Remote rock grabbing control system

Abstract

According to the remote rock grabbing control system provided by the invention, the condition of rock below a shaft and the condition of each part of the rock grabbing machine can be known through the display in the control room, so that a worker can remotely control the rock grabbing machine through the direction operation table and the grab bucket operation table on the ground surface remote multifunctional operation table; rotation and lifting of the grab bucket are respectively controlled based on the rotation mechanism and the lifting mechanism, so that crushed rocks are conveniently grabbed, the grab bucket can be rotated to the position above the bucket by lifting and rotation after the grabbed crushed rocks are grabbed, the crushed rocks can be placed in the bucket by descending the grab bucket and opening the grab bucket, and the crushed rocks are contained. And subsequently, the crushed rock can be transferred by lifting the bucket, the crushed rock is smoothly transported out of the shaft, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of shaft construction, and more particularly to a rock grabbing machine, and more particularly to a remote rock grabbing control system. Background Art

[0002] In recent years, with the improvement of science and technology, the progress of construction equipment and the new demands brought by social development, the development and utilization of deep underground resources has become a hot topic. As the core part of the project, the construction speed and quality of the vertical shaft construction have a huge impact on the entire project. As an important mechanical equipment in the mine vertical shaft construction process, the rock grabber is mainly used to grab the loose crushed rock after blasting, place the grabbed crushed rock in the bucket, and use the bucket to lift the crushed rock out of the vertical shaft, completing the work cycle of rock drilling-blasting-grabbing-loading-bottom cleaning.

[0003] In the traditional process, the lifting and lowering of the bucket and the grabbing and releasing of the rock grabber need to be operated by workers at the bottom of the well. Unpredictable factors such as the swing of the grab bucket, falling rocks, and mechanical failures pose operational risks to the workers at the bottom of the well. The rock grabbing process takes a long time, is labor-intensive, and the environment in the well is harsh, which seriously undermines the enthusiasm of workers to go down the well and they are faced with the dilemma of no one available underground. The hopper operator's cab is installed under the lifting platform to facilitate observation of the situation at the bottom of the well, but going to and from the cab is time-consuming and laborious and is accompanied by the risk of falling. The operator is forced to stay in the cab for a long time, which is a huge test for his physical and mental health.

[0004] Therefore, there is an urgent need for a remote rock grabbing control system that can transfer the workers' work location from underground to the ground, so that the workers can stay away from the work surface and away from danger sources, greatly improve the workers' working environment, improve the safe production conditions in the mine, and at the same time reduce work pressure, improve work comfort, and realize unmanned underground operation of the ultra-deep vertical shaft slag discharge process. Summary of the invention

[0005] In view of the above problems, the purpose of the present invention is to provide a remote rock grabbing control system to solve the problem that in the traditional process, the lifting and lowering of the bucket and the grabbing and releasing of the rock grabber both require operation by workers at the bottom of the well. Unpredictable factors such as the swing of the grab bucket, the falling of rocks, and mechanical failures pose operational risks to the workers at the bottom of the well. The rock grabbing process takes a long time, requires high labor intensity, and has a harsh environment in the well, which seriously undermines the workers' enthusiasm for going down the well and leaves them facing the dilemma of no one available underground. The hopper operator's cab is installed under the hanging platform to facilitate observation of the situation at the bottom of the well, but going back and forth to the cab is time-consuming and laborious and is accompanied by the risk of falling. The operator is forced to stay in the cab for a long time, which is a huge test for his physical and psychological health.

[0006] The present invention provides a remote rock grabbing control system, comprising a control room arranged on the surface and a rock grabbing mechanism connected to the control room in communication; wherein:

[0007] The rock grabbing mechanism comprises a rock grabbing PLC controller and a rock grabbing machine connected to a bus of the rock grabbing PLC controller;

[0008] The rock grabber includes a rock grabber body for rock grabbing, a control module for controlling the rock grabber body, and a sensor module for acquiring status data of the rock grabber body;

[0009] The rock grab body is fixed on the hanging plate; and the rock grab body includes a slewing mechanism, a luffing mechanism, a lifting mechanism and a grab bucket;

[0010] A surface PLC controller connected to the rock grabbing PLC controller for communication and a surface remote multifunctional control console connected to the surface PLC controller bus are arranged in the control room;

[0011] The surface remote multifunctional control console includes a direction control console and a grab bucket control console;

[0012] The direction operating console is used to remotely control the slewing mechanism to perform left and right slewing, and remotely control the luffing mechanism to perform lateral distance control;

[0013] The grab bucket operating platform is used to remotely control the lifting mechanism to adjust the lifting of the grab bucket, and remotely control the opening and closing of the grab bucket.

