck loader base.

[0054] Step S2.3: Substitute the force conditions of the muck loader base corresponding to different muck loader positions and muck loader forces into the three-dimensional model of the railcar 1 to obtain the railcar overturning moment generated by the muck loader due to muck loader; the railcar overturning moment is specifically the external torque applied by the muck loader to the railcar 1.

[0055] In specific implementation, step S3 is as follows:

[0056] Step S3.1: The piston displacement of the support cylinder 2-1 and the tilt adjustment cylinder 2-3 in the anti-rollover mechanism 2 is collected in real time through the anti-rollover monitoring system, and the working pressure of the support cylinder 2-1 and the tilt adjustment cylinder 2-3 is collected at the same time.

[0057] Step S3.2: Based on the piston displacement obtained in the above steps, establish a three-dimensional model of the anti-rollover mechanism 2. Combined with the working pressure of the support cylinder 2-1 and the tilt adjustment cylinder 2-3, perform a force analysis on the three-dimensional model of the anti-rollover mechanism 2 to obtain the piston displacement of the support cylinder 2-1 under different working pressures and the force on the support 2-5 in the anti-rollover mechanism 2. That is, establish the relationship between the piston displacement of the support cylinder 2-1 and the working pressure and the force on the support 2-5.

[0058] Step S3.3: Substitute the piston displacement of different support cylinders 2-1 and the force on the support 2-5 corresponding to the working pressure into the three-dimensional model of the railcar 1 to obtain the effective anti-rollover torque generated by the anti-rollover mechanism 2; the effective anti-rollover torque is specifically the external torque applied by the anti-rollover mechanism 2 to the railcar 1.

[0059] Step S4 is as follows:

[0060] Step S4: Analyze the stress on railcar 1 based on the overturning moment of the slag loader and the effective anti-overturning moment of the anti-overturning mechanism 2, obtain the stress on railcar 1, and adjust the working pressure of support cylinder 2-1 according to the stress condition:

[0061] If the stress on track vehicle 1 is less than its own bearing capacity, and the effective anti-rollover moment is greater than the track vehicle rollover moment, it indicates that track vehicle 1 is in a safe operating state and no adjustments need to be made to the device.

[0062] If the stress of track car 1 is not less than the load-bearing capacity of track car 1, or the effective anti-overturning moment is not greater than the overturning moment of track car 1, it indicates that track car 1 is not in a safe operating state and track car 1 is prone to overturning. In this case, the working pressure of support cylinder 2-1 is adjusted so that the stress and effective anti-overturning moment of track car 1 meet the requirements for safe operation, so as to ensure the safety of track car 1 operation.

[0063] In practice, the inclination angle between railcar 1 and rail 3 is adjusted according to the size of the inclined shaft.

[0064] like Figure 6 As shown, when the slag removal mechanism 4 is working, the slag removal monitoring system collects the displacement and working pressure of the hydraulic cylinder of the slag removal mechanism in real time; at the same time, it measures the position and posture of the slag removal mechanism 4 relative to the railcar 1; a three-dimensional model of the slag removal machine is established by measuring the position and posture data; the relationship between the force on the slag removal mechanism base and the position and slag removal force of the slag removal machine is obtained by combining the working pressure of the hydraulic cylinder of the slag removal machine; and the railcar model is substituted to obtain the railcar overturning moment caused by slag removal.

[0065] like Figure 6 As shown, when the anti-rollover mechanism 2 is working, the piston displacement of the tilt adjustment cylinder 2-3 and the piston displacement of the support hydraulic cylinder 2-1 are collected to establish a three-dimensional model of the anti-rollover mechanism 2; combined with the working pressure of the support hydraulic cylinder, the force analysis is carried out to obtain the relationship between the force on the support of the rollover mechanism and the position and working pressure of the support hydraulic cylinder, and the effective anti-rollover torque generated by the anti-rollover mechanism is obtained by substituting it into the railcar model.

[0066] like Figure 6 As shown, when the anti-rollover mechanism 2 is working, the stress of the railcar 1 is analyzed in real time based on the force analysis results of the anti-rollover mechanism 2 and the slag remover 4 to obtain the stress condition of the railcar 1. The working pressure of the supporting hydraulic cylinder is adjusted according to the stress condition of the railcar to ensure the safety of the working platform of the railcar 1.

[0067] like Figure 6 As shown, when the anti-overturning mechanism 2 is working, it compares the overturning force generated by the slag remover and the anti-overturning torque generated by the anti-overturning mechanism 2. When the anti-overturning torque is insufficient to balance the overturning torque of the railcar 1, the working pressure of the support cylinder 2-1 is adjusted in a timely manner based on the stress analysis results of the railcar 1. When the adjustment of the working pressure still does not meet the requirements, the piston displacement (i.e., the support angle) of the tilt adjustment hydraulic cylinder 2-4 is adjusted. At the same time, the piston displacement of the support cylinder 2-1 is adjusted adaptively to ensure the safe and smooth progress of the slag removal operation and achieve the goal of energy saving control.

