Box-type vehicle-mounted electrified cable automatic winding and unwinding device with slip ring and underground cable winding and power supply method of box-type vehicle-mounted electrified cable automatic winding and unwinding device

Abstract

The invention relates to a box-type vehicle-mounted electrified cable automatic winding and unwinding device with a slip ring and an underground cable winding and power supply method of the box-type vehicle-mounted electrified cable automatic winding and unwinding device. The blank in the prior art is filled. The underground vehicle-mounted electrified cable drum device comprises a cable drum frame, a slip ring box and a cable unhooking device, the cable unhooking device comprises a stand column, a rotating table and a cable guide frame, the stand column is fixed to a matched flat mine car and located in front of the cable drum frame, and the rotating table is arranged at the top of the stand column and located in front of the cable drum frame. The cable guide frame comprises two guide plates and a telescopic cylinder or an electric telescopic rod, the two guide plates are provided with an upper row of short rollers and a lower row of short rollers, each of the upper row of short rollers and the lower row of short rollers comprises a plurality of horizontal short rollers, a pair of lugs is arranged at the top of the rotating table, and the middle of the cable guide frame is hinged to the lugs. The two ends of the telescopic cylinder or the electric telescopic rod are hinged to the near-end end of the cable guide frame and the side wall of the rotating table respectively. The device can greatly reduce the number of underground workers, and is particularly suitable for coal mine enterprises.

Description

Technical Field

[0001] The present invention relates to an automatic winding and unwinding device for a slip-ring box-type vehicle-mounted energized cable and a method for winding and supplying power to an underground cable Background Art

[0002] In the prior art, the cable for a fully-mechanized coal shearer is laid on cable hooks on the roof or sidewall of a track roadway. A cable reel frame and a slip-ring box are arranged on a flat mine car in the track roadway. The end of the cable for the fully-mechanized coal shearer is fixed on the cable reel and connected to fully-mechanized equipment such as a coal shearer in front of the working face through the slip-ring box. During the fully-mechanized coal mining process, as the fully-mechanized coal shearer and hydraulic supports advance along the working face, workers need to manually remove the cable for the fully-mechanized coal shearer from the cable hooks and wind it on the cable reel frame

[0003] The Chinese utility model patent with the authorization announcement number of CN217563173U and authorized on October 11, 2022 discloses a cable unhooking device for a mine train. The cable unhooking device includes a mounting frame and a rotating member. The mounting frame is used to be arranged on the vehicle body of the mine train, and the rotating member is rotatably arranged on the mounting frame. The rotating member is used to lift the cable and make rolling contact with the cable. This cable unhooking device can replace manual labor to achieve cable unhooking

[0004] The Chinese invention patent with the authorization announcement number of CN115258826B and authorized on August 1, 2023 discloses a method and system for calculating the input torque of a cable reel motor based on the cable length. The method includes calculating the mass of the cable on the cable reel; calculating the inner diameter of the cable reel when there are three turns of cable wound around it; calculating the diameter of the cable reel with cable wound around it; calculating the moment of inertia of the cable on the cable reel; calculating the running acceleration of the trolley mechanism; calculating the maximum angular acceleration of the cable reel with cable wound around it; calculating the torque required to drive the cable reel; calculating the torque required to overcome the cable mass; calculating the torque required to overcome the maximum acceleration of the cable reel; and calculating the input torque of the cable reel motor. This invention controls the torque output by the cable reel motor based on the change in the inertia of the cable wound on the reel during cable winding

[0005] The cable for fully-mechanized equipment is thick, heavy, difficult to bend, requires motor-driven rotation, and is not suitable for calculating and controlling the torque output by the cable reel motor according to inertia

[0006] When the advancing speed of the fully mechanized coal mining face remains basically unchanged, the cable recovery speed of the flat mine car carrying the cable reel device and the cable reel device should also be consistent with the advancing speed of the fully mechanized coal mining face. However, during the process of the cable reel device recovering the cable, the winding radius of the outermost layer of the cable gradually increases layer by layer, making it difficult for the cable recovery speed to be consistent with the moving speed of the flat mine car carrying the cable reel device. If the cable recovery speed of the cable reel device is too fast, it is easy to strain the cable. If the cable recovery speed of the cable reel device is too slow, it is easy to pile up in front of the flat mine car carrying the cable reel device.

