Monorail hoist yard unattended system and method

Abstract

The invention belongs to the technical field of coal mine auxiliary transportation, and discloses a monorail hoist yard unattended system and method.The monorail hoist yard unattended system comprises a multi-section container type mine car, a special lifting appliance, a hook picking and hooking device, a precise positioning car arrester, a righting mechanism and a car pusher, and the special lifting appliance can grab or release the container type mine car; the unhooking and hooking device is used for automatically connecting or separating the front section and the rear section of the container type mine car, the precise positioning car arrester is used for adjusting the position before the front section and the rear section of the container type mine car are separated, and the righting mechanism is used for righting the container type mine car when the special lifting appliance releases the container type mine car. The center of the container type mine car is kept consistent with the centralizing center of the centralizing mechanism, and the car pusher is used for pushing the container type mine car to a designated area. According to the invention, the effects of automation, unmanned operation and less manpower in the single-rail crane conveying process can be realized, the conveying efficiency is improved, and the traditional material distribution mode is thoroughly changed.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine auxiliary transportation, and in particular relates to an unmanned system and method for a monorail crane yard. Background Art

[0002] Monorail crane is a very important link in the auxiliary transportation process of coal mines, mainly including the transportation of materials, equipment and gangue, etc. It is an indispensable and important part of the entire coal mine transportation system. At present, the monorail crane is mainly operated by personnel during the process of crane landing in the parking lot. When completing this process, personnel need to cooperate with each other, the labor intensity is high, and the risk factor is high. With the increase in labor costs and the requirements for coal mine safety, the requirements for intelligent and mechanized transportation are also getting higher and higher. At the same time, when the mining heads in a single mining area are concentrated, the monorail crane locomotive transportation will cause problems such as occupying the road, grabbing the road, and grabbing materials.

[0003] Mechanization, automation and unmanned operation in the field of auxiliary transportation in coal mines are the future development trends. How to reduce safety hazards and achieve unmanned or less-manned operation is a technical problem that needs to be solved urgently in the field of coal mine transportation and is currently in the research stage. Summary of the invention

[0004] The purpose of the present invention is to provide an unmanned system and method for a monorail crane yard, which can achieve automation, unmanned operation and less-manpower effects in the monorail lifting and transportation process, and improve the transportation efficiency.

[0005] The technical solution adopted by the present invention is a monorail crane yard unattended system, comprising a ground track; The containerized mining car is located on the ground track and has multiple sections; A special lifting device capable of grabbing or releasing the containerized mining car; A hook-off device is arranged between the front and rear sections of the container-type mining car, and can automatically connect or separate the front and rear sections of the container-type mining car; Precise positioning car blockers are arranged on both sides of the ground track and are used to adjust and position the container-type mining car; A righting mechanism is escalably disposed at the inner bottom of the ground track, and is used to right the containerized mine car when the special lifting device releases it, so that the center of the containerized mine car is consistent with the righting center of the righting mechanism; The cart pusher is used to push the containerized mining cart to the designated area.

[0006] Preferably, the container-type mine car includes a container, a flatbed mine car and a connecting lock; the container is arranged on the top of the flatbed mine car, the container includes a box body, a box door and a connecting block, the left and right sides of the box body are hingedly connected to the box door, the connecting block includes a top connecting block and a bottom connecting block respectively arranged at the four corners of the top and bottom of the box body, the flatbed mine car is provided with a connecting hole corresponding to the position of the bottom connecting block, and the connecting lock is detachably inserted into the bottom connecting block and the connecting hole.

[0007] Preferably, the connecting lock includes a lock head, a lock sleeve, a rotating handle, a locking nut and a locking block. The lock head is inserted into the lock sleeve and is rotatably connected to the lock sleeve. The rotating handle is fixedly connected to the lock head. The locking nut is arranged at the rear end of the lock head. The locking block is fixed to the outer surface of the lock sleeve.

[0008] Preferably, the special sling includes a sling frame, a rotary lock mechanism and a lock control cylinder; the four corners of the sling frame are provided with a rotary lock mechanism, the rotary lock mechanism is detachably connected to the top connecting block, the rotary lock mechanism includes a sling lock head, a sling lock sleeve, a sliding sleeve, a driving handle and a driving connecting shaft, the sling lock head is rotatably inserted into the sling lock sleeve and the sliding sleeve, the sliding sleeve is fixedly connected to the sling frame, one end of the driving handle is fixedly connected to the sling lock head, and the other end is connected to the driving connecting shaft, the lock control cylinder is arranged on the sling frame, and the lock control cylinder is connected to the driving connecting shaft, for driving the sling lock head to rotate.

[0009] Preferably, the hook-detaching device comprises a universal joint, a spring, a detaching padlock, and a collision unlocking mechanism; the universal joint and the spring are provided at both the front and rear ends of the container-type mining car, the spring is sleeved on the universal joint, and the detaching padlock is provided at the end of the universal joint and the spring away from the container-type mining car. The detaching padlock comprises a handle and a lock core, the handle is connected to the lock core, the detaching padlock can be automatically locked by abutment, and the collision unlocking mechanism is used to separate the detaching padlock.

[0010] Preferably, the collision unlocking mechanism includes a rotating base, a lifting mechanism, a gripper cylinder, and a gripper. The rotating base is arranged on the inner side of the ground track, the lifting mechanism is arranged on the rotating base, the gripper cylinder is arranged on the top of the lifting mechanism, one end of the gripper is fixedly connected to the lever head of the gripper cylinder, and when working, the other end of the gripper abuts against the handle.

[0011] Preferably, the precise positioning car blocker includes a front wheel block, a rear wheel block, a transverse shift cylinder, a transverse shift frame, a wheel block moving guide rail, and a wheel block swing motor. The wheel block moving guide rail is arranged on the outside of the ground track, and the transverse shift frame is slidably arranged on the wheel block moving guide rail, one side of the transverse shift frame is connected to the lever head of the transverse shift cylinder, and the transverse shift cylinder is fixed to the outside of the wheel block moving guide rail, one end of the front wheel block and the rear wheel block is respectively connected to one of the transverse shift frames, and the other end of the front wheel block and the rear wheel block is respectively connected to one of the wheel block swing motors, and the wheel block swing motor is used to drive the front wheel block and the rear wheel block to extend above the ground track.

