Deep mine transportation system based on Beidou III

Abstract

The present application provides a deep-shaft mine transportation system based on BeiDou III, which belongs to the field of mine equipment. In the deep-shaft mine transportation system based on BeiDou III, the rotating frame rotates around the shaft through the ring frame, so that the guide trough can be pre-moved to the corresponding position of the shaft according to the parking position information of the transport vehicle, and the height and inclination angle of the guide trough can be adjusted according to the height information of the carriage, without the need for the transport vehicle to perform a secondary turn; the sliding of the front pusher and the rear pusher adjusts the inclination angle and height position of the guide trough through the suspension rope; a front bracket is arranged below the front end of the rotating frame, and the guide trough can be controlled by the front pusher and the rear pusher, so that the hook at the front end of the guide trough is hooked on the hanging shaft of the front bracket, so that the position of the guide trough is fixed; the on-board unit is installed on the transport vehicle, and can provide the arrival time, parking position information and carriage height information of the transport vehicle to the shaft control unit, so that the shaft control unit can adjust the rotating frame and the guide trough in place in time.

Description

Technical Field

[0001] The present application belongs to the technical field of mine equipment, and more specifically, to a deep mine transportation system based on BeiDou III. Background Art

[0002] During deep-shaft mining, the mined minerals are collected at the bottom of the shaft by shuttle cars through the mine tunnel, and then lifted to the surface by lifting equipment. When the minerals are lifted to the wellhead, they are directly loaded onto transport vehicles for transportation, or transported to the stockpile by belt conveyors.

[0003] Nowadays, there is usually a fixed loading point next to the shaft. When the transport vehicle arrives at the shaft, it needs to drive the vehicle to the loading point, adjust the height of the bucket, and then open the gate at the bottom of the bucket to load the minerals onto the transport vehicle. However, due to the extensive traffic in the mine, transport vehicles coming from different directions need to be transferred to the loading point for loading, which prolongs the loading time; in addition, different transport vehicles have different models and different carriage heights, so in the actual loading process, it is necessary to adjust the height of the bucket first, and then open the gate at the bottom of the bucket to load the minerals onto the transport vehicle, which also increases the loading time to a certain extent.

[0004] In particular, when multiple transport vehicles arrive at the shaft for loading at the same time, the transport vehicles need to queue up to enter the loading point for loading, and the transport vehicles behind need to wait for the previous vehicle to leave the loading point before entering the loading point, which further increases the loading time. Now one solution is to temporarily store the minerals next to it in advance, and use other equipment to perform secondary loading after the transport vehicles arrive. Although this can alleviate the problem to a certain extent, it does not fundamentally solve the problem. In addition, this method requires a certain amount of space to store minerals, which is not applicable in some cases where space is limited. Summary of the invention

[0005] In view of this, an embodiment of the present application provides a deep-shaft mine transportation system based on BeiDou III to solve the technical problem in the prior art that during the mineral transportation process, the vertical shaft has only one fixed loading point and the transport vehicle needs to be turned around, resulting in reduced transportation efficiency.

[0006] To achieve the above purpose, the technical solution adopted in this application is:

[0007] On the one hand, a deep mine transportation system based on Beidou III is provided, including:

[0008] A ring frame is arranged around the top of the shaft hoisting device;

[0009] A rotating frame, which is arranged radially along the annular frame and rotates circumferentially along the annular frame;

[0010] A front pulling mechanism, provided on the rotating frame, having a front pushing portion slidably arranged along the long axis direction of the rotating frame;

[0011] A rear lifting mechanism, arranged on the rotating frame, having a rear pushing portion slidably arranged along the long axis direction of the rotating frame;

[0012] A material guide trough is located below the rotating frame, with its rear end aligned with the bucket discharge port of the shaft lifting device, and hooks are provided on both sides of its front end;

[0013] A suspension rope is fixed to the rotating frame in the middle; after the front end of the suspension rope passes around the front pushing part and the rear end passes around the rear pushing part, the two ends of the suspension rope cross, so that the front end of the suspension rope obliquely pulls the rear end of the material guide trough and the rear end obliquely pulls the front end of the material guide trough, so that the material guide trough is in a suspended state;

[0014] The front bracket is arranged below the front end of the rotating frame; when the rotating frame rotates, the front bracket rotates around the vertical shaft, and the front bracket is provided with a plurality of pairs of hanging shafts adapted to the hooks, and the heights of the respective pairs of hanging shafts are different. When the hooks are hooked on different hanging shafts, the front ends of the material guide troughs correspond to the heights of the carriages of different transport vehicles respectively; the front pulling mechanism slides along the long axis direction of the rotating frame to control the length of the oblique pulling part of the front end of the lifting rope, thereby controlling the height of the rear end of the material guide trough; the rear lifting mechanism slides along the long axis direction of the rotating frame to control the length of the oblique pulling part of the rear end of the lifting rope, thereby controlling the height of the front end of the material guide trough; the front pulling mechanism and the rear lifting mechanism cooperate to control the height of the material guide trough and align the rear end of the material guide trough with the bucket discharge port of the vertical shaft lifting device, and the hooks are hooked on the hanging shafts of corresponding heights;

[0015] an on-board unit, recording the carriage height information of the transport vehicle, the route information to the shaft and the parking position information, and being adapted to obtain the position information of the transport vehicle through Beidou III positioning, and being adapted to calculate the arrival time of the transport vehicle at the shaft according to the route information and the position information, and sending the arrival time, the parking position information and the carriage height information when the time to the arrival time is less than a set value; and

[0016] The shaft control unit is adapted to receive the arrival time, the parking position information and the carriage height information sent by the on-board unit; before the arrival time, the shaft control unit controls the rotating frame to rotate to a corresponding position according to the parking position information, and controls the front pulling mechanism and the rear pulling mechanism to move according to the carriage height information, so as to lift and lower the material guide trough to match the carriage of the transport vehicle and make the hook hook on the hanging shaft at the corresponding height.

