Coal mine underground monorail crane ramp anti-slip device and control method

Abstract

The invention discloses an underground coal mine monorail crane ramp anti-slip device and a control method. The device comprises a brake track, a brake frame and a control unit, the brake track is I-shaped, a stop mechanism I and a stop mechanism II are arranged on the two sides of the brake track to form a secondary brake unit, the stop mechanism I comprises a stop block I with a torsional spring, and the stop mechanism II comprises a stop block II with a brake spring; the braking frame is provided with a controllable driving wheel mechanism, a transverse positioning wheel mechanism and the like, and an electric control hydraulic cylinder of the controllable driving wheel mechanism can push out a braking wheel to be matched with the stopping mechanism for braking; a carriage state sensing module of the control unit is integrated with a three-axis acceleration sensor, a speed sensor and a three-axis tilt angle sensor, and the state of a vehicle body is monitored in real time. According to the control method, abnormity is monitored through the sensing module, the brake wheel is triggered to be matched with the stop mechanisms I and II in sequence, and kinetic energy is absorbed in a graded mode to achieve vehicle sliding prevention. The device adapts to high-dust and high-humidity working conditions, an original rail does not need to be integrally modified, maintenance is convenient, and braking reliability is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of monorail hoist, in particular to a coal mine underground monorail hoist ramp anti-slip device and control method. BACKGROUND

[0002] With the continuous progress of coal mining technology, the coal mine underground transportation system gradually develops towards automation and intelligence. With the emergence of efficient transportation equipment such as monorail hoist, global coal mine auxiliary transportation has rapidly entered the mechanized track. Monorail hoist is widely used in material transportation, equipment transportation and personnel transportation in the mine due to its flexibility and efficiency. However, due to the complex environmental factors such as dust and high humidity in the coal mine, the monorail hoist has a certain risk of slipping when running on the ramp. The dust generated in the excavation, fully mechanized mining and transportation operation mixes with water mist, which easily forms a wet adhesion layer on the track surface, significantly reducing the friction coefficient. At the same time, the high dust and high water vapor environment often causes the visibility to be less than 1 meter, which seriously restricts the ability of manual observation and equipment perception. The coal mine monorail hoist usually runs on an inclined track and is affected by the gravity component. When carrying heavy objects or running at high speed, if the braking system fails or the friction coefficient of the track surface is reduced, the monorail hoist is prone to slipping. Such complex working conditions of low illumination, high humidity and high dust not only affect the judgment of the operator, but also pose a severe challenge to the reliability and adaptability of the anti-slip device. SUMMARY

[0003] The purpose of the present application is to provide a coal mine underground monorail hoist ramp anti-slip device and control method to solve the problem of easy slipping of monorail hoist in complex environment in the prior art.

[0004] The technical scheme adopted by the present application is as follows: In the first aspect, the present application provides a coal mine underground monorail hoist ramp anti-slip device, comprising:

[0005] The braking track is in the shape of an I-beam, and a stop mechanism I is arranged on both sides of the braking track. The stop mechanism I comprises a stop base I and a brake, and the stop base I is integrally arranged on the outer side of the upper and lower flanges of the braking track. A plurality of stop grooves I are arranged on the stop base I along the length direction, and the brake is installed in the stop grooves I. The brake comprises a stop block I, a stop block rotating shaft and a torsional spring. The torsional spring is fixed on the stop block rotating shaft, a cylindrical groove is formed in the stop block I, the front end of the stop block rotating shaft and the torsional spring are placed in the cylindrical groove, the rear end of the stop block rotating shaft is installed on the stop base I, and the stop block I is rotatably connected with the stop block rotating shaft.

[0006] The brake frame runs on the brake rail, and the brake frame comprises a frame base and at least one set of controllable brake wheel mechanisms mounted on the frame base; the controllable brake wheel mechanism comprises two brake wheel boxes symmetrically arranged on both sides of the brake rail, at least one set of executing mechanisms are arranged in each brake wheel box, the executing mechanism comprises an electric control hydraulic cylinder and a brake wheel, the rear end of the electric control hydraulic cylinder is mounted in the brake wheel box, the brake wheel is rotatably mounted on the telescopic rod at the front end of the electric control hydraulic cylinder, and the electric control hydraulic cylinder is used for controlling the telescopic rod to extend and place the brake wheel on the stop base I.