[0012] Preferably, the straightening mechanism includes a fixed plate arranged on the inner side of the ground track, a transverse guide rail, a transverse frame, a follower mechanism, a longitudinal guide rail and two push rods; the transverse guide rail is opened on the fixed plate, and the direction of the transverse guide rail is parallel to the direction of the track; the transverse frame is slidably connected to the transverse guide rail, and the follower mechanism can be raised and lowered in the transverse frame; the longitudinal guide rail is arranged at the top of the follower mechanism, and the direction of the longitudinal guide rail is perpendicular to the direction of the track; the two push rods are respectively vertically arranged at the two ends of the longitudinal guide rail, and both push rods can slide along the longitudinal guide rail; the design stroke of the push rod from the center of the longitudinal guide rail is equal to half of the inner side spacing of the left and right wheels of the container-type mining car.

[0013] Preferably, the straightening device also includes a push rod rotating and floating mechanism, which includes a slider, a sleeve, a base plate and a floating spring. The slider is sleeved on the longitudinal guide rail, the inner side of the sleeve is sleeved on the slider, the outer side of the sleeve is rotatably connected to the push rod, the base plate is fixedly connected to the slider, and the base plate extends to the bottom of the push rod. The floating springs are provided on both sides of the slider, and the floating springs are connected between the push rod and the base plate.

[0014] The present invention also provides an unmanned method for a monorail crane yard, comprising the following steps: S1, the mine car string enters the lifting area; S2, the car pusher enters, drags the mine car string to the precise positioning car blocker, and after the precise positioning car blocker blocks the first two container-type mine cars, the car pusher exits; S3, the precise positioning car blocker adjusts the positions of the first two container-type mine cars, the hook removal device is unlocked, and the first container-type mine car is separated from the mine car string; S4. The precise positioning car blocker adjusts the position of the detached containerized mine car so that the center of the containerized mine car is consistent with the center of the special lifting device. The special lifting device falls into place and grabs the containerized mine car. The special lifting device is lifted to complete the lifting of the containerized mine car. S5, repeating steps S2-S4 to complete the lifting of multiple container-type mining cars in sequence; S6. The monorail crane hoists the containerized mine car to the car landing and righting area. When the car is landing, the righting mechanism makes the righting center coincide with the center of the containerized mine car, and the containerized mine car falls into the ground track, and the car landing is completed; S7, the pusher enters and drags the containerized mine car to the unhooking and lifting area; S8, two container-type mine cars are pushed to two precise positioning car blockers respectively, and the precise positioning car blockers cooperate with the hook-off device to string the mine cars together; S9. After the train connection is completed, the electric locomotive drives in and drags the mine car train back to the ground.

[0015] The beneficial effects of the present invention are: The present invention realizes the effects of automation, unmanned operation and less manpower in the process of monorail lifting and transportation through containerized mine cars, special hoists, hook-removing devices, precise positioning car blockers, straightening mechanisms and car pushers. No human intervention is required in the processes of mine car removal, mine car stringing, mine car lifting, mine car transfer and car drop and straightening, which improves the efficiency of transportation and completely changes the traditional material distribution mode. The present invention can improve production efficiency and reduce the error rate caused by human factors; the present invention improves safety and reduces the risk of accidents caused by human errors by replacing manual operations with automated systems; the present invention reduces production costs, shortens production cycles, and can make enterprises more competitive.

[0016] The container-type mine car of the present invention replaces the original box-type mine car with a standard container mine car. After the door of the container is opened, it becomes a standard fence car suitable for monorail cranes. After the container is removed, the flatbed mine car can also be used alone on the track as a flatbed mine car. It can flexibly convert the use form and has multiple functions. It reduces the negative impact on transportation efficiency caused by the variety and size of mine cars, realizes unified management, makes it more adaptable to the standardized operation requirements in daily transportation of monorail cranes, meets the needs of transporting different materials and realizes the diversified use of vehicles, thereby improving the utilization rate of the vehicles and achieving improved economic benefits.

[0017] The special lifting device of the present invention realizes automatic, rapid and reliable lifting of container-type mine cars by the monorail crane, realizes the automation and standardization of monorail crane lifting, and replaces the existing lifting and lowering form of steel cable-bound mine cars through lifting and lowering in a standardized process, thereby effectively avoiding the safety risks existing in the binding process.

[0018] When the push rod of the straightening device of the present invention slides to the designed stroke, the distance between it and the center of the longitudinal guide rail is half of the inner side spacing of the left and right wheels of the mine car. When the mine car has a deviation perpendicular to the direction of the ground track, the two push rods gradually slide, which will generate a driving force on the inner side of the mine car wheel on one side, that is, the mine car is gradually straightened. Until the push rod slides to the designed stroke, the inner sides of the left and right wheels of the mine car are in contact with the two push rods, that is, the vertical deviation between the mine car and the ground track is eliminated, realizing fast and efficient mine car landing and straightening, which greatly improves the transportation efficiency and safety of the monorail crane landing car.

[0019] The precise positioning car blocker of the present invention can fine-tune the positions of the front wheel block and the rear wheel block, so that the front and rear container-type mining cars are in the relative position of the collision unlocking device. At this time, the front and rear container-type mining cars are fixed in the precise positioning car blocker and cannot move, thereby facilitating the unhooking operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of the unattended system of the monorail crane yard of the present invention.

[0021] Figure 2 This is an enlarged structural diagram of the lifting area.

[0022] Figure 3 This is a schematic diagram of the structure of a container-type mine car.

[0023] Figure 4 This is a three-dimensional image of a containerized mine car.

[0024] Figure 5 This is a schematic diagram of the container structure of a container-type mine car.

[0025] Figure 6 This is a cross-sectional view of a containerized mine car.

[0026] Figure 7 It is a schematic diagram of the cross-sectional structure of the connecting lock.

[0027] Figure 8 It is a three-dimensional diagram of the special lifting equipment.

[0028] Fig. 9 This is a top view of the special lifting equipment.

[0029] Fig.10 It is a three-dimensional diagram of the twist lock mechanism.

[0030] Fig.11 It is a schematic diagram of the connection structure between the rotary lock mechanism and the lock control cylinder.

[0031] Fig.12 It is a schematic diagram of the structure of the hook removal device.

[0032] Fig.13 This is a cross-sectional view of the hook removal device lock.

[0033] Fig.14 This is a schematic diagram of the collision unlocking mechanism structure.

[0034] Fig.15 A schematic diagram of the structure for accurately positioning the car arrester.

[0035] Fig.16 It is a three-dimensional diagram of the righting device.

[0036] Fig.17 This is a schematic diagram of the structure of the righting device when it is working.

[0037] Fig.18 This is the front view of the righting device.

[0038] Fig.19 A top view of the straightening device.