[0007] To improve coal mine safety, major coal mining enterprises, based on the safety concept of "less people means safety, no people means even more safety", strictly control the number of underground workers. However, the existing technologies lack an in-well vehicle-mounted energized cable reel device that is convenient for automatic control and a method for in-well cable winding and power supply. When recovering in-well cables, often 8 or 9 workers are required to cooperate. Summary of the Invention

[0008] The technical problem to be solved by the present invention is how to fill the gap in the existing technology and provide a slip-ring box-type vehicle-mounted energized cable automatic winding and unwinding device suitable for automatic control and a method for in-well cable winding and power supply.

[0009] To solve the above technical problems, the in-well vehicle-mounted energized cable reel device of the present invention includes a cable reel frame and a slip ring box. The cable reel frame is fixed on a matching flatbed mine car. A cable reel and a wire arranging device are provided on the cable reel frame. The cable reel is equipped with a reel driving motor, and the reel driving motor directly or indirectly drives the cable reel through a transmission mechanism. The wire arranging device includes a lead screw slider mechanism and a wire arranging driving motor. When the wire arranging driving motor drives the lead screw to rotate, it can drive the slider to move left and right along the guide rail. Two vertical guide rollers are provided on the slider. The motor control circuit includes a memory, a processor, and a computer program stored on the memory and operable on the processor. Both the reel driving motor and the wire arranging driving motor are connected to the signal output end of the processor and are controlled by it. It is characterized in that it further includes a cable unhooking device. The cable unhooking device includes a column, a rotating table, and a cable guiding frame. The column is fixed on the matching flatbed mine car and is located in front of the cable reel frame. The rotating table is arranged on the top of the column. The cable guiding frame includes two guide plates and a telescopic cylinder or an electric telescopic rod. The two guide plates are provided with upper row short rollers and lower row short rollers. Both the upper and lower row short rollers include a plurality of horizontal short rollers. A pair of lugs are provided on the top of the rotating table. The middle part of the cable guiding frame is hinged on the lugs. The two ends of the telescopic cylinder or the electric telescopic rod are respectively hinged on the proximal end of the cable guiding frame and the side wall of the rotating table. By adjusting the length of the telescopic cylinder or the electric telescopic rod, the distal end of the cable guiding frame can be driven to rise or fall. The linear velocity sensor is arranged on the matching flatbed mine car or its driving vehicle and is connected to the signal input end of the processor. The slip ring box is an internal slip ring box arranged inside the cable reel. One end of the cable is connected to the in-well matching power supply, and the other end passes through between the two guide plates and the upper and lower row short rollers, passes between the two vertical guide rollers, then enters the internal slip ring box through the cable reel, and is connected to the matching fully-mechanized mining equipment through the internal slip ring box to supply power to the matching fully-mechanized mining equipment and can be wound on the cable reel.

[0010] With such a design, during use, the cable unhooking device can replace 4 - 5 workers to complete the cable unhooking work. Under the control of the processor, when winding each layer of the cable, the cable reel rotates at an appropriate angular velocity respectively, so as to ensure that the winding speed of the outermost layer of the current cable reel is always consistent with the moving speed of the matching flatbed mine car and the mining speed of the working face. While winding the cable, the working face is mined.

[0011] As an optimization, the upper and lower sides of the guide plate are wavy, and the upper and lower row short rollers on it are arranged in a wavy pattern. With such a design, the contact area between the cable guiding frame and the cable can be appropriately increased.

[0012] The method for winding and supplying power to the cable of the fully-mechanized mining equipment by using the aforementioned vehicle-mounted energized cable automatic winding and unwinding device with a slip ring box of the present invention includes the following steps:

[0013] 1. Divide the rotation time of the cable reel when recovering the underground cable into: the time period t1 for winding the first layer of cable, the time period t2 for winding the second layer of cable, the time period t3 for winding the third layer of cable, the time period t4 for winding the fourth layer of cable... the time period tn for winding the nth layer of cable n ,

[0014] 2. Calculate the angular velocities ω1, ω2, ω3, ω4... ω that the cable reel should maintain during the above time periods t1, t2, t3, t4... t n so that the linear velocity of the cable reel for recovering the cable is equal to the moving velocity of the equipped flat car n ;

[0015] 3. Calculate the angular velocities ω1 n , ω2 / , ω3 / , ω4 / , ω4 / ... ω n / that the wire arranging drive motor should maintain during the above time periods t1, t2, t3, t4... t

[0016] so that the slider of the wire arranging device can move uniformly from one end of the guide rail to the other end / 4. Input t1, ω1, ω1 / , t2, ω2, ω2 / , t3, ω3, ω3 / , t4, ω4, ω4 n ... t n , ω n / into the memory of the motor control circuit in groups

