Automatic speed limiting system for meeting of hoisting containers in vertical shaft and control method

Abstract

The invention discloses an automatic speed limiting system during meeting of hoisting containers in a vertical shaft and a control method, and relates to the technical field of hoisting container speed control. The automatic speed limiting system comprises hoisting container bodies, hoisting steel wire ropes are fixedly connected to the top ends of the hoisting container bodies, and head sheaves are arranged at the top ends of the hoisting container bodies; the two hoisting steel wire ropes pass through the two head sheaves correspondingly, and hoister devices are arranged at the ends, away from the hoisting container, of the hoisting steel wire ropes correspondingly. Reliable control over the meeting speed of the hoisting containers is achieved, potential safety hazards caused by high-speed meeting of the hoisting containers are made up, and the operation stability and operation safety of the multiple sets of hoisting containers in the vertical shaft are effectively guaranteed. If a high-speed meeting lifting container is not reliably controlled, large impact force can be generated, and the risks of equipment damage and casualties are increased. According to the implementation of the invention, the potential safety hazard is effectively avoided, and the probability of accidents is obviously reduced by accurately controlling the meeting speed.

Description

Technical Field

[0001] The invention relates to the technical field of lifting container speed control, and in particular to an automatic speed limiting system and a control method when lifting containers meet in a shaft. Background Art

[0002] The lifting container system in the mine shaft is one of the key equipment that cannot be ignored in mining. By selecting appropriate lifting containers, optimizing operating parameters, and strengthening safety and maintenance measures, the safe and efficient operation of the lifting system can be ensured, providing strong support for the production and development of the mine. The mine shaft lifting container system realizes the up and down lifting and transportation of ore, materials, waste rock, and personnel through the equipment and devices at the ground wellhead, wellbore, and well bottom. The lifting container is connected to the hoist through a single wire rope or multiple wire ropes to achieve vertical lifting. During the lifting process, the hoist controls the lifting and lowering of the lifting container by winding or releasing the wire rope through the drum. At the same time, guide components such as the sheave also play a key role. They guide the turning of the wire rope and bear its tension and friction.

[0003] However, compared with mining construction, the existing hoisting system does not take into account the potential risks to the shaft facilities and its hoisting system itself when high-speed hoisting containers meet. When the shaft depth is 500m or above, the operating speed of the hoisting container will reach more than 6m / s, and the air flow speed generated by the hoisting containers moving towards each other will reach more than 12m / s. According to data, when the air flow speed in the shaft is greater than 12m / s, it is very easy to cause the hoisting wire rope to shake, thereby causing the hoisting container to swing. When the swing amplitude exceeds a certain safety range, it is very easy to collide with the facilities in the shaft, which may lead to catastrophic consequences in severe cases.

[0004] There are related invention patents regarding the speed limit of lifting containers, as follows:

[0005] Chinese patent application number: CN202410914704.3, the name of the invention patent is: A speed limiting protection device for a mine hoist, the invention relates to the field of speed limiting protection for mine hoists, and in particular to a speed limiting protection device for a mine hoist. The present invention provides a speed limiting protection device for a mine hoist that can limit the moving speed of a lifting container on a guide rail when an electric control system fails, and ensure the safety of personnel and equipment in the lifting container. A speed limiting protection device for a mine hoist includes a connecting frame and a fixing seat, etc., and the upper sides of the left and right parts of the connecting frame are connected to two front and rear fixing seats. When the connecting frame is overspeeding, the centrifugal force is used to make the sliding member slide outward, and the sliding member rotates with the turntable after sliding outward. When the sliding member rotates, it drives the first rotating member to rotate, and when the first rotating member rotates, it squeezes the positioning teeth, and the elastic sheet is deformed, so that the rotation speed of the first rotating member is slowed down, and then the speed of the connecting frame is slowed down, so that when the electric control system fails, the moving speed of the lifting container on the guide rail can be limited to ensure the safety of personnel and equipment in the lifting container.

[0006] However, in the above-mentioned existing patents, although the moving speed of the lifting container on the guide rail can be limited, it is not possible to control the speed only when the two lifting containers meet, and the speed of the lifting container cannot be accurately controlled, which may cause the stability of the entire lifting system to decrease. This may cause more failures and accidents, posing a potential threat to the production safety of the mine. Moreover, when the two lifting containers meet in the shaft, if their speed is not accurately controlled, a collision may occur. Summary of the invention

[0007] The purpose of the present application is to provide an automatic speed limiting system and control method for when lifting containers meet in a shaft, so as to solve the problem that the prior art cannot accurately control the speed of the lifting containers only when two lifting containers meet.