[0017] In some embodiments, the onboard unit comprises:

[0018] A storage module storing the route information, the stop position information and the carriage height information;

[0019] A Beidou-3 positioning module, adapted to obtain the position information of the transport vehicle;

[0020] A BeiDou III communication module, adapted to communicate with the shaft control unit;

[0021] The vehicle-mounted control module is suitable for obtaining the route information through the storage module, obtaining the location information through the Beidou-3 positioning module, and calculating the arrival time of the transport vehicle at the shaft, and when the arrival time is less than a set value, sending the arrival time and the parking orientation information to the shaft control unit through the Beidou-3 communication module.

[0022] In some embodiments, the vehicle control module determines, based on the position information, that the transport vehicle has arrived at the docking position of the shaft, and then sends the final docking position information through the Beidou-3 communication module;

[0023] The shaft control unit receives the final stop position information and determines whether the rotating frame currently moves the material guide chute to be opposite to the carriage of the transport vehicle; if the result is no, the shaft control unit controls the rotating frame to rotate according to the final stop position information so that the material guide chute is opposite to the carriage of the transport vehicle;

[0024] The shaft control unit is connected to the shaft lifting device; after the shaft control unit determines that the rotating frame moves the material guide chute to be opposite to the carriage of the transport vehicle, and completes the control of the material guide chute to be raised and lowered to match the carriage of the transport vehicle and the hook is hooked on the hanging shaft at the corresponding height, the shaft control unit controls the shaft lifting device to drop the mineral into the material guide chute.

[0025] In some embodiments, the annular frame includes an inner ring and an outer ring arranged concentrically; the middle of the inner ring is suitable for the bucket to pass through;

[0026] The cross section of the inner ring is C-shaped and opens outward, and the cross section of the outer ring is C-shaped and opens inward; the inner end of the rotating frame moves along the inner ring through the moving wheel embedded in the inner ring, and the outer end moves along the outer ring through the moving wheel embedded in the outer ring.

[0027] In some embodiments, a middle crossbeam is provided in the middle of the rotating frame;

[0028] The front pulling mechanism comprises a front hydraulic cylinder along the long axis direction of the rotating frame, one end of the front hydraulic cylinder is fixed to the middle cross beam, and the other end pushes the front pushing part forward;

[0029] The rear lifting mechanism comprises a rear hydraulic cylinder along the long axis direction of the rotating frame, one end of the rear hydraulic cylinder is fixed to the middle cross beam, and the other end pushes the rear pushing part backwards.

[0030] In some embodiments, the shaft control unit comprises:

[0031] A BeiDou III communication module, suitable for communicating with the vehicle-mounted unit;

[0032] At least two hydraulic control modules, controlling the front hydraulic cylinder and the rear hydraulic cylinder through hydraulic valves respectively;

[0033] At least two motor control modules are electrically connected to the driving motors of the moving wheels at both ends of the rotating frame respectively;

[0034] The shaft control module is connected to the Beidou-3 communication module and is suitable for obtaining the arrival time, the parking position information and the carriage height information sent by the on-board unit through the Beidou-3 communication module; the shaft control module is respectively controlled and connected with each of the hydraulic control modules and each of the motor control modules.

[0035] In some embodiments, the rotating frame is provided with two slide rails along the long axis direction of the rotating frame; the two ends of the front pushing portion slide along the front ends of the two slide rails through the slide seats respectively; the two ends of the rear pushing portion slide along the rear ends of the two slide rails through the slide seats respectively;

[0036] The middle cross beam is provided with a front fixed pulley block and a rear fixed pulley block;

[0037] The front pusher is provided with a front movable pulley block, and the front end of the suspension rope is reciprocated between the front fixed pulley block and the front movable pulley block and then connected to the rear end of the material guide trough;

[0038] The rear pushing part is provided with a rear movable pulley block, and the rear end of the suspension rope is connected to the front end of the material guide trough after being reciprocatedly wound between the rear fixed pulley block and the rear movable pulley block.

[0039] In some embodiments, the middle cross beam is provided with two sets of the front fixed pulley groups and two sets of the rear fixed pulley groups; correspondingly, the front pusher is provided with two sets of the front movable pulley groups, and the rear pusher is provided with two sets of the rear movable pulley groups;

[0040] There are two suspension ropes, one of which is fixed to the middle cross beam, and its front end is connected to one side of the rear end of the material guide trough after being reciprocated between the corresponding front fixed pulley group and the front movable pulley group, and its rear end is connected to one side of the front end of the material guide trough after being reciprocated between the rear fixed pulley group and the rear movable pulley group; the other suspension rope is fixed to the middle cross beam, and its front end is connected to the other side of the rear end of the material guide trough after being reciprocated between the corresponding front fixed pulley group and the front movable pulley group, and its rear end is connected to the other side of the front end of the material guide trough after being reciprocated between the rear fixed pulley group and the rear movable pulley group.

[0041] In some embodiments, when the material guiding trough is horizontal, the hook slot of the hook opens toward the front and is bent upward inside.

