Autonomous-connection electromagnetic traction device for mining and using method thereof

Abstract

The invention discloses a mining automatic-connection electromagnetic traction device and a using method thereof, and relates to the technical field of coal mine transportation, the mining automatic-connection electromagnetic traction device comprises an electromagnetic traction mechanism and a monitoring and positioning mechanism, the electromagnetic traction mechanism comprises an electromagnetic traction assembly and a bolt assembly, and the electromagnetic traction assembly comprises an electromagnetic traction body and a traction electromagnet; the electromagnetic traction body is used for being connected with a coal mine transportation vehicle head, the traction electromagnet is arranged on the electromagnetic traction body, the electromagnetic traction body is provided with a connection channel, the bolt assembly is used for being connected with a coal mine transportation compartment, and the bolt assembly can stretch into the connection channel and achieve traction through the traction electromagnet. An output device of the monitoring and positioning mechanism is arranged on the bolt assembly, a receiver of the monitoring and positioning mechanism is arranged on the electromagnetic traction assembly, and the output device of the monitoring and positioning mechanism and the receiver of the monitoring and positioning mechanism are used for monitoring the distance between the electromagnetic traction assembly and the bolt assembly. The connection efficiency is improved, and the labor cost is saved.

Description

Technical Field

[0001] This invention relates to the field of coal mine transportation technology, and in particular to a mine-use autonomous electromagnetic traction device and its usage method. Background Technology

[0002] In coal mining, as coal resource extraction moves deeper into the mines, the health of coal miners has become an increasingly important concern. To protect worker health and reduce labor intensity, mechanization in all aspects of coal mining has become an inevitable trend. This places higher demands on the underground coal transportation process. Therefore, how to improve the speed and efficiency of transportation while reducing the number of workers and their labor intensity has become a critical issue that the coal mining industry urgently needs to address.

[0003] Currently, in underground coal mine transportation, the engagement and disengagement of locomotives and mine cars are generally achieved manually by unhooking and hooking them. This method is not only inefficient, but also requires dedicated positions to perform the relevant operations, increasing labor costs. Summary of the Invention

[0004] The purpose of this invention is to provide a mine-use autonomous electromagnetic traction device and its usage method, so as to solve the problems existing in the prior art, improve the connection efficiency, and save labor costs.

[0005] To achieve the above objectives, the present invention provides the following solution: This invention provides a mine-use autonomous electromagnetic traction device, comprising: an electromagnetic traction mechanism and a monitoring and positioning mechanism. The electromagnetic traction mechanism includes an electromagnetic traction component and a bolt assembly. The electromagnetic traction component includes an electromagnetic traction body and a traction electromagnet. The electromagnetic traction body is used to connect with a coal mine transport vehicle head. The traction electromagnet is disposed on the electromagnetic traction body and has a connecting channel. The bolt assembly is used to connect with a coal mine transport car body. The bolt assembly can extend into the connecting channel and achieve traction through the traction electromagnet. The output device of the monitoring and positioning mechanism is disposed on the bolt assembly, and the receiver of the monitoring and positioning mechanism is disposed on the electromagnetic traction component. The output device and the receiver of the monitoring and positioning mechanism are used to monitor the distance between the electromagnetic traction component and the bolt assembly.

[0006] In some specific embodiments, the electromagnetic traction mechanism further includes a front fixing plate and a connecting plate. The front fixing plate is used to connect with the coal mine transport vehicle head. A first connecting elastic element is provided between one end of the connecting plate and the front fixing plate. The other end of the connecting plate is rotatably connected to the electromagnetic traction body to form a rotary joint.

[0007] In some specific embodiments, the electromagnetic traction mechanism further includes a motor, the power output end of which is connected to the electromagnetic traction body for transmission, and the motor is used to drive the electromagnetic traction body to rotate relative to the connecting plate.

[0008] In some specific embodiments, the electromagnetic traction mechanism further includes two second connecting elastic elements, which are located on both sides of the rotary joint. One end of the second connecting elastic element is connected to the connecting plate, and the other end of the second connecting elastic element is connected to the electromagnetic traction body.

[0009] In some specific embodiments, the bolt assembly includes a bolt body and a third connecting elastic element. One end of the bolt body is used to connect to a coal mine transport car, the output device of the monitoring and positioning mechanism is located at the other end of the bolt body, and the other end of the bolt body can extend into the connecting channel. The third connecting elastic element is sleeved on the bolt body.

[0010] In some specific embodiments, a washer is also provided on the bolt body, the washer is slidably connected to the bolt body, the bolt body extends into the connecting channel, and the washer can compress the third connecting elastic element.