[0068] The working process of this invention is as follows:

[0069] like Figure 3As shown, in the non-operating state, the support hydraulic cylinder 2-1 and the tilt adjustment cylinder 2-4 of the anti-rollover mechanism 2 are in the retracted state. Figure 4 and Figure 5 As shown, before the slag removal mechanism 4 operates, the supporting hydraulic cylinder 2-1 and the tilt adjustment cylinder 2-4 are extended, and the supporting hydraulic cylinder 2-1 contacts the inclined shaft wall. The contact diagram is shown below. Figure 1 and Figure 2 As shown.

[0070] like Figure 6 As shown, during operation, the displacement and working pressure of the hydraulic cylinder of the muck-loading mechanism 4 are collected in real time; simultaneously, the position and orientation of the muck-loading mechanism 4 relative to the railcar 1 are measured; a three-dimensional model of the muck-loading machine is established using the measured position and orientation data, and the relationship between the force on the base of the muck-loading mechanism and the position and muck-loading force is obtained by combining the working pressure of the hydraulic cylinder of the muck-loading machine, and then substituted into the railcar model to obtain the railcar overturning moment caused by muck-loading; the piston displacement of the tilt adjustment cylinder 2-3 and the piston displacement of the support hydraulic cylinder 2-1 are collected to establish a three-dimensional model of the anti-overturning mechanism; and force analysis is performed in combination with the working pressure of the support hydraulic cylinder. The relationship between the force on the side-tipping mechanism support and the position and working pressure of the supporting hydraulic cylinder is obtained. Substituted into the railcar model, the effective anti-tipping torque generated by the anti-tipping mechanism is obtained. Based on the force analysis results of the anti-tipping mechanism 2 and the slag remover, the stress of the railcar 1 is analyzed in real time to obtain the stress condition of the railcar 1. The side-tipping force generated by the slag remover 4 during operation and the anti-tipping torque generated by the anti-tipping mechanism 2 are compared. When the anti-tipping torque is insufficient to balance the side-tipping torque of the railcar 1, the working pressure of the supporting cylinder 2-1 is adjusted in combination with the stress analysis results of the railcar 1 to ensure the safety of the railcar 1 working platform.

[0071] The above description is only a preferred embodiment of the present invention. It should be noted that improvements and refinements can be made without departing from the working principle of the present invention, and these improvements and refinements should also be considered within the scope of protection of the present invention.

Claims

1. A method for applying an anti-rollover device during inclined shaft construction, characterized in that, The application method uses an anti-tipping device for inclined shaft construction. The anti-tipping device for inclined shaft construction includes a railcar (1), an anti-tipping mechanism (2), a track (3), and a slag removal mechanism (4). The track (3) is fixedly installed on the inner wall of the inclined shaft and is set along the length of the inclined shaft. The railcar (1) is connected to the track (3) and can move back and forth along the axial direction of the track (3). The anti-tipping mechanism (2) and the slag removal mechanism (4) are both fixedly installed on the railcar (1). When the railcar (1) moves back and forth along the axial direction of the track (3) under the action of external traction force, the railcar (1) drives the anti-tipping mechanism (2) and the slag removal mechanism (4) to move along the inclined shaft. The well moves back and forth along its length. The slag removal mechanism (4) is used to remove slag from the inner wall of the inclined well. The anti-overturning mechanism (2) is used to prevent the railcar (1) from overturning during the slag removal operation. The anti-overturning mechanism (2) includes a telescopic support cylinder (2-1), a support cylinder fixing seat (2-2), and a telescopic tilt adjustment cylinder (2-3). The tilt adjustment cylinder (2-3) is used to adjust the swing amplitude of the support cylinder (2-1) back and forth, thereby controlling the tilt angle of the support cylinder (2-1) relative to the upper surface of the railcar (1). The slag removal mechanism (4) is mainly composed of a slag remover and a slag removal monitoring system. The anti-overturning mechanism (2) also includes an anti-overturning monitoring system. The application method includes the following steps: Step S1: Adjust the length and angle of the support cylinder (2-1) and the tilt adjustment cylinder (2-3) in the anti-rollover mechanism (2) so that the free end of the support cylinder (2-1) contacts the inner wall of the inclined shaft; Step S2: Start the slag removal mechanism (4) and obtain the overturning torque of the railcar generated by the slag removal machine through the slag removal monitoring system; Step S3: During the movement of the railcar (1), the effective anti-rollover torque generated in real time by the anti-rollover mechanism (2) is obtained through the anti-rollover monitoring system; Step S4: Analyze the stress on the railcar (1) based on the side-overturning torque of the slag remover and the effective anti-overturning torque of the anti-overturning mechanism (2), obtain the stress on the railcar (1), and adjust the working pressure of the support cylinder (2-1) according to the stress, so as to ensure the safety of the railcar (1) during operation.