[0008] The present invention embeds a meeting point control function module in the electric control system of each elevator by software. The control module determines the operating speed and meeting point position of two or more lifting containers by real-time collection of signals such as speed and stroke of two or more lifting systems, and simultaneously detects the status information of two or more lifting systems. After judgment and processing by the meeting control module, the operating status control instruction of the lifting container is sent to the two or more lifting systems, and the operating speed of the two or more lifting containers is controlled.

[0009] An automatic speed limiting system when lifting containers meet in a shaft comprises a lifting container body, the top of each lifting container body is fixedly connected with a lifting wire rope, the top of each lifting container body is provided with a sky sheave, two lifting wire ropes pass through two sky sheaves respectively, and a hoist device is provided at one end of each lifting wire rope away from the lifting container. The sky sheave ensures that the wire rope runs stably between the hoist drum and the lifting container, thereby realizing vertical lifting of personnel and materials.

[0010] As a further improvement of the present invention, a vertical shaft is arranged outside the lifting container body, a derrick is fixedly connected to the bottom end of the sheave, a ground is arranged at the bottom of the derrick, the vertical shaft is opened at the bottom of the ground, and two safety doors are symmetrically fixedly connected to the middle of the ground near the vertical shaft. The safety door is only allowed to be opened at a specific time and is closed at other times. This design helps to maintain the production order of the mine or construction site, thereby preventing unauthorized personnel or equipment from entering the wellhead area and interfering with the normal operation process.

[0011] As a further improvement of the present invention, the hoist device includes a hoist drum, and the two hoist wire ropes are respectively wound around the surfaces of the two hoist drums. The two hoist drums can also realize an interlocking function, when one hoist container body is being lifted or lowered, the other hoist container body cannot be operated in the opposite direction at the same time, thereby avoiding possible collisions and accidents.

[0012] As a further improvement of the present invention, one side of the hoist drum is signal-connected to the motor transmission unit M, and one side of the hoist drum away from the motor transmission unit M is fixedly connected to the position measurement unit PE, and one end of the position measurement unit PE away from the hoist drum is signal-connected to the motor transmission unit M. The position measurement unit PE can monitor the rotation position or angle of the hoist drum in real time, thereby ensuring the accurate position of the hoisting container in the wellbore.

[0013] As a further improvement of the present invention, the side where the position measurement unit PE and the motor transmission unit M are away from each other is signal-connected to the speed measurement unit PG, the speed measurement unit PG signal on the left side is connected to the motor transmission unit M, and the speed measurement unit PG signal on the right side is connected to the control unit. By transmitting the signal of the speed measurement unit PG to the motor transmission unit M and the control unit, the system can achieve precise control of the hoist speed. The motor transmission unit M can adjust its output torque and speed according to the speed information, thereby ensuring that the lifting container is lifted or lowered at a predetermined speed.

[0014] As a further improvement of the present invention, the motor drive unit M is powered by a three-phase three-wire AC3 power supply mode, the motor drive unit M and the control unit are connected in series via a DriveBus branch line, and the two control units are connected in series via a DriveBus bus. Connecting the motor drive unit M and the control unit in series via the DriveBus bus can greatly simplify the system design.

[0015] As a further improvement of the present invention, the position measuring unit PE and the speed measuring unit PG are used to detect the speed and position of the lifting container body, and the safety door is used to protect the safety of personnel and equipment in the shaft. By accurately controlling the operating speed and position of the hoist, unnecessary energy consumption can be reduced and operating costs can be reduced.

[0016] As a further improvement of the present invention, the electric control system of the hoist device is embedded with a meeting point control function module, which collects signals from the position measurement unit PE and the speed measurement unit PG in real time, and the signals are used to judge the running speed and the meeting point position of the hoisting container body. After judging and processing, the control function module sends the running state control instruction of the hoisting container to the motor transmission unit M, and the control function module controls the running speed of the hoisting container body. The control function module is designed with an intelligent algorithm. The intelligent algorithm can adaptively adjust the running speed of the hoisting container according to parameters such as load conditions and shaft depth.

[0017] As a further improvement of the present invention, the intelligent algorithm needs to calculate the intelligent speed limit adjustment factor, and the intelligent speed limit adjustment factor is set to SLAF. The specific calculation formula of SLAF is:

[0018] SLAF=α×(CRD / SRA)^β+γ×BP-δ×T

[0019] The α, β, γ and δ are all expressed as weight coefficients, the CRD is the meeting distance, and the meeting distance is measured by the position measurement unit PE and the speed measurement unit PG, the SRA is the separation distance, and the sum of the separation distance and the meeting distance is the distance between the vertical shaft and the two lifting container bodies. The CRD / SRA represents the ratio of the meeting distance to the separation distance availability, and the higher the ratio is, the more speed limit operation is needed. The BP is the priority of the lifting container body, and the priority of the lifting container body is higher than all values. The T is the intersection time of the two lifting container bodies.

