An automatic speed limiting system and control method for meeting of hoisting containers in a shaft

Abstract

The application discloses an automatic speed-limiting system and control method for meeting of hoisting containers in a vertical shaft, relates to the technical field of hoisting container speed control, and comprises a hoisting container body, the top end of the hoisting container body is fixedly connected with a hoisting steel wire rope, the top end of the hoisting container body is provided with a crown wheel, two hoisting steel wire ropes pass through two crown wheels respectively, and the end, away from the hoisting container, of the hoisting steel wire rope is provided with a hoisting machine device. The application realizes reliable control of the meeting speed of hoisting containers, makes up for the safety hidden danger caused by high-speed meeting of hoisting containers, and effectively guarantees the operation stability and operation safety of multiple sets of hoisting containers in the vertical shaft. If the hoisting containers meeting at high speed are not reliably controlled, a large impact force will be generated, and the risk of equipment damage and personnel casualty is increased. The implementation of the application effectively avoids the safety hidden danger, and significantly reduces the probability of accidents by accurately controlling the meeting speed.

Description

Technical Field

[0001] This invention relates to the field of lifting container speed control technology, and in particular to an automatic speed limiting system and control method for lifting containers meeting in a vertical shaft. Background Technology

[0002] The hoisting container system in a mine shaft is an indispensable key piece of equipment in mining operations. By selecting a suitable hoisting container, optimizing operating parameters, and strengthening safety and maintenance measures, the safe and efficient operation of the hoisting system can be ensured, providing strong support for mine production and development. The mine shaft hoisting container system uses equipment and devices at the surface shaft opening, shaft, and bottom to achieve the vertical lifting and transportation of ore, materials, waste rock, and personnel. The hoisting container is connected to the hoisting machine via a single or multiple wire ropes to achieve vertical lifting and lowering. During the lifting process, the hoisting machine controls the raising and lowering of the hoisting container by winding or releasing the wire rope through its drum. Meanwhile, guiding components such as the sheave also play a crucial role, guiding the direction of the wire rope and bearing its tension and friction.

[0003] However, existing hoisting systems, relative to mining operations, do not consider the potential risks to shaft facilities and the hoisting system itself when high-speed hoisting containers meet. When the shaft depth is 500m or more, the operating speed of the hoisting containers reaches 6m / s or more, and the airflow speed generated by the hoisting containers moving towards each other will reach 12m / s or more. According to records, when the airflow speed in the shaft is greater than 12m / s, it is very easy to cause the hoisting wire rope to vibrate, thereby causing the hoisting container to swing. When this swing amplitude exceeds a certain safety range, it is very easy to collide with the facilities in the shaft, which can lead to catastrophic consequences in severe cases.

[0004] There are already relevant invention patents concerning increasing the speed limit of containers, as detailed below:

[0005] Chinese Patent Application No. CN202410914704.3, entitled "A Speed ​​Limiting Protection Device for Mine Hoists," relates to the field of speed limiting protection for mine hoists, and particularly to a speed limiting protection device for mine hoists. This invention provides a speed limiting protection device for mine hoists that can limit the movement speed of the hoisting container on the guide rail when the electrical control system malfunctions, ensuring the safety of personnel and equipment inside the hoisting container. The mine hoist speed limiting protection device includes a connecting frame and fixed seats, with two fixed seats connected to the upper sides of both the left and right sides of the connecting frame. When the connecting frame exceeds its speed limit, centrifugal force causes a sliding member to slide outwards. After sliding outwards, the sliding member rotates with the turntable. The rotation of the sliding member drives the first rotating member to rotate. When the first rotating member rotates, it presses against the locking teeth, causing the elastic sheet to deform, thus slowing down the rotation speed of the first rotating member. This, in turn, slows down the speed of the connecting frame, achieving the effect of limiting the movement speed of the hoisting container on the guide rail when the electrical control system malfunctions, ensuring the safety of personnel and equipment inside the hoisting container.