[0011] In some specific solutions, an emergency self-locking mechanism is also included. The emergency self-locking mechanism is installed on the electromagnetic traction body, and a magnetic shielding plate is provided between the emergency self-locking mechanism and the traction electromagnet.

[0012] In some specific embodiments, the emergency self-locking mechanism includes at least one emergency self-locking component. The electromagnetic traction body has a mounting hole, and the emergency self-locking component is located at the mounting hole. The emergency self-locking component includes a self-locking electromagnet, a bolt, a fourth connecting elastic element, and a locking block. The bolt, the locking block, and the fourth connecting elastic element are all located in the mounting hole. The self-locking electromagnet is mounted on the electromagnetic traction body. The bolt is slidably connected to the self-locking electromagnet. The locking block is located at one end of the bolt. The bolt assembly is provided with… The device includes a slot into which the locking block can extend. A fourth connecting elastic element is sleeved on the bolt and positioned between the self-locking electromagnet and the locking block. When the emergency self-locking assembly is not activated, the self-locking electromagnet is energized, and the bolt moves the locking block away from the connecting channel. When the emergency self-locking assembly is activated, the self-locking electromagnet is de-energized, the fourth connecting elastic element extends, driving the bolt and the locking block to move. The locking block enters the slot, thus locking the electromagnetic traction assembly and the bolt assembly.

[0013] This invention also discloses a method for using the aforementioned autonomous electromagnetic traction device for mining, comprising: Move the coal mine transport car head to the front of the coal mine transport car body, activate the monitoring and positioning mechanism, monitor the offset of the electromagnetic traction component on the coal mine transport car head, and ensure that the electromagnetic traction component and the bolt assembly are aligned. The coal mine transport car head approaches the coal mine transport car at a certain speed. When the monitoring and positioning mechanism detects that the distance S between the output device and the receiver of the monitoring and positioning mechanism is less than or equal to the set value, the coal mine transport car head stops moving. The traction electromagnet is activated to generate electromagnetic traction force, causing the coal mine transport car to approach the coal mine transport car head until S reaches 0. Then, the coal mine transport car head starts moving and drives the coal mine transport car forward. During the process of the coal mine transport car head moving forward and driving the coal mine transport car forward, the monitoring and positioning mechanism uses the real-time monitoring of S to determine whether the electromagnetic traction force meets the standard: when S is within the safe range, the electromagnetic traction force meets the standard; when S is greater than the maximum value of the safe range, the electromagnetic traction force is increased until S is within the safe range or an emergency self-locking is activated. After the coal mine transport vehicle comes to a complete stop, the current to the traction electromagnet gradually decreases, and the electromagnetic traction mechanism returns to its free state.

[0014] In some specific plans, during the process of the coal mine transport car approaching the coal mine transport engine: As the current to the traction electromagnet gradually increases, the electromagnetic traction force F... 磁 The frictional resistance F that the coal mine transport car needs to overcome from the ground during its movement gradually increases from 0 to greater than 0. 摩擦 At this point, S is in the variable acceleration phase; When the electromagnetic traction force F 磁 The resistance F required to be overcome by the ground during the movement of the coal mine transport car is increased to a value greater than that required by the ground friction. 摩擦 At this time, the coal transport car begins to move towards the coal transport locomotive. Meanwhile, the current to the traction electromagnet remains constant, i.e., the electromagnetic traction force F... 磁 The value remains unchanged, and at this point, S is in the uniform acceleration phase; When the coal mine transport car moves towards the coal mine transport vehicle head until S is 0, the current of the traction electromagnet decreases, causing the electromagnetic traction force F to decrease. 磁 This is equivalent to the frictional resistance F that the coal mine transport car needs to overcome when it is in motion. 摩擦 At this point, S is in the uniform velocity stage.