[0020] A control method for automatically limiting the speed when lifting containers meet in a shaft, the specific steps comprising:

[0021] S1, start the power supply of the shaft hoisting system to ensure that the speed limiting system is in working condition;

[0022] S2, control the start of the operation of the lifting container body and detect it through the position measurement unit PE and the speed measurement unit PG;

[0023] S3, when it is detected that two lifting container bodies meet, the speed limit system is activated, and communication connection is established through the DriveBus bus and the branch line, thereby realizing information exchange between the lifting machine devices;

[0024] S4, the speed limit system uses the intelligent algorithm of the control module to adaptively adjust the running speed of the lifting container according to parameters such as load conditions and well depth;

[0025] S5, when the lifting container completes the meeting and continues to go up or down, the speed limit system automatically releases the speed limit state according to the preset conditions and restores the normal lifting speed.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The present invention realizes reliable control of the meeting speed of lifting containers, compensates for the safety hazards caused by the high-speed meeting of lifting containers, and effectively ensures the operational stability and operational safety of multiple sets of lifting containers in the shaft. If the lifting containers that meet at high speed are not reliably controlled, a large impact force will be generated, increasing the risk of equipment damage and casualties. The implementation of the present invention effectively avoids this safety hazard and significantly reduces the probability of accidents by accurately controlling the meeting speed. The overall safety of the shaft hoisting system is improved, providing higher safety protection for operators and passengers. In the shaft, multiple sets of lifting containers need to work together to ensure transportation efficiency. The reliable control mechanism of the present invention helps to maintain the balance and stability between the lifting containers, prevents bumps or vibrations caused by speed mismatch, and thus helps to extend the service life of the equipment and reduce the frequency of maintenance and replacement through a stable operating environment. Accurate speed control helps to optimize the energy consumption of the lifting container. By reducing unnecessary acceleration and deceleration processes, energy consumption can be significantly reduced. For long-term operating shaft hoisting systems, this reduction in energy consumption will bring significant economic benefits.

[0028] 2. The present invention can adaptively adjust the operating speed of the lifting container according to parameters such as load conditions and shaft depth through intelligent algorithms, so that when two or more lifting containers meet, they will automatically slow down. The adaptive speed adjustment can avoid dangerous situations such as overspeeding or overloading of the lifting container during operation, thereby significantly reducing the probability of accidents. Automatic deceleration when the lifting containers meet can ensure a safe distance between them and prevent accidents such as collisions. By accurately controlling the operating speed of the lifting container, its operating trajectory and time can be optimized, unnecessary waiting and pauses can be reduced, thereby improving the overall transportation efficiency. In addition, the adaptive speed adjustment can also be personalized and optimized according to parameters such as shaft depth to ensure that the lifting container operates in the best state. Intelligent speed adjustment can also adjust the output power of the motor according to the actual load conditions to avoid unnecessary energy waste. By optimizing the operating speed of the lifting container, the additional energy consumption caused by frequent acceleration and deceleration can also be reduced.

[0029] 3. The present invention realizes the meeting point control function module by software, so the designed control module program can meet the control requirements of the lifting system, and embeds the "intelligent learning" function inside it, adopts an algorithm close to human thinking, eliminates various unstable factors, makes the meeting control function module work more stably, and realizes the speed control of the two containers when they meet in a suitable and reliable safety range. The intelligent learning function can continuously analyze the system operation data, identify and adapt to various working conditions, thereby optimizing the control strategy and reducing the unstable factors of the system. This enables the lifting system to operate more stably when facing changes such as different loads and shaft depths, and avoid system fluctuations caused by external interference. Moreover, the use of algorithms close to human thinking enables the control module to respond to various complex situations more flexibly and achieve more refined control, which helps to improve the overall performance of the system. Moreover, the introduction of intelligent learning functions has promoted the intelligent upgrading and technological innovation of industries such as mining, which helps to improve the competitiveness of the entire industry and promote sustainable development. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, 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 those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 It is a basic state schematic diagram of the present invention. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] like Figure 1 As shown, the present invention provides a technical solution: an automatic speed limiting system when lifting containers meet in a shaft, comprising a lifting container body, the top of the lifting container body is fixedly connected with a lifting wire rope, the top of the lifting container body is provided with a sheave, two lifting wire ropes pass through the two sheaves respectively, and a hoisting device is provided at the end of the lifting wire rope away from the lifting container. A shaft of the shaft is provided outside the lifting container body, the bottom end of the sheave is fixedly connected with a derrick, the bottom of the derrick is provided with a ground, the shaft of the shaft is opened at the bottom of the ground, and two safety doors are symmetrically fixedly connected to the middle of the shaft of the shaft near the ground. The hoisting device comprises a hoist drum, and two lifting wire ropes are respectively wound around the surfaces of the two hoist drums. The side away from each other of the position measurement unit PE and the motor transmission unit M are both signal-connected to the speed measurement unit PG, the left side speed measurement unit PG signal is connected to the motor transmission unit M, and the right side speed measurement unit PG signal is connected to the control unit. The motor drive unit M is powered by a three-phase three-wire AC3 power supply. The motor drive unit M and the control unit are connected in series via a DriveBus branch line, and the two control units are connected in series via the DriveBus bus. The position measurement unit PE and the speed measurement unit PG are used to detect the speed and position of the lifting container body, and the safety door is used to protect the safety of personnel and equipment in the shaft.

