Cable-stayed ceiling type mining underground transportation box loading and unloading device and control method thereof

Abstract

The invention relates to a loading and unloading technology of a mining underground transportation box body, in particular to a cable-stayed ceiling type mining underground transportation box body loading and unloading device and a control method of the cable-stayed ceiling type mining underground transportation box body loading and unloading device. The device is composed of a track conveying device, a four-bar mechanism, a lifting appliance module and a modularized mining transportation box body. The operation process comprises the steps of conveying the hoisting platform, adjusting the position of the lifting appliance, locking the lifting appliance, hoisting and lowering the transportation box body, and finally completing the transportation of the box body by the rail conveying device. A four-bar mechanism is introduced into a parallel structure design, so that the rigidity and safety of the system are remarkably improved; the sling module adopts a semi-automatic locking mechanism, so that the loading and unloading efficiency is improved; the lifting platform can slide along the track, and the problem of alignment of the lifting appliance and the box is solved. The system integrates UWB and IMU to carry out global accurate positioning, and ensures that the loading and unloading process is stable and reliable. The problem that lateral loading and unloading of the underground transportation box are difficult is effectively solved, the operation efficiency is remarkably improved, manual intervention is reduced, and construction and popularization of an intelligent, safe and efficient mine system are assisted.

Description

Technical Field

[0001] The present invention relates to the field of loading and unloading of underground mine transport boxes, and in particular to an inclined-lift ceiling-type underground mine transport box loading and unloading device and a control method thereof. Background Art

[0002] Since the release of the "Modern Energy System Plan", it has pointed out the development direction for my country's energy industry, which is to deeply integrate modern information technologies such as the Internet, big data, and artificial intelligence with the energy industry. For the coal industry, it has put forward specific requirements for strengthening the construction of intelligent, safe and efficient mines, and improving cross-regional coal transportation channels and collection and distribution systems.

[0003] Traditional underground loading and unloading mainly adopts a semi-manual loading method. Workers use hand-pulled electric hoists to lift, load and unload transport boxes to the side open space when the mine car is parked. It requires a large investment of human resources, and the workers' working environment is poor, the labor intensity is high, and there are certain safety hazards. With the rapid development of the economy, labor costs have also increased significantly. It has become difficult to recruit workers for such underground jobs. The increase in labor costs and environmental protection requirements has also become an obstacle to the development of the coal industry. Therefore, research on intelligent loading systems to replace manual operations will become the future development trend and inevitable choice of intelligent coal yards. The present invention aims to propose a base-type underground mine transport box loading and unloading scheme design, which is used for lateral loading and unloading of transport boxes underground, eliminating the need for workers to work underground. It is a standardized material transportation and loading system for the coal mining industry and an integral part of the modern coal mine logistics system. It participates in realizing efficient, safe and standardized transportation of materials, improving coal mine production efficiency and reducing logistics costs. Summary of the Invention

[0004] The task to be solved by the present invention is to design a tilted ceiling type underground mine transport box loading and unloading device and its control method. When the mine car is parked, the transport box is unloaded from the mine car and transported to the target position of the box on the side open space, and it can adapt to the range deviation of the mine car parking position.

[0005] The technical solution adopted by the present invention to solve its engineering task is:

[0006] The invention discloses an oblique-stayed ceiling-type underground mining transport box loading and unloading device and a control method thereof. The overall structure consists of a rail conveying device, a four-link device, a spreader module and a modular mining transport box.

[0007] The track conveyor device consists of a single end drive motor, two side tracks, four winding wheels, several connecting rods, universal joints and bearing seats. It is fixed as a whole to the top of the mine passage. The driving motor drives the rotation of the winding wheel to retract and release the rope, and the sling is transported in a rope-driven manner. The track conveyor device has one degree of freedom as a whole. The winding wheel is driven by a single end drive motor, and the winding wheels are connected by rods connected in series with universal joints. Since the winding wheels are distributed at a large distance, several bearing seats are arranged to support the transmission shaft to reduce the radial load of the transmission shaft. The four winding wheels are grouped into two groups, acting on the two sides of the track respectively. There are two winding wheels on each side of the single track. The two winding wheels have different directions of winding the rope, and the other ends of the two winding wheels are connected to the front and rear ends of the sliding platform respectively through the telescopic ends. The rope of the forward-winding reel is connected to the end of the sliding platform near the motor. When the sliding platform is pulled back close to the drive motor, the forward-winding reel reels in the rope, and when the sliding platform moves away from the drive motor, the forward-winding reel releases the rope. The rope of the reverse-winding reel is connected to the other end of the sliding platform away from the motor. When the sliding platform is pulled back close to the drive motor, the reverse-winding reel releases the rope, and when the sliding platform moves away from the drive motor, the reverse-winding reel reels in the rope. The specific process combined with the drive motor is as follows: when the motor rotates clockwise, the forward-winding reel reels in, and the reverse-winding reel releases the rope, and the sling is pulled back; when the motor rotates counterclockwise, the forward-winding reel releases the rope, and the reverse-winding reel reels in, and the sling is sent out.

[0008] The four-bar linkage consists of a sliding platform, a long I-beam, a mining hydraulic push rod, and connecting lugs. The two long I-beams, the upper sliding platform, and the lower hoisting module form a four-bar linkage. Driven by the push and pull of the mining hydraulic push rods, the four-bar linkage can diagonally lift the lowered hoisting platform, effectively lifting the transport box vertically to a certain distance above the upper surface of the track trolley or the ground. The sliding platform supports the track, with pulleys installed on the sides to reduce friction with the track. The mining hydraulic push rods are hinged at both ends to the upper sliding platform and the long I-beam via lugs, converting the hydraulic push rod's telescopic stroke into the four-bar linkage's diagonal stroke.