[0042] The beneficial effects of the deep-shaft mine transportation system based on BeiDou III provided by the embodiment of the present application are as follows: compared with the prior art, in the deep-shaft mine transportation system based on BeiDou III provided by the embodiment of the present application, the rotating frame rotates around the vertical shaft through the annular frame, so that the material guide chute can be pre-moved to the corresponding position of the vertical shaft according to the parking orientation information of the transport vehicle, and the height and inclination angle of the material guide chute can be adjusted according to the height information of the carriage; when the transport vehicle arrives, it only needs to park nearby around the vertical shaft to load the goods into the carriage of the transport vehicle through the material guide chute, and the transport vehicle does not need to be turned twice;

[0043] Through the sliding of the front pusher and the rear pusher, the front and rear ends of the guide trough can be lifted by the lifting rope to adjust the inclination angle and height position of the guide trough; a front bracket is arranged below the front end of the rotating frame, and when loading and unloading is required, the guide trough can be controlled by the front pusher and the rear pusher, so that the hook at the front end of the guide trough is hooked on the hanging shaft of the front bracket, so that the position of the guide trough is fixed, and the guide trough is prevented from being misplaced when the bucket dumps the minerals into the guide trough;

[0044] The on-board unit is installed on the transport vehicle. By providing the shaft control unit with the arrival time, parking position information and car height information of the transport vehicle, the shaft control unit can adjust the rotating frame and the material guide chute into place in time. When the transport vehicle arrives, loading can be carried out directly without waiting. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0046] Figure 1A schematic diagram of the structure of a deep mine transportation system based on BeiDou III provided in an embodiment of the present application;

[0047] Figure 2 for Figure 1 A top view of the middle ring frame;

[0048] Figure 3 for Figure 2 A top view of the central rotating frame;

[0049] Figure 4 for Figure 2 A side view of the central turret;

[0050] Figure 5 for Figure 4 Front and side view of the mid-front bracket;

[0051] Figure 6 A structural block diagram of a shaft control unit of a deep mine transportation system based on BeiDou III provided in an embodiment of the present application;

[0052] Figure 7 This is a block diagram of the on-board unit structure of the BeiDou-3-based deep-mine transportation system provided in an embodiment of the present application.

[0053] Among them, the reference numerals in the figure are:

[0054] 1-annular frame; 11-inner ring; 12-outer ring; 13-moving wheel; 2-rotating frame; 21-middle crossbeam; 211-front fixed pulley block; 212-rear fixed pulley block; 22-slide rail; 3-front pusher; 31-front hydraulic cylinder; 32-front movable pulley block; 4-rear pusher; 41-rear hydraulic cylinder; 42-rear movable pulley block; 5-material guide trough; 51-hook; 6-sling rope; 7-front bracket; 71-hanging shaft; 8-bucket. DETAILED DESCRIPTION

[0055] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] It should be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0057] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0059] Please also read Figures 1 to 7 Now, the deep mine transportation system based on BeiDou III provided in the embodiment of the present application is described. A deep mine transportation system based on BeiDou III includes:

[0060] A ring frame is arranged around the top of the shaft hoisting device;

[0061] A rotating frame is arranged along the radial direction of the annular frame and rotates along the circumferential direction of the annular frame;

[0062] A front pulling mechanism is arranged on the rotating frame and has a front pushing portion which is slidably arranged along the long axis direction of the rotating frame;

[0063] A rear lifting mechanism is arranged on the rotating frame and has a rear pushing portion which is slidably arranged along the long axis direction of the rotating frame;

[0064] The guide trough is located below the rotating frame, and the rear end is aligned with the bucket discharge port of the shaft lifting device, and hooks are provided on both sides of the front end;

[0065] The lifting rope is fixed to the rotating frame in the middle; after the front end of the lifting rope passes around the front pushing part and the rear end passes around the rear pushing part, the two ends cross each other, so that the front end of the lifting rope obliquely pulls the rear end of the material guide trough and the rear end obliquely pulls the front end of the material guide trough, so that the material guide trough is in a suspended state;

[0066] The front bracket is arranged below the front end of the rotating frame; when the rotating frame rotates, the front bracket rotates around the shaft, and the front bracket is provided with a plurality of pairs of hanging shafts adapted to the hooks, and the heights of the pairs of hanging shafts are different. When the hooks are hooked on different hanging shafts, the front ends of the material guide troughs correspond to the heights of the carriages of different transport vehicles respectively; the front pulling mechanism slides along the long axis direction of the rotating frame to control the length of the oblique pulling part of the front end of the lifting rope, thereby controlling the height of the rear end of the material guide trough; the rear lifting mechanism slides along the long axis direction of the rotating frame to control the length of the oblique pulling part of the rear end of the lifting rope, thereby controlling the height of the front end of the material guide trough; the front pulling mechanism and the rear lifting mechanism cooperate to control the height of the material guide trough and align the rear end of the material guide trough with the bucket discharge port of the shaft lifting device, and the hooks are hooked on the hanging shafts of corresponding heights;

[0067] The on-board unit records the carriage height information of the transport vehicle, the route information to the shaft and the parking position information, and is suitable for obtaining the position information of the transport vehicle through Beidou III positioning. The on-board unit is also suitable for calculating the arrival time of the transport vehicle at the shaft according to the route information and the position information, and sending the arrival time, the parking position information and the carriage height information when the time to the arrival time is less than the set value; and

[0068] The shaft control unit is suitable for receiving the arrival time, parking position information and car height information sent by the on-board unit; before the arrival time, the shaft control unit controls the rotating frame to rotate to the corresponding position according to the parking position information, and controls the front pulling mechanism and the rear lifting mechanism to move according to the car height information, so as to lift the material guide trough to match the car of the transport vehicle and make the hook hook on the hanging shaft of the corresponding height.

[0069] Compared with the prior art, in the deep-shaft mine transportation system based on Beidou III in the embodiment of the present application, the rotating frame rotates around the vertical shaft through a ring frame, so that the material guide chute can be moved to the corresponding position of the vertical shaft in advance according to the parking position information of the transport vehicle, and the height and inclination angle of the material guide chute can be adjusted according to the height information of the carriage; when the transport vehicle arrives, it only needs to park nearby around the vertical shaft, and the goods can be loaded into the carriage of the transport vehicle through the material guide chute, and the transport vehicle does not need to be turned twice.