[0006] However, while the aforementioned existing patents can limit the speed of the hoisting containers on the guide rails, they cannot control the speed only when two hoisting containers meet. This inability to precisely control the speed of the hoisting containers may lead to a decrease in the stability of the entire hoisting system. This could cause more malfunctions and accidents, posing a potential threat to the safety of mine production. Moreover, if the speeds of two hoisting containers are not precisely controlled when they meet in the shaft, a collision may occur. Summary of the Invention

[0007] The purpose of this application is to provide an automatic speed limiting system and control method for lifting containers meeting in a vertical shaft, which solves the problem that the existing technology cannot accurately control the speed of the lifting containers only when two lifting containers meet.

[0008] In the electrical control system of each hoist, this invention embeds a meeting point control module in software. The control module determines the operating speed and meeting point position of the two or more hoisting containers by collecting signals such as speed and stroke of the two or more hoisting systems in real time. At the same time, it detects the status information of the two or more hoisting systems. After the meeting control module judges and processes the information, it sends the operating status control command of the hoisting container to the two or more hoisting systems and controls the operating speed of the two or more hoisting containers.

[0009] An automatic speed-limiting system for lifting containers meeting in a vertical shaft includes a lifting container body. Each lifting container body has a lifting wire rope fixedly connected to its top end, and a sheave is installed at the top end of each lifting container body. Two lifting wire ropes pass through two sheaves respectively. A hoisting device is installed at the end of each lifting wire rope furthest from the lifting container. The sheaves ensure stable operation of the wire ropes between the hoisting drum and the lifting container, thereby achieving the vertical lifting of personnel and materials.

[0010] As a further improvement of the present invention, a vertical shaft is provided on the outside of the hoisting container body, and a derrick is fixedly connected to the bottom of the sheave. The ground is located at the bottom of the derrick, and the vertical shaft is located at the bottom of the ground. Two safety doors are symmetrically fixedly connected to the ground near the middle of the vertical shaft. The safety doors are only allowed to open at specific times and are closed at other times. This design helps maintain production order in mines or construction sites, thereby preventing unauthorized personnel or equipment from entering the shaft area and interfering with normal work processes.

[0011] As a further improvement of the present invention, the hoisting device includes hoisting drums, with two hoisting wire ropes respectively wound around the surfaces of the two hoisting drums. The two hoisting drums can also achieve an interlocking function, so that when one hoisting container body is being raised or lowered, the other hoisting 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 a motor drive unit M, and the side of the hoist drum away from the motor drive unit M is fixedly connected to a position measuring unit PE. The end of the position measuring unit PE away from the hoist drum is signal-connected to the motor drive unit M. The position measuring unit PE can monitor the rotational position or angle of the hoist drum in real time, thereby ensuring the accurate position of the hoisting container in the shaft.

[0013] As a further improvement of the present invention, the position measuring unit PE and the motor drive unit M are both signal-connected to the speed measuring unit PG on their opposite sides. The speed measuring unit PG on the left side is signal-connected to the motor drive unit M, and the speed measuring unit PG on the right side is signal-connected to the control unit. By transmitting the signal from the speed measuring unit PG to the motor drive unit M and the control unit, the system can achieve precise control of the hoist speed. The motor drive unit M can adjust its output torque and rotational speed according to the speed information, thereby ensuring that the hoisting 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. 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 hoisting container body, and the safety door is used to protect the safety of personnel and equipment inside the shaft. By precisely controlling the operating speed and position of the hoist, unnecessary energy consumption can be reduced, and operating costs can be lowered.

[0016] As a further improvement of the present invention, the electrical control system of the hoisting device is embedded with a meeting point control function module. This control function module collects signals from the position measurement unit PE and the speed measurement unit PG in real time. These signals are used to determine the running speed and meeting point position of the hoisting container body. After processing the signals, the control function module sends a running status control command for the hoisting container to the motor drive unit M. The control function module also controls the running speed of the hoisting container body. This control function module employs an intelligent algorithm design. Through this intelligent algorithm, the running speed of the hoisting container can be adaptively adjusted 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 an intelligent speed limit adjustment factor, which is set as SLAF, and the specific calculation formula of SLAF is as follows:

[0018] SLAF=α×(CRD / SRA)^β+γ×BP-δ×T

[0019] α, β, γ, and δ all represent weighting coefficients. CRD is the meeting distance, which is obtained by measuring the position measurement unit PE and the velocity measurement unit PG. SRA is the distance away, which is the sum of the distance away and the meeting distance, equal to the shaft shaft minus the distance between the two hoisting container bodies. CRD / SRA represents the ratio of the meeting distance to the distance away availability. The higher the ratio, the more necessary it is to perform speed limiting operations. BP is the priority of the hoisting container body, which is higher than all other values. T is the intersection time of the two hoisting container bodies.