[0015] The present invention achieves the following technical effects compared to the prior art: This invention enables autonomous connection between the locomotive and the carriage during transportation via an electromagnetic traction mechanism. This efficient and stable connection avoids the inefficiencies and instability associated with traditional methods, preventing safety risks and ensuring ideal safety standards for coal mine transportation connections. Furthermore, the invention incorporates a monitoring and positioning mechanism to detect and adjust for deviations in the connection position, allowing for precise docking in various scenarios. This invention effectively solves the problem of precise positioning during the connection process of mining transportation equipment, improving the automation level and reliability of the mining transportation system. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram showing the installation position of the autonomously connected electromagnetic traction device for mining in some embodiments of the present invention. Figure 2 This is a front view of a mine-use autonomous electromagnetic traction device according to some embodiments of the present invention. Figure 3 This is a top view of a mine-use autonomous electromagnetic traction device according to some embodiments of the present invention. Figure 4 This is a cross-sectional view of a mine-use autonomous electromagnetic traction device according to some embodiments of the present invention. Figure 5 This is a cross-sectional view of an emergency self-locking mechanism in some embodiments of the present invention; Figure 6 This is a schematic diagram of S in some embodiments of the present invention; Figure 7 This is a schematic diagram of the data mapping style of the control and data mapping module in some embodiments of the present invention; Figure 8 This is a flowchart illustrating the usage method of the autonomously connected electromagnetic traction device for mining in some embodiments of the present invention. In the picture: 1 - Coal mine transport vehicle head; 2-Electromagnetic traction device for mining applications with independent connection; 20-Headboard fixing plate; 21-Fixing frame; 22-Electromagnetic traction mechanism; 23-Emergency self-locking mechanism; 24-Bolt assembly; 25-Carriage fixing plate; 26-Short-range wireless signal transmission module; 27-Control and data mapping module; 28-Power supply; 29-Data processing module; 201 - First connecting elastic element; 220 - Motor; 221 - Second connecting elastic element; 222 - Iron core; 223 - Energized coil; 224 - Magnetic shielding plate; 225 - Gasket; 226 - Third connecting elastic element; 227 - Connecting channel; 230-Slot; 231-Iron bolt; 232-Self-locking electromagnet; 233-Fourth connecting elastic element; 234-Clocking block; 235-Electromagnetic traction body; 240 - Receiver; 241 - Output device; 242 - Bolt body; 3-Coal mine transport carriage. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The purpose of this invention is to provide a mine-use autonomous electromagnetic traction device and its usage method, so as to solve the problems existing in the prior art, improve the connection efficiency, and save labor costs.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Example 1 like Figures 1 to 6 As shown, this embodiment provides a mine-use autonomous connecting electromagnetic traction device 2, including: an electromagnetic traction mechanism 22 and a monitoring and positioning mechanism. The electromagnetic traction mechanism 22 includes an electromagnetic traction component and a bolt assembly 24. The electromagnetic traction component includes an electromagnetic traction body 235 and a traction electromagnet. The electromagnetic traction body 235 is used to connect with the coal mine transport car head 1. The traction electromagnet is disposed on the electromagnetic traction body 235. The electromagnetic traction body 235 is provided with a connecting channel 227. The bolt assembly 24 is used to connect with the coal mine transport car body 3. The bolt assembly 24 can extend into the connecting channel 227 and achieve traction through the traction electromagnet. The output device 241 of the monitoring and positioning mechanism is disposed on the bolt assembly 24, and the receiver 240 of the monitoring and positioning mechanism is disposed on the electromagnetic traction component. The output device 241 and the receiver 240 of the monitoring and positioning mechanism are used to monitor the distance between the electromagnetic traction component and the bolt assembly 24.

[0022] In some specific embodiments, the traction electromagnet includes an iron core 222 and an energized coil 223. The iron core 222 is a hollow iron core and is disposed on the electromagnetic traction body 235. The energized coil 223 is wound around the iron core 222. By energizing the energized coil 223, the iron core 222 and the energized coil 223 form a traction electromagnet.

[0023] In some specific embodiments, the output device 241 of the monitoring and positioning mechanism is an infrared sensor output device used to transmit light signals; the receiver 240 of the monitoring and positioning mechanism is an infrared sensor receiver used to receive light signals.

[0024] In some specific embodiments, the electromagnetic traction mechanism 22 further includes a front fixing plate 20 and a connecting plate. The front fixing plate 20 is fixed to the rear plate of the coal mine transport vehicle head 1 by welding or bolts and nuts. A first connecting elastic element 201 is provided between one end of the connecting plate and the front fixing plate 20, which has a shock absorption function. The other end of the connecting plate is rotatably connected to the electromagnetic traction body 235 to form a rotary joint.

[0025] In some specific embodiments, the electromagnetic traction mechanism 22 further includes a motor 220, which is an explosion-proof servo motor. The motor 220 is mounted on the connecting plate via a fixing frame 21. The power output end of the motor 220 is connected to the electromagnetic traction body 235 for transmission. The motor 220 is used to drive the electromagnetic traction body 235 to rotate relative to the connecting plate. The motor 220 can adjust the left and right deflection of the electromagnetic traction body 235 to facilitate the connection between the electromagnetic traction assembly and the bolt assembly 24.

[0026] In some specific embodiments, the electromagnetic traction mechanism 22 further includes two second connecting elastic elements 221, which are located on both sides of the rotary joint. One end of the second connecting elastic element 221 is connected to the connecting plate, and the other end of the second connecting elastic element 221 is connected to the electromagnetic traction body 235. The second connecting elastic element 221 is used to play a flexible adaptation role during the rotation of the rotary joint.