[0017] 5. After the cable passes through the cable guide frame and the wire arranging device, it is fixed on the cylinder body of the cable reel and connected to the equipped fully-mechanized mining equipment (not shown in the figure) through the slip ring box. Before starting, the slider of the wire arranging device and the cable are both close to one side. Under the control of the controller, when the equipped flat car starts, the drum drive motor and the wire arranging drive motor start synchronously, and the rotation of the drum drive motor and the wire arranging drive motor is controlled according to the time sequence:

[0018] During the time period t1, the angular velocity of the drum drive motor is controlled to be ω1, and the angular velocity of the wire arranging drive motor is controlled to be ω1 / ;

[0019] During the time period t2, the angular velocity of the drum drive motor is controlled to be ω2, and the angular velocity of the wire arranging drive motor is controlled to be ω2 / ;

[0020] During the time period t3, the angular velocity of the reel driving motor is controlled to be ω3, and the angular velocity of the coiling driving motor is controlled to be ω3 / ;

[0021] During the time period t4, the angular velocity of the reel driving motor is controlled to be ω4, and the angular velocity of the coiling driving motor is controlled to be ω4 / ;

[0022] ……

[0023] During the time period t n , the angular velocity of the reel driving motor is controlled to be ω n , and the angular velocity of the coiling driving motor is controlled to be ω n / , until the cable is completely wound onto the cable reel, where n is a positive integer.

[0024] With such a design, the mechanical structure of the cable reel remains unchanged, and under the condition that the outer diameter of the cable is the same: only the first to fourth steps need to be carried out before use, and then the cable reel of the present invention can automatically adjust the duration of each layer of cable winding and the angular velocity of the reel driving motor and the coiling driving motor during rotation according to the moving speed of the equipped flatbed mine car.

[0025] As an optimization, in the first step: the time period for winding each layer of cable = the length of the cable wound in this layer ÷ the moving speed of the equipped flatbed mine car, that is, the calculation methods of t1, t2, t3... tn are as follows:

[0026] t1 = the length of the cable wound in the first layer L1 ÷ V;

[0027] t2 = the length of the cable wound in the second layer L2 ÷ V;

[0028] t3 = the length of the cable wound in the third layer L3 ÷ V;

[0029] t4 = the length of the cable wound in the fourth layer L4 ÷ V;

[0030] ……

[0031] t n = the length of the cable wound in the nth layer L n ÷ V; L1 - L n The existing spiral line length calculation formula can be adopted, or the actual measurement method can also be used.

[0032] In the second step: the angular velocity of the cable reel during winding each layer of cable = the moving speed of the equipped flatbed mine car × the cosine value of the spiral lead angle of the current cable layer ÷ the winding radius of this layer of cable = the moving speed of the equipped flatbed mine car × the square root of the difference between the square of the winding length of the current cable layer and the square of the spiral pitch of the current layer of cable and the ratio of the winding length of the cable layer ÷ the winding radius of this layer of cable,

[0033] i.e., ω1, ω2, ω3, ω4... ω n The calculation method is as follows:

[0034]

[0035] ...

[0036]

[0037] In the third step: The angular velocity of the wire arranging drive motor when winding each layer of cable = the quotient of the length of the slider's travel on the lead screw divided by the pitch of the lead screw, then multiplied by 2Π, and finally divided by the time period for winding each layer of cable. The pitch of the lead screw is equal to the current

[0038] i.e., ω1 / , ω2 / , ω3 / , ω4 / ... ω n / The calculation method is as follows:

[0039] ω1 / = (L ÷ 4R2) × 2Π ÷ t1;

[0040] ω2 / = (L ÷ 4R2) × 2Π ÷ t2;

[0041] ω3 / = (L ÷ 4R2) × 2Π ÷ t3;

[0042] ω4 / = (L ÷ 4R2) × 2Π ÷ t4;

[0043] ...

[0044] ωn / = (L ÷ 4R2) × 2Π ÷ t n ,

[0045] where: R1 is the outer radius of the cable reel cylinder, R2 is the outer radius of the cable to be wound and unwound, V is the moving speed of the equipped flatbed mine car, Π is the pi, L is the axial width of the wire storage ring groove of the equipped reel, and the spiral lead of each layer of cable is = L - 2R2 and is equal to the length of the slider's travel on the lead screw. With such a design, the calculation is simple, convenient and fast.

[0046] As an optimization, L1, L2, L3, L4... L n The calculation method is as follows:

[0047]

[0048] ...

[0049]

[0050] With such a design, through simple calculations, the length L1 of the cable wound on the first layer from the inside to the outside of the cable reel - the length L of the cable wound on the nth layer can be obtained when recycling the cable, n without the need for actual measurement or calculation using the existing spiral length calculation formula.