[0014] Preferably, the control module includes a slewing control valve for directly controlling the slewing mechanism, a boom control valve for directly controlling the luffing mechanism, a lifting control valve for directly controlling the lifting mechanism, and a grab control valve for directly controlling the grab.

[0015] Preferably, the sensing module includes a rotation angle sensor for obtaining rotation information, a boom angle sensor for obtaining amplitude angle information, a lifting distance sensor for obtaining grab height, a grab opening and closing sensor for obtaining grab status, and a temperature sensor for obtaining underground temperature.

[0016] Preferably, the surface remote multifunctional control console also includes a start / stop button, an emergency stop button, a power button and a fault button.

[0017] Preferably, the lifting mechanism is fixed on the hanging plate; the hanging plate is fixed by a fixing member and suspended in the wellbore.

[0018] Preferably, the slewing mechanism is arranged below the lifting mechanism, and comprises a slewing center axis, a transmission bearing, and a slewing wall which is transmission-connected to the transmission bearing and arranged on the circumference of the slewing center axis.

[0019] Preferably, the amplitude-changing mechanism comprises a hydraulic cylinder arranged inside the revolving wall and a large arm rotatably fixed on the outer side of the revolving wall;

[0020] The hydraulic cylinder is used to provide a push-pull force for the big arm so that the angle between the big arm and the outer side of the rotating wall can be adjusted.

[0021] Preferably, the lifting mechanism comprises a power device and a steel wire rope connected to the power device;

[0022] The steel wire rope is draped above the boom through a pulley; and the bottom end of the steel wire rope is fixed to the grab bucket.

[0023] Preferably, it also includes a bucket for containing crushed rock;

[0024] The longest distance between the upper arm and the outer side of the revolving wall is the same as the longest distance between the center of the bucket and the outer side of the revolving wall.

[0025] Preferably, it also includes a display arranged in the control room, a first camera arranged on the grab bucket, and a second camera arranged on the hanging platform; wherein,

[0026] The first camera is used to capture rock images from the perspective of the grab bucket;

[0027] The second camera is used to capture the working picture of the rock grabber body;

[0028] The display is used to display the rock picture and the working picture.

[0029] It can be seen from the above technical scheme that the remote rock grabbing control system provided by the present invention comprises a control room arranged on the surface and a rock grabbing mechanism communicatively connected to the control room, the rock grabbing mechanism comprises a rock grabbing PLC controller and a rock grabbing machine connected to the rock grabbing PLC controller bus, the rock grabbing machine comprises a rock grabbing machine body for rock grabbing, a control module for controlling the rock grabbing machine body, and a sensor module for acquiring status data of the rock grabbing machine body, and the rock grabbing machine body comprises a slewing mechanism, a luffing mechanism, a lifting mechanism and a grab bucket, and a direction operating table and a grab bucket operating table are arranged in the control room, the direction operating table is used to remotely control the slewing mechanism to perform left and right rotation, and remotely control the luffing mechanism to perform lateral distance control, and the grab bucket operating table is used to remotely control the lifting mechanism to adjust the lifting and lowering of the grab bucket, and remotely control the opening and closing of the grab bucket, so that the staff can remotely control the rock grabbing machine body while sitting in the control room on the surface, thereby improving the working environment of the staff, reducing the workload and psychological pressure of the staff, and improving the working safety of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] By referring to the following description in conjunction with the accompanying drawings, and with a more comprehensive understanding of the present invention, other objects and results of the present invention will become more clear and easy to understand. In the accompanying drawings:

[0031] Figure 1 A schematic diagram of a rock grabber body of a remote rock grabbing control system according to an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of a surface remote multifunctional control console in a remote rock grabbing control system according to an embodiment of the present invention;

[0033] Figure 3 is a cross-sectional view of a rock grabber body in a remote rock grabbing control system according to an embodiment of the present invention;

[0034] Figure numerals: 1. rock grab body; 2. rotating mechanism; 3. lifting mechanism; 4. luffing mechanism; 5. grab bucket; 6. wire rope; 7. wellbore wall; 8. lifting plate; 9. bucket; 10. rotating center axis; 11. transmission bearing; 12. rotating wall; 13. hydraulic cylinder; 14. boom; 15. power unit. DETAILED DESCRIPTION