[0009] The sling module consists of a sling platform and a single-sided sling. The top of the sling platform is fixed to a horizontal rigid link at the top. This protruding outer edge features an internal slideway, allowing for horizontal movement in the plane of the vertical four-bar linkage, i.e., along the transport box track. This allows for adjustment of the position of the single-sided sling below along the transport box track to accommodate deviations in the mine car's parking position and ensure the tight locking of the sling module to the transport box. The single-sided sling is equipped with a semi-automatic locking device, controlled by the upper hoisting module, which locks with the corner fittings on one side of the transport box. The semi-automatic locking device consists of a central triangular paddle, a connecting rod, a universal joint, and two left and right rotary twist locks. The triangular paddle is connected to the upper hoisting module via a rope. The hoisting module controls the rotation of the triangular paddle using the ropes, which in turn drives the connecting rod articulated to the triangular paddle to move left and right, creating a spatial linkage mechanism. This ultimately pushes the left and right rotary twist locks to complete the rotary locking function. The lifting modules arranged symmetrically on both sides can lift both sides of the transport box at the same time, and load and unload it laterally to the open space on the side of the underground track.

[0010] Due to the diversity of materials, different transport containers are required, but it is not feasible to design a specific transport container for each material. Therefore, after classifying materials by type, material, shape, size, and quality, we designed five types of modular mining transport containers for use with specialized spreaders.

[0011] A side-unloading detachable modular mining transport box consists of a box body, a chassis, a hinge mechanism, an unloading wheel assembly and a support frame. The structure is as follows: Figure 8 As shown in the figure, the container consists of a bed and doors, connected by a hinge mechanism. The underframe is located beneath the bed, which rotates around the hinge mechanism on the underframe. Unloading wheels are fixed to one side of the bed, allowing the bed to achieve a 40° unloading angle. To ensure side unloading and overall handling of the container, a support frame structure is designed. The support frame comprises a basic structural framework, including corner columns, corner fittings, and side beams, all of which are standard components of uniform size. Sloping reinforcement beams are designed on the sides of the support frame to ensure that cargo can be dumped out during side unloading.

[0012] A coverless, detachable, modular mining transport box can transport small piled materials or oversized materials. The box design refers to the general container structure and mine car box structure, and is composed of a basic structural frame including corner columns, corner pieces, side panels, bottom panels, and cross beams. The structure is as follows: Figure 9As shown. Adding corner posts to the four corners of the container to accommodate the installation of corner fittings effectively increases structural stability. The distance between the length and width is determined by the spacing between the corner fitting holes, and the height is determined by the volume and depth of the container. The corner fittings are where the twist locks secure to the container, with standard dimensions of 178x162x118mm. The corner fittings are installed at the eight vertices of the container, similar to standard containers, and can be welded using a CO2 gas welder.

[0013] A double-door detachable modular mining transport box is designed on one side of a general box for quick and convenient loading and unloading of special-shaped or large materials. The door hinges are installed on the corner posts. The hinge bases are welded to the corner posts at both ends of the double-door side of the box. The other end of the hinge is welded to the door. The hinge is selected from the container hinge to ensure the hinge strength. The structure is as follows: Figure 10 The door dimensions are designed to be half the length of the side panels, with space left to ensure they do not interfere with each other when closed. The width is the distance from the top of the box to the bottom crossbeam, and the thickness is the thickness of the side panels. There are also reinforcing ribs on the outside. When the door is closed, it becomes a standard universal box.

[0014] An open, detachable, modular mining transport box is designed based on the original standard transport box. The side panels connected to the corner columns are removed to take into account the situation when there are fixed requirements for transported materials or the volume of materials exceeds the box space. The structure is as follows: Figure 10 As shown. The ropes used to secure the materials need to be tied to the box, so lugs are added at both ends of each bottom beam. The lugs are in the shape of a right triangle, with the two right-angled sides welded to the bottom beam and corner columns respectively. A hole with a diameter of 30mm is opened in the center of the lug to facilitate the passage of the rope. The overall structure is shown in the figure.

[0015] A gas-liquid detachable modular mining transport box, consisting of a tank body, a valve device and a support frame, has a structure such as Figure 12 As shown in the figure, the tank's main feature is its cylindrical shape, with a sealed interior space suitable for transporting liquids, gases, and other items. The valve assembly is located below the end of the tank and primarily consists of loading and unloading piping, safety accessories, and an instrument safety monitoring system. The support frame, located outside the tank, consists of corner fittings, struts, and braces. This provides effective protection for the tank and valves, preventing damage or leakage from unexpected impacts or tipping during use.

[0016] For the control of hoist loading and unloading transport boxes, UWB base stations are installed in the four corners of the warehouse; UWB tags and IMUs are installed on the hoists; UWB base stations and UWB tags are used for indoor positioning of the hoists. Combined with IMUs, the accuracy and robustness of positioning can be improved, and the motion trajectory and posture of the transport boxes can be tracked.

[0017] UWB technology provides high-precision distance measurement. By measuring the distance and angle between multiple base stations and tags, it can achieve three-dimensional positioning of shipping boxes or other objects. Simultaneously, the IMU can provide acceleration and angular velocity information of the shipping box. By fusing this data with the extended Kalman filter algorithm, the UWB and IMU data can be used to compensate for motion and attitude changes in UWB positioning. This allows for real-time estimation of an object's position, velocity, acceleration, and attitude, thereby improving positioning stability and accuracy.

[0018] Specific sling position positioning measurement, such as Figure 13 As shown, firstly, the spatial position of the spreader is calculated by UWB, as shown below:

[0019]

[0020] x, y, z——UWB base station location coordinates;

[0021] t1, t2, t3, t4 – the time it takes for the base stations in the four corners to receive the signal from the UWB tag;

[0022] r1, r2, r3, r4 - the distance between the four-corner distributed base stations and the UWB tag.