[0007] A control unit comprises an electric control box mounted on the frame base and a vehicle body state sensing module, and the vehicle body state sensing module is electrically connected with the electric control box; the vehicle body state sensing module comprises a three-axis acceleration sensor, a speed sensor and a three-axis tilt sensor, which are used for collecting the linear acceleration of the monorail crane, obtaining the motion state and attitude of the monorail crane, the speed sensor is used for collecting the running speed of the monorail crane, and the three-axis tilt sensor is used for collecting the tilt angle of the monorail crane body.

[0008] As a further improvement of the present application, in front of the stop mechanism I, the outer sides of the upper and lower wings on both sides of the brake rail are further provided with a stop mechanism II, the stop mechanism II comprises a stop base II, a stop block II, a sliding rod and a brake spring, a stop groove II is arranged on the stop mechanism II along the length direction, the brake spring and the stop block II are sleeved on the sliding rod, the sliding rod is fixed in the stop groove II, the stop block II is located on the side of the stop groove close to the stop mechanism I, and the stop block II is in sliding connection with the sliding rod.

[0009] As a further improvement of the present application, the brake frame further comprises a transverse positioning wheel mechanism, two transverse positioning wheel mechanisms are located at both ends of the frame base, the transverse positioning wheel mechanism comprises two transverse positioning wheels and a positioning wheel supporting block, the transverse positioning wheels are fixed on the frame base through the positioning wheel supporting block, and the two transverse positioning wheels are clamped on the webs on both sides of the brake rail in working.

[0010] As a further improvement of the present application, the transverse positioning wheel mechanism further comprises a pressing adjusting unit, the pressing adjusting unit comprises a rotating shaft, a rotating plate, a limiting bottom plate and an adjusting bolt, the rotating shaft is fixed on the frame base, the rotating plate is rotatably connected with the rotating shaft, and the positioning wheel supporting block is fixedly connected with the rotating plate; the limiting bottom plate is mounted on the frame base, the end of the rotating plate is provided with a through hole, and the adjusting bolt is in threaded connection with the limiting bottom plate through the through hole, so that the pressing degree between the transverse positioning wheel and the web of the brake rail is adjusted.

[0011] As a further improvement of the present application, the brake frame further comprises a carriage load bearing mechanism, which is located between the two controllable brake wheel mechanisms, and comprises at least one set of load bearing units, each set of load bearing units comprising two load bearing wheels, which are symmetrically arranged along the center line of the brake rail, and are mounted on load bearing rotating shafts, which are mounted on the frame base through frame connecting pieces; the load bearing wheels are placed on the lower wing plate of the brake rail during operation.

[0012] As a further improvement of the present application, the brake frame further comprises two frame load bearing mechanisms, which are installed close to the lateral positioning wheel mechanism; each of the frame load bearing mechanisms comprises two mechanism load bearing wheels, which are symmetrically arranged along the center line of the brake rail, and are respectively mounted on the frame base through rotating shafts and mechanism mounting plates.

[0013] As a further improvement of the present application, the device further comprises a mine round link chain, which is fixedly connected at the bottom to the top of the brake rail, and is fixedly connected at the top to the roadway roof connecting plate.

[0014] As a further improvement of the present application, the brake rail is replaced by removing part of the original I-shaped steel rail.