[0034] The system monitors the speed and position of the lifting container body in real time through the position measurement unit PE and the speed measurement unit PG. When two lifting containers meet in the shaft, the system can automatically adjust the speed to avoid collision, thereby significantly improving the safety of the operation. Through the precise control of the motor drive unit M and the control unit, the system can achieve precise regulation of the movement of the lifting container, ensuring that the lifting containers can pass smoothly and safely when they meet, reducing downtime and waiting time caused by improper speed control, and improving work efficiency. The motor drive unit M is powered by a three-phase three-wire AC3 power supply method, which is stable and reliable and can ensure that the system can still operate normally in harsh environments. In addition, each unit of the system adopts a modular design, which is easy to disassemble and replace, reducing the difficulty and cost of maintenance.

[0035] Furthermore, the meeting point control function module is embedded in the electric control system of the hoist device. The control function module collects the signals of the position measurement unit PE and the speed measurement unit PG in real time. The signals are used to determine the running speed and meeting point position of the hoisting container body. After the judgment and processing, the control function module sends the running state control instruction of the hoisting container to the motor transmission unit M. The control function module also controls the running speed of the hoisting container body. The control function module adopts intelligent algorithm design. The intelligent algorithm needs to calculate the intelligent speed limit adjustment factor. The intelligent speed limit adjustment factor is set to SLAF. The specific calculation formula of SLAF is:

[0036] SLAF=α×(CRD / SRA)^β+γ×BP-δ×T

[0037] α, β, γ and δ are all expressed as weight coefficients, CRD is the meeting distance, which is measured by the position measurement unit PE and the speed measurement unit PG, SRA is the separation distance, the sum of the separation distance and the meeting distance is the distance between the vertical shaft and the two lifting container bodies, CRD / SRA represents the ratio of the meeting distance to the separation distance availability, the higher the ratio, the more speed limit operation is needed, BP is the priority of the lifting container body, the priority of the lifting container body is higher than all values, and T is the intersection time of the two lifting container bodies.

[0038] By collecting signals from the position measurement unit PE and the speed measurement unit PG in real time, the control function module can accurately determine the operating speed and meeting point position of the lifting container body, thereby performing precise speed limit operations based on the intelligent speed limit adjustment factor (SLAF), avoiding collisions between the lifting containers when they meet, and significantly improving the safety of operations. Moreover, by calculating SLAF through intelligent algorithms, the system can optimize the operating status of the lifting container, ensuring that the lifting container can pass at the optimal speed when it meets, reducing downtime and waiting time caused by speed limits, and improving operating efficiency. Accurate speed limit control can also reduce the energy consumption of the lifting container during the meeting process, thereby reducing operating costs. The control function module adopts an intelligent algorithm design. Even if some sensors or measurement units fail, the system can still perform speed limit control based on other available information, thereby improving the reliability and stability of the system.

[0039] A control method for automatically limiting the speed when lifting containers meet in a shaft, the specific steps are: S1, starting the power supply of the shaft lifting system to ensure that the speed limiting system is in a working state; S2, controlling the operation of the lifting container body, and detecting it through a position measurement unit PE and a speed measurement unit PG; S3, starting the speed limiting system when it is detected that two lifting container bodies meet, and communicating and connecting through a DriveBus bus and a branch line, thereby realizing information exchange between hoisting machine devices; S4, the speed limiting system adaptively adjusts the operating speed of the lifting container according to parameters such as load conditions and shaft depth through an intelligent algorithm of a control module; S5, when the lifting containers complete the meeting and continue to go up or down, the speed limiting system automatically releases the speed limiting state according to preset conditions and restores the normal lifting speed.