[0023] When the spreader is hooking up the transport box and moving it toward the flatbed truck, the world coordinates of the transport box are obtained through the UWB algorithm, and the relative position of the flatbed truck and the transport box can be preliminarily obtained. To further increase positioning accuracy and robustness, the IMU sensor on the spreader is used to return the spreader's acceleration. The UWB / IMU data is fused through the extended Kalman filter algorithm (EKF algorithm) to obtain the optimal estimate of the spreader's position. The algorithm process is as follows: Figure 14 shown.

[0024] In the algorithm implementation, IMU measures the acceleration of the spreader x and y axes [a x ,a y ] As the input of the algorithm, the position and velocity vector of the spreader measured by UWB [x t ,y t ,v x ,v y ] as the observation of the algorithm, that is, u t =[a x ,a y ] T ,Zt=[xt ,y t ,v x ,v y ] T , the state vector of the model is

[0025] Prior estimates:

[0026]

[0027] where a rx ,a ry The acceleration of the sensor is the global x and y component after rotation:

[0028] a rx =a x cosθ-a y sinθ

[0029] a ry =a x sinθ-a y cosθ

[0030] Then we have:

[0031]

[0032] θ t+1 =θ t

[0033] The motion model represents:

[0034] X t+1 =FX t +Bu t

[0035] in:

[0036]

[0037]

[0038] Measurement equation:

[0039]

[0040] Calculate the Kalman gain:

[0041]

[0042] Get the optimal state estimate:

[0043] x t =x t +K t (zh(x t))

[0044] In terms of specific operating procedures, the loading and unloading plan of the pedestal-type underground mining transport box is divided into two parts: loading the transport box and unloading the transport box.

[0045] The process of loading and transporting boxes: The transport box is transferred from the side of the track to the transport trolley platform on the track. The track conveyor runs to the top of the transport box, and the mining hydraulic cylinder on the four-link device is pushed out to lower the special single-sided sling to fit the upper surface of the transport box. After the sling fits the upper surface of the transport box, the four-link device continues to lower the lifting platform for a distance. This process realizes the semi-automatic locking device of the sling and the corner piece on the upper surface of the transport box. After the locking is completed, the mining hydraulic cylinder on the four-link device pulls back and pulls the sling module upward to lift the transport box on the ground. After the transport box is lifted a certain distance from the ground, the track conveyor starts, and the drive motor at the end drives the winding wheel to rotate and retract the rope. Under the pulling action of the lifting platform, the lifting platform is smoothly transported to the underground track until the transport box is directly above the transport trolley platform. If there is a position deviation between the trolley platform and the box along the track, the transport box can be moved in a small range along the track through the slide on the lifting platform to adjust its position to face the transport trolley platform on the track. Finally, the mining hydraulic cylinder on the four-link device is pushed out to lower the spreader module, placing the transport box on the transport trolley platform on the track. After the lower surface of the box is in contact with the trolley platform, it is further lowered. The semi-automatic twist lock device on the spreader is unlocked and separated from the transport box. Finally, the four-link device is tilted back to the spreader module, and the track conveyor returns to its initial position.

[0046] Unloading process of transport box: unload the transport box from the rail trolley platform to the open space on the side of the track. The rail conveyor transports the four-link device to the top of the transport box on the rail trolley platform. If there is a position deviation between the sling module and the transport box along the track, the chute on the lifting platform can be used to move the sling module in a small range along the track. After adjusting the position to face the transport trolley platform on the track, the mining hydraulic cylinder push rod on the four-link device is pushed out to lower the special single-sided sling to fit it on the upper surface of the transport box. After the sling fits the upper surface of the transport box, the four-link device continues to lower the sling module for a distance. This process realizes the semi-automatic locking device of the sling and the corner fittings on the upper surface of the transport box. After the locking is completed, the four-link device The upper mining hydraulic cylinder retracts the push rod, pulls the sling module upward, and lifts the transport box on the trolley platform; after the transport box is lifted by the electric hoist and a distance away from the trolley platform, the track conveyor device starts, and the end drive motor drives the winding wheel to rotate, and under the pulling action of the retracted and released rope, the lifting platform is smoothly transported back to the open space on the side of the track until the transport box is above the designated area on the open space; finally, the four-link device lowers the sling module, places the transport box on the ground, and continues to lower it after the lower surface of the box is in contact with the ground. The semi-automatic twist lock device on the single-sided sling is unlocked, and the four-link device is pulled up obliquely to return to the sling module, and the track conveyor device returns to its initial position.

[0047] Compared with the existing technology, the present invention has the following beneficial effects: the present invention improves the overall rigidity of the loading and unloading device by introducing a four-link parallel configuration, and the semi-automatic locking design of the sling module has higher loading and unloading efficiency. At the same time, the lifting platform can slide along the track direction to solve the problem of alignment between the sling and the transport box; UWB fusion IMU is used for global positioning, and at the same time, the lifting platform can slide along the track direction to solve the problem of alignment between the sling and the transport box. Under the mining implementation standards, this solution adopts mining hydraulic devices and drive motor rope drive, and the designed special single-sided sling is matched with the modular transport box, which solves the practical engineering problem of the existing lateral loading and unloading of underground transport boxes on the track, greatly improves the efficiency of lateral loading and unloading of underground transport boxes, reduces labor demand, and strengthens intelligent, safe and efficient mine construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 An overall schematic diagram of a tilted ceiling type underground mining transport box loading and unloading device and its control method;

[0049] Figure 2 Schematic diagram of a four-link conveying device;

[0050] Figure 3 Schematic diagram of the lifting platform;

[0051] Figure 4 Schematic diagram of the spreader module;

[0052] Figure 5 Schematic diagram of single-sided spreader:

[0053] Figure 6 Flowchart of the process of loading transport boxes;

[0054] Figure 7 Flowchart of the process of unloading transport boxes;

[0055] Figure 8 A side-discharging detachable modular mining transport box;

[0056] Figure 9 A coverless, detachable, modular mining transport box;

[0057] Figure 10 A double-door detachable modular mining transport box;

[0058] Figure 11 An open, detachable, modular mining transport box;

[0059] Figure 12 A gas-liquid separable modular mining transport box;

[0060] Figure 13 Schematic diagram of the distance distribution between tags and base stations.

