A monorail crane field unattended system and method

Abstract

The present application belongs to the technical field of auxiliary transportation of coal mine, and discloses a kind of unmanned system and method of monorail crane field, system includes being provided with multiple container type mine car, special lifting appliance, unhooking and hooking device, accurate positioning car stop, righting mechanism and car pusher, special lifting appliance can grab or release the container type mine car, unhooking and hooking device is used to automatically connect or separate front and rear two section container type mine car, accurate positioning car stop is used to separate front and rear two section container type mine car and carry out position adjustment, righting mechanism is used to right when special lifting appliance releases container type mine car, so that the center of container type mine car is consistent with the righting center of righting mechanism, car pusher is used to push container type mine car to specified area.The present application can realize the effect of automation, unmanned and few people during monorail crane operation, improve the efficiency of operation, and completely change the traditional material distribution mode.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of auxiliary transportation of coal mine, and particularly relates to a single-track hoist yard unattended system and method. BACKGROUND

[0002] As a very important part in the process of auxiliary transportation of coal mine, the single-track hoist mainly includes the transportation of materials, equipment and gangue, and is an indispensable important part of the whole coal mine transportation system. At present, the single-track hoist is mainly operated by personnel in the process of yard crane drop. When completing this process, personnel need to cooperate with each other, the labor intensity is large, the risk coefficient is high, with the increase of labor cost, the requirement of coal mine safety and other factors, the requirement of intelligent and mechanized transportation is also higher and higher. At the same time, when the single mining area mining head surface is concentrated, the single-track hoist vehicle causes the problems of occupying the road, fighting for the road and fighting for the material.

[0003] Mechanization, automation and unmanned of the field of auxiliary transportation of coal mine are the development trend in the future, how to reduce the safety hidden danger and realize unattended or less attended is a technical problem to be solved in the field of coal mine transportation, which is currently in the research stage. SUMMARY

[0004] The purpose of the present application is to provide a single-track hoist yard unattended system and method, which can realize the effects of automation, unmanned and less attended in the process of single-track hoist operation, and improve the operation efficiency.

[0005] The technical scheme adopted by the present application is a single-track hoist yard unattended system, which comprises a ground track;

[0006] The container type mine car is located on the ground track and is provided with multiple sections;

[0007] The special lifting appliance can grab or release the container type mine car;

[0008] The hooking and unhooking device is arranged between the front and rear container type mine cars and can automatically connect or separate the front and rear container type mine cars;

[0009] The precise positioning car stopper is arranged on both sides of the ground track and is used for position adjustment and positioning of the container type mine car;

[0010] The righting mechanism is arranged on the inner bottom of the ground track in a liftable manner and is used for righting the container type mine car when the special lifting appliance releases the container type mine car, so that the center of the container type mine car is consistent with the righting center of the righting mechanism;

[0011] The car pushing machine is used for pushing the container type mine car to a specified area.

[0012] Preferably, the containerized mining car includes a container, a flatbed mining car, and a connecting lock; the container is disposed on the top of the flatbed mining car, and the container includes a body, a door, and a connecting block. The door is hinged to both the left and right sides of the body. The connecting block includes a top connecting block and a bottom connecting block respectively disposed at the four corners of the top and bottom of the body. The flatbed mining car has a connecting hole corresponding to the position of the bottom connecting block. The connecting lock is detachably inserted into the bottom connecting block and the connecting hole.

[0013] Preferably, the connecting lock includes a lock head, a lock sleeve, a rotating handle, a locking nut, and a locking block. The lock head passes through 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 located at the tail end of the lock head. The locking block is fixed to the outer surface of the lock sleeve.

[0014] Preferably, the special lifting device includes a lifting device frame, a twist-locking mechanism, and a locking cylinder; a twist-locking mechanism is provided at each of the four corners of the lifting device frame, and the twist-locking mechanism is detachably connected to the top connecting block. The twist-locking mechanism includes a lifting device lock head, a lifting device lock sleeve, a sliding sleeve, a drive handle, and a drive connecting shaft. The lifting device lock head is rotatably inserted into the lifting device lock sleeve and the sliding sleeve. The sliding sleeve is fixedly connected to the lifting device frame. One end of the drive handle is fixedly connected to the lifting device lock head, and the other end is connected to the drive connecting shaft. The locking cylinder is provided on the lifting device frame and is connected to the drive connecting shaft for driving the lifting device lock head to rotate.

[0015] Preferably, the hook-and-unhook device includes a universal joint, a spring, a hook-and-unhook lock, and a collision unlocking mechanism; the universal joint and the spring are provided at both the front and rear ends of the containerized mining car, the spring is sleeved on the universal joint, and the hook-and-unhook lock is provided at the end of the universal joint and the spring away from the containerized mining car. The hook-and-unhook lock includes a handle and a lock cylinder, the handle is connected to the lock cylinder, and the hook-and-unhook lock can be automatically locked by collision. The collision unlocking mechanism is used to separate the hook-and-unhook lock.

[0016] Preferably, the collision unlocking mechanism includes a rotating base, a lifting mechanism, a gripper cylinder, and a gripper. The rotating base is disposed on the inner side of the ground track, the lifting mechanism is disposed on the rotating base, the gripper cylinder is disposed on the top of the lifting mechanism, one end of the gripper is fixedly connected to the lever head of the gripper cylinder, and during operation, the other end of the gripper abuts against the handle.

[0017] Preferably, the precise positioning wheel stop includes a front wheel stop, a rear wheel stop, a lateral movement cylinder, a lateral movement frame, a wheel stop moving guide rail, and a wheel stop swing motor. The wheel stop moving guide rail is disposed on the outside of the ground track. The lateral movement frame is slidably disposed on the wheel stop moving guide rail. One side of the lateral movement frame is connected to the lever head of the lateral movement cylinder. The lateral movement cylinder is fixed to the outside of the wheel stop moving guide rail. One end of the front wheel stop and the rear wheel stop are respectively connected to a lateral movement frame. The other end of the front wheel stop and the rear wheel stop are respectively connected to a wheel stop swing motor. The wheel stop swing motor is used to drive the front wheel stop and the rear wheel stop to extend above the ground track.