[0027] In some specific embodiments, the bolt assembly 24 includes a bolt body 242 and a third connecting elastic element 226. The bolt body 242 is a steel bolt. One end of the bolt body 242 is connected to the car body fixing plate 25 on the coal mine transport car 3 by means of thread or welding. The output device 241 of the monitoring and positioning mechanism is located at the other end of the bolt body 242 (near the end of the coal mine transport car head 1). The receiver 240 of the monitoring and positioning mechanism is located at the end of the connecting channel 227 near the end of the coal mine transport car head 1, and the other end of the bolt body 242 can extend into the connecting channel 227. The third connecting elastic element 226 is sleeved on the bolt body 242.

[0028] In some specific embodiments, a washer 225 is also provided on the bolt body 242. The washer 225 is a thick rubber ring washer. The washer 225 is slidably connected to the bolt body 242. The bolt body 242 extends into the connecting channel 227. After the washer 225 contacts the electromagnetic traction body 235, it compresses the third connecting elastic element 226. The washer 225 and the third connecting elastic element 226 are used to buffer the impact effect generated when the electromagnetic traction assembly is started, and prevent sparks from being generated.

[0029] In some specific embodiments, an emergency self-locking mechanism 23 is also included. The emergency self-locking mechanism 23 is disposed on the electromagnetic traction body 235. A magnetic shielding plate 224 is disposed between the emergency self-locking mechanism 23 and the traction electromagnet to reduce magnetic interference between the emergency self-locking mechanism 23 and the traction electromagnet.

[0030] In some specific embodiments, the emergency self-locking mechanism 23 includes at least one emergency self-locking component, preferably several emergency self-locking components. These components are evenly distributed circumferentially along the electromagnetic traction body 235. The electromagnetic traction body 235 has mounting holes, and the emergency self-locking components are located at these holes. Each emergency self-locking component includes a self-locking electromagnet 232, a bolt 231, a fourth connecting elastic element 233, and a locking block 234. The bolt 231, locking block 234, and fourth connecting elastic element 233 are all located within the mounting holes. The self-locking electromagnet 232 is mounted on the electromagnetic traction body 235 and has a hollow channel. The bolt 231 is located within the hollow channel and is slidably connected to the self-locking electromagnet 232. The locking block 234 is located at one end of the bolt 231 and is connected to the bolt 231 by welding or threaded connection. The bolt body 242 has a slot. 230. The shape and size of the slot 230 are determined by the locking block 234 and the self-locking completion time. The locking block 234 can extend into the slot 230. The length of the slot 230 is twice that of the locking block 234, so that the locking block 234 can be smoothly locked into the slot 230 when the emergency self-locking component is activated. The fourth connecting elastic element 233 is sleeved on the iron bolt 231 and is located between the self-locking electromagnet 232 and the locking block 234. When the emergency self-locking component is not activated, the self-locking electromagnet 232 is energized, the iron bolt 231 drives the locking block 234 away from the connecting channel 227, and the fourth connecting elastic element 233 is compressed to accumulate elastic potential energy. When an emergency occurs, the emergency self-locking component is activated, the self-locking electromagnet 232 is de-energized, the fourth connecting elastic element 233 extends, driving the iron bolt 231 and the locking block 234 to move. The locking block 234 enters the slot 230 to lock the electromagnetic traction component and the bolt assembly 24.

[0031] In some specific embodiments, the first connecting elastic element 201, the second connecting elastic element 221, the third connecting elastic element 226, and the fourth connecting elastic element 233 are all preferably springs.

[0032] In some specific embodiments, a data processing module 29 is also included. The output device 241 and the receiver 240 of the monitoring and positioning mechanism are both electrically connected to the data processing module 29. Through the cooperation of the output device 241 and the receiver 240 of the monitoring and positioning mechanism with the data processing module 29, the bolt assembly 24 and the electromagnetic traction assembly are precisely docked. After the docking is completed, the distance S between the output device 241 and the receiver 240 of the monitoring and positioning mechanism is monitored in real time, and the data is processed and statistically analyzed in real time.

[0033] In some specific embodiments, a short-range wireless signal transmission module 26 and an alarm module are also included. Both the short-range wireless signal transmission module 26 and the alarm module are electrically connected to the data processing module 29. The data processing module 29 is connected to the short-range wireless signal transmission module 26 and the alarm module via a wired connection. After the data is processed by the data processing module 29, it is uploaded to the short-range wireless signal transmission module 26. Information is transmitted between the coal mine transport vehicle head 1 and the coal mine transport vehicle 3 through the short-range wireless signal transmission module 26, and an alarm is issued through the alarm module.