[0061] Figure 14 Schematic diagram of the extended Kalman algorithm process.

[0062] In the figure: track conveying device (1), four-link device (2), spreader module (3), track side designated loading and unloading area (4), track trolley platform schematic (5), transport box (6), universal joint (7), winding wheel (8), transmission rod (9), track (10), drive motor (11), bearing seat (12), track pulley (13), mining hydraulic cylinder (14), ear plate (15), I-beam plate (16), sliding platform (17), lifting platform (18), single-sided spreader (19), semi-automatic twist lock (20), ear plate (21), slide (22), reinforcement rib (23), connecting rod (24), universal joint (25), connecting rod (26), triangular paddle (27), rope (28). DETAILED DESCRIPTION

[0063] The present invention will be further described with reference to the accompanying drawings.

[0064] A tilted ceiling type underground transport box loading and unloading device for mines and its control method, such as Figure 1 As shown, the overall structure consists of a track conveying device (1), a four-link device (2), a spreader module and a modular mining transport box.

[0065] Track conveyor, such as Figure 2 As shown, it is composed of a single end drive motor (11), two side tracks, four winding wheels (8), several connecting rods, universal joints (25) and bearing seats (12). The whole is fixed to the top of the mine passage. The driving motor (11) drives the winding wheel (8) to rotate to retract and release the rope, and the sling is transported in a rope-pulling drive form. The track conveying device (1) has one overall degree of freedom. The winding wheel (8) is driven by a single end drive motor (11). The winding wheels (8) are connected in series by a universal joint (25). Since the winding wheels (8) are distributed at a large distance, in order to reduce the radial load of the transmission shaft, several bearing seats (12) are arranged to support the transmission shaft. The four winding wheels are grouped into two groups, acting on the two side tracks respectively. There are two winding wheels on each side of the single track. The directions of the rope winding of the two winding wheels are different, and the other ends of the two winding wheels are connected to the front and rear ends of the sliding platform respectively through the telescopic movement. The rope of the forward winding reel is connected to one end of the sliding platform near the motor end. When the sliding platform is pulled back to approach the drive motor, the forward winding reel collects the rope. When the sliding platform is away from the drive motor, the forward winding reel releases the rope. The rope of the reverse winding reel is connected to the other end of the sliding platform away from the motor end. When the sliding platform is pulled back to approach the drive motor, the reverse winding reel releases the rope. When the sliding platform is away from the drive motor, the reverse winding reel collects the rope. The specific process of the drive motor is as follows: four reels are grouped into two groups, acting on the two side tracks respectively. The two reels on one side have different directions of winding the rope. When the motor rotates counterclockwise, the forward winding reel (8) releases the rope and the reverse winding reel (8) collects the rope, and the sling is sent out.

[0066] Four-bar linkage, such as Figure 3 As shown, it is composed of a sliding platform (17), a long I-shaped steel plate (16), a mining hydraulic push rod, a connecting ear plate (15), etc. The two long I-shaped steel plates (16) and the upper sliding platform (17), as well as the lower lifting module form a four-bar linkage. Under the push and pull drive of the mining hydraulic push rod, the four-bar linkage device (2) can perform an oblique lifting and lowering of the lowered lifting platform (18), which is used to lift the transport box (6) in the vertical direction to a certain distance away from the upper surface of the track trolley or the ground. The sliding platform (17) supports the track, and a track pulley (13) is installed on the side to reduce the friction between the track and the track. The two ends of the mining hydraulic push rod are respectively hinged to the upper sliding platform (17) and the long I-shaped steel plate (16) through the ear plate (15), converting the telescopic stroke of the hydraulic push rod into the oblique pulling stroke of the four-bar linkage device (2).

[0067] Spreader modules, such as Figure 4As shown, it consists of two parts: a sling platform and a unilateral sling (19). The top of the sling platform (18) is fixedly connected to the top horizontal rigid link, as a protruding outer edge, with a slide groove (22) inside, which can provide a plane of the vertical four-link device (2), that is, horizontal movement along the track direction of the transport box (6), for adjusting the position of the lower unilateral sling (19) along the track direction of the transport box (6) to adapt to the range deviation of the parking position of the mine car and ensure the matching and locking of the sling module and the transport box (6). A semi-automatic locking device is installed on the unilateral sling, specifically as Figure 5 As shown, it is controlled by the upper hoisting module and can be locked with the corner piece on one side of the transport box. The semi-automatic locking device consists of a central triangular paddle (27), a connecting rod, a universal joint (25), and two left and right rotary twist locks. The triangular paddle (27) is connected to the upper hoisting module by a rope. The hoisting module can use the rope to control the rotation of the triangular paddle (27) by changing the lifting height, thereby driving the connecting rod hinged to the triangular paddle (27) to move left and right, in the form of a spatial linkage mechanism, and finally pushing the left and right rotary twist locks to complete the rotary locking function. The sling modules arranged symmetrically on both sides can simultaneously lift both sides of the transport box and load and unload them laterally to the open space on the side of the underground track.

[0068] Due to the diversity of materials, different boxes are required for transportation, but it is not suitable to design a corresponding transport box for each material (6). Therefore, after first classifying the materials according to their type, material, shape, size and quality, five types of modular mining transport boxes are designed for use with special lifting equipment.