[0018] Preferably, the straightening mechanism includes a fixed plate disposed inside 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 disposed on the fixed plate, and the direction of the transverse guide rail is parallel to the direction of the ground track; the transverse frame is slidably connected to the transverse guide rail, and the follower mechanism is vertically disposed within the transverse frame; the longitudinal guide rail is disposed on top of the follower mechanism, and the direction of the longitudinal guide rail is perpendicular to the direction of the ground track; the two push rods are respectively vertically disposed at both ends of the longitudinal guide rail, and both push rods can slide along the longitudinal guide rail; the designed stroke of the push rod from the center of the longitudinal guide rail is equal to half the distance between the inner sides of the left and right wheels of the container car.

[0019] Preferably, the straightening mechanism further includes a push rod rotation and floating mechanism, which includes a slider, a sleeve, a base plate, and floating springs. 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, the base plate extends below the push rod, and floating springs are provided on both sides of the slider, with the floating springs connecting the push rod and the base plate.

[0020] This invention also provides a method for unmanned operation of a monorail crane yard, comprising the following steps:

[0021] S1. The mine cars enter the unloading and hoisting area in a series;

[0022] S2. The pusher enters and drags the mine cars to the precise positioning stopper. After the precise positioning stopper stops the first two container mine cars, the pusher exits.

[0023] S3. The precise positioning stopper adjusts the position of the first two container cars, the hook-and-unhook device unlocks, and the first container car detaches from the car train.

[0024] S4. The precise positioning arrestor adjusts the position of the detached containerized mine car so that the center of the containerized mine car is aligned with the center of the special lifting device. The special lifting device descends into place and grabs the containerized mine car. The special lifting device lifts the containerized mine car to complete the lifting of the containerized mine car.

[0025] S5. Repeat steps S2-S4 to lift multiple containerized mining cars in sequence;

[0026] S6. The monorail hoist lifts the containerized mine car to the unloading and straightening area. During unloading, the straightening mechanism aligns the straightening center with the center of the containerized mine car, and the containerized mine car falls into the ground track, completing the unloading process.

[0027] S7. The trolley enters and drags the containerized mine car to the unloading and lifting area;

[0028] S8, the two container-type mine cars are pushed to two precision positioning car stoppers, and the precision positioning car stoppers, together with the hook-and-unhook device, link the mine cars together.

[0029] S9. After the train is completed, the electric locomotive enters and pulls the mine cars back to the ground.

[0030] The beneficial effects of this invention are as follows:

[0031] This invention achieves automation, unmanned operation, and reduced manpower in monorail hoisting processes through containerized mine cars, specialized lifting tools, hook-and-unhook devices, precise positioning arresters, straightening mechanisms, and pushers. The processes of mine car unloading, mine car train operation, mine car lifting, mine car transfer, and unloading and straightening all require no manual intervention, significantly improving efficiency and fundamentally changing the traditional material distribution model. This invention increases production efficiency and reduces errors caused by human factors; it enhances safety by replacing manual operation with automation, reducing the risk of accidents due to human error; it lowers production costs, shortens production cycles, and makes enterprises more competitive.

[0032] The containerized mining car of this invention replaces the original box-type mining car with a standard containerized mining car. After opening the container door, it becomes a standard flatbed mining car suitable for monorail cranes. Furthermore, after removing the container, the flatbed mining car can also be used independently on the track as a flatbed mining car. It can flexibly change its usage mode, making it multifunctional and reducing the negative impact of the variety and size of mining cars on transportation efficiency. It achieves unified management, making it more suitable for the standardized operation requirements of daily monorail crane transportation, meeting the needs of transporting different materials and realizing the diversified use of vehicles, thereby improving vehicle utilization and increasing economic benefits.

[0033] The special lifting device of this invention enables automatic, rapid and reliable lifting of containerized mine cars by a monorail crane, realizing the automation and standardization of monorail crane lifting. Through standardized lifting and lowering processes, it replaces the existing method of lifting and lowering mine cars by binding them with steel cables, effectively avoiding the safety risks associated with the binding process.

[0034] When the push rod of the straightening mechanism of this invention slides to its designed stroke, the distance between it and the center of the longitudinal guide rail is half the distance between the inner sides of the left and right wheels of the mine car. When the mine car has a deviation perpendicular to the ground track, as the two push rods gradually slide, they will generate a pushing force on the inner side of the mine car wheel on one side, that is, the mine car is gradually straightened. Until the push rods slide to their designed stroke, the inner sides of both the left and right wheels of the mine car are in contact with the two push rods, thus eliminating the vertical deviation between the mine car and the ground track. This achieves fast and efficient mine car unloading and straightening, greatly improving the transportation efficiency and safety of monorail unloading.

[0035] The precise positioning vehicle stopper of the present invention can finely adjust the position of the front wheel stop and the rear wheel stop, so that the front and rear container mine cars are in the relative position of the collision unlocking device. At this time, the front and rear container mine cars are fixed in the precise positioning vehicle stopper and cannot move, thus making it easy to realize the hook-and-unhook operation. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the unmanned monorail crane yard system of the present invention.

[0037] Figure 2 This is an enlarged structural diagram of the detachment and lifting area.

[0038] Figure 3 This is a schematic diagram of a containerized mining truck.

[0039] Figure 4 This is a 3D view of a containerized mining truck.

[0040] Figure 5 This is a schematic diagram of the container structure of a containerized mining truck.

[0041] Figure 6 This is a cross-sectional view of a containerized mining truck.

[0042] Figure 7 This is a schematic diagram of the cross-sectional structure of the connecting lock.