[0039] Fig. 20 This is a schematic diagram of the control system connection of the righting device.

[0040] Reference numerals: 1, container-type mining car; 11, container; 111, box body; 112, door; 114, top connecting block; 115, bottom connecting block; 12, flatbed mining car; 121, connecting hole; 122, car plate; 123, wheel; 13, connecting lock; 131, lock head; 132, lock sleeve; 133, rotating handle; 134, locking nut; 135, locking block; 2. Special lifting equipment; 21. Lifting equipment frame; 22. Rotary lock mechanism; 221. Lifting equipment lock head; 222. Lifting equipment lock sleeve; 223. Sliding sleeve; 224. Driving handle; 225. Driving connecting shaft; 226. Lifting equipment nut; 23. Locking control cylinder; 231. Hydraulic cylinder; 232. Cylinder rod head; 233. Connecting rod; 234. Pipeline; 24. Locking control explosion-proof valve; 3. Hook removal device; 31. Universal joint; 32. Spring; 33. Padlock removal; 331. Handle; 332. Lock core; 34. Collision unlocking mechanism; 341. Rotating base; 342. Lifting mechanism; 343. Gripper oil cylinder; 344. Gripper; 4. Precise positioning car blocker; 41. Front wheel block; 42. Rear wheel block; 43. Transverse cylinder; 44. Transverse frame; 45. Wheel block moving guide rail; 46. Wheel block swing motor; 5. Righting mechanism; 51. Fixed plate; 52. Lateral guide rail; 53. Lateral frame; 54. Lateral cylinder; 55. Follow-up mechanism; 56. Push rod; 57. Push rod cylinder; 58. Longitudinal guide rail; 59. Wire encoder; 510. Push rod rotating floating mechanism; 511. Pressing cylinder; 514. Slider; 515. Sleeve; 516. Bottom plate; 517. Floating spring; 519. Controller; 520. Remote controller; 6. Ground track; 7. Trolley machine; 71. Pusher head reversing mechanism; 72. Trolley machine track. DETAILED DESCRIPTION

[0041] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] like Figure 1 As shown, the unmanned system of the monorail crane yard of the present invention comprises a containerized mine car 1, a special hoist 2, a hook-removing device 3, a precise positioning car stopper 4, a straightening mechanism 5, a ground track 6, and a trolley 7; the containerized mine car 1 is located on the ground track 6 and is provided with multiple sections; the special hoist 2 can grab or release the containerized mine car 1; the hook-removing device 3 is arranged between the front and rear sections of the containerized mine car 1, and can automatically connect or separate the front and rear sections of the containerized mine car 1; the precise positioning car stopper 4 is arranged on both sides of the ground track 6, and is used to adjust and position the containerized mine car 1; the straightening mechanism 5 can be raised and lowered and arranged at the inner bottom of the ground track 6, and is used to straighten the containerized mine car 1 when the special hoist 2 releases it, so that the center of the containerized mine car 1 is consistent with the straightening center of the straightening mechanism 5; the trolley 7 is used to push the containerized mine car 1 to the designated area.

[0043] During operation, the electric locomotive is used to pull the containerized mine car 1 to the parking space, and the electric locomotive drives away; the containerized mine car 1 is blocked by the precise positioning car blocker 4, and the car is automatically removed by the unhooking device. After the unhooking hand cooperates with the unhooking car, the precise positioning car blocker 4 positions the front section of the containerized mine car, and the monorail crane drives in to prepare for lifting; after the monorail crane stops, the precise positioning car blocker 4 moves slightly, and after adjusting the position, the special lifting device 2 falls, and after the special lifting device 2 contacts the containerized mine car 1, the special lifting device 2 stops falling; the special lifting device 2 performs the locking action, and after locking the containerized mine car 1, the special lifting device 2 lifts the containerized mine car 1 to complete the lifting work. After the pusher enters and drags the rear containerized mine car 1 to the front position, the unhooking device 3 removes the car, and the lifting process of multiple sections of the containerized mine car 1 is completed in sequence. After the monorail crane completes the lifting, it drives away. When the monorail crane transports the containerized mine car 1 from other areas to the parking lot for unloading, the straightening mechanism 5 receives the signal, and the straightening mechanism 5 operates to sequentially straighten the containerized mine car 1 under each special hoist 2 after unloading.

[0044] Example 2 On the basis of Example 1, in this embodiment, Figure 3 and Figure 4As shown, the container-type mining car 1 includes a container 11, a flatbed mining car 12 and a connecting lock 13; the container 11 is arranged on the top of the flatbed mining car 12, and the container 11 includes a box body 111, a box door 112 and a connecting block, the left and right sides of the box body 111 are hingedly connected with the box door 112, and the connecting block includes a top connecting block 114 and a bottom connecting block 115, the top connecting block 114 is arranged at the four corners of the top of the box body 11, and the bottom connecting block 115 is arranged at the four corners of the bottom of the box body 11, and the flatbed mining car 12 is provided with a connecting hole 121 corresponding to the position of the bottom connecting block 115, and the connecting lock 13 is detachably penetrated through the bottom connecting block 115 and the connecting hole 121.

[0045] In some specific embodiments, Figure 5 As shown, the container 11 is a rectangular shaped receiving cavity with an opening at the top. The container 11 serves as a bearing base during use.

[0046] Optionally, the box body 111 and the box door 112 are connected by hinges.

[0047] like Figure 3 As shown, the flatbed mining vehicle 12 includes a vehicle plate 122 and wheels 123. The wheels 123 are arranged at the bottom of the vehicle plate 122. Figure 6 As shown, the connection holes 121 are formed on the vehicle plate 122. There are four connection holes 121, and the positions thereof correspond to the positions of the four bottom connection blocks 115. The shape of the connection holes 121 is rectangular, approximately rectangular or irregular.

[0048] like Figure 7 As shown, the connecting lock 13 includes a locking head 131, a locking sleeve 132, a rotating handle 133, a locking nut 134 and a locking block 135. The locking head 131 is inserted into the locking sleeve 132 and is rotatably connected to the locking sleeve 132. The rotating handle 133 is fixedly connected to the locking head 131. The locking nut 134 is arranged at the rear end of the locking head 131. The rotating handle 133 is arranged between the locking sleeve 132 and the locking nut 134. The locking block 135 is fixed to the outer surface of the locking sleeve 132.

[0049] The vertical projection shape of the lock head 131 is a rectangle, a nearly rectangular shape or an irregular shape, and the lock head 131 can be inserted into or removed from the connecting hole 121 only when the directions of the lock head 131 and the connecting hole 121 are aligned.