[0051] As an optimization, the cable section between the wire arranging device and the proximal end of the cable guiding frame droops in an arc. The drum driving motor and the wire arranging driving motor are both servo motors and are respectively equipped with speed regulation knobs. In the fifth step: when the controller controls the drum driving motor and the wire arranging driving motor to rotate, the staff observes the cable between the wire arranging device and the proximal end of the cable guiding frame, and controls the height of the lowest point of this section of the cable within a predetermined range. When the lowest point of this section of the cable is lower than the lower limit, the staff adjusts the speed regulation knob of the drum driving motor to increase the angular velocity of the drum driving motor until the lowest point of this section of the cable returns to the predetermined range; when the lowest point of this section of the cable is higher than the upper limit, the staff adjusts the speed regulation knob of the drum driving motor to reduce the angular velocity of the drum driving motor until the lowest point of this section of the cable returns to the predetermined range.

[0052] Under normal circumstances, the in - well vehicle - mounted energized cable reel device of the present invention can automatically recycle the cable under the control of the controller. However, due to manufacturing tolerances, use wear, adhesion of debris, or extrusion deformation of the cable, there may be slight diameter changes, which will cause a difference between the actual winding and recycling speed of the cable and the theoretical speed. If it is too fast, it is easy to strain the cable; if it is too slow, the cable between the wire arranging device and the proximal end of the cable guiding frame is prone to excessive sag. With such a design, although the in - well vehicle - mounted energized cable reel device of the present invention is mainly controlled automatically, for safety, manual intervention is introduced in necessary situations.

[0053] The in - vehicle energized cable automatic winding and unwinding device with a slip - ring box and its in - well cable winding and power supply method of the present invention can greatly reduce the number of workers for in - well cable recycling operations. For cable recycling that originally required 8 or 9 workers to cooperate, only 1 worker is needed, and this worker only needs to intervene and control occasionally and can also intervene remotely, which is especially suitable for coal mine enterprises. Brief Description of the Drawings

[0054] The following further describes the in - vehicle energized cable automatic winding and unwinding device with a slip - ring box and its in - well cable winding and power supply method of the present invention in conjunction with the drawings:

[0055] Figure 1 is the three - dimensional structural schematic diagram of the use state of the in - well vehicle - mounted energized cable reel device;

[0056] Figure 2 is Figure 1Left view schematic diagram of the cable reel stand, the cable reel, the wire arranging device and the slip ring box thereon;

[0057] Figure 3 It is a schematic diagram showing the relationship between the unwinding of the first layer of the cable wound on the cable reel and the helix pitch of this layer of cable;

[0058] Figure 4 It is a schematic diagram showing the relationship between the unwinding of the second layer of the cable wound on the cable reel and the helix pitch of this layer of cable;

[0059] Figure 5 It is a schematic diagram showing the relationship between the unwinding of the third layer of the cable wound on the cable reel and the helix pitch of this layer of cable;

[0060] Figure 6 It is a schematic diagram showing the relationship between the unwinding of the fourth layer of the cable wound on the cable reel and the helix pitch of this layer of cable;

[0061] Figure 7 It is a schematic diagram showing the relationship between the unwinding of the nth layer of the cable wound on the cable reel and the helix pitch of this layer of cable.

[0062] Figure 3-7 The double-dashed line in indicates the omitted drawing method;

[0063] Figure 3-7 The single-dashed line in indicates the distance from the distal end to the axis line of the cable reel after the unwinding of each layer of the wound cable.

[0064] In the figure: 1 is the cable reel stand, 2 is the flat ore car for matching, 3 is the cable reel, 4 is the wire arranging device, 5 is the reel driving motor, 6 is the transmission chain - sprocket mechanism, 7 is the wire arranging driving motor, 8 is the lead screw, 9 is the guide rail, 10 is the slider, 11 is the vertical guide roller, 12 is the cable, 13 is the column, 14 is the rotating table, 15 is the cable guiding frame, 151 is the guide plate, 152 is the horizontal short roller, 16 is the telescopic cylinder or electric telescopic rod, 17 is the lug, 18 is the built-in slip ring box, 19 is the observation back plate, 20 is the rotating table driving motor, and the rotating table driving motor 20 drives the rotating table 14 to rotate around the axis line of the column 13 through a planetary gear mechanism (not shown in the figure).