[0043] Figure 8 This is a 3D view of a specialized lifting device.

[0044] Figure 9 This is a top view of the special lifting tool.

[0045] Figure 10 This is a 3D view of the rotary lock mechanism.

[0046] Figure 11 This is a schematic diagram of the connection structure between the rotary lock mechanism and the locking cylinder.

[0047] Figure 12 This is a schematic diagram of the hook removal device.

[0048] Figure 13 This is a cross-sectional view of the hook-and-unhook device lock.

[0049] Figure 14 This is a schematic diagram of the collision unlocking mechanism.

[0050] Figure 15 A schematic diagram of the structure for precisely positioning the vehicle stopper.

[0051] Figure 16 A three-dimensional diagram of the rectification agency.

[0052] Figure 17 A schematic diagram of the structure when the straightening mechanism is in operation.

[0053] Figure 18 This is the front view of the rectification agency.

[0054] Figure 19 This is a top view of the straightening mechanism.

[0055] Figure 20 This is a schematic diagram of the control system connection for the straightening mechanism.

[0056] Reference numerals: 1. Containerized mine car; 11. Container; 111. Container body; 112. Container door; 114. Top connecting block; 115. Bottom connecting block; 12. Flatbed mine car; 121. Connecting hole; 122. Car platform; 123. Wheel; 13. Connecting lock; 131. Lock head; 132. Lock sleeve; 133. Rotating handle; 134. Locking nut; 135. Lock block;

[0057] 2. Special lifting tool; 21. Lifting tool frame; 22. Spin lock mechanism; 221. Lifting tool lock head; 222. Lifting tool lock sleeve; 223. Sliding sleeve; 224. Drive handle; 225. Drive connecting shaft; 226. Lifting tool nut; 23. Locking cylinder; 231. Hydraulic cylinder; 232. Cylinder rod head; 233. Connecting rod; 234. Pipeline; 24. Locking explosion-proof valve;

[0058] 3. Hook / unhook device; 31. Universal joint; 32. Spring; 33. Padlock release mechanism; 331. Handle; 332. Lock cylinder; 34. Collision unlocking mechanism; 341. Rotating base; 342. Lifting mechanism; 343. Handle cylinder; 344. Handle;

[0059] 4. Precision positioning wheel stopper; 41. Front wheel stop; 42. Rear wheel stop; 43. Lateral movement cylinder; 44. Lateral movement frame; 45. Wheel stop moving guide rail; 46. Wheel stop swing motor;

[0060] 5. Alignment mechanism; 51. Fixed plate; 52. Transverse guide rail; 53. Transverse frame; 54. Transverse cylinder; 55. Follower mechanism; 56. Push rod; 57. Push rod cylinder; 58. Longitudinal guide rail; 59. Wire encoder; 510. Push rod rotation floating mechanism; 511. Pressing cylinder; 514. Slider; 515. Sleeve; 516. Base plate; 517. Floating spring; 519. Controller; 520. Remote control;

[0061] 6. Ground track; 7. Cart pusher; 71. Pusher head reversing mechanism; 72. Cart pusher track. Detailed Implementation

[0062] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0063] like Figure 1 As shown, the unmanned monorail crane yard system of the present invention includes a containerized mine car 1, a special lifting device 2, a hook-and-unhook device 3, a precision positioning arrestor 4, a straightening mechanism 5, a ground track 6, and a pusher 7. The containerized mine car 1 is located on the ground track 6 and has multiple sections. The special lifting device 2 can grab or release the containerized mine car 1. The hook-and-unhook device 3 is located 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 precision positioning arrestor 4 is located on both sides of the ground track 6 and is used to adjust and position the containerized mine car 1. The straightening mechanism 5 is vertically and vertically located on the inner bottom of the ground track 6 and is used to straighten the containerized mine car 1 when the special lifting device 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 pusher 7 is used to push the containerized mine car 1 to a designated area.

[0064] During operation, an electric locomotive pulls a containerized mine car 1 to its parking position, and then the locomotive departs. A precision positioning arrestor 4 stops the containerized mine car 1, and the hook-and-unhook device automatically unhooks it. After the hook-and-unhook operator assists in unhooking, the precision positioning arrestor 4 positions the preceding containerized mine car, and the monorail crane enters, ready for lifting. After the monorail crane stops, the precision positioning arrestor 4 makes a slight movement to adjust its position, and then the special lifting device 2 descends. Once the special lifting device 2 contacts the containerized mine car 1, it stops descending. The special lifting device 2 then locks the containerized mine car 1, and then lifts it to complete the lifting operation. After the pusher enters and pulls the containerized mine car 1 to its precise positioning position, the hook-and-unhook device 3 unhooks it, and this process is repeated for multiple containerized mine cars 1. After the monorail crane completes the lifting, it departs. When the monorail crane transports container mine cars 1 from other areas to the yard for unloading, the straightening mechanism 5 receives a signal and operates to straighten the container mine cars 1 under each special lifting device 2 in sequence.

[0065] Example 2

[0066] Based on Example 1, in this example, as Figure 3 and Figure 4 As shown, the containerized mining car 1 includes a container 11, a flatbed mining car 12, and a connecting lock 13. The container 11 is located on top of the flatbed mining car 12. The container 11 includes a body 111, a door 112, and connecting blocks. The door 112 is hinged to both the left and right sides of the body 111. The connecting blocks include a top connecting block 114 and a bottom connecting block 115. The top connecting block 114 is located at the four corners of the top of the body 11, and the bottom connecting block 115 is located at the four corners of the bottom of the body 11. The flatbed mining car 12 has connecting holes 121 corresponding to the positions of the bottom connecting blocks 115. The connecting lock 13 is detachably inserted into the bottom connecting blocks 115 and the connecting holes 121.

[0067] In some specific embodiments, such as Figure 5 As shown, container 11 is a rectangular cavity with an opening at the top. Container 11 serves as the load-bearing base during use.