[0070] Through the sliding of the front pushing part and the rear pushing part, the front end and the rear end of the material guide trough can be lifted by the lifting rope to adjust the inclination angle and the height position of the material guide trough; a front bracket is arranged below the front end of the rotating frame, and when loading and unloading is required, the material guide trough can be controlled by the front pushing part and the rear pushing part, so that the hook at the front end of the material guide trough is hooked on the hanging shaft of the front bracket, so that the position of the material guide trough is fixed, thereby avoiding the misalignment of the material guide trough when the bucket dumps the mineral into the material guide trough.

[0071] The on-board unit is installed on the transport vehicle. By providing the shaft control unit with the arrival time, parking position information and car height information of the transport vehicle, the shaft control unit can adjust the rotating frame and the material guide chute into place in time. When the transport vehicle arrives, loading can be carried out directly without waiting.

[0072] During implementation, the annular frame is installed around the top of the shaft hoisting device in a horizontal circular ring shape. A plurality of inclined structures can be arranged above the annular frame to improve the bearing capacity of the annular frame. The annular frame can avoid the bucket of the shaft hoisting device, so that the bucket can rise and fall normally. When the rotating frame rotates along the annular frame, the rear end of the guide trough is aligned with the bucket discharge port at the center of the circle, and the front end of the guide trough can be aligned with the surrounding of the shaft after being hung on the hanging shaft through a hook.

[0073] The front pulling mechanism is installed at the front end of the rotating frame, and the rear pulling mechanism is installed at the rear end. The middle of the lifting rope is fixed to the rotating frame, so that the lifting rope is fixed as a whole. The front and rear ends of the lifting rope are respectively connected to the rear end and front end of the material guide trough, so that the forces at the front and rear ends of the lifting rope can offset each other to a certain extent.

[0074] This embodiment uses a suspension rope to control the lifting and tilting of the material guide trough. Compared with the traditional structure that uses a swing arm for lifting and tilting, the control of the material guide trough is more flexible, and the lifting range and tilting range can also be larger. The front end of the suspension rope first extends horizontally, then bypasses the front push part and then connects downward to the rear end of the material guide trough. Since the length of the suspension rope remains unchanged, when the front push part pushes forward, the horizontal part of the front end of the suspension rope increases, and the part connected to the rear end of the material guide trough below is shortened, so that the rear end of the material guide trough is lifted upward. Similarly, the rear end of the suspension rope first extends horizontally, then bypasses the rear push part and then connects downward to the front end of the material guide trough. Since the length of the suspension rope remains unchanged, when the rear push part pushes backward, the horizontal part of the rear end of the suspension rope increases, and the part connected to the front end of the material guide trough below is shortened, so that the front end of the material guide trough is lifted upward.

[0075] The front bracket can be vertically arranged below the front end of the rotating frame, and the two sides of the front end of the guide trough can be supported and fixed by two hanging shafts. When it is necessary to load and unload minerals, the guide trough needs to be tilted with the front higher and the back lower. The front bracket is used to support and fix the two sides of the front end of the guide trough, which can better support the guide trough. In implementation, the front bracket can be a rectangular frame structure, and its width is slightly larger than the front end of the guide trough, so that the front end of the guide trough can be inserted into the front bracket, so that the hook is hooked with the hanging shaft. After the hook is hooked with the hanging shaft, the rear end of the guide trough can still be lifted and lowered to a certain extent, and the angle of the guide trough and the position of the rear end can be adjusted; when loading, the rear end of the guide trough is first lowered by the front pusher, so that the guide trough rotates around the hanging shaft to a nearly vertical state, and the rear end of the guide trough is moved away from the bottom of the bucket; after the bucket lifts the mineral to the top, the rear end of the guide trough is lifted by the front pusher, so that the guide trough is slightly tilted and nearly horizontal with the front lower and the rear higher, and the rear end of the guide trough is directly opposite to the discharge port at the bottom of the bucket, so that after the discharge port of the bucket is opened, the mineral slides along the guide trough. In the specific implementation, a plurality of inclined rods or inclined ropes can be arranged between the front bracket and the rotating frame to prevent the front bracket from deforming, and only some inclined rods are shown in the attached figure.

[0076] Usually, the transport vehicle transports back and forth along a fixed route, so its position around the shaft is fixed each time it stops. The route information and the stop position information can be directly stored in the on-board unit. The stop position information can be the latitude and longitude coordinates of the stop location, or the relative position relative to the shaft.

[0077] The carriage of the transport vehicle is fixed, so its carriage height information is also fixed. The carriage height information can be directly stored in the on-board unit. The carriage height information can be the height information of the top of the carriage relative to the ground, or the height information of the front end of the material guide trough required by the height of the transport vehicle carriage.

[0078] The on-board unit can be integrated into the navigation system of the transport vehicle or can be set up separately. In implementation, it can be composed of a single-chip microcomputer, a Beidou-3 positioning module and a 2G / 3G / 4G communication module or a Beidou-3 communication module. The on-board unit can be positioned by Beidou-3, and combined with the stored route information, it can calculate the arrival time of the transport vehicle at the shaft. When the time from the arrival time is less than the set value, the arrival time, the parking position information and the car height information are sent to the shaft control unit through the communication module, so that the shaft control unit can control the movement of the front pulling mechanism and the rear pulling mechanism in advance according to the car height information before the transport vehicle arrives, and lift the guide trough to match the car of the transport vehicle, and make the hook hook on the hanging shaft of the corresponding height, thereby shortening the loading time.

[0079] The shaft control unit can be directly integrated into the controller of the shaft hoisting device, or it can be set separately; it can be composed of a single-chip microcomputer and a 2G / 3G / 4G communication module or a Beidou three-generation communication module, or it can be a server in the control center. The shaft control unit receives the arrival time, parking position information and car height information sent by the on-board unit, and mainly controls the rotation of the rotating frame along the annular frame, as well as the forward and backward movement of the front pusher and the forward and backward movement of the rear pusher.