[0065] L is the axial width of the wire storage ring groove of the cable reel 3, L1 is the length of the first layer of the wound cable, L2 is the length of the second layer of the wound cable, L3 is the length of the third layer of the wound cable, L4 is the length of the fourth layer of the wound cable, L n is the length of the nth layer of the wound cable, R1 is the outer radius of the cylinder body of the cable reel 3, R2 is the outer radius of the cable 12, and X is the helix pitch of each layer of the cable. Specific implementation mode

[0066] Implementation mode 1: As shown in Figure 1-7As shown in the figure, the automatic winding and unwinding device for on-vehicle energized cables with a slip ring box according to the present invention includes a cable reel frame 1 and a slip ring box. The cable reel frame 1 is fixed on a matching flatbed mine car 2. A cable reel 3 and a wire arranging device 4 are provided on the cable reel frame 1. The cable reel 3 is equipped with a reel driving motor 5, and the reel driving motor 5 drives the cable reel 3 through a transmission chain - sprocket mechanism 6. The wire arranging device 4 includes a lead screw slider mechanism and a wire arranging driving motor 7. The lead screw slider mechanism includes a lead screw 8, a guide rail 9, and a slider 10. The axis of the lead screw 8 and the axis of the guide rail 9 are both parallel to the axis of the cable reel 3. The slider 10 is slidably fixed on the guide rail 9, and a threaded through hole is provided on the slider 10 and is screwed onto the lead screw 8 through this threaded through hole. When the lead screw 8 rotates, it can drive the slider 10 to move left and right along the guide rail 9. Two vertical guide rollers 11 are provided on the slider 10, and the cable 12 passes through between the two vertical guide rollers 11. The motor control circuit includes a memory, a processor, and a computer program (not shown in the figure) stored on the memory and executable on the processor. The reel driving motor 5 and the wire arranging driving motor 7 are both connected to the signal output end of the processor and are controlled by it. Its characteristic lies in that: it further includes a cable unhooking device. The cable unhooking device includes a column 13, a rotating table 14, and a cable guiding frame 15. The column 13 is fixed on the matching flatbed mine car 2 and is located in front of the cable reel frame 1. The rotating table 14 is arranged on the top of the column 13. The cable guiding frame 15 includes two guide plates 151 and a telescopic cylinder or an electric telescopic rod 16. Upper and lower rows of short rollers are provided on the two guide plates 151, and both the upper and lower rows of short rollers include a plurality of horizontal short rollers 152. A pair of lugs 17 are provided on the top of the rotating table 14, and the middle part of the cable guiding frame 15 is hinged on the lugs 17. Both ends of the telescopic cylinder or the electric telescopic rod 16 are respectively hinged on the proximal end of the cable guiding frame 15 and the side wall of the rotating table 14. By adjusting the length of the telescopic cylinder or the electric telescopic rod 16, the distal end of the cable guiding frame 15 can be driven to rise or fall. The linear velocity sensor (not shown in the figure) is arranged on the matching flatbed mine car 2 or the matching driving vehicle and is connected to the signal input end of the processor. The slip ring box is an internal slip ring box 18 arranged inside the cable reel. One end of the cable 12 is connected to a matching underground power supply (not shown in the figure), and the other end passes through between the two guide plates 151 and the upper and lower rows of short rollers, then passes through between the two vertical guide rollers 11, and then enters the internal slip ring box 18 through the cable reel 3, and is connected to a matching fully mechanized mining equipment (not shown in the figure) through the internal slip ring box 18 to supply power to the matching fully mechanized mining equipment and can be wound on the cable reel 3.

[0067] The method for winding and collecting cables and supplying power to fully mechanized mining equipment using the aforementioned automatic winding and unwinding device for on-vehicle energized cables with a slip ring box according to the present invention includes the following steps:

[0068] 1. Divide the rotation time of the cable reel 3 when recovering the downhole cable into: the time period t1 for winding the first layer of cable, the time period t2 for winding the second layer of cable, the time period t3 for winding the third layer of cable, the time period t4 for winding the fourth layer of cable... the time period t for winding the nth layer of cable n ,

[0069] 2. Calculate the angular velocities ω1, ω2, ω3, ω4... ω that the cable reel 3 should maintain during the above time periods t1, t2, t3, t4... t n so that the linear velocity of the cable reel 3 for recovering the cable is equal to the moving speed V of the equipped flatbed mine car n ;

[0070] 3. Calculate the angular velocities ω1, ω2, ω3, ω4... ω that the wire arranging drive motor 7 should maintain during the above time periods t1, t2, t3, t4... t n so that the slider 10 of the wire arranging device 4 moves uniformly from one end of the guide rail 9 to the other end / , ω2 / , ω3 / , ω4 / ... ω n / ;

[0071] 4. Group and input t1, ω1, ω1 / , t2, ω2, ω2 / , t3, ω3, ω3 / , t4, ω4, ω4 / ... t n , ω n , ω n / into the memory of the motor control circuit