[0034] In some specific embodiments, a control and data mapping module 27 is also included. This module 27 is mounted on the outer shell of the coal mine transport vehicle 1 behind the front end and is connected to a short-range wireless signal transmission module 26 via a wired connection. It receives data generated by the data processing module 29 and plots it as shown in the image. Figure 7 The chart shown is of this type.

[0035] In some specific embodiments, the coal mine transport vehicle head 1 is equipped with a power supply 28, which can supply power to the control and data mapping module 27, the data processing module 29, the short-range wireless signal transmission module 26 and the alarm module. In this embodiment, the control and data mapping module 27 can set relevant parameters such as the electromagnetic traction force threshold of the electromagnetic traction mechanism 22, the error allowable range of the distance S of the monitoring and positioning mechanism, and the upper limit of the emergency self-locking response time.

[0036] In the electromagnetic traction mechanism 22 of the mine-use self-connecting electromagnetic traction device 2 of this embodiment, the motor 220 is used to adjust the left and right deviation of the mechanism at the rotating joint. The second connecting elastic element 221 connects the rotating joint and the electromagnetic traction mechanism 22 and plays a flexible adaptation role. The iron core 222 and the energized coil 223 form a traction electromagnet, which is assembled on the electromagnetic traction body 235 for traction of the bolt body 242. The magnetic shielding plate 224 is installed between the traction electromagnet and the emergency self-locking mechanism 23 to weaken magnetic interference. The gasket 225 and the third connecting elastic element 226 are combined and installed on the bolt body 242 to buffer the impact and prevent sparks. In the emergency self-locking mechanism 23, the slot 230 is opened on the bolt body 242. One end of the iron bolt 231 is connected to the locking block 234 and placed in the hollow channel of the self-locking electromagnet 232. When the self-locking electromagnet 232 is de-energized in an emergency, the fourth connecting elastic element 233 pushes the locking block 234 into the locking slot 230 to achieve mechanical self-locking. In the monitoring and positioning mechanism, the bolt body 242 is connected to the fixed plate 25 of the coal mine transport car 3 by means of thread or welding, and is fixed to the coal mine transport car 3. The receiver 240 and the output device 241 of the monitoring and positioning mechanism cooperate with the data processing module 29 to achieve precise docking and distance monitoring. The data processing module 29 is connected to the alarm module via a wired connection and a short-range wireless signal transmission module 26 for data transmission and alarm control. The control and data mapping module 27 is mounted on the car body behind the coal mine transport car head 1, and is connected to the alarm module via a wired connection and a short-range wireless signal transmission module 26 to receive and process data to generate charts.

[0037] In this embodiment, the vehicle is fixed to the coal mine transport vehicle head 1 and the coal mine transport vehicle body 3 using fixing components such as the head plate 20 and the body plate 25. Through the electromagnetic traction mechanism 22, the vehicle head 1 and the body 3 can autonomously connect during transport, achieving a highly efficient and stable connection. This avoids the low efficiency and poor stability of traditional connection methods that could affect transport safety, ensuring that the connection effect in coal mine transport reaches ideal safety standards. Furthermore, this embodiment uses a monitoring and positioning mechanism to detect and adjust deviations in the connection position, enabling precise docking for different scenarios. Combined with the emergency self-locking mechanism 23, mechanical self-locking is achieved in case of abnormalities, ultimately maintaining a stable connection state during transport. This allows the device to adapt to different transport conditions and emergencies, ensuring safe and reliable transport. In complex coal mine transport environments, it effectively improves transport safety and facilitates connection and operation in coal mine transport.

[0038] In this embodiment, the electromagnetic traction mechanism 22 enables a reliable connection between the locomotive and the carriage. The monitoring and positioning mechanism, based on high-precision positioning technology, monitors and adjusts the relative positions of the energized coil 223 and the bolt body 242 in real time to ensure precise alignment. The emergency self-locking mechanism 23, through the monitoring and positioning mechanism, continuously monitors whether the distance between the energized coil 223 and the bolt body 242 is within the effective range of the electromagnetic force. If the effective distance is exceeded, the emergency self-locking mechanism 23 will quickly activate the mechanical self-locking function and trigger the alarm system to ensure the personal safety of personnel working underground.