[0080] Since the front end of the lifting rope obliquely pulls the rear end of the guide trough, the rear end of the guide trough is controlled by the front pusher pushing the front end of the lifting rope, instead of directly moving the rear end of the guide trough up and down; similarly, the front end of the guide trough is controlled by the rear pusher pushing the rear end of the lifting rope, instead of directly moving the front end of the guide trough up and down. Therefore, the action steps of the front pusher and the rear pusher when realizing various actions of the guide trough can be verified by experiments in advance, and the steps can be stored in the shaft control unit. For example, when the guide trough needs to be raised or lowered, the front pusher can be moved forward and the rear pusher can be moved backward; when the guide trough needs to be tilted to a nearly vertical state, the front pusher can be moved backward to lower the rear end of the guide trough, or the rear pusher can be moved forward to lower the front end of the guide trough; when the hook needs to be hooked on the hanging shaft of the front bracket, the guide trough can be tilted to be higher in the front and lower in the back, and the position of the hook is slightly higher than the corresponding hanging shaft, and then the front pusher can be moved forward to raise the rear end of the guide trough, lower the front end slightly and move forward (the guide trough rotates as a whole and moves forward slightly), and the hook slightly lowers and moves forward with the front end of the guide trough, just hooked on the corresponding hanging shaft. Specifically, the two ends of the suspension rope are crossed and connected to the two ends of the guide trough respectively, so that the partial inclination angle of the suspension rope that obliquely pulls the guide trough is larger, and when one end of the suspension rope shrinks or stretches, the guide trough can produce a larger horizontal movement, which helps the hook to be hooked on the hanging shaft and the rear end of the guide trough to align with the bucket discharge port.

[0081] See also Figure 7 As a specific implementation of the Beidou-3-based deep mine transportation system provided by this application, the vehicle-mounted unit includes:

[0082] A storage module stores route information, stop position information and carriage height information;

[0083] Beidou III positioning module, suitable for obtaining the location information of the transport vehicle;

[0084] Beidou-3 communication module, suitable for communicating with the shaft control unit;

[0085] The vehicle-mounted control module is suitable for obtaining route information through the storage module, obtaining location information through the Beidou-3 positioning module, and calculating the arrival time of the transport vehicle at the shaft. When the arrival time is less than the set value, the arrival time and parking direction information are sent to the shaft control unit through the Beidou-3 communication module.

[0086] In this embodiment, the height of the carriage of the transport vehicle varies according to the type of vehicle, and the carriage height information of a certain transport vehicle is fixed; the transport vehicle goes to the shaft along a fixed route and stops at the most convenient stop position. The route information, stop position information, and carriage height information are stored in the storage module and directly read by the on-board control module, which can reduce the amount of data processing and save computing resources.

[0087] The BeiDou-3 positioning module is used to obtain the location information of the transport vehicle in real time, calculate the speed of the transport vehicle, and calculate the arrival time of the transport vehicle at the shaft in combination with the route information. In addition, based on the location information of the transport vehicle obtained by the BeiDou-3 positioning module and the route information stored in the storage module, it is also possible to determine whether the transport vehicle has deviated from the predetermined route to ensure transportation safety.

[0088] In the specific implementation, the storage module usually adopts a read-only memory (ROM) and its associated circuits for long-term storage of the route information and carriage height information of the transport vehicle. The Beidou-3 positioning module has higher positioning accuracy and can meet the accuracy requirements for judging the parking orientation information of the transport vehicle. The Beidou-3 communication module is adopted so that this embodiment can be applied to some remote mines that do not have 2G / 3G / 4G mobile communication networks. The on-board control module can adopt various single-chip microcomputers, MCUs and other processors with certain computing and control functions, which execute the preset program read from the storage module, and read the stored route information, carriage height information, etc. from the storage module, obtain the location information from the Beidou-3 positioning module, and send the processing results to the shaft control unit through the Beidou-3 communication module.

[0089] See also Figure 7 , as a specific implementation of the deep mine transportation system based on BeiDou III provided in this application, the on-board control module determines the stop position of the transport vehicle at the shaft according to the position information, and then sends the final stop position information through the BeiDou III communication module;

[0090] The shaft control unit receives the final stop position information and determines whether the current rotating frame moves the material guide chute to be opposite to the carriage of the transport vehicle; if the result is no, the shaft control unit controls the rotating frame to rotate according to the final stop position information so that the material guide chute is opposite to the carriage of the transport vehicle;

[0091] The shaft control unit is connected to the shaft lifting device; the shaft control unit determines that the rotating frame moves the material guide chute to be opposite to the carriage of the transport vehicle, and after completing the control of the material guide chute to be raised and lowered to match the carriage of the transport vehicle and making the hook hook on the hanging shaft of the corresponding height, the shaft control unit controls the shaft lifting device to put the mineral into the material guide chute.

[0092] In this embodiment, the Beidou III positioning module is used, and the positioning accuracy is higher. After the vehicle control module determines that the transport vehicle has arrived at the docking position of the shaft, the Beidou III positioning module is used to obtain the high-precision position information of the transport vehicle as the final docking position information. The shaft control unit can check the position of the rotating frame around the shaft according to the final docking position information. If the position of the rotating frame does not match the position corresponding to the final docking position information, the position of the rotating frame is adjusted twice, and finally the position of the rotating frame corresponds to the docking position of the transport vehicle, and the skip can load the minerals onto the transport vehicle through the guide chute.

[0093] Since the height information of the carriage of the transport vehicle is fixed, there is no need to reconfirm the inclination angle and height position of the material guide chute.