[0069] A side-unloading detachable modular mining transport box consists of a box body, a chassis, a hinge mechanism, an unloading wheel assembly and a support frame. The structure is as follows: Figure 8 As shown in the figure, the container consists of a bed and doors, connected by a hinge mechanism. The underframe is located beneath the bed, which rotates around the hinge mechanism on the underframe. Unloading wheels are fixed to one side of the bed, allowing the bed to achieve a 40° unloading angle. To ensure side unloading and overall handling of the container, a support frame structure is designed. The support frame comprises a basic structural framework, including corner columns, corner fittings, and side beams, all of which are standard components of uniform size. Sloping reinforcement beams are designed on the sides of the support frame to ensure that cargo can be dumped out during side unloading.

[0070] A coverless, detachable, modular mining transport box can transport small piled materials or oversized materials. The box design refers to the general container structure and mine car box structure, and is composed of a basic structural frame including corner columns, corner pieces, side panels, bottom panels, and cross beams. The structure is as follows: Figure 9As shown. Adding corner posts to the four corners of the container to accommodate the installation of corner fittings effectively increases structural stability. The distance between the length and width is determined by the spacing between the corner fitting holes, and the height is determined by the volume and depth of the container. The corner fittings are where the twist locks secure to the container, with standard dimensions of 178x162x118mm. The corner fittings are installed at the eight vertices of the container, similar to standard containers, and can be welded using a CO2 gas welder.

[0071] A double-door detachable modular mining transport box is designed on one side of a general box for quick and convenient loading and unloading of special-shaped or large materials. The door hinges are installed on the corner posts. The hinge bases are welded to the corner posts at both ends of the double-door side of the box. The other end of the hinge is welded to the door. The hinge is selected from the container hinge to ensure the hinge strength. The structure is as follows: Figure 10 The door dimensions are designed to be half the length of the side panels, with space left to ensure they do not interfere with each other when closed. The width is the distance from the top of the box to the bottom crossbeam, and the thickness is the thickness of the side panels. There are also reinforcing ribs on the outside. When the door is closed, it becomes a standard universal box.

[0072] An open, detachable, modular mining transport box is designed based on the original standard transport box. The side panels connected to the corner columns are removed to take into account the situation when there are fixed requirements for transported materials or the volume of materials exceeds the box space. The structure is as follows: Figure 11 As shown. The ropes for fixing the materials need to be tied to the box body, so ear plates (15) are added at both ends of each bottom plate beam. The ear plates (15) are in the shape of a right triangle, and the two right-angled sides are welded to the bottom plate beam and the corner column respectively. A hole with a diameter of 30 mm is opened in the center of the ear plate (15) to facilitate the passage of the rope. The overall structure is shown in the figure.

[0073] A gas-liquid detachable modular mining transport box, consisting of a tank body, a valve device and a support frame, has a structure such as Figure 12 As shown in the figure, the tank's main feature is its cylindrical shape, with a sealed interior space suitable for transporting liquids, gases, and other items. The valve assembly is located below the end of the tank and primarily consists of loading and unloading piping, safety accessories, and an instrument safety monitoring system. The support frame, located outside the tank, consists of corner fittings, struts, and braces. This provides effective protection for the tank and valves, preventing damage or leakage from unexpected impacts or tipping during use.

[0074] For the control of hoist loading and unloading transport boxes, UWB base stations are installed in the four corners of the warehouse; UWB tags and IMUs are installed on the hoists; UWB base stations and UWB tags are used for indoor positioning of the hoists. Combined with IMUs, the accuracy and robustness of positioning can be improved, and the motion trajectory and posture of the transport boxes can be tracked.

[0075] UWB technology provides high-precision distance measurement. By measuring the distance and angle between multiple base stations and tags, it can achieve three-dimensional positioning of shipping boxes or other objects. Simultaneously, the IMU can provide acceleration and angular velocity information of the shipping box. By fusing this data with the extended Kalman filter algorithm, the UWB and IMU data can be used to compensate for motion and attitude changes in UWB positioning. This allows for real-time estimation of an object's position, velocity, acceleration, and attitude, thereby improving positioning stability and accuracy.

[0076] Specific sling position positioning measurement, such as Figure 13 As shown, firstly, the spatial position of the spreader is calculated by UWB, as shown below:

[0077]

[0078] x, y, z——UWB base station location coordinates;

[0079] t1, t2, t3, t4 – the time it takes for the base stations in the four corners to receive the signal from the UWB tag;

[0080] r1, r2, r3, r4 - the distance between the four-corner distributed base stations and the UWB tag.

[0081] When the spreader is hooking up the transport box and moving it toward the flatbed truck, the world coordinates of the transport box are obtained through the UWB algorithm, and the relative position of the flatbed truck and the transport box can be preliminarily obtained. To further increase positioning accuracy and robustness, the IMU sensor on the spreader is used to return the spreader's acceleration. The UWB / IMU data is fused through the extended Kalman filter algorithm (EKF algorithm) to obtain the optimal estimate of the spreader's position. The algorithm process is as follows: Figure 14 shown.

[0082] In the algorithm implementation, IMU measures the acceleration of the spreader x and y axes [a x ,a y ] As the input of the algorithm, the position and velocity vector of the spreader measured by UWB [x t ,y t ,v x ,v y ] as the observation of the algorithm, that is, u t =[a x ,a y ] T ,Zt=[xt ,y t ,v x ,v y ] T , the state vector of the model is

[0083] Prior estimates:

[0084]

[0085] where a rx ,a ry The acceleration of the sensor is the global x and y component after rotation:

[0086] a rx =a x cosθ-a y sinθ

[0087] a ry =a x sinθ-a y cosθ

[0088] Then we have:

[0089]

[0090] θ t+1 =θ t

[0091] The motion model represents:

[0092] X t+1 =FX t +Bu t

[0093] in:

[0094]

[0095] Measurement equation:

[0096]

[0097] Calculate the Kalman gain:

[0098]

[0099] Get the optimal state estimate:

[0100] x t =x t +K t (zh(x t ))

[0101] In terms of specific operation procedures, the loading and unloading scheme of the pedestal-type underground mining transport box is divided into two parts: loading the transport box (6) and unloading the transport box (6).