[0050] In this embodiment, the head portion of the upper end of the lock head 131 is a tetrahedron with a pyramidal structure, wherein the lower surface and two opposite side surfaces are planes, and the remaining side surfaces are conical surfaces.

[0051] The top connection block 114 and the bottom connection block 115 are both rectangular corner pieces, with a notch formed at the top of the top connection block 114 and a notch formed at the bottom of the bottom connection block 115. Optionally, the notch is rectangular, approximately rectangular or irregularly shaped, and the lock head 131 can be inserted into or out of the notch only when the direction of placement of the notch is consistent with that of the notch. In this embodiment, the notch is rectangular.

[0052] The connecting lock 13 connects or separates the container 11 and the flatbed mine car 12 by rotating. The specific operation process is: the direction of the lock head 131 is placed in line with the direction of the connecting hole 121, the lock head 131 is inserted into the connecting hole 121 and the bottom connecting block 115, and the rotating handle 133 in the connecting lock 13 is rotated 90°. At this time, the lock head 131 is also rotated 90°. The lock head 131 and the lock block 132 are respectively stuck in the notch of the bottom connecting block 115 and the lower surface of the car plate 122 of the flatbed mine car 12. The four connecting locks 13 firmly lock the four corners of the container 11 on the flatbed mine car 12.

[0053] The top connection block 114 is used to be inserted into the special lifting tool 2 , which is provided with a rotary lock mechanism matched with the top connection block 114 . The rotary lock mechanism can be connected to or separated from the top connection block 114 by automatic rotation.

[0054] The assembly method of the container mine car is as follows: first, place the container 1 on the flatbed mine car 2, and align the bottom connecting block 115 and the connecting hole 21, insert the connecting locks 3 into the bottom connecting block 115 of the box body 11 from the bottom of the flatbed mine car 2 one by one, and rotate the rotating handle 33 in the connecting lock 3 by 90°. At this time, the lock head 31 and the lock block 35 respectively clamp the notch of the bottom connecting block 115 and the lower surface of the car plate 22 of the flatbed mine car 2. The four connecting locks 3 firmly lock the four corners of the bottom of the container 1 on the flatbed mine car 2. At this time, a multifunctional container mine car for auxiliary transportation and automatic lifting for mining is assembled.

[0055] Example 3 On the basis of Example 1 or Example 2, in this embodiment, as Figure 8 and Fig. 9As shown, the special sling includes a sling frame 21, a rotary lock mechanism 22 and a lock control cylinder 23; the rotary lock mechanism 22 is arranged at the four corners of the sling frame 21, the rotary lock mechanism 22 includes a sling lock head 221, a sling lock sleeve 222, a sliding sleeve 223, a driving handle 224 and a driving connecting shaft 225, the sling lock head 221 is rotatably inserted into the sling lock sleeve 222 and the sliding sleeve 223, the sliding sleeve 223 is fixedly connected to the sling frame 21, one end of the driving handle 224 is fixedly connected to the sling lock head 221, and the other end is connected to the driving connecting shaft 225, the lock control cylinder 23 is arranged on the sling frame 21, and the lock control cylinder 23 is connected to the driving connecting shaft 225, and is used for driving the sling lock head 221 to rotate.

[0056] The sling frame 21 is a rectangular frame structure, and the positions of its four corners correspond to the positions of the top connecting block 114. The rotary lock mechanism 22 is used to dock the container mine car, realize the docking between the sling and the container mine car, and make the container mine car and the lifting beam move together.

[0057] like Fig.10 As shown, the rotary lock mechanism 22 includes a sling lock head 221, a sling lock sleeve 222, a sliding sleeve 223, a driving handle 224 and a driving connecting shaft 225. The vertical projection shape of the sling lock head 221 is a rectangle, a nearly rectangular shape or an irregular shape, and the sling lock head 221 can be inserted into or out of the lock hole only when the sling lock head 221 and the lock hole are placed in the same direction. In this embodiment, the lower end of the sling lock head 221 is a tetrahedron with a cone-like structure, the upper surface and the two opposite side surfaces are planes, and the other side surfaces are conical surfaces.

[0058] Optionally, the driving handle 224 is connected to the hanger lock head 221 via a key.

[0059] A hanger nut 226 and a cotter pin are provided at the tail end of the hanger lock 221. The hanger nut 226 serves as a plug for locking the tail end of the hanger lock 221. The cotter pin is passed through the hanger lock 221 and is located above the hanger nut 226. The hanger nut 226 and the tail end of the hanger lock 221 are stopped by the cotter pin to prevent the hanger nut 226 from falling out.

[0060] In the unlocked state, the sling lock 221 can be vertically inserted into the top connecting block 114. When locked, the driving mechanism causes the driving handle 224 to rotate 90 degrees, and the sling lock 221 also rotates 90 degrees in the top connecting block 114, thereby being stuck in the top connecting block 114 of the container mine car, completing the locking of the sling frame 21 and the container mine car. When the container mine car is lowered, the driving mechanism causes the driving handle 224 to rotate 90 degrees, and the sling lock 221 also rotates 90 degrees in the top connecting block 114, the sling lock 221 rises and disengages from the top connecting block 114, and the sling frame 21 and the container mine car are separated.

[0061] The lock control cylinder 23 includes a hydraulic pump, a hydraulic cylinder 231, a cylinder rod head 232, a connecting rod 233, and a pipeline 234. Fig.11 As shown, the hydraulic pump is connected to the hydraulic cylinder 231 through a pipeline 234, the cylinder rod head 232 is slidably disposed in the hydraulic cylinder 231, and the cylinder rod head 232 is hingedly connected to the driving connecting shaft 225 through a connecting rod 233. In this embodiment, four lock control cylinders 23 are provided, which are respectively arranged at the four corners of the hanger frame 21, and are used to drive the rotary lock mechanism 22 to unlock and lock.

[0062] When the hydraulic oil is delivered from the hydraulic pump to the hydraulic cylinder 231 through the pipeline 234, the volume of the liquid in the hydraulic cylinder 231 increases, pushing the cylinder rod head 232 to move, and driving the external load to work through the connecting parts. When the hydraulic oil flows in the reverse direction in the pipeline 234, the cylinder rod head 232 also moves in the reverse direction, thereby realizing the reciprocating motion of the cylinder rod head 232. Since the driving connecting shaft 225 is connected to the driving handle 224, when the cylinder rod head 232 reciprocates, the driving handle 224 generates a rotational motion through the connecting rod 233 and the driving connecting shaft 225. Since the driving handle 224 is fixedly connected to the sling lock head 221, the rotation of the sling lock head 221 is realized.