[0094] The control connection between the shaft control unit and the shaft hoisting device can be to communicate with the shaft control unit and the original control system of the shaft hoisting device, so as to control the lifting and lowering of the bucket of the shaft hoisting device and the opening and closing of the discharge port of the bucket.

[0095] See also Figure 2 and Figure 4 As a specific implementation of the deep mine transportation system based on Beidou III provided in this application, the annular frame includes an inner ring and an outer ring arranged concentrically; the middle of the inner ring is suitable for the skip to pass through;

[0096] The inner ring has a C-shaped cross section with an outward opening, while the outer ring has a C-shaped cross section with an inward opening; the inner end of the rotating frame moves along the inner ring through a moving wheel embedded in the inner ring, while the outer end moves along the outer ring through a moving wheel embedded in the outer ring.

[0097] In this embodiment, the two ends of the rotating frame move along the inner ring and the outer ring respectively through the moving wheels, and the moving wheels at the two ends are respectively embedded in the C-shaped inner ring and the outer ring, so that the inner ring and the outer ring can limit the moving wheels in the upper and lower directions to prevent one end of the rotating frame from tilting upward and detaching from the inner ring or the outer ring when the material guide trough and the front bracket are under force.

[0098] In the specific implementation, the moving wheels at both ends of the rotating frame are driven by motors respectively, and the shaft control unit controls the motors driving the moving wheels through the driver. There is a certain speed difference between the moving wheels at both ends of the rotating frame, so that the rotating frame can stably run along the circumference of the ring frame. Due to the large size of the carriage, the position accuracy requirement of the guide trough is relatively low. An encoder can be installed on the motor driving the moving wheels. The encoder can determine the position of the rotating frame on the ring frame, thereby determining the orientation of the guide trough on the circumference of the shaft. The shaft control unit is connected to the encoder of the motor and can obtain data from the corresponding encoder.

[0099] In other examples, an anti-slip edge is provided on the inner side of the lower side wall at the outer opening of the inner ring to prevent the moving wheel from slipping out of the inner ring; similarly, an anti-slip edge is provided on the inner side of the lower side wall at the inner opening of the outer ring to prevent the moving wheel from slipping out of the outer ring.

[0100] See also Figure 3 , as a specific implementation of the deep mine transportation system based on Beidou III provided in this application, a middle crossbeam is provided in the middle of the rotating frame;

[0101] The front pulling mechanism includes a front hydraulic cylinder along the long axis direction of the rotating frame, one end of the front hydraulic cylinder is fixed to the middle cross beam, and the other end pushes the front pushing part forward;

[0102] The front pulling mechanism comprises a rear hydraulic cylinder along the long axis direction of the rotating frame, one end of the rear hydraulic cylinder is fixed to the middle cross beam, and the other end pushes the rear pushing part backwards.

[0103] In this embodiment, the front hydraulic cylinder is used to push the front pushing part, and the rear hydraulic cylinder is used to push the rear pushing part. Compared with the traditional motor-driven rope, the thrust of the hydraulic cylinder is greater, so that the material guide trough suspended by the suspension rope can withstand a larger load.

[0104] See also Figure 6 As a specific implementation of the deep mine transportation system based on Beidou III provided by this application, the shaft control unit includes:

[0105] Beidou III communication module, suitable for communicating with vehicle-mounted units;

[0106] At least two hydraulic control modules, controlling the front hydraulic cylinder and the rear hydraulic cylinder respectively through hydraulic valves;

[0107] At least two motor control modules are electrically connected to the driving motors of the moving wheels at both ends of the rotating frame respectively;

[0108] The shaft control module is connected to the Beidou-3 communication module and is suitable for obtaining the arrival time, stop position information and carriage height information sent by the on-board unit through the Beidou-3 communication module; the shaft control module is respectively controlled and connected with each hydraulic control module and each motor control module.

[0109] In a specific implementation, the front hydraulic cylinder and the rear hydraulic cylinder provide high-pressure oil through the hydraulic station, and the hydraulic control module drives the hydraulic valve of the hydraulic station to control the front and rear movement of the front pusher and the rear pusher. The motor control module is a motor driver, which controls the rotation frame to move along the annular frame by driving the motor.

[0110] See also Figure 3 As a specific implementation of the Beidou-3-based deep-mine transportation system provided by the present application, the rotating frame is provided with two slide rails along the long axis direction of the rotating frame; the two ends of the front pushing part slide along the front ends of the two slide rails through the slide seats respectively; the two ends of the rear pushing part slide along the rear ends of the two slide rails through the slide seats respectively;

[0111] The middle crossbeam is provided with a front fixed pulley block and a rear fixed pulley block;

[0112] The front pusher is provided with a front movable pulley block, and the front end of the suspension rope is reciprocatedly wound between the front fixed pulley block and the front movable pulley block and then connected to the rear end of the guide trough;

[0113] The rear pushing part is provided with a rear movable pulley block, and the rear end of the suspension rope is connected with the front end of the material guide trough after being reciprocatedly wound between the rear fixed pulley block and the rear movable pulley block.

[0114] The traditional method of using a motor to drive the winding rope can freely retract and release the rope, but the pulling force on the rope is small, and it is difficult to carry the material guide trough and the minerals passing through it. In this application, the front pusher is pushed by the front hydraulic cylinder, and the rear pusher is pushed by the rear hydraulic cylinder, which can achieve a large thrust and carry the material guide trough and the minerals passing through it. However, due to the limitations of the length of the rotating frame and the length of the slide rail, the movement range of the front pusher and the rear pusher is limited. Therefore, in this application, the front end of the rope is reciprocated between the front fixed pulley group and the front movable pulley group, and the rear end of the rope is reciprocated between the rear fixed pulley group and the rear movable pulley group, so that the front hydraulic cylinder pushes the front pusher to move a small distance, and the rear hydraulic cylinder pushes the rear pusher to move a small distance, so that the part of the rope that obliquely pulls the material guide trough can form a large expansion and contraction, meet the requirements of adjusting the height and inclination angle of the material guide trough, and compared with the traditional use of a swing arm to lift and tilt the material guide trough, the control of the material guide trough is more flexible, and the lifting range and tilting range can also be larger.