[0102] The process of loading and transporting the box body: The transporting box body (6) is transferred from the side of the track to the transport trolley platform on the track. The track conveying device (1) moves to the top of the transporting box body (6), and the mining hydraulic cylinder (14) on the four-link device (2) is pushed out to lower the special single-sided sling (19) to fit the upper surface of the transporting box body (6). After the sling and the upper surface of the transporting box body (6) fit together, the four-link device (2) continues to lower the lifting platform (18) for a distance. This process realizes the semi-automatic locking device of the sling and the corner piece on the upper surface of the transporting box body (6) to lock; after the locking is completed, the mining hydraulic cylinder (14) on the four-link device (2) is pulled back, and the sling module is pulled upward to lift the transporting box body (6) on the ground; after the transporting box body (6) is lifted a distance from the ground, the track conveying device (1) is started, and the end drive motor (11) drives the winding wheel (8) rotates, and under the pulling action of the retractable rope, the hoisting platform (18) is smoothly transported to the underground track until the transport box (6) is located directly above the transport trolley platform. If there is a position deviation between the trolley platform and the box along the track, the transport box (6) can be moved in a small range along the track direction through the chute (22) on the hoisting platform (18) to adjust the position to face the transport trolley platform on the track. Finally, the mining hydraulic cylinder (14) on the four-link device (2) is pushed out, the sling module is lowered, and the transport box (6) is placed on the transport trolley platform on the track. After the lower surface of the box is in contact with the trolley platform, it is further lowered, and the semi-automatic twist lock (20) on the sling is unlocked and separated from the transport box (6). Finally, the four-link device (2) is tilted back to the sling module, and the track conveying device (1) returns to its initial position.

[0103] Unloading process of transport box: unloading the transport box (6) from the rail trolley platform (5) to the open space on the side of the track. The rail conveying device (1) transports the four-link device (2) to the top of the transport box (6) on the rail trolley platform (5). If there is a position deviation between the sling module and the transport box (6) along the rail direction, the sling module can be moved in a small range along the rail direction through the slide (22) on the lifting platform (18). After adjusting the position to face the transport trolley platform on the rail, the mining hydraulic cylinder (14) on the four-link device (2) pushes out the push rod to lower the special single-sided sling (19) to fit with the upper surface of the transport box (6). After the sling fits with the upper surface of the transport box (6), the four-link device (2) continues to lower the sling module for a distance. This process realizes the locking of the semi-automatic locking device of the sling with the corner piece on the upper surface of the transport box (6); after the locking is completed, the four-link device (2 ) The upper mining hydraulic cylinder (14) retracts the push rod, pulls the sling module upward, and lifts the transport box (6) on the trolley platform; after the transport box (6) is lifted by the electric hoist and is a certain distance away from the trolley platform, the track conveying device (1) is started, and the end drive motor (11) drives the winding wheel (8) to rotate, and under the pulling action of the retracted and released rope, the lifting platform (18) is smoothly transported back to the open space on the side of the track until the transport box (6) is located above the designated area on the open space; finally, the four-link device (2) lowers the sling module, places the transport box (6) on the ground, and continues to lower it after the lower surface of the box is in contact with the ground, and the semi-automatic twist lock (20) device on the single-sided sling (19) is unlocked, and the four-link device (2) pulls up the sling module, and the track conveying device (1) returns to its initial position.

[0104] Compared with the existing technology, the present invention has the following beneficial effects: the present invention improves the overall rigidity of the loading and unloading device by introducing a parallel configuration of four links, and the semi-automatic locking design of the sling module has higher loading and unloading efficiency. At the same time, the lifting platform (18) can slide along the track direction to solve the problem of alignment between the sling and the transport box (6); UWB fusion IMU is used for positioning, and at the same time, the lifting platform (18) can slide along the track direction to solve the problem of alignment between the sling and the transport box (6). Under the mining implementation standard, the scheme adopts a mining hydraulic device and a driving motor (11) to pull the rope drive, and the designed special single-sided sling (19) is matched with the modular transport box, solving the actual engineering problem of the existing underground transport box (6) on the track for lateral loading and unloading, greatly improving the efficiency of lateral loading and unloading of underground transport boxes, reducing labor demand, and strengthening intelligent and safe and efficient mine construction.