[0035] In the traditional process, the lifting and lowering of the bucket and the grabbing and releasing of the rock grabber need to be operated by workers at the bottom of the well. Unpredictable factors such as the swing of the grab bucket, falling rocks, and mechanical failures pose operational risks to the workers at the bottom of the well. The rock grabbing process takes a long time, is labor-intensive, and has a harsh environment in the well, which seriously undermines the workers' enthusiasm for going down the well. They are faced with the dilemma of no one available underground, and the hopper operator's cab is installed under the lifting platform to facilitate observation of the situation at the bottom of the well. However, going back and forth to the cab is time-consuming and laborious, and is accompanied by the risk of falling. The operator is forced to stay in the cab for a long time, which is a huge test for his physical and mental health.

[0036] In view of the above problems, the present invention provides a remote rock grabbing control system, and specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0037] In order to illustrate the remote rock grabbing control system provided by the present invention, Figure 1-Figure 3 The embodiments of the present invention are exemplarily indicated.

[0038] The following description of exemplary embodiments is merely illustrative in nature and is not intended to limit the present invention and its application or use. Technologies and devices known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technologies and devices should be considered as part of the specification.

[0039] like Figure 1 , Figure 2As shown together, the present invention provides a remote rock grabbing control system, comprising a control room arranged on the surface and a rock grabbing mechanism connected to the control room in communication; wherein,

[0040] The rock grabbing mechanism comprises a rock grabbing PLC controller and a rock grabbing machine connected to the rock grabbing PLC controller bus; the rock grabbing machine comprises a rock grabbing machine body 1 for rock grabbing, a control module for controlling the rock grabbing machine body, and a sensor module for acquiring status data of the rock grabbing machine body;

[0041] The rock grab body 1 is fixed on the hanging plate; and the rock grab body includes a slewing mechanism 2, a variable amplitude mechanism 4, a lifting mechanism 3 and a grab bucket 5;

[0042] like Figure 2 As shown, a surface PLC controller connected to the rock grabbing PLC controller for communication and a surface remote multifunctional control console connected to the surface PLC controller bus are arranged in the control room;

[0043] The surface remote multifunctional control console includes a direction control console and a grab bucket control console;

[0044] The direction operating console is used to remotely control the slewing mechanism to perform left and right slewing, and remotely control the luffing mechanism to perform lateral distance control;

[0045] The grab bucket operating platform is used to remotely control the lifting mechanism to adjust the lifting of the grab bucket, and remotely control the opening and closing of the grab bucket.

[0046] The specific connection method between the rock grabbing PLC controller and the surface PLC controller is not limited here, and can be as follows: Figure 1 As shown, the two are connected to each other through a fiber optic switch, optical fiber, and a bus to achieve signal transmission.

[0047] Specifically, in the present embodiment, the control module includes a slewing control valve for directly controlling the slewing mechanism, a boom control valve for directly controlling the luffing mechanism, a lifting control valve for directly controlling the lifting mechanism, and a grab control valve for directly controlling the grab, that is, a worker sitting in a control room on the surface can operate through a remote multi-functional operating console on the surface and then send an operation signal to the control module in the well, so that the control module controls the slewing control valve of the slewing mechanism, the boom control valve of the luffing mechanism, the lifting control valve of the lifting mechanism, the grab control valve of the grab, etc., thereby realizing remote rock grabbing.

[0048] More specifically, in the present embodiment, the sensing module includes a slew angle sensor for obtaining slew information, a boom angle sensor for obtaining luffing angle information, a lifting distance sensor for obtaining grab height, a grab opening and closing sensor for obtaining grab status, and a temperature sensor for obtaining underground temperature. The slew angle sensor is installed on the slew mechanism, the boom angle sensor is arranged on the luffing mechanism, the grab opening and closing sensor is arranged on the grab, and the temperature sensor can be arranged on any component of the rock grab body located underground.

[0049] In this specific embodiment, the lifting mechanism 3 is fixed on the hanging plate 8; to be precise, the lifting mechanism 3 is fixed on the lower plate of the hanging plate 8, and the hanging plate is fixed and suspended in the wellbore by a fixing member, and the fixing member can be a wire rope. The specific hanging method is not limited here, and the hanging plate can be fixed by hanging the wire rope through an additional hanging device, or the wire rope can be fixed to the well wall 7 of the wellbore through an additional fixing device, or even the two ends of the hanging plate can be directly fixed to the edge of the wellbore to fix the hanging plate. As long as the hanging plate can be fixed, the entire rock grab body can be fixed, and the lifting mechanism in the rock grab body is fixed on the hanging plate.