[0068] Alternatively, the housing 111 and the door 112 are connected by hinges.

[0069] like Figure 3 As shown, the flatbed mine car 12 includes a platform 122 and wheels 123, with the wheels 123 disposed at the bottom of the platform 122, as shown. Figure 6As shown, four connecting holes 121 are provided on the vehicle plate 122, and their positions correspond to the positions of the four bottom connecting blocks 115. The shape of the connecting holes 121 is rectangular, approximately rectangular, or irregular.

[0070] like Figure 7 As shown, the connecting lock 13 includes a lock head 131, a lock sleeve 132, a rotating handle 133, a locking nut 134, and a locking block 135. The lock head 131 passes through the lock sleeve 132 and is rotatably connected to the lock sleeve 132. The rotating handle 133 is fixedly connected to the lock head 131. The locking nut 134 is located at the tail end of the lock head 131. The rotating handle 133 is located between the lock sleeve 132 and the locking nut 134. The locking block 135 is fixed to the outer surface of the lock sleeve 132.

[0071] The vertical projection shape of the lock head 131 is rectangular, approximately rectangular, or irregular. It can be inserted into or removed from the connection hole 121 only when the lock head 131 is aligned with the orientation of the connection hole 121.

[0072] In this embodiment, the head at the upper end of the lock head 131 is a tetrahedron with a cone-like structure, its lower surface and two opposite sides are planes, and the remaining sides are cones.

[0073] Both the top connecting block 114 and the bottom connecting block 115 are rectangular corner pieces. The top of the top connecting block 114 has a slot, and the bottom of the bottom connecting block 115 has a slot. Optionally, the slot can be rectangular, approximately rectangular, or irregularly shaped, ensuring that the lock head 131 can be inserted into or disengaged from the slot only when its orientation is aligned with the slot. In this embodiment, the slot is rectangular.

[0074] The connecting lock 13 connects or separates the container 11 and the flatbed mine car 12 by rotation. The specific operation process is as follows: the direction of the lock head 131 is aligned 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. 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 respectively lock the slot 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 onto the flatbed mine car 12.

[0075] The top connecting block 114 is used to insert the special lifting tool 2, which has a rotary locking mechanism that cooperates with the top connecting block 114. The rotary locking mechanism can connect or disconnect the top connecting block 114 by automatic rotation.

[0076] Assembly method of container mine car: First, place container 1 on flatbed mine car 2 and align the bottom connecting block 115 and connecting hole 21. Insert the connecting lock 3 into the bottom connecting block 115 of container 11 one by one from the bottom of flatbed mine car 2. 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 lock the slot of the bottom connecting block 115 and the lower surface of the car plate 22 of flatbed mine car 2. The four connecting locks 3 firmly lock the four corners of the bottom of container 1 to flatbed mine car 2. At this time, a multi-functional container mine car with automatic hoisting for auxiliary transportation in mining is assembled.

[0077] Example 3

[0078] Based on Example 1 or Example 2, in this example, as Figure 8 and Figure 9 As shown, the special lifting tool includes a lifting tool frame 21, a twist-locking mechanism 22, and a locking cylinder 23. A twist-locking mechanism 22 is provided at each of the four corners of the lifting tool frame 21. Each twist-locking mechanism 22 includes a lifting tool lock head 221, a lifting tool lock sleeve 222, a sliding sleeve 223, a drive handle 224, and a drive connecting shaft 225. The lifting tool lock head 221 is rotatably inserted into the lifting tool lock sleeve 222 and the sliding sleeve 223. The sliding sleeve 223 is fixedly connected to the lifting tool frame 21. One end of the drive handle 224 is fixedly connected to the lifting tool lock head 221, and the other end is connected to the drive connecting shaft 225. The locking cylinder 23 is disposed on the lifting tool frame 21 and connected to the drive connecting shaft 225, and is used to drive the lifting tool lock head 221 to rotate.

[0079] The spreader frame 21 is a rectangular frame structure, with its four corners corresponding to the positions of the top connecting blocks 114. The twist lock mechanism 22 is used to dock with the container mine car, realizing the alignment between the spreader and the container mine car, so that the container mine car and the lifting beam move together.

[0080] like Figure 10 As shown, the twist-lock mechanism 22 includes a lifting device lock head 221, a lifting device lock sleeve 222, a sliding sleeve 223, a drive handle 224, and a drive connecting shaft 225. The vertical projection shape of the lifting device lock head 221 is rectangular, approximately rectangular, or irregularly shaped, ensuring that the lifting device lock head 221 can be inserted into or disengaged from the lock hole only when its orientation is aligned with the lock hole. In this embodiment, the lower end of the lifting device lock head 221 is a tetrahedron with a cone-like structure, its upper surface and two opposite sides are planes, and the remaining sides are conical surfaces.

[0081] Alternatively, the drive handle 224 can be connected to the lifting device lock head 221 via a key.

[0082] The tail end of the spreader lock head 221 is provided with a spreader nut 226 and a cotter pin. The spreader nut 226 acts as a plug to lock the tail end of the spreader lock head 221. The cotter pin passes through the spreader lock head 221 and is located above the spreader nut 226. The cotter pin is used to stop the spreader nut 226 from moving away from the tail end of the spreader lock head 221, preventing the spreader nut 226 from coming out.

[0083] In the unlocked state, the spreader lock head 221 can be vertically inserted into the top connecting block 114. When locked, the drive mechanism causes the drive handle 224 to rotate 90 degrees, and the spreader lock head 221 rotates 90 degrees along with it within the top connecting block 114, thus locking into the top connecting block 114 of the container mine car, completing the locking of the spreader frame 21 and the container mine car. When the container mine car is lowered, the drive mechanism causes the drive handle 224 to rotate 90 degrees, and the spreader lock head 221 rotates 90 degrees along with it within the top connecting block 114. The spreader lock head 221 rises and disengages from the top connecting block 114, and the spreader frame 21 and the container mine car disengage.