Claims

1. A device for loading and unloading a mining underground transport box with an inclined-lift ceiling and a control method thereof, wherein the overall structure comprises a track conveying device (1), a four-link device (2), a spreader module and a modular mining transport box; The track conveying device is composed of a single end drive motor (11), two side tracks, four winding wheels (8), a plurality of connecting rods, a universal joint (7) and a bearing seat (12). The whole device is fixed to the top of the mine passage. The driving motor (11) drives the winding wheel (8) to rotate to retract and release the rope, and the sling is conveyed in a rope-driven manner. The track conveying device (1) has one overall degree of freedom. The winding wheels (8) are driven by a single driving motor (11) at the end. The winding wheels (8) are connected in series by a universal joint (7). Since the winding wheels (8) are distributed at a large distance, in order to reduce the radial load of the transmission shaft, a plurality of bearing seats (12) are arranged to support the transmission shaft. The four winding wheels (8) are grouped into two and act on the tracks on both sides respectively. The two winding wheels (8) on one side have different directions of winding ropes. When the motor rotates clockwise, the winding wheel (8) winding in the forward direction retracts the rope, and the winding wheel (8) winding in the reverse direction releases the rope, and the sling is pulled back. When the motor rotates counterclockwise, the winding wheel (8) winding in the forward direction releases the rope, and the winding wheel (8) winding in the reverse direction retracts the rope, and the sling is sent out. The four-link device is composed of a sliding platform (17), a long I-shaped steel plate (16), a mining hydraulic push rod, a connecting ear plate (15), etc. The two long I-shaped steel plates (16) and the upper sliding platform (17), as well as the lower lifting module, form a four-link mechanism. Under the push and pull drive of the mining hydraulic push rod, the four-link device (2) can perform an oblique lifting and lowering of the lowered lifting platform (18), and is used to lift the transport box (6) in the vertical direction to a certain distance away from the upper surface of the track trolley or the ground; the sliding platform (17) supports the track, and a track pulley (13) is installed on the side to reduce the friction between the track and the hydraulic push rod; the two ends of the mining hydraulic push rod are respectively hinged to the upper sliding platform (17) and the long I-shaped steel plate (16) through the ear plate (15), so that the telescopic stroke of the hydraulic push rod is converted into the oblique pulling stroke of the four-link device (2); The sling module is composed of a sling platform and a unilateral sling (19); the top of the sling platform (18) is fixedly connected to the top horizontal rigid link, and as a protruding outer edge, there is a slide groove (22) inside, which can be provided in the plane of the vertical four-link device (2), that is, along the track direction of the transport box (6), for adjusting the position of the lower unilateral sling (19) along the track direction of the transport box (6) to adapt to the range deviation of the parking position of the mine car and ensure the cooperation and locking of the sling module and the transport box (6); the unilateral sling (19) is equipped with a semi-automatic locking device, which can be locked with the corner piece on one side of the transport box (6); the sling modules arranged symmetrically on both sides can lift both sides of the transport box (6) at the same time, and load and unload them laterally to the open space on the side of the underground track; Due to the diversity of materials, different boxes are required for transportation, but it is not suitable to design a corresponding transportation box for each material (6); therefore, firstly, the materials are classified according to their type, material, shape, size and quality, and five types of modular mining transportation boxes are designed for use with special lifting equipment; A side-dumping, detachable, modular mining transport box consists of a box body, a chassis, a hinge mechanism, unloading wheels, and a support frame. The box body consists of a bucket and a door, which are connected by a hinge mechanism. The chassis is located below the bucket, which rotates around the hinge mechanism on the chassis. The unloading wheels are fixed to one side of the bucket, giving the bucket a 40° unloading angle. To ensure side unloading of the box body and realize the overall handling function of the box body, a support frame structure is designed. The support frame consists of a basic structural frame including corner columns, corner fittings, side beams, etc., all of which are standard parts of uniform size. The side of the support frame is designed with a slope reinforcement beam to ensure that the cargo can be dumped out during the side unloading process; This uncovered, detachable, modular mining transport box is suitable for transporting small, bulky materials or out-of-gauge materials. Its design is modeled after common container and mine car structures, consisting of a basic structural framework including corner posts, corner fittings, side panels, a floor, and crossbeams. Corner posts are added to the box's four corners to accommodate the installation of the corner fittings, effectively increasing structural stability. The length and width are determined by the spacing between the corner fitting holes, while the height is determined by the box's volume and depth. The corner fittings, which secure the twist locks to the box, have standard dimensions of 178 x 162 x 118 mm. The corner fittings are installed at the eight vertices of the box, similar to those used for standard containers, and can be welded using a carbon dioxide gas welder. A double-door, detachable, modular mining transport box is designed based on a general box body to enable quick and convenient loading and unloading of special-shaped or large materials. One side of the box body is double-doored. The door hinges are mounted on the corner posts. Hinge bases are welded to the corner posts at both ends of the double-door side of the box body. The other end of the hinge is welded to the box door. The hinge is selected from container hinges to ensure hinge strength. The door dimensions are designed so that the length direction is half the length of the side panel, and space is left to ensure that the doors do not interfere with each other when closed. The width is the distance from the top of the box body to the bottom crossbeam, and the thickness is the thickness of the side panel. There is a reinforcing rib structure on the outside. When the door is closed, it becomes a standard general box body. An open, detachable, modular mining transport box is designed. Considering the situation where there are fixed requirements for transported materials or the volume of materials exceeds the space of the box, the side panels connected to the corner columns are removed on the basis of the original standard transport box, and the open modular transport box is designed. The ropes for fixing the materials need to be tied to the box, so ear plates (15) are added at both ends of each bottom plate crossbeam. The ear plates (15) are in the shape of a right triangle, and the two right-angled sides are respectively welded to the bottom plate crossbeam and the corner columns. A hole with a diameter of 30 mm is opened in the center of the ear plate (15) to facilitate the passage of the rope. A gas-liquid detachable modular mining transport box consists of a tank body, a valve device and a support frame; the main feature of the tank body is that it has a cylindrical shape and an internal space that is a closed tank body, which can be used to transport liquids, gases and other items; the valve device is arranged below the end of the tank body, and is mainly composed of loading and unloading pipelines, safety accessories and instrument safety monitoring systems; the support frame is located outside the tank body, and is composed of corner pieces, pillars and struts; the support frame part can provide good protection for the tank body and valve parts, preventing the tank body from being damaged or leaking the medium due to impact or overturning due to sudden accidents during use.