[0020] A method for automatically limiting the speed when hoisting containers meet in a vertical shaft, comprising the following steps:

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

[0022] S2 controls the start-up of the container body and detects it through the position measurement unit PE and the velocity measurement unit PG;

[0023] S3, when the meeting of two lifting container bodies is detected, the speed limiting system is activated, and communication is established through the DriveBus bus and branch line to realize information exchange between the lifting equipment;

[0024] S4, the speed limiting system uses the intelligent algorithm of the control module to adaptively adjust and increase the operating speed of the container based on parameters such as load and well depth;

[0025] S5, when the lifting containers complete their meeting and continue to move up or down, the speed limiting system automatically removes the speed limiting state according to preset conditions and restores the normal lifting speed.

[0026] Compared with the prior art, the beneficial effects of this invention are as follows:

[0027] 1. This invention achieves reliable control of the meeting speed of hoisting containers, mitigating the safety hazards caused by high-speed meeting and effectively ensuring the operational stability and safety of multiple hoisting containers within a shaft. Without reliable control, high-speed meeting of hoisting containers can generate significant impact forces, increasing the risk of equipment damage and personnel injury. This invention effectively avoids this safety hazard by precisely controlling the meeting speed, significantly reducing the probability of accidents. It enhances the overall safety of the shaft hoisting system, providing higher safety guarantees for operators and passengers. Within a shaft, multiple hoisting containers need to work collaboratively to ensure transportation efficiency. The reliable control mechanism of this invention helps maintain the balance and stability between the hoisting containers, preventing bumps or vibrations caused by speed mismatches. This stable operating environment helps extend the service life of the equipment and reduce the frequency of maintenance and replacement. Precise speed control helps optimize the energy consumption of the hoisting containers. By reducing unnecessary acceleration and deceleration processes, energy consumption can be significantly reduced. For long-term operating shaft hoisting systems, this energy reduction will bring significant economic benefits.

[0028] 2. This invention utilizes intelligent algorithms to adaptively adjust the operating speed of the lifting containers based on parameters such as load conditions and shaft depth. This allows for automatic deceleration when two or more lifting containers meet. Adaptive speed adjustment prevents dangerous situations such as speeding or overloading during operation, significantly reducing the probability of accidents. Automatic deceleration when lifting containers meet ensures a safe distance between them, preventing collisions and other accidents. Precise control of the lifting container's operating speed optimizes its trajectory and time, reducing unnecessary waiting and stoppages, thereby improving overall transportation efficiency. Furthermore, adaptive speed adjustment can be personalized based on parameters such as shaft depth, ensuring the lifting containers operate under optimal conditions. Intelligent speed adjustment can also adjust the motor's output power according to the actual load, avoiding unnecessary energy waste. Optimizing the lifting container's operating speed also reduces additional energy consumption caused by frequent acceleration and deceleration.