[0063] The special hoist also includes a lock-controlled explosion-proof valve 24, which is arranged on the hoist frame 21 and connected to the hydraulic pump and the hydraulic cylinder 231 through pipelines. The lock-controlled explosion-proof valve 24 can adopt the existing explosion-proof valve products on the market. The explosion-proof valve can control the on-off of the fluid to prevent the sudden rupture of the pipeline and the uncontrolled unhooking accident of the rotary lock mechanism 22. At the same time, it prevents the hydraulic oil in the pipeline from leaking and polluting, plays an explosion-proof and explosion-proof role, and can ensure the safety of the hoisting and unloading process of the monorail mining car.

[0064] In this embodiment, the lock-controlled explosion-proof valve 24 is provided with one, and the unlocking oil ports of the four lock-controlled cylinders 23 are connected to the unlocking oil port of the lock-controlled explosion-proof valve 24, and the closing oil ports of the four lock-controlled cylinders 23 are connected to the closing oil port of the lock-controlled explosion-proof valve 24. When in use, the unlocking oil ports of the four lock-controlled cylinders 23 are connected together through pipes to connect to the unlocking oil port of the lock-controlled explosion-proof valve 24, and the closing oil ports of the four lock-controlled cylinders 23 are connected together through pipes to connect to the closing oil port of the lock-controlled explosion-proof valve 24.

[0065] Example 4 On the basis of Example 3, Fig.12 As shown, in this embodiment, the hook-detaching device 3 includes a universal joint 31 , a spring 32 , a padlock 33 , and a collision unlocking mechanism 34 .

[0066] Universal joints 31 and springs 32 are provided at both the front and rear ends of the containerized mining car 1. The springs 32 are sleeved on the universal joints 31. The universal joints 31 and springs 32 enable the angle of the containerized mining car 1 to be flexibly changed within a certain range when passing through a bend or a slope change point during operation without affecting power transmission. A padlock 33 is provided at the end of the universal joint 31 and spring 32 away from the containerized mining car 1. Fig.13 As shown, the padlock 33 includes a rotating handle 331 and a lock core 332. The handle 331 is connected to the lock core 332. The electric locomotive is used to collide with each other to realize the automatic hooking of the front and rear container-type mining cars 1. The lock core 332 is rotated by pushing the handle 331 to realize the separation of the two container-type mining cars 1.

[0067] like Fig.14 As shown, the collision unlocking mechanism 34 includes a rotating base 341, a lifting mechanism 342, a gripper cylinder 343, and a gripper 344. The rotating base 341 is arranged on the inner side of the ground track 6. The rotating base 341 is rotatable and driven by a rotating motor. The lifting mechanism 342 is arranged on the rotating base 341 to drive the gripper cylinder 343 to rise and fall. The gripper cylinder 343 is arranged on the top of the lifting mechanism 342. One end of the gripper 344 is fixedly connected to the lever head of the gripper cylinder 343. When working, the other end of the gripper 344 abuts against the handle 331, and the gripper 344 drives the handle 331 to move, thereby separating the padlock 33.

[0068] In some specific embodiments, a safety device is provided at the end of the handle 331. When the handle 331 is lifted to a small angle, the safety device fails. When two container-type mining cars 1 collide, the trailer can be automatically hooked. Conversely, when two container-type mining cars 1 collide, the trailer cannot be automatically hooked.

[0069] The present invention realizes automatic unhooking of the vehicle through a hydraulic and electrically controlled touch mode. When the collision unlocking mechanism 34 is working, the lifting mechanism 342 is first opened to push the gripper cylinder 343 and the gripper 344 to rise, and the rotating base 341 can rotate the upper part from a direction parallel to the ground track 6 to a direction perpendicular to the ground track 6; then the lever head of the gripper cylinder 343 extends and pushes the gripper 344 to find the handle 331, the gripper 344 abuts against the handle 331, the gripper drives the handle to lift, and the lock core 332 rotates to achieve separation. When the collision unlocking mechanism 34 is not working, the lifting mechanism 342 drives the gripper cylinder 343 and the gripper 344 to fall below the ground track 6.

[0070] In some specific embodiments, the padlock 33 can also be removed by using the Chinese patent of the applicant entitled "Automatic Hooking Device for Mining by Collision", with the publication number CN216833671U.

[0071] In some specific embodiments, the present invention is further provided with a container electric control unit to remotely control the unhooking via a wireless network.

[0072] Example 5 like Figure 2 As shown, in this embodiment, the pusher 7 includes a power device, a trolley, and a pusher head reversing mechanism 71 at both ends. The pusher 7 is set on a pusher track 72, and can push the mine car to the designated area in both directions. The pusher 7 can be moved forward, backward or turned by remote control or a control console. The pusher 7 can adopt existing pusher products on the market.

[0073] When the pusher head contacts the axle of the containerized mine car 1, the mine car can be pushed slowly and steadily along the track to the destination; after reaching the designated position, the connection between the pusher and the containerized mine car 1 is released; the pusher returns to the origin or the designated area, waiting for the next pusher command.

[0074] like Fig.15 As shown, the precise positioning car blocker 4 includes a front wheel block 41, a rear wheel block 42, a transverse cylinder 43, a transverse frame 44, a wheel block moving guide rail 45, and a wheel block swing motor 46. The wheel block moving guide rail 45 is arranged on the outer side of the ground track 6, and the transverse frame 44 is slidably arranged on the wheel block moving guide rail 45. One side of the transverse frame 44 is connected to the lever head of the transverse cylinder 43, and the transverse cylinder 43 is fixed to the outer side of the wheel block moving guide rail 45. One end of the front wheel block 41 and the rear wheel block 42 are respectively connected to a transverse frame 44, and the other end of the front wheel block 41 and the rear wheel block 42 are respectively connected to a wheel block swing motor 46. The wheel block swing motor 46 is used for driving the front wheel block 41 and the rear wheel block 42 to extend above the ground track 6.

[0075] Precise positioning car blockers 4 are provided below the front and rear container-type mining cars 1 corresponding to the unhooking and lifting areas.

[0076] In some preferred embodiments, front wheel stops 41 and rear wheel stops 42 are provided on both sides of the ground track 6 to further improve the position adjustment accuracy and stability.

[0077] The front wheel block 41 and the rear wheel block 42 block the vehicle when they are opened, and do not affect the passage of the mine car when they are closed. According to the required position of the mine car, more accurate position adjustment can be achieved within a certain range.