[0115] In specific implementation, the rotating frame can be a frame structure, the two slide rails are fixedly installed on the inner side of the rotating frame of the frame structure, and the middle crossbeam is fixed in the middle of the rotating frame, spanning the middle part of the two slide rails.

[0116] The slide seats at both ends of the front pusher can slide along the slide rails through multiple sliders, and similarly, the slide seats at both ends of the rear pusher can also slide along the slide rails through multiple sliders. The front hydraulic cylinder is installed on the front side of the middle cross beam to push the middle part of the front pusher forward; the rear hydraulic cylinder is installed on the rear side of the middle cross beam to push the middle part of the rear pusher backward.

[0117] The front movable pulley block, the front fixed pulley block, the rear movable pulley block, and the rear fixed pulley block all include a plurality of coaxially arranged pulleys, and the wheel rim of each pulley is provided with a groove for limiting the position of the lifting rope. The front end of the lifting rope is wound back and forth between the front movable pulley block and the front fixed pulley block, and finally bypasses the front movable pulley block and then connects downward to the rear end of the material guide trough; the rear end of the lifting rope is wound back and forth between the rear movable pulley block and the rear fixed pulley block, and finally bypasses the rear movable pulley block and then connects downward to the front end of the material guide trough.

[0118] See also Figure 3 As a specific implementation of the deep mine transportation system based on Beidou III provided by the present application, the middle crossbeam is provided with two sets of front fixed pulley groups and two sets of rear fixed pulley groups; accordingly, the front pushing part is provided with two sets of front movable pulley groups, and the rear pushing part is provided with two sets of rear movable pulley groups;

[0119] There are two suspension ropes, one of which is fixed to the middle cross beam, and the front end of which is connected to one side of the rear end of the material guide trough after being reciprocated between the corresponding front fixed pulley group and the front movable pulley group, and the rear end is connected to one side of the front end of the material guide trough after being reciprocated between the rear fixed pulley group and the rear movable pulley group; the other suspension rope is fixed to the middle cross beam, and the front end of which is connected to the other side of the rear end of the material guide trough after being reciprocated between the corresponding front fixed pulley group and the front movable pulley group, and the rear end is connected to the other side of the front end of the material guide trough after being reciprocated between the rear fixed pulley group and the rear movable pulley group.

[0120] In this embodiment, two suspension ropes are used to suspend the two sides of the material guide trough respectively, so that the material guide trough is more force-balanced and not easy to overturn.

[0121] In a specific implementation, two sets of front fixed pulley groups are respectively installed at the two end parts of the middle cross beam, and correspondingly, two sets of front movable pulley groups are respectively installed at the two end parts of the front pushing part; two sets of rear fixed pulley groups are respectively installed at the two end parts of the middle cross beam, and correspondingly, two sets of rear movable pulley groups are respectively installed at the two end parts of the rear pushing part.

[0122] See also Figure 4 As a specific implementation of the Beidou-III-based deep-well mine transportation system provided in this application, when the material guide trough is horizontal, the hook slot of the hook opens toward the front and is bent upward inside.

[0123] In this embodiment, the opening of the hook groove of the hook faces forward, which makes it easier for the hanging shaft to enter the hook groove of the hook. The inside of the hook groove is bent upward so that the hanging shaft can be stuck in the groove, ensuring the stability of the hook.

[0124] In a specific implementation, the size of the hook groove is slightly larger than the hanging shaft, so that the hanging shaft can easily enter the hook groove without too much gap to avoid the material guide groove from shaking. More specifically, the hook groove opening can be designed to gradually expand to facilitate the entry of the hanging shaft.