[0072] 5. After the cable 12 passes through the cable guide frame 15 and the wire arranging device 4, it is fixed on the cylinder body of the cable reel 3 and is connected to the equipped fully mechanized mining equipment (not shown in the figure) through the slip ring box 18. Before starting, the slider 10 of the wire arranging device 4 and the cable 12 are both close to one side. Under the control of the controller, when the equipped flatbed mine car 2 starts, the reel drive motor 5 and the wire arranging drive motor 7 start synchronously, and the rotation of the reel drive motor 5 and the wire arranging drive motor 7 is controlled according to the time sequence:

[0073] During the time period t1, the angular velocity of the rotation of the reel drive motor 5 is controlled to be ω1, and the angular velocity of the rotation of the wire arranging drive motor 7 is controlled to be ω1 / ;

[0074] During the time period t2, the angular velocity of the rotation of the reel drive motor 5 is controlled to be ω2, and the angular velocity of the rotation of the wire arranging drive motor 7 is controlled to be ω2 / ;

[0075] During the time period t3, the angular velocity of the reel driving motor 5 is controlled to be ω3, and the angular velocity of the wire laying driving motor 7 is controlled to be ω3 / ;

[0076] During the time period t4, the angular velocity of the reel driving motor 5 is controlled to be ω4, and the angular velocity of the wire laying driving motor 7 is controlled to be ω4 / ;

[0077] ……

[0078] During the time period t n , the angular velocity of the reel driving motor 5 is controlled to be ω n , and the angular velocity of the wire laying driving motor 7 is controlled to be ω n / , until the cable 12 is completely wound onto the cable reel 3, where n is a positive integer.

[0079] In the first step: The time period for winding each layer of the cable = the length of the cable wound in this layer ÷ the moving speed V of the equipped flatbed mine car, that is, the calculation methods of t1, t2, t3... tn are as follows:

[0080] t1 = the length of the cable wound in the first layer L1 ÷ V;

[0081] t2 = the length of the cable wound in the second layer L2 ÷ V;

[0082] t3 = the length of the cable wound in the third layer L3 ÷ V;

[0083] t4 = the length of the cable wound in the fourth layer L4 ÷ V;

[0084] ……

[0085] t n = the length of the cable wound in the nth layer L n ÷ V;

[0086] In the second step: The angular velocity of the cable reel 3 when winding each layer of the cable = the moving speed V of the equipped flatbed mine car × the cosine value of the helix angle of the current cable layer ÷ the winding radius of this layer of the cable = the moving speed of the equipped flatbed mine car × the square root of the difference between the square of the winding length of the current cable layer and the square of the helix pitch of the current layer of the cable divided by the winding length of the cable layer ÷ the winding radius of this layer of the cable,

[0087] That is, ω1, ω2, ω3, ω4... ω n The calculation methods are as follows:

[0088]

[0089]

[0090] ……

[0091]

[0092] In the third step: When winding each layer of cable, the angular velocity of the wire arranging drive motor 7 = the length of the stroke of the slider 10 on the lead screw 8 (i.e., the distance between the left stop point and the right stop point of the midpoint of the slider 10 on the track 9, the same below) ÷ the pitch of the lead screw 8, then multiplied by 2Π, and finally divided by the time period for winding each layer of cable. The pitch of the lead screw 8 is equal to the current

[0093] That is, ω1 / 、ω2 / 、ω3 / 、ω4 / ……ω n / The calculation method is as follows:

[0094] ω1 / =(L÷4R2)×2Π÷t1;

[0095] ω2 / =(L÷4R2)×2Π÷t2;

[0096] ω3 / =(L÷4R2)×2Π÷t3;

[0097] ω4 / =(L÷4R2)×2Π÷t4;

[0098] ……

[0099] ωn / =(L÷4R2)×2Π÷t n ,

[0100] Wherein: R1 is the outer radius of the cylinder body of the cable reel 3, R2 is the outer radius of the cable 12, V is the moving speed of the equipped flatbed mine car 2, Π is the pi, L is the axial width of the wire storage ring groove of the cable reel 3 (i.e., the distance between the two side guard plates or guardrails), and the spiral lead X of each layer of cable is = L - 2R2, and is equal to the length of the stroke of the slider 10 on the lead screw 8.