[0078] The process of accurately positioning the car blocker 4 to adjust the position of the front and rear container-type mine cars 1 before separation is as follows: the wheel block swing motor 46 drives the front wheel block 41 to extend above the ground track 6, and the front wheel block 41 is in a raised car blocking state. The pusher moves to the axle of the rear container-type mine car 1 and clamps the axle. The pusher pushes the rear container-type mine car 1 forward and drives the front container-type mine car 1 to move forward along the track together to the front wheel block 41 to stop. The pusher 7 withdraws, and the wheel block swing motor 46 drives the front wheel block 41 to move forward. All the front wheel blocks 41 and rear wheel blocks 42 are raised to be in a blocking state, so that the outer sides of the front and rear wheels of the front and rear container-type mine cars 1 are clamped by the front wheel blocks 41 and the rear wheel blocks 42, and then the transverse frame 44 is driven by the transverse cylinder 43 to move along the wheel block moving guide rail 45, so as to fine-tune the positions of the front wheel blocks 41 and the rear wheel blocks 42, so that the front and rear container-type mine cars 1 are in the relative positions of the collision unlocking device, and the front and rear container-type mine cars 1 are fixed in the precise positioning car blocker 4 and cannot move.

[0079] Example 6 In this embodiment, Fig.16 , Fig.17 and Fig.18 As shown, the straightening mechanism 5 comprises a fixed plate 51 arranged on the inner side of the ground track 6, a transverse guide rail 52, a transverse frame 53, a follower mechanism 55, a longitudinal guide rail 58 and two push rods 56; the transverse guide rail 52 is opened on the fixed plate 51, and the direction of the transverse guide rail 52 is parallel to the direction of the ground track 6; the transverse frame 53 is slidably connected to the transverse guide rail 52, and the follower mechanism 55 is movably arranged in the transverse frame 53; the longitudinal guide rail 58 is arranged on the top of the follower mechanism 55, and the direction of the longitudinal guide rail 58 is perpendicular to the direction of the ground track 6; as shown in FIG. Fig.19 As shown, the two push rods 56 are respectively vertically arranged at the two ends of the longitudinal guide rail 58, and the two push rods 56 can slide along the longitudinal guide rail 58; the design stroke of the push rod 56 from the center of the longitudinal guide rail 58 is equal to half of the inner side spacing of the left and right wheels of the container-type mining car 1.

[0080] When the monorail crane transports the mine car to the fixed landing point of the monorail crane car-dropping and straightening device for auxiliary transportation in coal mines, the monorail crane stops, firstly controls the follower mechanism 55 to rise, and the transverse frame 53 moves along the transverse guide rail 52 until the straightening center is consistent with the center of the mine car, and then controls the two push rods 56 to slide along the longitudinal guide rail 58. When the container-type mine car 1 has a deviation perpendicular to the ground track 6, the container-type mine car 1 moves to the left or right under the action of the push rod 56 until the inner side surfaces of the left and right wheels of the container-type mine car 1 contact the two push rods 56 respectively, that is, the deviation between the container-type mine car 1 and the ground track 6 is eliminated, and then the monorail crane beam falls to drive the mine car to fall, and the follower mechanism 55 moves down with the weight of the mine car. After the car is dropped, the push rod 56 is retracted, and the follower mechanism 55 retracts to the initial position, completing the car drop and straightening. The straightening mechanism 5 realizes fast and efficient righting of the mine car, greatly improving the transportation efficiency and safety of the monorail crane car. By means of the transverse guide rail and the transverse frame, the problem of the non-fixed position of the monorail crane car is solved, which can meet the actual use needs on site.

[0081] In some specific embodiments, the straightening device 5 also includes a push rod rotating floating mechanism 510, which includes a slider 514, a sleeve 515, a base plate 516 and a floating spring 517. The slider 514 is sleeved on the longitudinal guide rail 58, the inner side of the sleeve 515 is sleeved on the slider 514, the outer side of the sleeve 515 is rotatably connected to the push rod 56, the base plate 516 is fixedly connected to the slider 514, and the base plate 516 extends to the bottom of the push rod 56. Floating springs 517 are arranged on both sides of the slider 514, and the floating spring 517 is connected between the push rod 56 and the base plate 516.

[0082] When there is a height inconsistency between the front and rear wheels of the containerized mining car 1, the push rod rotating floating mechanism 10 is used to realize automatic alignment and adjustment of the containerized mining car 1 during the landing process, ensuring that the front and rear wheels of the containerized mining car 1 are in contact with the push rod 6 without manual intervention, thereby improving the working efficiency. The principle is as follows: When the lower wheel of the container-type mining car 1 first contacts one end of the push rod 6 and presses down, due to the sleeve 515 rotatably sleeved on the push rod 56, the push rod 56 will rotate around the slider 514 by a certain angle. At the same time, under the elastic force of the floating spring 517, the other end of the push rod 56 will be lifted up for a distance and contact the higher wheel.

[0083] The fixing plate 51 is installed on the basic frame, and the monorail mining car falling and straightening device is installed in the middle of the ground track 6, without occupying the outer space of the ground track 6 and without affecting the pedestrian passage.

[0084] The outer side of the push rod 56 is L-shaped, which is convenient for receiving the dropped container-type mining car 1.

[0085] In some specific embodiments, the straightening device 5 further includes a transverse oil cylinder 54, which is installed at the bottom of the fixed plate 51, and the cylinder rod head of the transverse oil cylinder 54 is connected to the transverse frame 53. The transverse oil cylinder 54 is also connected to the hydraulic pump of the hydraulic system. The transverse oil cylinder 54 drives the transverse frame 53 to move along the transverse guide rail 52.

[0086] In some specific embodiments, the straightening device 5 further includes a push rod cylinder 57, which is fixed to the top of the follower mechanism 55 and is also connected to the hydraulic pump of the hydraulic system. Two push rod cylinders 57 are provided, which are respectively used to drive the two push rods 56 to move. The cylinder rod head of the push rod cylinder 57 is connected to the slider 514, and the movement of the cylinder rod head of the push rod cylinder 57 drives the slider 514 to move, that is, drives the sleeve 515 and the push rod 56 to move.

[0087] In some specific embodiments, the straightening device 5 also includes a downward pressure cylinder 511, which is installed in the transverse frame 53. The cylinder rod head of the downward pressure cylinder 511 is connected to the bottom of the top plate of the follower mechanism 55, and the follower mechanism 55 is moved up and down by moving the cylinder rod head of the downward pressure cylinder 511.