[0084] The locking cylinder 23 includes a hydraulic pump, a hydraulic cylinder 231, a cylinder head 232, a connecting rod 233, and a pipeline 234. For example... Figure 11 As shown, the hydraulic pump is connected to the hydraulic cylinder 231 via pipe 234. The cylinder rod head 232 is slidably disposed within the hydraulic cylinder 231, and the cylinder rod head 232 is hingedly connected to the drive connecting shaft 225 via connecting rod 233. In this embodiment, four locking cylinders 23 are provided, respectively disposed at the four corners of the lifting frame 21, for driving the rotary locking mechanism 22 to unlock and lock.

[0085] When hydraulic oil is pumped from the hydraulic pump through pipe 234 to the hydraulic cylinder 231, the volume of fluid in the hydraulic cylinder 231 increases, pushing the cylinder rod head 232 to move and driving an external load through the connecting components. When the hydraulic oil flows in the reverse direction within pipe 234, the cylinder rod head 232 also moves in the reverse direction, thus achieving the reciprocating motion of the cylinder rod head 232. Since the drive connecting shaft 225 is connected to the drive handle 224, when the cylinder rod head 232 reciprocates, the drive handle 224 rotates through the connecting rod 233 and the drive connecting shaft 225. Because the drive handle 224 is fixedly connected to the lifting device lock head 221, the rotation of the lifting device lock head 221 is achieved.

[0086] The specialized lifting device also includes a locking explosion-proof valve 24, which is mounted on the lifting device frame 21. The locking explosion-proof valve 24 is connected to the hydraulic pump and hydraulic cylinder 231 via pipelines. The locking explosion-proof valve 24 can be a commercially available explosion-proof valve product. The explosion-proof valve controls the flow of fluid, preventing accidental malfunction of the locking mechanism 22 due to sudden pipeline rupture, and also prevents hydraulic oil leakage and contamination from the pipeline, thus providing explosion-proof and flameproof protection and ensuring the safety of the monorail mine car lifting and unloading process.

[0087] In this embodiment, a single explosion-proof valve 24 is provided. The unlocking ports of the four locking cylinders 23 are connected to the unlocking port of the explosion-proof valve 24, and the locking ports of the four locking cylinders 23 are connected to the locking port of the explosion-proof valve 24. In use, the unlocking ports of the four locking cylinders 23 are connected together via pipes to the unlocking port of the explosion-proof valve 24, and the locking ports of the four locking cylinders 23 are connected together via pipes to the locking port of the explosion-proof valve 24.

[0088] Example 4

[0089] Based on Example 3, such as Figure 12 As shown, in this embodiment, the hook and pin device 3 includes a universal joint 31, a spring 32, a hook and pin lock 33, and a collision unlocking mechanism 34.

[0090] The containerized mining car 1 is equipped with universal joints 31 and springs 32 at both its front and rear ends. The springs 32 are fitted onto the universal joints 31. Through the universal joints 31 and springs 32, the angle of the containerized mining car 1 can be flexibly changed within a certain range when passing through curves or points of incline during operation, without affecting power transmission. A padlock 33 is installed at the end of the universal joints 31 and springs 32 furthest from the containerized mining car 1. Figure 13 As shown, the hook-and-lock 33 includes a rotating handle 331 and a lock cylinder 332. The handle 331 is connected to the lock cylinder 332. The automatic hooking of the front and rear container mine cars 1 is achieved by using an electric locomotive to collide with the lock cylinder 332. The two container mine cars 1 are separated by pushing the handle 331 to rotate the lock cylinder 332.

[0091] like Figure 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 located inside the ground track 6 and can rotate. It is driven by a rotary motor. The lifting mechanism 342 is located on the rotating base 341 and is used to drive the gripper cylinder 343 to lift. The gripper cylinder 343 is located 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.

[0092] In some specific embodiments, a safety device is provided at the end of the handle 331. When the handle 331 is raised to a small angle, the safety device is disabled, and the two container mine cars 1 can be automatically coupled when they collide. Conversely, the two container mine cars 1 cannot be automatically coupled when they collide.

[0093] This invention achieves automatic vehicle unhooking via a hydraulic-electric control contact method. When the collision unlocking mechanism 34 is working, the lifting mechanism 342 first opens, pushing the gripper cylinder 343 and gripper 344 to rise. 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. Subsequently, 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, and the gripper drives the handle to lift, causing the lock cylinder 332 to rotate and achieve separation. When the collision unlocking mechanism 34 is not working, the lifting mechanism 342 drives the gripper cylinder 343 and gripper 344 to fall below the ground track 6.

[0094] In some specific embodiments, the padlock 33 can also be a Chinese patent of the applicant entitled "An Automatic Hook Device for Mining Collisions", publication number CN216833671U.

[0095] In some specific embodiments, the present invention also includes a container electronic control unit, which remotely controls the unhooking via a wireless network.

[0096] Example 5

[0097] like Figure 2 As shown, in this embodiment, the trolley pusher 7 includes a power unit, a trolley, and pusher reversing mechanisms 71 at both ends. The trolley pusher 7 is mounted on a trolley pusher track 72 and can push mine cars in both directions to designated areas. The trolley pusher 7 can be moved forward, backward, or turned via remote control or a control console. The trolley pusher 7 can be a commercially available trolley pusher product.

[0098] When the pusher contacts the axle of the containerized mining car 1, it can slowly and smoothly push the mining car along the track to the destination; after reaching the designated position, the pusher is disconnected from the containerized mining car 1; the pusher returns to the origin or the designated area and waits for the next pusher command.