[0015] In a second aspect, the present application further provides a coal mine underground monorail hoist ramp anti-slip control method based on the above-mentioned coal mine underground monorail hoist ramp anti-slip device, which comprises the following steps:

[0016] Step S1: The vehicle body state sensing module monitors the monorail hoist vehicle body state in real time through the three-axis acceleration sensor, the speed sensor, and the three-axis tilt sensor, and when the vehicle body data is abnormal, the electric control hydraulic cylinder in the brake wheel box body is controlled by the electric control box to push the brake wheel out and place it on the stop base I;

[0017] Step S2: The left and right symmetric brake wheels on the brake frame cooperate with the upper and lower and left and right symmetric stop blocks I in the stop mechanism I, the brake wheels drive the stop blocks I to rotate around the stop block rotating shafts to compress the torsion springs and absorb part of the kinetic energy, and the brake wheels perform one level of braking after passing through one stopper;

[0018] Step S3: When the brake wheel moves to the stop mechanism II, it collides with the stop block II, drives the stop block II to move along the stop groove II, and makes the brake spring compress along the stop groove II and absorb the remaining kinetic energy of the vehicle body, completing a complete anti-slip process.

[0019] Compared with the prior art, the present application has the following technical advantages:

[0020] (1) The two-stage brake structure formed by the stop mechanism I and the stop mechanism II, by the cooperative action of the stop block I and the torsional spring, the stop block II and the brake spring, redundancy protection is formed, the risk of single brake failure is effectively avoided, the brake reliability and stability are greatly improved, and when the vehicle is sliding, the vehicle body kinetic energy can be absorbed in stages to realize stable and efficient braking.

[0021] (2) The reasonable layout of the horizontal positioning wheel mechanism, the controllable brake wheel mechanism, the carriage load bearing mechanism and the frame load bearing mechanism on the brake frame, in cooperation with the compression adjustment function of the horizontal positioning wheel, further strengthens the support balance and running stability of the monorail in the slope operation, and adapts to the use requirements of complex underground working conditions.

[0022] (3) The carriage state sensing module does not rely on human eye visual observation, integrates a three-axis acceleration sensor, a speed sensor and a three-axis inclination sensor, realizes real-time and accurate monitoring of the monorail vehicle body linear acceleration, running speed and inclination, breaks through the restriction factors of artificial observation and equipment perception in harsh environment, and ensures timely identification and brake triggering of the sliding vehicle.

[0023] (4) The brake track is installed by replacing part of the original I-shaped steel track, the original track system does not need to be completely transformed, and each mechanism adopts modular design, which is convenient for separate disassembly and maintenance, solves the problem that the existing device is difficult to replace and maintain with the vehicle body, and reduces the construction and maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0024] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0025] Figure 1 is the overall schematic diagram of the coal mine underground monorail slope sliding vehicle device of the present application;

[0026] Figure 2 is a brake track structure schematic diagram;

[0027] Figure 3 is a stop mechanism I structure schematic diagram in the brake track;

[0028] Figure 4 is a stop mechanism II structure schematic diagram in the brake track;

[0029] Figure 5 is a brake frame structure schematic diagram;

[0030] Figure 6 is a horizontal brake wheel mechanism structure schematic diagram in the brake frame;

[0031] Figure 7 is a controllable brake wheel mechanism structure schematic diagram in the brake frame;

[0032] Figure 8 is a schematic view of a car body load bearing mechanism structure in a braking frame;

[0033] Figure 9 is a flow chart of a coal mine underground monorail hoist ramp car control method of the present application.

[0034] BRIEF DESCRIPTION OF DRAWINGS: 1-braking track; 11-stop mechanism I; 110-stop base I; 111-stop groove; 112-stop block I; 113-stop block rotation shaft; 114-torsion spring; 115-stop limiting block; 12-stop mechanism II; 120-stop base II; 121-stop groove II; 122-stop block II; 123-sliding rod; 124-braking spring; 13-web plate; 14-lower wing plate; 15-mining round link chain; 16-top plate connecting plate; 2-braking frame; 21-transverse positioning wheel mechanism; 210-transverse positioning wheel; 211-positioning wheel support block; 212-rotation shaft; 213-rotation plate; 214-limiting bottom plate; 215-adjusting bolt; 22-controllable braking wheel mechanism; 220-braking wheel box body; 221-electric control hydraulic cylinder; 222-braking wheel; 23-car body load bearing mechanism; 230-load bearing wheel; 231-load bearing rotation shaft; 232-frame connecting piece; 24-frame load bearing mechanism; 240-mechanism load bearing wheel; 241-mechanism mounting plate; 25-frame base; 26-electric control box; 27-car body state sensing module; 3-car body. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described below in a clear and complete manner. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0036] Please refer to Figure 1 The coal mine underground monorail hoist ramp anti-car sliding device of the present application comprises a braking track 1 and a braking frame 2, the braking frame 2 runs on the braking track 1, and a car body 3 is installed below the braking frame 2.