[0125] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. The deep mine transportation system based on Beidou III is characterized by: include: A ring frame is arranged around the top of the shaft hoisting device; A rotating frame, which is arranged radially along the annular frame and rotates circumferentially along the annular frame; A front pulling mechanism, provided on the rotating frame, having a front pushing portion slidably arranged along the long axis direction of the rotating frame; A rear lifting mechanism, arranged on the rotating frame, having a rear pushing portion slidably arranged along the long axis direction of the rotating frame; A material guide trough is located below the rotating frame, with its rear end aligned with the bucket discharge port of the shaft lifting device, and hooks are provided on both sides of its front end; A suspension rope is fixed to the rotating frame in the middle; after the front end of the suspension rope passes around the front pushing part and the rear end passes around the rear pushing part, the two ends of the suspension rope cross, so that the front end of the suspension rope obliquely pulls the rear end of the material guide trough and the rear end obliquely pulls the front end of the material guide trough, so that the material guide trough is in a suspended state; The front bracket is arranged below the front end of the rotating frame; when the rotating frame rotates, the front bracket rotates around the vertical shaft, and the front bracket is provided with a plurality of pairs of hanging shafts adapted to the hooks, and the heights of the respective pairs of hanging shafts are different. When the hooks are hooked on different hanging shafts, the front ends of the material guide troughs correspond to the heights of the carriages of different transport vehicles respectively; the front pulling mechanism slides along the long axis direction of the rotating frame to control the length of the oblique pulling part of the front end of the lifting rope, thereby controlling the height of the rear end of the material guide trough; the rear lifting mechanism slides along the long axis direction of the rotating frame to control the length of the oblique pulling part of the rear end of the lifting rope, thereby controlling the height of the front end of the material guide trough; the front pulling mechanism and the rear lifting mechanism cooperate to control the height of the material guide trough and align the rear end of the material guide trough with the bucket discharge port of the vertical shaft lifting device, and the hooks are hooked on the hanging shafts of corresponding heights; The on-board unit records the carriage height information of the transport vehicle, the route information to the shaft and the parking position information, and is suitable for obtaining the position information of the transport vehicle through Beidou III positioning. The on-board unit is also suitable for calculating the arrival time of the transport vehicle at the shaft according to the route information and the position information, and sending the arrival time, the parking position information and the carriage height information when the time to the arrival time is less than a set value; as well as A shaft control unit, adapted to receive the arrival time, the parking position information and the carriage height information sent by the onboard unit; Before the arrival time, the shaft control unit controls the rotating frame to rotate to the corresponding position according to the parking position information, and controls the front pulling mechanism and the rear pulling mechanism to move according to the carriage height information, so as to lift the guide chute to match the carriage of the transport vehicle and make the hook hook on the hanging shaft at the corresponding height; The annular frame comprises an inner ring and an outer ring which are arranged concentrically; the middle of the inner ring is suitable for the bucket to pass through; The inner ring has a C-shaped cross section with an opening facing outward, and the outer ring has a C-shaped cross section with an opening facing inward; the inner end of the rotating frame moves along the inner ring through a moving wheel embedded in the inner ring, and the outer end moves along the outer ring through a moving wheel embedded in the outer ring; A middle cross beam is provided in the middle of the rotating frame; The front pulling mechanism comprises a front hydraulic cylinder along the long axis direction of the rotating frame, one end of the front hydraulic cylinder is fixed to the middle cross beam, and the other end pushes the front pushing part forward; The rear lifting mechanism comprises a rear hydraulic cylinder along the long axis direction of the rotating frame, one end of the rear hydraulic cylinder is fixed to the middle cross beam, and the other end pushes the rear pushing part backward; The rotating frame is provided with two slide rails along the long axis direction of the rotating frame; the two ends of the front pusher slide along the front ends of the two slide rails through the slide seats respectively; the two ends of the rear pusher slide along the rear ends of the two slide rails respectively through the slide seats; The middle cross beam is provided with a front fixed pulley block and a rear fixed pulley block; The front pusher is provided with a front movable pulley block, and the front end of the suspension rope is reciprocated between the front fixed pulley block and the front movable pulley block and then connected to the rear end of the material guide trough; The rear pusher is provided with a rear movable pulley block, and the rear end of the suspension rope is reciprocated between the rear fixed pulley block and the rear movable pulley block and then connected to the front end of the material guide trough; The middle cross beam is provided with two groups of the front fixed pulley groups and two groups of the rear fixed pulley groups; correspondingly, the front pushing part is provided with two groups of the front movable pulley groups, and the rear pushing part is provided with two groups of the rear movable pulley groups; There are two suspension ropes, one of which is fixed to the middle cross beam, and its front end is connected to one side of the rear end of the material guide trough after being reciprocated between the corresponding front fixed pulley group and the front movable pulley group, and its rear end is connected to one side of the front end of the material guide trough after being reciprocated between the rear fixed pulley group and the rear movable pulley group; the other suspension rope is fixed to the middle cross beam, and its front end is connected to the other side of the rear end of the material guide trough after being reciprocated between the corresponding front fixed pulley group and the front movable pulley group, and its rear end is connected to the other side of the front end of the material guide trough after being reciprocated between the rear fixed pulley group and the rear movable pulley group.

2. The deep mine transportation system based on Beidou III as claimed in claim 1 is characterized in that: The vehicle-mounted unit comprises: A storage module storing the route information, the stop position information and the carriage height information; A Beidou-3 positioning module, adapted to obtain the position information of the transport vehicle; A BeiDou III communication module, adapted to communicate with the shaft control unit; The vehicle-mounted control module is suitable for obtaining the route information through the storage module, obtaining the location information through the Beidou-3 positioning module, and calculating the arrival time of the transport vehicle at the shaft, and when the arrival time is less than a set value, sending the arrival time and the parking orientation information to the shaft control unit through the Beidou-3 communication module.

3. The deep mine transportation system based on Beidou III as claimed in claim 2 is characterized in that: The on-board control module determines, based on the position information, that after the transport vehicle has arrived at the docking position of the shaft, the final docking position information is sent through the Beidou-3 communication module; The shaft control unit receives the final stop position information and determines whether the rotating frame currently moves the material guide chute to be opposite to the carriage of the transport vehicle; if the result is no, the shaft control unit controls the rotating frame to rotate according to the final stop position information so that the material guide chute is opposite to the carriage of the transport vehicle; The shaft control unit is connected to the shaft lifting device; after the shaft control unit determines that the rotating frame moves the material guide chute to be opposite to the carriage of the transport vehicle, and completes the control of the material guide chute to be raised and lowered to match the carriage of the transport vehicle and the hook is hooked on the hanging shaft at the corresponding height, the shaft control unit controls the shaft lifting device to drop the mineral into the material guide chute.

4. The deep mine transportation system based on Beidou III as claimed in claim 1 is characterized in that: The shaft control unit comprises: A BeiDou III communication module, suitable for communicating with the vehicle-mounted unit; At least two hydraulic control modules, controlling the front hydraulic cylinder and the rear hydraulic cylinder through hydraulic valves respectively; At least two motor control modules are electrically connected to the driving motors of the moving wheels at both ends of the rotating frame respectively; The shaft control module is connected to the Beidou-3 communication module and is suitable for obtaining the arrival time, the parking position information and the carriage height information sent by the on-board unit through the Beidou-3 communication module; the shaft control module is respectively controlled and connected with each of the hydraulic control modules and each of the motor control modules.

5. The deep mine transportation system based on Beidou III as claimed in claim 1 is characterized in that: When the material guiding trough is horizontal, the hook slot of the hook opens toward the front and the inside is bent upward.

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