[0099] like Figure 15 As shown, the precise positioning wheel stopper 4 includes a front wheel stop 41, a rear wheel stop 42, a lateral movement cylinder 43, a lateral movement frame 44, a wheel stop moving guide rail 45, and a wheel stop swing motor 46. The wheel stop moving guide rail 45 is set on the outer side of the ground track 6. The lateral movement frame 44 is slidably set on the wheel stop moving guide rail 45. One side of the lateral movement frame 44 is connected to the lever head of the lateral movement cylinder 43. The lateral movement cylinder 43 is fixed to the outer side of the wheel stop moving guide rail 45. One end of the front wheel stop 41 and the rear wheel stop 42 are respectively connected to a lateral movement frame 44. The other end of the front wheel stop 41 and the rear wheel stop 42 are respectively connected to a wheel stop swing motor 46. The wheel stop swing motor 46 is used to drive the front wheel stop 41 and the rear wheel stop 42 to extend above the ground track 6.

[0100] Precision positioning stops 4 are installed under the front and rear containerized mining cars 1 corresponding to the detachment and lifting area.

[0101] 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 accuracy and stability of position adjustment.

[0102] The front wheel stop 41 and rear wheel stop 42 impede the vehicle when open, but do not affect the passage of the mine car when closed. The position can be adjusted relatively precisely within a certain range according to the required position of the mine car.

[0103] The precise positioning stopper 4 adjusts the position of the front and rear containerized mining cars 1 before separation as follows: The wheel stop swing motor 46 drives the front wheel stop 41 to extend above the ground track 6, and the front wheel stop 41 is in the raised stopping state. The pusher moves to the axle of the rear containerized mining car 1 and clamps the axle. The pusher pushes the rear containerized mining car 1 forward, and at the same time drives the front containerized mining car 1 to move forward along the track together until it stops at the front wheel stop 41. The pusher 7 retracts, and the wheel stop swing motor 46 drives... The front wheel stops 41 and rear wheel stops 42 are raised to block the vehicle, so that the outer sides of the front and rear wheels of the front and rear container mine cars 1 are clamped by the front wheel stops 41 and rear wheel stops 42. Then, the transverse shifting cylinder 43 drives the transverse shifting frame 44 to move along the wheel stop moving guide rail 45, thereby finely adjusting the position of the front wheel stops 41 and rear wheel stops 42, so that the front and rear container mine cars 1 are in the relative position of the collision unlocking device. At this time, the front and rear container mine cars 1 are fixed in the precise positioning vehicle stopper 4 and cannot move.

[0104] Example 6

[0105] In this embodiment, as Figure 16 , Figure 17 and Figure 18 As shown, the straightening mechanism 5 includes a fixed plate 51 disposed inside 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 disposed 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 vertically disposed within the transverse frame 53; the longitudinal guide rail 58 is disposed on 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 Figure 19 As shown, the two push rods 56 are respectively vertically arranged at both ends of the longitudinal guide rail 58, and both push rods 56 can slide along the longitudinal guide rail 58; the designed stroke of the push rod 56 from the center of the longitudinal guide rail 58 is equal to half the distance between the inner sides of the left and right wheels of the container mine car 1.

[0106] When the monorail transporting the mine car arrives at the fixed landing point of the monorail unloading and straightening mechanism for auxiliary transportation in the coal mine, the monorail stops. First, the follower mechanism 55 is raised, and the transverse frame 53 moves along the transverse guide rail 52 until the straightening center aligns with the center of the mine car. Then, the two push rods 56 slide along the longitudinal guide rail 58. When the container-type mine car 1 deviates from the direction perpendicular to the ground track 6, the push rods 56 cause the container-type mine car 1 to move to the left or right until the inner sides of the left and right wheels of the container-type mine car 1 contact the two push rods 56 respectively, thus eliminating the deviation between the container-type mine car 1 and the ground track 6. Afterward, the monorail lifting beam descends, causing the mine car to fall. The follower mechanism 55 moves downward under the weight of the mine car. After the unloading is completed, the push rods 56 retract, and the follower mechanism 55 returns to its initial position, completing the unloading and straightening process. The straightening mechanism 5 enables fast and efficient straightening of mine cars, greatly improving the transportation efficiency and safety of monorail car unloading. Through the transverse guide rail and transverse frame, it solves the problem of the monorail car unloading position not being fixed, and can meet the actual use needs on site.

[0107] In some specific embodiments, the straightening mechanism 5 further includes a push rod rotation floating mechanism 510. The push rod rotation floating mechanism 510 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 extends below the push rod 56. Floating springs 517 are provided on both sides of the slider 514 and are connected between the push rod 56 and the base plate 516.

[0108] When there is a height discrepancy between the front and rear wheels of the containerized mining car 1, the push rod rotating floating mechanism 10 automatically aligns and adjusts the containerized mining car 1 during the unloading process, ensuring that both the front and rear wheels of the containerized mining car 1 are in contact with the push rod 6. This eliminates the need for manual intervention and improves operational efficiency. The principle is as follows:

[0109] When the lower wheel of the container car 1 contacts one end of the push rod 6 and presses down, the push rod 56 will rotate around the slider 514 at a certain angle because the sleeve 515 is rotatably sleeved on the push rod 56. At the same time, under the elastic force of the floating spring 517, the other end of the push rod 56 will be raised a certain distance to contact the higher wheel.

[0110] The fixing plate 51 is installed on the foundation frame, and the monorail mine car lowering and straightening mechanism is installed in the middle of the ground track 6, which does not occupy the outer space of the ground track 6 and does not affect the pedestrian passage.

[0111] The outer side of push rod 56 is L-shaped to facilitate the catching of the falling container-type mining car 1.

[0112] In some specific embodiments, the straightening mechanism 5 further includes a transverse hydraulic cylinder 54, which is mounted on the bottom of the fixed plate 51, and the cylinder rod head of the transverse hydraulic cylinder 54 is connected to the transverse frame 53. The transverse hydraulic cylinder 54 is also connected to the hydraulic pump of the hydraulic system. The transverse frame 53 is driven to move along the transverse guide rail 52 by the transverse hydraulic cylinder 54.