[0088] In some specific embodiments, Fig. 20 As shown, the straightening device 5 also includes a control system, which includes a wire encoder 59, a controller 519, and a remote controller 520.

[0089] The wire encoder 59 is disposed on the top of the follower mechanism 55 and is used to measure the position of the push rods 56 to ensure that the push distances of the two push rods 56 remain consistent.

[0090] The wire encoder 59 , the lateral movement cylinder 54 , the push rod cylinder 57 and the downward pressure cylinder 511 are respectively connected to the controller 519 for communication, and the controller 519 is connected to the remote controller 520 for wireless communication.

[0091] The working principle of the straightening mechanism 55 is as follows: manually operate the remote control, the downward pressure cylinder 511 extends, the upper part of the follower mechanism 55 is lifted, and according to the center of the mine car, the transverse movement cylinder 54 extends or retracts, driving the transverse movement frame 53 to move partly, and move to the center of the straightening and the center of the mine car, and the push rod cylinder 57 pushes the push rod 56 to move outward. The moving distance of the push rod 56 is monitored and fed back by the pull wire encoder 59 to ensure that the push distance of the left and right push rods 56 is consistent. After the inner side of the mine car wheel contacts the two push rods 56, the mine car moves to the left or right to eliminate the deviation between the wheel and the ground track 6, and then the monorail crane is lowered, and the follower mechanism 55 moves downward with the weight of the mine car. When there is a problem of height inconsistency between the front and rear wheels of the mine car, the push rod rotating floating mechanism 510 completes the self-adjustment adaptation. After the car is lowered, the push rod cylinder 57 retracts to drive the push rod 56 back; the downward pressure cylinder 511 retracts, driving the follower mechanism 55 to retract to the initial position to complete the whole process of the car lowering and straightening.

[0092] Optionally, the whole set of righting device is composed of two sets of righting mechanisms. In the first working condition, the monorail lifting beam lifts one mine car and disembarks, and one set of righting mechanisms is used; in the second working condition, the monorail lifting beam lifts two mine cars and disembarks, and the two sets of righting mechanisms operate independently.

[0093] Example 7 The unmanned monorail crane yard system of the present invention further comprises a container electronic control unit, which is used to control the special sling 2, the hook removal device 3, the precise positioning car stopper 4, the righting mechanism 5 and the car pusher.

[0094] Example 8 The present invention also provides an unmanned method for a monorail crane yard, comprising the following steps: S1. The mine cars are connected in series and enter the lifting area.

[0095] S2, the trolley pusher 7 enters, drags the mine car string to the precise positioning car blocker 4, and after the precise positioning car blocker 4 blocks the first two container-type mine cars 1, the trolley pusher 7 exits.

[0096] S3, the precise positioning car blocker 4 adjusts the position of the unhooking padlock 33 between the first two container-type mine cars 1, so that the position of the unhooking padlock 33 corresponds to the position of the collision unlocking mechanism 34, the lifting mechanism 342 and the rotating base 341 are actuated, so that the unlocking mechanism 34 is raised and rotated to the inside of the ground track 6, the gripper 344 extends out and pushes the handle 331, so that the unhooking padlock 33 of the unhooking device 3 is unlocked, and the first container-type mine car 1 is separated from the mine car string.

[0097] S4, accurately positioning the car blocker 4 to adjust the position of the detached containerized mine car 1, so that the center of the containerized mine car 1 is consistent with the center of the special lifting device 2, the special lifting device 2 falls into place, the lifting device lock is closed, and the special lifting device 2 is lifted to complete the lifting of the containerized mine car 1.

[0098] S5. Repeat steps S2-S4 to complete the lifting of the multi-section container-type mining car 1 in sequence.

[0099] S6. The monorail crane hoists the containerized mine car 1 to the car disembarking and righting area. When the car is disembarking, the righting mechanism 5 is manually operated to make the righting center coincide with the center of the containerized mine car 1. The containerized mine car 1 falls into the ground track 6, and the disembarking is completed.

[0100] S7, the pusher 7 enters and drags the containerized mining vehicle 1 to the unhooking and lifting area.

[0101] S8, the two container-type mining cars 1 are pushed to the two precise positioning vehicle stoppers 4 respectively, and the precise positioning vehicle stoppers 4 cooperate with the hook-off device 3 to string the mining cars together.

[0102] S9. After the container-type mine car string 1 is completed, the electric locomotive drives in and tows the mine car string back to the ground.

[0103] Components and structures not described in detail in the embodiments are well-known components and common structures or common means in the industry and are not described one by one here.

Claims

1. A monorail crane yard unattended system, characterized in that: including ground tracks (6); A container-type mining car (1) is located on a ground track (6) and is provided with multiple sections; A special lifting device (2) capable of grabbing or releasing the container-type mining vehicle (1); A hook-detaching device (3) is arranged between the front and rear sections of the container-type mining car (1) and is capable of automatically connecting or disconnecting the front and rear sections of the container-type mining car (1); Precise positioning car stoppers (4) are arranged on both sides of the ground track (6) and are used to adjust and position the container-type mining car (1); A righting mechanism (5) is movably arranged at the inner bottom of the ground track (6) and is used to right the containerized mining car (1) when the special lifting device (2) releases the containerized mining car (1), so that the center of the containerized mining car (1) is consistent with the righting center of the righting mechanism (5); The pusher (7) is used to push the container-type mining vehicle (1) to a designated area.

2. The unmanned monorail crane yard system according to claim 1, characterized in that: The container-type mining car (1) comprises a container (11), a flatbed mining car (12) and a connecting lock (13); the container (11) is arranged on the top of the flatbed mining car (12); the container (11) comprises a box body (111), a box door (112) and a connecting block; the box door (112) is hingedly connected to the left and right sides of the box body (111); the connecting block comprises a top connecting block (114) arranged at the top four corners of the box body (111) and a bottom connecting block (115) arranged at the bottom four corners of the box body (111); the flatbed mining car (12) is provided with a connecting hole (121) corresponding to the position of the bottom connecting block (115); and the connecting lock (13) is detachably inserted into the bottom connecting block (115) and the connecting hole (121).

3. The unmanned monorail crane yard system according to claim 2, characterized in that: The connecting lock (13) comprises a locking head (131), a locking sleeve (132), a rotating handle (133), a locking nut (134) and a locking block (135); the locking head (131) is inserted into the locking sleeve (132) and is rotationally connected to the locking sleeve (132); the rotating handle (133) is fixedly connected to the locking head (131); the locking nut (134) is arranged at the rear end of the locking head (131); and the locking block (135) is fixed to the outer surface of the locking sleeve (132).