2. A tilted-ceiling, suspended underground mining box loading and unloading device and its control method. Its sensing design features include UWB base stations installed at the four corners of the warehouse where the lifter is used to load and unload the transport box. UWB tags and IMUs are also installed on the lifter. The UWB base stations and tags are used for indoor positioning of the lifter. Combined with the IMU, these improve positioning accuracy and robustness, and enable tracking of the transport box's trajectory and posture. UWB technology provides high-precision distance measurement. By measuring the distance and angle between multiple base stations and tags, it can achieve three-dimensional positioning of transport boxes or other objects. At the same time, the IMU can provide acceleration and angular velocity information of the transport box. By fusing this UWB and IMU data through the extended Kalman filter algorithm to compensate for motion and attitude changes in UWB positioning, it can estimate the object's position, velocity, acceleration, and attitude in real time, thereby improving positioning stability and accuracy. Regarding the specific positioning measurement of the spreader, the spatial position of the spreader is first calculated using UWB, as shown below: x, y, z——UWB base station location coordinates; t1, t2, t3, t4 – the time it takes for the base stations in the four corners to receive the signal from the UWB tag; r1, r2, r3, r4——the distance between the four-corner distributed base stations and the UWB tag; When the spreader picks up the transport box and moves it toward the flatbed truck, the world coordinates of the transport box are obtained through the UWB algorithm, which can initially determine the relative position of the flatbed truck and the transport box. To further improve positioning accuracy and robustness, the IMU sensor on the spreader is used to return the spreader's acceleration. The UWB / IMU data is fused using the extended Kalman filter algorithm (EKF algorithm) to obtain the optimal estimate of the spreader's position. In the algorithm implementation, IMU measures the acceleration of the spreader x and y axes [a x ,a y ] As the input of the algorithm, the position and velocity vector of the spreader measured by UWB [x t ,y t ,v x ,v y ] as the observation of the algorithm, that is, u t =[a x ,a y ] T ,Zt=[x t ,y t ,v x ,v y ] T , the state vector of the model is Prior estimates: where a rx ,a ry The acceleration of the sensor is the component of the global x and y after rotation: a rx =a x cosθ-a y sinθ a ry =a x sinθ-a y cosθ Then we have: The motion model represents: X t+1 =FX t +Bu t in: Measurement equation: Calculate the Kalman gain: Get the optimal state estimate: x t =x t +K t (z-h(x t ))。 3. A device for loading and unloading a tilted ceiling type underground transport box for mining and a control method thereof. In terms of specific operation procedures, the loading and unloading scheme of the base type underground transport box for mining is divided into two parts: loading the transport box (6) and unloading the transport box (6); The process of loading and transporting a box body is as follows: the transporting box body (6) is transferred from the side of the track to the transport trolley platform on the track; the track conveying device (1) moves to the top of the transporting box body (6), the mining hydraulic cylinder (14) on the four-link device (2) is pushed out, and the special single-sided sling (19) is lowered to fit the upper surface of the transporting box body (6); after the sling is in contact with the upper surface of the transporting box body (6), the four-link device (2) continues to lower the lifting platform (18) for a distance, and this process realizes the semi-automatic locking device of the sling and the corner piece on the upper surface of the transporting box body (6) to lock; after the locking is completed, the mining hydraulic cylinder (14) on the four-link device (2) is pulled back, and the sling module is pulled upward to lift the transporting box body (6) on the ground; after the transporting box body (6) is lifted a distance from the ground, the track conveying device (1) is started, and the end drive motor (11) drives the winding The wire wheel (8) rotates, and under the pulling action of the retractable rope, the hoisting platform (18) is smoothly transported to the underground track until the transport box (6) is located directly above the transport trolley platform. If there is a position deviation between the trolley platform and the box along the track, the transport box (6) can be moved in a small range along the track direction through the slide groove (22) on the hoisting platform (18), and the position can be adjusted to face the transport trolley platform on the track; finally, the mining hydraulic cylinder (14) on the four-link device (2) is pushed out, the sling module is lowered, and the transport box (6) is placed on the transport trolley platform on the track. After the lower surface of the box is in contact with the trolley platform, it is continued to be lowered, and the semi-automatic twist lock (20) device on the sling is unlocked and separated from the transport box (6); finally, the four-link device (2) is tilted back to the sling module, and the track conveying device (1) returns to its initial position; Unloading process of transport box: for unloading the transport box (6) from the rail trolley platform (5) to the open space on the side of the track; the rail conveying device (1) transports the four-link device (2) to run above the transport box (6) on the rail trolley platform (5); if there is a position deviation between the sling module and the transport box (6) along the track direction, the chute (22) on the hoisting platform (18) can be used to move the sling module in a small range along the track direction, and after adjusting the position to face the transport trolley platform on the track, the mining hydraulic cylinder (14) on the four-link device (2) pushes out the push rod, and the special single-sided sling (19) is lowered to fit the upper surface of the transport box (6); after the sling fits the upper surface of the transport box (6), the four-link device (2) continues to lower the sling module for a distance, and this process realizes the semi-automatic locking device of the sling and the upper surface of the transport box (6). The corner pieces of the surface are locked; after the locking is completed, the mining hydraulic cylinder (14) on the four-link device (2) retracts the push rod, pulls the sling module upward, and lifts the transport box (6) on the trolley platform; after the transport box (6) is lifted by the electric hoist and is a distance away from the trolley platform, the track conveying device (1) is started, and the end drive motor (11) drives the winding wheel (8) to rotate, and under the pulling action of the retracted and released rope, the lifting platform (18) is smoothly transported back to the open space on the side of the track until the transport box (6) is located above the designated area on the open space; finally, the four-link device (2) lowers the sling module, places the transport box (6) on the ground, and continues to lower it after the lower surface of the box is in contact with the ground, and the semi-automatic twist lock (20) device on the single-side sling (19) is unlocked, the four-link device (2) pulls up the sling module, and the track conveying device (1) returns to its initial position.

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