[0113] In some specific embodiments, the straightening mechanism 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, each used to drive two push rods 56 to move. The cylinder head of the push rod cylinder 57 is connected to the slider 514. Moving the cylinder head of the push rod cylinder 57 drives the slider 514 to move, which in turn drives the sleeve 515 and the push rods 56 to move.

[0114] In some specific embodiments, the straightening mechanism 5 also includes a pressing cylinder 511, which is installed in the transverse frame 53. The cylinder rod head of the pressing cylinder 511 is connected to the bottom of the top plate of the follower mechanism 55. The movement of the cylinder rod head of the pressing cylinder 511 drives the follower mechanism 55 to move up and down.

[0115] In some specific embodiments, such as Figure 20 As shown, the straightening mechanism 5 also includes a control system, which includes a pull-wire encoder 59, a controller 519, and a remote controller 520.

[0116] A wire encoder 59 is located on top of the follower mechanism 55 and is used to measure the position of the push rod 56 to ensure that the push distance of the two push rods 56 is consistent.

[0117] The pull encoder 59, the transverse cylinder 54, the push rod cylinder 57 and the pressing cylinder 511 are respectively connected to the controller 519 for communication. The controller 519 is wirelessly connected to the remote controller 520.

[0118] The working principle of the straightening mechanism 55 is as follows: Manual operation of the remote control extends the downward pressure cylinder 511, raising the upper part of the follower mechanism 55. Based on the center of the mine car, the lateral movement cylinder 54 extends or retracts, causing part of the lateral movement frame 53 to move until the straightening center aligns with the mine car's center. The push rod cylinder 57 then pushes the push rod 56 outwards. The distance of the push rod 56 movement is monitored and fed back by the wire encoder 59 to ensure that the extension distance of the left and right push rods 56 remains consistent. After the inner side of the mine car wheels contacts the two push rods 56, the mine car moves left or right to eliminate the deviation between the wheels and the ground track 6. Then, the monorail crane lowers the car, and the follower mechanism 55 moves downwards under the weight of the mine car. When there is a height discrepancy between the front and rear wheels of the mine car, the push rod rotation floating mechanism 510 performs self-adjustment. After the car is lowered, the push rod cylinder 57 retracts, causing the push rod 56 to retract; the downward pressure cylinder 511 retracts, causing the follower mechanism 55 to retract to its initial position, completing the entire straightening process.

[0119] Alternatively, the entire straightening mechanism consists of two sets of straightening mechanisms. In the first working condition, when a single rail crane lifts a mine car to unload, one set of straightening mechanisms is used. In the second working condition, when a single rail crane lifts two mine cars to unload, the two sets of straightening mechanisms operate independently.

[0120] Example 7

[0121] The unmanned monorail crane yard system of the present invention also includes a container electrical control unit, which is used to control the operation of the special lifting tool 2, the hook and unhook device 3, the precise positioning vehicle stopper 4, the straightening mechanism 5 and the vehicle pusher.

[0122] Example 8

[0123] This invention also provides a method for unmanned operation of a monorail crane yard, comprising the following steps:

[0124] S1. The mine cars enter the unloading and hoisting area.

[0125] S2, the pusher 7 enters and drags the mine cars to the precise positioning stopper 4. After the precise positioning stopper 4 stops the first two container mine cars 1, the pusher 7 exits.

[0126] S3, the precise positioning stopper 4 adjusts the position of the hook lock 33 between the first two container mine cars 1 so that the position of the hook lock 33 corresponds to the position of the collision unlocking mechanism 34. The lifting mechanism 342 and the rotating base 341 move, causing the unlocking mechanism 34 to rise and rotate to the inside of the ground track 6. The grab 344 extends and pushes the handle 331 to unlock the hook lock 33 of the hook device 3, and the first container mine car 1 is separated from the mine car train.

[0127] S4. The precise positioning arrester 4 adjusts the position of the detached containerized mine car 1 so that the center of the containerized mine car 1 is aligned with the center of the special lifting device 2. The special lifting device 2 is lowered 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.

[0128] S5. Repeat steps S2-S4 to lift multiple containerized mining cars 1 in sequence.

[0129] S6. The monorail hoist lifts the container mine car 1 to the unloading and straightening area. When unloading, the straightening mechanism 5 is manually operated to make the straightening center aligned with the center of the container mine car 1. The container mine car 1 falls into the ground track 6, and the unloading is completed.

[0130] S7 and trolley 7 enter and drag container-type mining cars 1 to the unloading and lifting area.

[0131] S8 and two container-type mine cars 1 are pushed to two precision positioning car stoppers 4 respectively. The precision positioning car stoppers 4, together with the hook-and-unhook device 3, link the mine cars together.

[0132] S9. After the first tandem of containerized mining cars is completed, the electric locomotive enters and pulls the tandem mining cars back to the ground.

[0133] Components and structures not described in detail in the embodiments are well-known components, common structures or common means in the industry, and will not be described in detail here.

Claims

1. An unmanned system for a monorail crane yard, characterized in that, Including ground tracks (6); A containerized mining car (1) is located on a ground track (6) and has multiple sections; Special lifting device (2) capable of grabbing or releasing the containerized mining car (1); The hook-and-unhook device (3) is installed between the front and rear sections of the containerized mine car (1) and can automatically connect or disconnect the front and rear sections of the containerized mine car (1). Precision positioning vehicle stoppers (4) are set on both sides of the ground track (6) to adjust and position the containerized mining car (1); The straightening mechanism (5) is vertically mounted on the inner bottom of the ground track (6) and is used to straighten the container mine car (1) when the special lifting device (2) releases it, so that the center of the container mine car (1) is aligned with the straightening center of the straightening mechanism (5). A pusher (7) is used to push a containerized mining car (1) to a designated area.