[0039] Example 2 like Figure 8 As described above, this embodiment discloses a method for using the autonomously connected electromagnetic traction device 2 for mining, as described in Embodiment 1, including: S1. Turn on the power supply 28 to supply power to the control and data mapping module 27, data processing module 29, short-range wireless signal transmission module 26 and alarm module, and set relevant parameters such as the electromagnetic traction force threshold of the electromagnetic traction mechanism 22, the allowable range of distance error of the monitoring and positioning mechanism, and the upper limit of emergency self-locking response time through the control and data mapping module 27. S2. Move the coal mine transport car head 1 to a position 1-2 meters in front of the coal mine transport car body 3, start the monitoring and positioning mechanism, the output device 241 of the monitoring and positioning mechanism emits a positioning beam, the data processing module 29 analyzes the signal of the receiver 240 of the monitoring and positioning mechanism to calculate the offset, and controls the motor 220 in the electromagnetic traction mechanism 22 to adjust the angle of the electromagnetic traction component so that the deviation is ≤2°, ensuring that the electromagnetic traction component and the bolt component 24 are aligned. S3. The coal mine transport vehicle head 1 approaches the coal mine transport car 3 at a speed of ≤0.5m / s. The monitoring and positioning mechanism provides real-time feedback on the distance S between the output device 241 and the receiver 240 of the monitoring and positioning mechanism. When the monitoring and positioning mechanism detects that the distance S between the output device 241 and the receiver 240 of the monitoring and positioning mechanism is less than or equal to the set value (e.g., 0.5m), the coal mine transport vehicle head 1 stops moving, the energized coil 223 of the traction electromagnet is activated, generating electromagnetic traction force, and the bolt assembly 24 gradually moves towards the coal mine transport vehicle head 1, causing the bolt body 242 to extend into the connecting channel 227 until S is 0. The washer 225 contacts and buffers the bolt body 242, the coal mine transport vehicle head 1 starts and drives the coal mine transport car 3 forward. The compression amount of the third connecting spring is determined by the distance S between the output device 241 and the receiver 240 of the monitoring and positioning mechanism. When the compression amount of the third connecting elastic element 226 reaches the set value, the position is locked, that is, the current of the energized coil 223 remains unchanged. In S3, when the monitoring and positioning mechanism detects that the distance S between the output device 241 and the receiver 240 of the monitoring and positioning mechanism is less than or equal to a set value (e.g., 0.5m), the energized coil 223 of the traction electromagnet is activated, generating electromagnetic traction force. As the coal mine transport car 3 gradually approaches the coal mine transport car head 1: As the current in the energized coil 223 of the traction electromagnet gradually increases, the electromagnetic traction force F... 磁 The frictional resistance F from the ground needs to be overcome when the coal mine transport car moves, gradually increasing from 0 to greater than 3. 摩擦 According to F 磁 -F 摩擦 =m*a (where, F) 磁 It is electromagnetic traction force, F 摩擦 When the coal mine transport car 3 is moving, it needs to overcome the frictional resistance of the ground (m is the mass of the coal mine transport car 3, a is the acceleration of the coal mine transport car 3), at this time S is the variable acceleration stage; When the electromagnetic traction force F 磁 When the size of the coal mine transport car is increased to more than 3, it needs to overcome the frictional resistance F from the ground during movement. 摩擦 At this time, the coal transport car 3 begins to move towards the coal transport head 1. Meanwhile, the current in the energized coil 223 of the traction electromagnet remains constant, i.e., the electromagnetic traction force F... 磁 The value remains unchanged, and at this point, S is in the uniform acceleration phase; When the coal transport car 3 moves towards the coal transport head 1 until S is 0, the current in the energized coil 223 of the traction electromagnet decreases, causing the electromagnetic traction force F to decrease. 磁 This means that the coal mine transport car 3 needs to overcome the frictional resistance F from the ground when it is in motion. 摩擦 At this point, S is in the uniform velocity stage; During the process of the coal mine transport vehicle head 1 driving the coal mine transport carriage 3 forward, the electromagnetic traction force is judged by the real-time monitoring of S through the monitoring and positioning mechanism: when S is within the safe range (the safe range refers to the range within which S can be moved; for example, when locked in position, assuming S=X, then the safe range value of S is X±i, where i is 5mm), the electromagnetic traction force is qualified, the data processing module 29 confirms that the electromagnetic traction force is qualified, and the short-range wireless signal transmission module 26 sends a "connection successful" command; when the rate of change of S (i.e., the slope of the curve) and the difference between the actual value of S and the maximum value of the safe range both exceed the predetermined value, S is in the alarm stage, indicating that the current of the energized coil 223 needs to be adjusted; when S is greater than the maximum value of the safe range, S enters the debugging and recovery stage, at which time the current of the energized coil 223 is increased to improve the electromagnetic traction force F. 磁Observe whether the rate of change of S (i.e., the slope of the curve) and the difference between the actual value of S and the maximum value of the safe range return to normal: If the rate of change of S (i.e., the slope of the curve) and the difference between the actual value of S and the maximum value of the safe range do not return to normal, then activate the emergency self-locking mechanism 23 to achieve mechanical locking; if the rate of change of S (i.e., the slope of the curve) and the difference between the actual value of S and the maximum value of the safe range return to normal, it indicates that the debugging is effective and the system continues to operate normally. After experiencing the speed adjustment and recovery phase, if no warning occurs within 1-2 minutes when S is within the safe range, it is considered to have returned to normal. In the entire S3 step above, when the electromagnetic traction force drops by more than 15%, a first-level alarm is triggered, and the current of the energized coil 223 is increased; after increasing the current of the energized coil 223, observe whether S continues to increase. When the distance between the coal mine transport car head 1 and the coal mine transport car 3 fluctuates by more than 2i (10mm), a second-level alarm is triggered, the self-locking electromagnet 232 of the emergency self-locking mechanism 23 is de-energized, and the fourth connecting elastic element 233 pushes the card block 234 to embed into the card slot 230 to complete the emergency mechanical self-locking. S4. After the coal mine transport vehicle head 1 comes to a complete stop, a "decoupling" command is issued. The current of the energized coil 223 gradually decreases, and the emergency unlocking handle (located inside the vehicle head) is rotated to energize the self-locking electromagnet 232. The locking block 234 overcomes the resistance of the fourth connecting elastic element 233 and is pulled out of the slot 230, and the electromagnetic traction mechanism 22 returns to its free state.