[0029] 3. This invention implements the meeting point control module through software. Therefore, the designed control module program can meet the control requirements of the lifting system. It embeds an "intelligent learning" function, employing algorithms that approximate human thinking to eliminate various unstable factors, making the meeting control module more stable. This ensures that the speed of the two containers meeting is controlled within a suitable and reliable safe range. The intelligent learning function continuously analyzes system operating data, identifies and adapts to various operating conditions, thereby optimizing control strategies and reducing system instability. This allows the lifting system to operate more stably when facing changes in load, shaft depth, etc., avoiding system fluctuations caused by external interference. Furthermore, the algorithm, which approximates human thinking, enables the control module to respond more flexibly to various complex situations, achieving more refined control and thus contributing to improved overall system performance. The introduction of intelligent learning also promotes intelligent upgrading and technological innovation in industries such as mining, thereby helping to enhance the competitiveness of the entire industry and promote sustainable development. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the basic state of the present invention. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] like Figure 1 As shown, this invention provides a technical solution: an automatic speed limiting system for lifting containers meeting in a vertical shaft, comprising a lifting container body, with lifting wire ropes fixedly connected to the top of each lifting container body, and a sheave at the top of each lifting container body. Two lifting wire ropes pass through two sheaves respectively, and a hoisting device is installed at the end of each lifting wire rope furthest from the lifting container. A vertical shaft is provided outside the lifting container body, and a derrick is fixedly connected to the bottom of the sheaves. The bottom of the derrick is provided with ground, and the vertical shaft is located at the bottom of the ground. Two safety doors are symmetrically fixedly connected to the ground near the middle of the vertical shaft. The hoisting device includes hoisting drums, with two lifting wire ropes respectively wound around the surfaces of the two hoisting drums. The position measurement unit PE and the motor drive unit M are both signal-connected to a speed measurement unit PG on their furthest sides. The left speed measurement unit PG is signal-connected to the motor drive unit M, and the right speed measurement unit PG is signal-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 a 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. The safety door is used to protect the safety of personnel and equipment inside the shaft.

[0034] The system monitors the speed and position of the hoisting containers in real time using a position measurement unit (PE) and a speed measurement unit (PG). When two hoisting containers meet inside the shaft, the system automatically adjusts its speed to avoid collisions, significantly improving operational safety. Through precise control of the motor drive unit (M) and the control unit, the system can accurately regulate the movement of the hoisting containers, ensuring smooth and safe passage when they meet, reducing downtime and waiting time caused by improper speed control, and improving operational efficiency. The motor drive unit (M) is powered by a three-phase three-wire AC3 power supply, which is stable and reliable, ensuring normal operation even in harsh environments. Furthermore, the modular design of each unit facilitates disassembly and replacement, reducing maintenance difficulty and costs.

[0035] Furthermore, the electrical control system of the hoist unit embeds a meeting point control module. This module collects signals from the position measurement unit (PE) and the speed measurement unit (PG) in real time. These signals are used to determine the operating speed and meeting point position of the hoisting container. After processing, the control module sends operating status control commands to the motor drive unit (M) to control the operating speed of the hoisting container. The control module employs an intelligent algorithm design. This intelligent algorithm requires calculating an intelligent speed limit adjustment factor, set as SLAF. The specific calculation formula for SLAF is as follows:

[0036] SLAF=α×(CRD / SRA)^β+γ×BP-δ×T

[0037] α, β, γ, and δ all represent weighting coefficients. CRD is the meeting distance, which is obtained by measuring the position measurement unit PE and the velocity measurement unit PG. SRA is the distance away, which is the sum of the distance away and the meeting distance, which is the shaft shaft minus the distance between the two hoisting containers. CRD / SRA represents the ratio of the meeting distance to the distance away availability. The higher the ratio, the more necessary it is to perform speed limiting operations. BP is the priority of the hoisting container, which is higher than all other values. T is the meeting time of the two hoisting containers.

[0038] By acquiring signals from the position measurement unit (PE) and the velocity measurement unit (PG) in real time, the control module can accurately determine the operating speed and meeting point of the hoisting container. Based on the Smart Speed ​​Limit Adjustment Factor (SLAF), it performs precise speed limiting to prevent collisions during meeting, significantly improving operational safety. Furthermore, through intelligent algorithm calculation of SLAF, the system can optimize the hoisting container's operating status, ensuring it passes at the optimal speed during meeting, reducing downtime and waiting time caused by speed limits and improving operational efficiency. Precise speed limiting control also reduces energy consumption during meeting, thereby lowering operating costs. The control module employs an intelligent algorithm design, meaning that even in the event of sensor or measurement unit malfunctions, the system can still perform speed limiting control based on other available information, improving system reliability and stability.