[0040] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic speed limiting system when lifting containers meet in a shaft, comprising a lifting container body, characterized in that: The top of the lifting container body is fixedly connected with a lifting wire rope, the top of the lifting container body is provided with a sheave, the two lifting wire ropes pass through the two sheaves respectively, and the end of the lifting wire rope away from the lifting container is provided with a hoisting machine device.

2. The automatic speed limiting system for lifting containers meeting in a shaft as claimed in claim 1, characterized in that: A vertical shaft is arranged outside the lifting container body, a derrick is fixedly connected to the bottom end of the sheave, a ground is arranged at the bottom of the derrick, the vertical shaft is opened at the bottom of the ground, and two safety doors are symmetrically fixedly connected to the ground near the middle of the vertical shaft.

3. The automatic speed limiting system for lifting containers meeting in a shaft as claimed in claim 1, characterized in that: The hoist device comprises a hoist drum, and the two hoisting wire ropes are respectively wound around the surfaces of the two hoist drums.

4. The automatic speed limiting system for lifting containers meeting in a shaft as claimed in claim 3, characterized in that: One side of the hoist drum is signal-connected to the motor transmission unit M, and the side of the hoist drum away from the motor transmission unit M is fixedly connected to the position measurement unit PE. The end of the position measurement unit PE away from the hoist drum is signal-connected to the motor transmission unit M.

5. The automatic speed limiting system for lifting containers meeting in a shaft as claimed in claim 4, characterized in that: The sides of the position measurement unit PE and the motor transmission unit M that are away from each other are both signal-connected to the speed measurement unit PG. The speed measurement unit PG on the left side is signal-connected to the motor transmission unit M, and the speed measurement unit PG on the right side is signal-connected to the control unit.

6. The automatic speed limiting system for lifting containers meeting in a shaft as claimed in claim 5, characterized in that: The motor drive unit M is powered by a three-phase three-wire AC3 power supply mode, the motor drive unit M and the control unit are connected in series via a DriveBus branch line, and the two control units are connected in series via a DriveBus bus.

7. An automatic speed limiting system for lifting containers meeting in a shaft as claimed in claim 6, characterized in that: The position measuring unit PE and the speed measuring unit PG are used to detect the speed and position of the lifting container body, and the safety door is used to protect the safety of personnel and equipment in the shaft.

8. An automatic speed limiting system for lifting containers meeting in a shaft as claimed in claim 7, characterized in that: The electrical control system of the hoist device is embedded with a meeting point control function module. The control function module collects signals from the position measurement unit PE and the speed measurement unit PG in real time. The signals are used to determine the running speed and meeting point position of the lifting container body. After determination and processing, the control function module sends an operating status control instruction of the lifting container to the motor transmission unit M. The control function module also controls the running speed of the lifting container body. The control function module is designed with an intelligent algorithm.

9. An automatic speed limiting system for lifting containers meeting in a shaft as claimed in claim 8, characterized in that: The intelligent algorithm needs to calculate the intelligent speed limit adjustment factor, and the intelligent speed limit adjustment factor is set to SLAF. The specific calculation formula of SLAF is: SLAF=α×(CRD / SRA)^β+γ×BP-δ×T The α, β, γ and δ are all expressed as weight coefficients, the CRD is the meeting distance, and the meeting distance is measured by the position measurement unit PE and the speed measurement unit PG, the SRA is the separation distance, and the sum of the separation distance and the meeting distance is the distance between the vertical shaft and the two lifting container bodies. The CRD / SRA represents the ratio of the meeting distance to the separation distance availability, and the higher the ratio is, the more speed limit operation is needed. The BP is the priority of the lifting container body, and the priority of the lifting container body is higher than all values. The T is the intersection time of the two lifting container bodies.

10. A control method comprising the speed limiting system according to any one of claims 1 to 9, characterized in that: The specific steps include: S1, start the power supply of the shaft hoisting system to ensure that the speed limiting system is in working condition; S2, control the start of the operation of the lifting container body and detect it through the position measurement unit PE and the speed measurement unit PG; S3, when it is detected that two lifting container bodies meet, the speed limit system is started, and communication connection is established through the DriveBus bus and the branch line, thereby realizing information exchange between the lifting machine devices; S4, the speed limit system uses the intelligent algorithm of the control module to adaptively adjust the running speed of the lifting container according to parameters such as load conditions and well depth; S5, when the lifting container completes the meeting and continues to go up or down, the speed limit system automatically releases the speed limit state according to the preset conditions and restores the normal lifting speed.

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