[0040] Throughout the operation, the control and data mapping module 27 displays relevant data such as the electromagnetic traction force curve, the changing trend of the carriage spacing, the accuracy of the infrared positioning system, and the remaining power of the power supply module 28. Figure 7 Chart of this type.

[0041] In the description of this invention, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this invention, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0043] If this invention discloses or relates to components or structural parts that are fixedly connected to each other, then, unless otherwise stated, a fixed connection can be understood as: a detachable fixed connection (e.g., using bolts or screws) or a non-detachable fixed connection (e.g., riveting, welding). Of course, a fixed connection can also be replaced by an integral structure (e.g., manufactured in one piece using a casting process) (except where it is obviously impossible to use an integral molding process).

[0044] In addition, unless otherwise stated, the terms used in any of the technical solutions disclosed in this invention to indicate positional relationships or shapes include states or shapes that are similar to, close to, or approximate with those states or shapes.

[0045] Any component provided by this invention can be assembled from multiple individual components or can be a single component manufactured by a one-piece molding process.

[0046] It should be noted that the structures, proportions, sizes, etc., depicted in the accompanying drawings of this specification are only used to complement the content disclosed in the specification, so as to enable those skilled in the art to understand and read them, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0047] It should also be noted that in the embodiments of this application, the same reference numerals are used to denote the same component or the same part.

[0048] Any adaptive changes made according to actual needs are within the scope of protection of this invention.

[0049] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A self-connecting electromagnetic traction device for mining, characterized in that: include: An electromagnetic traction mechanism and a monitoring and positioning mechanism are disclosed. The electromagnetic traction mechanism includes an electromagnetic traction component and a bolt assembly. The electromagnetic traction component includes an electromagnetic traction body and a traction electromagnet. The electromagnetic traction body is used to connect to the head of a coal mine transport vehicle. The traction electromagnet is disposed on the electromagnetic traction body and has a connecting channel. The bolt assembly is used to connect to the coal mine transport vehicle body. The bolt assembly can extend into the connecting channel and achieve traction through the traction electromagnet. The output device of the monitoring and positioning mechanism is disposed on the bolt assembly, and the receiver of the monitoring and positioning mechanism is disposed on the electromagnetic traction component. The output device and the receiver of the monitoring and positioning mechanism are used to monitor the distance between the electromagnetic traction component and the bolt assembly.

2. The autonomous electromagnetic traction device for mining as described in claim 1, characterized in that: The electromagnetic traction mechanism also includes a front fixing plate and a connecting plate. The front fixing plate is used to connect with the coal mine transport vehicle head. A first connecting elastic element is provided between one end of the connecting plate and the front fixing plate. The other end of the connecting plate is rotatably connected to the electromagnetic traction body to form a rotary joint.

3. The autonomous electromagnetic traction device for mining as described in claim 2, characterized in that: The electromagnetic traction mechanism also includes a motor, the power output end of which is connected to the electromagnetic traction body for transmission, and the motor is used to drive the electromagnetic traction body to rotate relative to the connecting plate.