2. The unmanned monorail crane yard system according to claim 1, characterized in that, The containerized mining car (1) includes a container (11), a flatbed mining car (12), and a connecting lock (13). The container (11) is located on the top of the flatbed mining car (12). The container (11) includes a box body (111), a box door (112), and a connecting block. The box door (112) is hinged to the left and right sides of the box body (111). The connecting block includes a top connecting block (114) located at the four corners of the top of the box body (111) and a bottom connecting block (115) located at the four corners of the bottom of the box body (111). The flatbed mining car (12) has a connecting hole (121) corresponding to the position of the bottom connecting block (115). 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) includes a lock head (131), a lock sleeve (132), a rotating handle (133), a locking nut (134), and a lock block (135). The lock head (131) is inserted into the lock sleeve (132) and is rotatably connected to the lock sleeve (132). The rotating handle (133) is fixedly connected to the lock head (131). The locking nut (134) is located at the tail end of the lock head (131). The lock block (135) is fixed to the outer surface of the lock sleeve (132).

4. The unmanned monorail crane yard system according to claim 2, characterized in that, The special lifting device (2) includes a lifting device frame (21), a twist-locking mechanism (22), and a locking cylinder (23); each of the four corners of the lifting device frame (21) is provided with a twist-locking mechanism (22), which is detachably connected to the top connecting block (114). The twist-locking mechanism (22) includes a lifting device lock head (221), a lifting device lock sleeve (222), a sliding sleeve (223), a drive handle (224), and a drive connecting shaft (225). The lifting device lock head (221) is rotatably The device is installed inside the lifting device lock sleeve (222) and the sliding sleeve (223). The sliding sleeve (223) is fixedly connected to the lifting device frame (21). One end of the drive handle (224) is fixedly connected to the lifting device lock head (221), and the other end is connected to the drive connecting shaft (225). The locking control cylinder (23) is installed on the lifting device frame (21) and is connected to the drive connecting shaft (225) to drive the lifting device lock head (221) to rotate.

5. The unmanned monorail crane yard system according to claim 1, characterized in that, The hook-and-unhook device (3) includes a universal joint (31), a spring (32), a hook-and-unhook lock (33), and a collision unlocking mechanism (34). The container mine car (1) is provided with the universal joint (31) and the spring (32) at both the front and rear ends. The spring (32) is sleeved on the universal joint (31). The hook-and-unhook lock (33) is provided at the end of the universal joint (31) and the spring (32) away from the container mine car (1). The hook-and-unhook lock (33) includes a handle (331) and a lock cylinder (332). The handle (331) is connected to the lock cylinder (332). The hook-and-unhook lock (33) can be automatically locked by collision. The collision unlocking mechanism (34) is used to separate the hook-and-unhook lock (33).

6. The unmanned monorail crane yard system according to claim 5, characterized in that, 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 located on the inner side of the ground track (6). The lifting mechanism (342) is located on the rotating base (341). The gripper cylinder (343) is located 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 wheel stopper (4) includes a front wheel stop (41), a rear wheel stop (42), a transverse cylinder (43), a transverse frame (44), a wheel stop moving guide rail (45), and a wheel stop swing motor (46). The wheel stop moving guide rail (45) is located on the outside of the ground track (6). The transverse frame (44) is slidably mounted on the wheel stop 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 stop moving guide rail (45). One end of the front wheel stop (41) and the rear wheel stop (42) are respectively connected to a transverse frame (44). The other end of the front wheel stop (41) and the rear wheel stop (42) are respectively connected to a wheel stop swing motor (46). The wheel stop swing motor (46) is used to drive the front wheel stop (41) and the rear wheel stop (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) includes a fixed plate (51) disposed inside 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 disposed 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 vertically adjustable. Within the transverse frame (53); the longitudinal guide rail (58) is located on 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); two push rods (56) are respectively vertically located at both ends of the longitudinal guide rail (58), and both push rods (56) can slide along the longitudinal guide rail (58); the designed stroke of the push rod (56) from the center of the longitudinal guide rail (58) is equal to half the distance between the inner sides of the left and right wheels of the container mine car (1).

9. The unmanned monorail crane yard system according to claim 8, characterized in that, The straightening mechanism (5) further 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). The base plate (516) extends to the bottom of the push rod (56). The floating spring (517) is provided on both sides of the slider (514). The floating spring (517) is connected between the push rod (56) and the base plate (516).

10. A method for unmanned operation of a monorail crane yard under the unmanned operation system as described in claim 1, characterized in that, Includes the following steps: S1. The mine cars enter the unloading and hoisting area in a series; S2, the pusher (7) enters and drags the mine car train to the precise positioning stopper (4). After the precise positioning stopper (4) stops the first two container mine cars (1), the pusher (7) exits. S3, Precision positioning vehicle stopper (4) adjusts the position of the first two container mine cars (1), hook-off device (3) unlocks, and the first container mine car (1) is separated from the mine car train. S4. The precise positioning vehicle stopper (4) adjusts the position of the detached container mine car (1) so that the center of the container mine car (1) is aligned with the center of the special lifting device (2). The special lifting device (2) falls into place and grabs the container mine car (1). The special lifting device (2) lifts up to complete the lifting of the container mine car (1). S5. Repeat steps S2-S4 to lift multiple containerized mining cars (1) in sequence; S6. The monorail hoist lifts the container mine car (1) to the unloading and straightening area. When unloading, the straightening mechanism (5) aligns the straightening center with the center of the container mine car (1). The container mine car (1) falls into the ground track (6), and the unloading is completed. S7, the pusher (7) enters and drags the container mine car (1) to the unloading and lifting area; S8. Two container-type mine cars (1) are pushed to two precision positioning car stoppers (4) respectively. The precision positioning car stoppers (4) work with the hook-and-unhook device (3) to link the mine cars together. S9. After the train is completed, the electric locomotive enters and pulls the mine cars back to the ground.

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