4. The unmanned monorail crane yard system according to claim 2, characterized in that: The special sling (2) comprises a sling frame (21), a rotary lock mechanism (22) and a lock control cylinder (23); the rotary lock mechanism (22) is provided at the four corners of the sling frame (21); the rotary lock mechanism (22) is detachably connected to the top connection block (114); the rotary lock mechanism (22) comprises a sling lock head (221), a sling lock sleeve (222), a sliding sleeve (223), a driving handle (224) and a driving connection shaft (225); the sling lock head (221) is rotatably The drive handle (224) is inserted into the sling lock sleeve (222) and the sliding sleeve (223), the sliding sleeve (223) is fixedly connected to the sling frame (21), one end of the drive handle (224) is fixedly connected to the sling lock head (221), and the other end is connected to the drive connecting shaft (225), the lock control cylinder (23) is arranged on the sling frame (21), the lock control cylinder (23) is connected to the drive connecting shaft (225), and is used to drive the sling lock head (221) to rotate.

5. The unmanned monorail crane yard system according to claim 1, characterized in that: The hook-off device (3) comprises a universal joint (31), a spring (32), a disengaging padlock (33), and a collision unlocking mechanism (34); the universal joint (31) and the spring (32) are both provided at the front and rear ends of the container-type mining car (1); the spring (32) is sleeved on the universal joint (31); the disengaging padlock (33) is provided at one end of the universal joint (31) and the spring (32) away from the container-type mining car (1); the disengaging padlock (33) comprises a handle (331) and a lock core (332); the handle (331) is connected to the lock core (332); the disengaging padlock (33) can be automatically locked by abutting; and the collision unlocking mechanism (34) is used to separate the disengaging padlock (33).

6. The unmanned monorail crane yard system according to claim 5, characterized in that: The collision unlocking mechanism (34) comprises a rotating base (341), a lifting mechanism (342), a gripper cylinder (343), and a gripper (344); the rotating base (341) is arranged on the inner side of the ground track (6); the lifting mechanism (342) is arranged on the rotating base (341); the gripper cylinder (343) is arranged on the top of the lifting mechanism (342); one end of the gripper (344) is fixedly connected to the lever head of the gripper cylinder (343); when working, the other end of the gripper (344) abuts against the handle (331).

7. The unmanned monorail crane yard system according to claim 1, characterized in that: The precise positioning vehicle blocker (4) comprises a front wheel block (41), a rear wheel block (42), a transverse cylinder (43), a transverse frame (44), a wheel block moving guide rail (45), and a wheel block swing motor (46). The wheel block moving guide rail (45) is arranged on the outside of the ground track (6). The transverse frame (44) is slidably arranged on the wheel block moving guide rail (45). One side of the transverse frame (44) is connected to the lever head of the transverse cylinder (43). The transverse cylinder (43) is fixed to the outside of the wheel block moving guide rail (45). One end of the front wheel block (41) and the rear wheel block (42) are respectively connected to one of the transverse frames (44). The other ends of the front wheel block (41) and the rear wheel block (42) are respectively connected to one of the wheel block swing motors (46). The wheel block swing motor (46) is used to drive the front wheel block (41) and the rear wheel block (42) to extend above the ground track (6).

8. The unmanned monorail crane yard system according to claim 1, characterized in that: The straightening mechanism (5) comprises a fixed plate (51) arranged on the inner side of the ground track (6), a transverse guide rail (52), a transverse frame (53), a follower mechanism (55), a longitudinal guide rail (58) and two push rods (56); the transverse guide rail (52) is arranged on the fixed plate (51), and the direction of the transverse guide rail (52) is parallel to the direction of the track (56); the transverse frame (53) is slidably connected to the transverse guide rail (52), and the follower mechanism (55) is arranged to be liftable. The longitudinal guide rail (58) is arranged at the top of the follower mechanism (55), and the direction of the longitudinal guide rail (58) is perpendicular to the direction of the track (56); the two push rods (56) are respectively arranged vertically at the two ends of the longitudinal guide rail (58), and the two push rods (56) can slide along the longitudinal guide rail (58); the design stroke of the push rod (56) from the center of the longitudinal guide rail (58) is equal to half of the inner distance between the left and right wheels of the container-type mining car (1).

9. The unmanned monorail crane yard system according to claim 8, characterized in that: The straightening device (5) also includes a push rod rotating floating mechanism (510), and the push rod rotating floating mechanism (510) includes a slider (514), a sleeve (515), a bottom plate (516) and a floating spring (517). The slider (514) is sleeved on the longitudinal guide rail (58), the inner side of the sleeve (515) is sleeved on the slider (514), the outer side of the sleeve (515) is rotatably connected to the push rod (56), the bottom plate (516) is fixedly connected to the slider (514), and the bottom plate (516) extends to the bottom of the push rod (56). The floating spring (517) is provided on both sides of the slider (514), and the floating spring (517) is connected between the push rod (56) and the bottom plate (516).

10. An unmanned monorail crane yard method of the unmanned monorail crane yard system according to claim 1, characterized in that: The following steps are involved: S1, the mine car string enters the lifting area; S2, the car pusher (7) enters, drags the mine car string to the precise positioning car blocker (4), and after the precise positioning car blocker (4) blocks the first two container-type mine cars (1), the car pusher (7) exits; S3, accurately positioning the vehicle stopper (4) to adjust the positions of the first two container-type mine cars (1), unlocking the hook device (3), and the first container-type mine car (1) is separated from the mine car string; S4, accurately positioning the vehicle stopper (4) to adjust the position of the detached containerized mine car (1) so that the center of the containerized mine car (1) is consistent with the center of the special lifting device (2), the special lifting device (2) falls into place and grabs the containerized mine car (1), and the special lifting device (2) is lifted to complete the lifting of the containerized mine car (1); S5, repeating steps S2-S4 to complete the lifting of the multi-section container-type mining car (1) in sequence; S6, the monorail crane hoists the containerized mine car (1) to the car landing and righting area. When the car is landing, the righting mechanism (5) makes the righting center coincide with the center of the containerized mine car (1), and the containerized mine car (1) falls into the ground track (6), and the car landing is completed; S7, the pusher (7) enters and drags the containerized mining vehicle (1) to the unloading and lifting area; S8, the two container-type mining cars (1) are pushed to the two precise positioning vehicle stoppers (4) respectively, and the precise positioning vehicle stoppers (4) cooperate with the hook-off device (3) to string the mining cars together; S9. After the train connection is completed, the electric locomotive drives in and drags the mine car train back to the ground.

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