[0101] L1, L2, L3, L4……L n The calculation method is as follows:

[0102]

[0103]

[0104] ……

[0105]

[0106] The portion of the cable 12 between the cable arranging device 4 and the proximal end of the fairlead 15 droops in an arc shape. The drum driving motor 5 and the cable arranging driving motor 7 are both servo motors and are respectively equipped with speed regulating knobs (not shown in the figure). In the fifth step: When the controller controls the drum driving motor and the cable arranging driving motor to rotate, the staff directly observes or remotely observes the cable 12 between the cable arranging device 4 and the proximal end of the fairlead 15 through a camera. There is an observation back plate (with scale lines thereon) behind this section of the cable 12.

[0107] Control the height of the lowest point of this section of the cable 12 within a predetermined range. When the lowest point of this section of the cable 12 is lower than the lower limit, the staff adjusts the speed regulating knob of the drum driving motor 5 to increase the angular velocity of the drum driving motor 5 (such as increasing it to 1.1 times) until the lowest point of this section of the cable 12 returns to the predetermined range; when the lowest point of this section of the cable 12 is higher than the upper limit, the staff adjusts the speed regulating knob of the drum driving motor 5 to decrease the angular velocity of the drum driving motor 5 (such as decreasing it to 0.9 times) until the lowest point of this section of the cable 12 returns to the predetermined range. (When necessary, synchronously increase or decrease the angular velocity of the cable arranging driving motor 7 appropriately).

Claims

1. A vehicle-mounted automatic winding and unwinding device for powered cables with a slip ring box, comprising a cable drum frame and a slip ring box, the cable drum frame being fixed on a matching flatbed mining vehicle, the cable drum frame being provided with a cable drum and a cable arranging device, the cable drum being provided with a drum driving motor, the drum driving motor driving the cable drum, the cable arranging device comprising a lead screw slider mechanism and a cable arranging driving motor, when the cable arranging driving motor drives the lead screw to rotate, it can drive the slider to move left and right along the guide rail, the slider being provided with two vertical guide rollers, the motor control circuit comprising a memory, a processor and a computer program stored in the memory and running on the processor, the drum driving motor and the cable arranging driving motor are both connected to the signal output end of the processor and controlled thereby, and characterized in that: It also includes a cable unhooking device, which includes a column, a rotating table and a cable guide frame. The column is fixed on the matching flatbed mining car and is located in front of the cable drum frame. The rotating table is arranged on the top of the column. The cable guide frame includes two guide plates and a telescopic cylinder or an electric telescopic rod. The two guide plates are provided with an upper row of short rollers and a lower row of short rollers. The upper and lower rows of short rollers both include a plurality of horizontal short rollers. A pair of lugs are arranged on the top of the rotating table. The middle part of the cable guide frame is hinged on the lugs. The two ends of the telescopic cylinder or the electric telescopic rod are respectively hinged on the proximal end of the cable guide frame and the side wall of the rotating table. The length of the telescopic cylinder or the electric telescopic rod can drive the far end of the cable guide frame to rise or fall. The linear speed sensor is arranged on the accompanying flatbed mining car or its driving car, and is connected to the signal input end of the processor. The slip ring box is a built-in slip ring box arranged in the cable reel. One end of the cable is connected to the underground power supply, and the other end passes between the two guide plates and the upper and lower rows of short rollers. After passing between the two vertical guide rollers, it enters the built-in slip ring box through the cable reel, and is connected to the accompanying comprehensive mining equipment through the built-in slip ring box to power the accompanying comprehensive mining equipment and can be wound on the cable reel.

2. The automatic winding and unwinding device for vehicle-mounted powered cables with slip ring box type according to claim 1 is characterized in that: The upper and lower sides of the guide plate are wavy, and the upper and lower rows of short rollers thereon are arranged in a wavy shape.

3. A method for performing cable winding and power supply for fully mechanized mining equipment by using the automatic winding and unwinding device for a vehicle-mounted powered cable with a slip ring box according to claim 1 or 2, comprising the following steps:

1. The rotation time of the cable drum when recovering the underground cable is divided into: the time period t1 for winding the first layer of cable, the time period t2 for winding the second layer of cable, the time period t3 for winding the third layer of cable, the time period t4 for winding the fourth layer of cable, and so on. n , 2. Calculate the above time periods t1, t2, t3, t4...t n In order to make the linear speed of the cable drum recovering the cable equal to the moving speed of the equipped flatbed mining car, the angular velocity of the cable drum rotation should be maintained at ω1, ω2, ω3, ω4...ω n ; 3. Calculate the above time periods t1, t2, t3, t4...t n In order to make the slider of the cable arranging device move uniformly from one end of the guide rail to the other end of the guide rail, the cable arranging drive motor should maintain an angular velocity of ω1 / ω2 / ,ω3 / ,ω4 / ...ω n / ; 4. Change t1, ω1, ω1 / , t2, ω2, ω2 / , t3, ω3, ω3 / , t4, ω4, ω4 / ……t n ,ω n ,ω n / A memory for grouping inputs to a motor control circuit; 5. After the cable passes through the cable guide and the cable arranging device, it is fixed on the cylinder of the cable drum and connected to the equipped fully mechanized mining equipment through the slip ring box. Before starting, the slider and cable of the cable arranging device are close to one side. Under the control of the controller, when the equipped flatbed mine car is started, the drum drive motor and the cable arranging drive motor are started synchronously, and the rotation of the drum drive motor and the cable arranging drive motor is controlled according to the timing: During the t1 period, the angular velocity of the reel drive motor is controlled to be ω1, and the angular velocity of the cable drive motor is controlled to be ω1 / ; During the t2 period, the angular velocity of the reel drive motor is controlled to be ω2, and the angular velocity of the cable drive motor is controlled to be ω2 / ; During the t3 period, the angular velocity of the reel drive motor is controlled to be ω3, and the angular velocity of the cable drive motor is controlled to be ω3 / ; During the t4 period, the angular velocity of the reel drive motor is controlled to be ω4, and the angular velocity of the cable drive motor is controlled to be ω4 / ; …… In t n During this period, the angular velocity of the reel drive motor is controlled to be ω n , the angular velocity of the cable drive motor is controlled to be ω n / , until all cables are wound onto the cable drum, where n is a positive integer.

4. The method for cable winding and power supply for fully mechanized mining equipment according to claim 3 is characterized in that: In the first step: the time period for winding each layer of cables = the length of the winding cables of this layer ÷ the moving speed of the equipped flatbed mining car, that is, t1, t2, t3...tn are calculated as follows: t1 = length of the first layer of winding cable L1 ÷ V; t2 = length of the second layer of winding cable L2 ÷ V; t3 = length of the third layer of winding cable L3 ÷ V; t4 = length of the fourth layer of wound cable L4 ÷ V; …… t n = length L of the nth layer of wound cable n ÷V; In the second step: the angular velocity of the cable drum when winding each layer of cable = the moving speed of the equipped flatbed mine car × the cosine value of the helical lead angle of the current cable layer ÷ the winding radius of the cable layer = the moving speed of the equipped flatbed mine car × the square root of the difference between the square of the winding length of the current cable layer and the square of the helical lead of the current cable layer ÷ the winding radius of the cable layer, that is, ω1, ω2, ω3, ω4...ω n The calculation method is as follows: In the third step: the angular velocity of the cable drive motor when winding each layer of cables = the length of the slider on the screw ÷ the quotient of the screw pitch, multiplied by 2π, and finally divided by the time period of winding each layer of cables. The screw pitch is equal to the current That is ω1 / ω2 / ,ω3 / ,ω4 / ...ω n / The calculation method is as follows: ω1 / =(L÷4R2)×2Π÷t1; ω2 / =(L÷4R2)×2Π÷t2; ω3 / =(L÷4R2)×2Π÷t3; ω4 / =(L÷4R2)×2Π÷t4; …… ωn / =(L÷4R2)×2Π÷t n , Wherein: R1 is the outer radius of the cable drum body, R2 is the outer radius of the cable to be retracted, V is the moving speed of the equipped flatbed mining car, Π is the pi, L is the axial width of the wire-holding ring groove of the equipped drum, and the spiral lead of each layer of cable is L-2R2, which is equal to the length of the slider's stroke on the screw.

5. The cable reeling and power supply method for fully mechanized mining equipment according to claim 4 is characterized in that: L1, L2, L3, L4...L n The calculation method is as follows:

6. The method for cable winding and power supply for fully mechanized mining equipment according to claim 5 is characterized in that: The cable portion between the cable arranger and the proximal end of the cable guide rack droops in an arc shape, and the drum drive motor and the cable arrange drive motor are both servo motors and are respectively equipped with speed control knobs. In the fifth step: when the controller controls the drum drive motor and the cable arrange drive motor to rotate, the staff directly or remotely observes the cable between the cable arranger and the proximal end of the cable guide rack through a camera, and controls the height of the lowest point of the cable section within a predetermined range. When the lowest point of the cable section is lower than the lower limit, the staff adjusts the speed control knob of the drum drive motor to increase the angular velocity of the drum drive motor until the lowest point of the cable section returns to the original predetermined range; when the lowest point of the cable section is higher than the upper limit, the staff adjusts the speed control knob of the drum drive motor to reduce the angular velocity of the drum drive motor until the lowest point of the cable section returns to the original predetermined range.

Images