4. The autonomous electromagnetic traction device for mining as described in claim 2, characterized in that: The electromagnetic traction mechanism further includes two second connecting elastic elements, which are located on both sides of the rotary joint. One end of the second connecting elastic element is connected to the connecting plate, and the other end of the second connecting elastic element is connected to the electromagnetic traction body.

5. The autonomous electromagnetic traction device for mining as described in claim 1, characterized in that: The bolt assembly includes a bolt body and a third connecting elastic element. One end of the bolt body is used to connect to a coal mine transport car. The output device of the monitoring and positioning mechanism is located at the other end of the bolt body, and the other end of the bolt body can extend into the connecting channel. The third connecting elastic element is sleeved on the bolt body.

6. The autonomous electromagnetic traction device for mining as described in claim 5, characterized in that: The bolt body is also provided with a washer, which is slidably connected to the bolt body. The bolt body extends into the connection channel, and the washer can compress the third connection elastic element.

7. The autonomous electromagnetic traction device for mining as described in claim 1, characterized in that: It also includes an emergency self-locking mechanism, which is mounted on the electromagnetic traction body, and a magnetic shielding plate is provided between the emergency self-locking mechanism and the traction electromagnet.

8. The autonomous electromagnetic traction device for mining as described in claim 7, characterized in that: The emergency self-locking mechanism includes at least one emergency self-locking component. The electromagnetic traction body has a mounting hole, and the emergency self-locking component is located at the mounting hole. The emergency self-locking component includes a self-locking electromagnet, a bolt, a fourth connecting elastic element, and a locking block. The bolt, the locking block, and the fourth connecting elastic element are all located in the mounting hole. The self-locking electromagnet is mounted on the electromagnetic traction body, and the bolt is slidably connected to it. The locking block is located at one end of the bolt. The bolt assembly has a slot, and the locking block can extend into the slot. The fourth connecting elastic element is sleeved on the bolt and located between the self-locking electromagnet and the locking block. When the emergency self-locking component is not activated, the self-locking electromagnet is energized, and the bolt moves the locking block away from the connecting channel. When the emergency self-locking component is activated, the self-locking electromagnet is de-energized, the fourth connecting elastic element extends, driving the bolt and the locking block to move. The locking block enters the slot, locking the electromagnetic traction component and the bolt assembly.

9. A method of using a mine-use autonomous electromagnetic traction device as described in any one of claims 1-8, characterized in that: include: Move the coal mine transport car head to the front of the coal mine transport car body, activate the monitoring and positioning mechanism, monitor the offset of the electromagnetic traction component on the coal mine transport car head, and ensure that the electromagnetic traction component and the bolt assembly are aligned. The coal mine transport car head approaches the coal mine transport car at a certain speed. When the monitoring and positioning mechanism detects that the distance S between the output device and the receiver of the monitoring and positioning mechanism is less than or equal to the set value, the coal mine transport car head stops moving. The traction electromagnet is activated to generate electromagnetic traction force, causing the coal mine transport car to approach the coal mine transport car head until S reaches 0. Then, the coal mine transport car head starts moving and drives the coal mine transport car forward. During the process of the coal mine transport car head moving forward and driving the coal mine transport car forward, the monitoring and positioning mechanism uses the real-time monitoring of S to determine whether the electromagnetic traction force meets the standard: when S is within the safe range, the electromagnetic traction force meets the standard; when S is greater than the maximum value of the safe range, the electromagnetic traction force is increased until S is within the safe range or an emergency self-locking is activated. After the coal mine transport vehicle comes to a complete stop, the current to the traction electromagnet gradually decreases, and the electromagnetic traction mechanism returns to its free state.

10. The method of using the autonomous electromagnetic traction device for mining as described in claim 9, characterized in that: As the coal transport car approaches the coal transport locomotive: As the current to the traction electromagnet gradually increases, the electromagnetic traction force F... 磁 The frictional resistance F that the coal mine transport car needs to overcome from the ground during its movement gradually increases from 0 to greater than 0. 摩擦 At this point, S is in the variable acceleration phase; When the electromagnetic traction force F 磁 The resistance F required to be overcome by the ground during the movement of the coal mine transport car is increased to a value greater than that required by the ground friction. 摩擦 At this time, the coal transport car begins to move towards the coal transport locomotive. Meanwhile, the current to the traction electromagnet remains constant, i.e., the electromagnetic traction force F... 磁 The value remains unchanged, and at this point, S is in the uniform acceleration phase; When the coal mine transport car moves towards the coal mine transport vehicle head until S is 0, the current of the traction electromagnet decreases, causing the electromagnetic traction force F to decrease. 磁 This is equivalent to the frictional resistance F that the coal mine transport car needs to overcome when it is in motion. 摩擦 At this point, S is in the uniform velocity stage.

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