[0050] Figure 3 The more specific structure of the rock grabber in this embodiment is shown in FIG. Figure 3 In the specific embodiment shown, the slewing mechanism 2 is arranged below the lifting mechanism 3, and includes a slewing center axis 10, a transmission bearing 11 and a slewing wall 12 which is transmission-connected to the transmission bearing 11 and is arranged on the periphery of the slewing center axis 10; the amplitude-changing mechanism 4 includes a hydraulic cylinder 13 arranged inside the slewing wall 12 and a boom 14 rotatably fixed on the outer side of the slewing wall 12, that is, the boom is fixed on the outer side wall of the slewing wall; the hydraulic cylinder is used to provide a push-pull force for the boom 14 so that the angle between the boom 14 and the outer side of the slewing wall 12 can be adjusted, so that the distance between the wire rope at the bottom of the boom and the slewing wall can be controlled, and then the distance between the grab at the bottom of the wire rope and the slewing wall can be controlled, so that the grab can smoothly put the grabbed broken rock into the grab at the same distance as the slewing wall.

[0051] The lifting mechanism 3 includes a power device 15 and a steel wire rope 6 connected to the power device 15 . The steel wire rope 6 is draped above the boom 14 through a pulley; and the bottom end of the steel wire rope 6 is fixed to the grab bucket 5 .

[0052] In the present embodiment, a bucket 9 for containing crushed rock is also included. The specific fixing method of the bucket is not specifically limited. In the present specific embodiment, the bucket is suspended on one side of the rock grab body by an additional elevator, so that after containing the crushed rock, the bucket containing the crushed rock can be lifted to the surface by the elevator to transfer the crushed rock to the outside of the wellbore; the longest distance between the upper arm 14 and the outside of the rotating wall 12 is the same as the longest distance between the center of the bucket 9 and the outside of the rotating wall 12, so that by rotating the rotating wall and then lifting the wire rope, the grab can be directly above the bucket, and then the crushed rock can be placed in the bucket, and then the bucket can be lifted to transport the crushed rock to the outside of the wellbore.

[0053] In addition, in this embodiment, the remote rock grabbing control system also includes a lighting system for lighting, which is arranged below the shaft through wires so that the staff can observe the situation below the shaft without being affected even if the sight is poor, and also includes an audio system for shouting, the sound receiving device of the audio system is arranged in the control room, and the speaker device can be arranged at any position of the rock grabbing machine body. In this specific embodiment, the speaker device is arranged on the rotating wall so that in special circumstances (such as maintenance), it is possible to shout to the bottom of the shaft; it also includes an inspection port, which is arranged on the rotating wall, and a foldable platform is arranged on the rotating wall, and the platform is rotatably connected to the rotating wall through a rotating shaft. When maintenance is required, the inspection port is lowered so that the inspection port is perpendicular to the surface of the rotating wall, and when maintenance is not required, the inspection port is turned up so that the inspection port is close to the side of the rotating wall. In addition, functional modules such as industrial control computers, virtual prototypes, and memories can also be included to cooperate with the above components to jointly complete the functions of the above components, and examples are not given one by one here.

[0054] In this embodiment, it also includes a display arranged in the control room, a first camera arranged on the grab bucket, and a second camera arranged on the hanging platform; wherein the first camera is used to shoot the rock picture from the perspective of the grab bucket; the second camera is used to shoot the working picture of the rock grab machine body; the display is used to display the rock picture and the working picture, so that the staff can clearly understand the rock crushing condition in the wellbore and the operating condition of the entire rock grab machine in the control room on the surface.

[0055] As described above, the remote rock grab control system provided by the present invention can understand the conditions of the rocks below the wellbore and the conditions of the various components of the rock grab machine through the display in the control room, so that the staff can control the rotation and lifting of the grab bucket based on the rotating mechanism and the lifting mechanism through the direction operating console and the grab bucket operating console on the surface remote multi-functional control console, so as to facilitate the grabbing of crushed rocks. After grabbing the crushed rocks, the grab bucket can be moved to the top of the bucket by lifting and rotating. In this way, the crushed rocks can be placed in the bucket by lowering the grab bucket and opening the grab bucket at the same time, thus completing the storage of the crushed rocks. Subsequently, the crushed rocks can be transferred by lifting the bucket, and the crushed rocks can be smoothly transported out of the wellbore.