[0039] A control method for automatically limiting the speed when hoisting containers meet in a vertical shaft includes the following steps: S1, starting the power supply of the vertical shaft hoisting system to ensure the speed limiting system is in working condition; S2, controlling the start of the hoisting container body and detecting it through the position measurement unit PE and the speed measurement unit PG; S3, when the meeting of two hoisting containers is detected, the speed limiting system is activated and a communication connection is established through the DriveBus bus and branch line to realize information exchange between the hoisting devices; S4, the speed limiting system adaptively adjusts the running speed of the hoisting containers according to parameters such as load and shaft depth through the intelligent algorithm of the control module; S5, when the hoisting containers complete the meeting and continue to move upward or downward, the speed limiting system automatically releases the speed limiting state according to preset conditions and restores the normal hoisting speed.

[0040] Finally, it should be noted that the above are merely 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 foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic speed limiting system for lifting containers meeting in a vertical shaft, comprising the lifting container body, characterized in that, Each of the lifting container bodies has a lifting wire rope fixedly connected to its top end. Each lifting container body has a sheave at its top end. Two lifting wire ropes pass through two sheaves respectively. A hoisting device is installed at the end of each lifting wire rope furthest from the lifting container. The hoisting device includes a hoisting drum. The two lifting wire ropes are wound around the surfaces of two hoisting drums respectively. One side of each hoisting drum is signal-connected to a motor drive unit M. A position measuring unit PE is fixedly connected to the side of each hoisting drum furthest from the motor drive unit M. A speed measuring unit is signal-connected to the side of each position measuring unit PE furthest from the motor drive unit M. In the electrical control system of the hoisting device, a meeting point control module is embedded. This module collects signals from the position measurement unit PE and the speed measurement unit PG in real time. These signals are used to determine the running speed and meeting point position of the hoisting container. After processing, the control module sends a running status control command to the motor drive unit M, and controls the running speed of the hoisting container. The control module employs an intelligent algorithm design, which calculates an intelligent speed limit adjustment factor, set as SLAF. The specific calculation formula for SLAF is as follows: ； α, β, γ, and δ all represent weighting coefficients. CRD is the meeting distance, which is obtained by measuring the position measurement unit PE and the velocity measurement unit PG. SRA is the distance away, which is the sum of the distance away and the meeting distance, equal to the shaft shaft minus the distance between the two hoisting container bodies. CRD / SRA represents the ratio of the meeting distance to the distance away availability. The higher the ratio, the more necessary it is to perform speed limiting operations. BP is the priority of the hoisting container body, which is higher than all other values. T is the intersection time of the two hoisting container bodies.

2. The automatic speed limiting system for hoisting containers meeting in a vertical shaft as described in claim 1, characterized in that: The lifting container body is provided with a vertical shaft, the bottom of the sheave is fixedly connected to a derrick, the bottom of the derrick is provided with the ground, 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 hoisting containers meeting in a vertical shaft as described in claim 2, characterized in that: The position measuring unit PE, located away from the hoist drum, has its signal connected to the motor drive unit M.

4. The automatic speed limiting system for hoisting containers meeting in a vertical shaft as described in claim 3, characterized in that: The speed measurement unit PG on the left is connected to the motor drive unit M, and the speed measurement unit PG on the right is connected to the control unit.

5. The automatic speed limiting system for hoisting containers meeting in a vertical shaft as described in claim 4, characterized in that: 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 a DriveBus bus.

6. The automatic speed limiting system for hoisting containers meeting in a vertical shaft as described in claim 5, characterized in that: 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 inside the well shaft.

7. A control method comprising a speed limiting system as described in any one of claims 1 to 6, characterized in that, The specific steps include: S1, start the power supply of the shaft hoisting system and ensure that the speed limiting system is in working condition; S2 controls the start-up of the container body and detects it through the position measurement unit PE and the velocity measurement unit PG; S3, when the meeting of two lifting container bodies is detected, the speed limiting system is activated, and communication is established through the DriveBus bus and branch line to realize information exchange between the lifting equipment; S4, the speed limiting system uses the intelligent algorithm of the control module to adaptively adjust and increase the operating speed of the container according to the load and well depth parameters; S5, when the lifting containers complete their meeting and continue to move up or down, the speed limiting system automatically removes the speed limiting state according to preset conditions and restores the normal lifting speed.

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