2. The application method of the anti-rollover device for inclined shaft construction according to claim 1, characterized in that: The anti-rollover mechanism (2) includes a telescopic support cylinder (2-1), a support cylinder fixing seat (2-2), a telescopic tilt adjustment cylinder (2-3), a tilt adjustment cylinder fixing seat (2-4), and a support (2-5). The support (2-5) is fixedly connected to the railcar (1). One end of the support cylinder (2-1) is connected to the support (2-5) by means of the support cylinder fixing seat (2-2), and the other end of the support cylinder (2-1) is a free end, and the free end of the support cylinder (2-1) faces the inner wall of the inclined shaft. One end of the tilt adjustment cylinder (2-3) is connected to the support (2-5) by means of the tilt adjustment cylinder fixing seat (2-4), and the other end of the tilt adjustment cylinder (2-3) is connected to the support cylinder (2-1). The tilt adjustment cylinder (2-3) is used to adjust the swing amplitude of the support cylinder (2-1) back and forth, thereby controlling the tilt angle of the support cylinder (2-1) relative to the upper surface of the railcar (1).

3. The application method of the anti-rollover device for inclined shaft construction according to claim 1, characterized in that: The slag removal mechanism (4) mainly consists of a slag remover and a slag removal monitoring system. The base of the slag remover is fixedly connected to the railcar (1). The slag removal arm of the slag remover can be moved around the base to achieve 360-degree rotation of the slag removal arm. The slag removal monitoring system is installed on the base. The slag removal monitoring system is used to collect the displacement and working pressure of the hydraulic cylinder in the slag remover in real time, and at the same time to measure the position of the slag remover relative to the railcar (1).

4. The application method of the anti-rollover device for inclined shaft construction according to claim 1, characterized in that: The anti-rollover monitoring system is installed on the railcar (1). The anti-rollover monitoring system is used to collect the piston displacement of the support cylinder (2-1) and the tilt adjustment cylinder (2-3), and at the same time collect the working pressure of the support cylinder (2-1) and the tilt adjustment cylinder (2-3).

5. The application method of the anti-rollover device for inclined shaft construction according to claim 1, characterized in that: The specific steps of S2 are as follows: Step S2.1: Start the slag removal mechanism (4), and collect the displacement and working pressure of the hydraulic cylinder in the slag removal machine in real time through the slag removal monitoring system, and measure the position of the slag removal machine relative to the railcar (1). Step S2.2: Based on the position data of the loader relative to the railcar (1) and the displacement of the hydraulic cylinder, establish a three-dimensional model of the loader. Combine the working pressure of the hydraulic cylinder and the given loader force, perform a force analysis on the three-dimensional model of the loader to obtain the force situation of the loader base under different loader positions and loader forces. Step S2.3: Substitute the stress condition of the muck loader base into the three-dimensional model of the railcar (1) to obtain the railcar overturning torque generated by the muck loader due to muck loader; the railcar overturning torque is specifically the external torque applied by the muck loader to the railcar (1).

6. The application method of the anti-rollover device for inclined shaft construction according to claim 1, characterized in that: The specific steps of step S3 are as follows: Step S3.1: Real-time collection of piston displacement of support cylinder (2-1) and tilt adjustment cylinder (2-3) in anti-rollover mechanism (2) through anti-rollover monitoring system, and simultaneous collection of working pressure of support cylinder (2-1) and tilt adjustment cylinder (2-3); Step S3.2: Based on the piston displacement obtained in the above steps, establish a three-dimensional model of the anti-rollover mechanism (2). Combined with the working pressure of the support cylinder (2-1), perform a force analysis on the three-dimensional model of the anti-rollover mechanism (2) to obtain the force on the support (2-5) in the anti-rollover mechanism (2) under different piston displacements and working pressures. Step S3.3: Substitute the stress condition of the support (2-5) into the three-dimensional model of the railcar (1) to obtain the effective anti-rollover torque generated by the anti-rollover mechanism (2); the effective anti-rollover torque is specifically the external torque applied by the anti-rollover mechanism (2) to the railcar (1).

7. The application method of the anti-rollover device for inclined shaft construction according to claim 1, characterized in that: The specific steps of S4 are as follows: Step S4: Analyze the stress on the railcar (1) based on the side-tipping moment of the slag loader and the effective anti-tipping moment of the anti-tipping mechanism (2), obtain the stress on the railcar (1), and adjust the working pressure of the support cylinder (2-1) according to the stress: If the stress of the railcar (1) is less than its own bearing capacity and the effective anti-rollover moment is greater than the railcar rollover moment, it indicates that the railcar (1) is in a safe operating state and no adjustments are made to the device. Otherwise, it indicates that the railcar (1) is not in a safe operating state. Adjust the working pressure of the support cylinder (2-1) so that the force on the railcar (1) meets the requirements for safe operation, so as to ensure the safety of the operation of the railcar (1).

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