[0056] In this way, the workers' workplace is transferred from underground to the ground, allowing them to stay away from the work surface and sources of danger, greatly improving the workers' working environment and the mine's safe production conditions. At the same time, it reduces work pressure, improves work comfort, and realizes unmanned underground operation of ultra-deep vertical shaft slag removal processes.

[0057] As described above, the remote rock grabbing control system system proposed in the present invention is described by way of example with reference to the accompanying drawings. However, those skilled in the art should understand that various improvements can be made to the remote rock grabbing control system system proposed in the present invention without departing from the content of the present invention. Therefore, the protection scope of the present invention should be determined by the content of the attached claims.

Claims

1. A remote rock grabbing control system, characterized in that: It includes a control room arranged on the surface and a rock grabbing mechanism connected to the control room in communication; wherein, The rock grabbing mechanism comprises a rock grabbing PLC controller and a rock grabbing machine connected to a bus of the rock grabbing PLC controller; The rock grabber includes a rock grabber body for rock grabbing, a control module for controlling the rock grabber body, and a sensor module for acquiring status data of the rock grabber body; The rock grab body is fixed on the hanging plate; and the rock grab body includes a slewing mechanism, a luffing mechanism, a lifting mechanism and a grab bucket; A surface PLC controller connected to the rock grabbing PLC controller for communication and a surface remote multifunctional control console connected to the surface PLC controller bus are arranged in the control room; The surface remote multifunctional control console includes a direction control console and a grab bucket control console; The direction operating console is used to remotely control the slewing mechanism to perform left and right slewing, and remotely control the luffing mechanism to perform lateral distance control; The grab bucket operating platform is used to remotely control the lifting mechanism to adjust the lifting of the grab bucket, and remotely control the opening and closing of the grab bucket.

2. The remote rock grabbing control system according to claim 1, characterized in that: The control module includes a slewing control valve for directly controlling the slewing mechanism, a boom control valve for directly controlling the luffing mechanism, a lifting control valve for directly controlling the lifting mechanism, and a grab control valve for directly controlling the grab.

3. The remote rock grabbing control system according to claim 1, characterized in that: The sensing module includes a rotation angle sensor for obtaining rotation information, a boom angle sensor for obtaining amplitude change angle information, a lifting distance sensor for obtaining grab height, a grab opening and closing sensor for obtaining grab status, and a temperature sensor for obtaining underground temperature.

4. The remote rock grabbing control system according to claim 1, characterized in that: The surface remote multifunctional control console also includes a start / stop button, an emergency stop button, a power button and a fault button.

5. The remote rock grabbing control system according to claim 1, characterized in that: The lifting mechanism is fixed on the hanging plate; the hanging plate is fixed by a fixing member and suspended in the wellbore.

6. The remote rock grabbing control system according to claim 5, characterized in that: The slewing mechanism is arranged below the lifting mechanism, and comprises a slewing center shaft, a transmission bearing, and a slewing wall which is transmission-connected with the transmission bearing and arranged on the circumference of the slewing center shaft.

7. The remote rock grabbing control system according to claim 6, characterized in that: The amplitude changing mechanism comprises a hydraulic cylinder arranged inside the revolving wall and a large arm rotatably fixed on the outer side of the revolving wall; The hydraulic cylinder is used to provide a push-pull force for the big arm so that the angle between the big arm and the outer side of the rotating wall can be adjusted.

8. The remote rock grabbing control system according to claim 7, characterized in that: The lifting mechanism comprises a power device and a steel wire rope connected to the power device; The steel wire rope is draped above the boom through a pulley; and the bottom end of the steel wire rope is fixed to the grab bucket.

9. The remote rock grabbing control system according to claim 8, characterized in that: Also included are buckets for crushed rock; The longest distance between the upper arm and the outer side of the revolving wall is the same as the longest distance between the center of the bucket and the outer side of the revolving wall.

10. The remote rock grabbing control system according to claim 9, characterized in that: It also includes a display arranged in the control room, a first camera arranged on the grab bucket, and a second camera arranged on the hanging platform; wherein, The first camera is used to capture rock images from the perspective of the grab bucket; The second camera is used to capture the working picture of the rock grabber body; The display is used to display the rock picture and the working picture.

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