[0037] Please refer to Figure 2 and Figure 3, the section of the brake rail 1 is H-shaped, the stop mechanism I11 is arranged on both sides of the brake rail 1, and the width of the brake rail 1 is relatively increased on both sides relative to the original H-shaped rail in the mine. Specifically, the stop mechanism I11 includes a stop base I110 and a brake, a plurality of stop grooves I111 are arranged on the stop base I110 along the length direction of the brake rail 1, and the brake is installed in the stop groove I111. The brake base I110 is a part extending outward from the upper and lower flanges of the brake rail 1, and is integrally formed with the upper and lower flanges. As can be seen from the exploded view of the brake in Figure 3 the brake includes a stop block I112, a stop block rotating shaft 113, a torsional spring 114 and a stop limiting block 115, the torsional spring 114 is fixed on the stop block rotating shaft 113, a cylindrical groove is formed on the stop block I112, the front end of the stop block rotating shaft 113 and the torsional spring 114 are arranged in the cylindrical groove, the rear end is fixed on the stop base I110, and the stop block I112 is rotatably connected with the stop block rotating shaft 113. The stop limiting block 115 is installed on the upper surface of the brake base I110 and below the stop block I112, the stop block I112 is in an open state between the stop limiting block 115 under the action of the torsional spring 114 and the elastic force, and can be in contact with the stop limiting block 115 by compressing the torsional spring 114 under the action of external force. Four rows of brakes are arranged on the upper and lower flanges on both sides of the brake rail 1 in the length direction.

[0038] Please refer to Figure 4 , the stop mechanism II12 is arranged on the outer side of the upper and lower flanges on both sides of the brake rail 1 in the front part of the stop mechanism I11 and in the direction of the monorail traveling, the stop mechanism II12 includes a stop base II120, a stop block II122, a slide rod 123 and a brake spring 124, the stop grooves II121 are arranged on the stop mechanism II12 along the length direction, the brake spring 124 and the stop block II122 are sleeved on the slide rod 123, the slide rod 123 is fixed in the stop groove II121, the stop block II122 is located on the side of the stop groove 121 close to the stop mechanism I11, and the stop block II122 is slidably connected with the slide rod 123, that is, when the stop block II122 is pushed by external force, the stop block II122 slides on the slide rod 123 by compressing the brake spring 124, and runs in the direction of the monorail traveling, and when the external force disappears, the stop block II122 runs in the opposite direction under the action of the elastic force of the brake spring 124. Specifically, the stop block II122 is provided with an inclined surface, which is the action surface of the external force.

[0039] The stop base II120 in the embodiment is integrally formed with the stop base I110.

[0040] The brake rail 1 in the device includes two-stage braking, that is, the stop mechanism I11 and the stop mechanism II12, which can effectively improve the braking efficiency.

[0041] Referring to Figure 5 , the brake frame 2 includes track lateral positioning wheel mechanisms 21, controllable brake wheel mechanisms 22, carriage load bearing mechanisms 23 and frame load bearing mechanisms 24 mounted on the frame base 25.

[0042] Referring to Figure 6 , the two lateral positioning wheel mechanisms 21 are located at both ends of the frame base 25, and the lateral positioning wheel mechanism 21 includes two lateral positioning wheels 210 fixed on the frame base 25 through a positioning wheel support block 211, and the two lateral positioning wheels 210 are clamped on the webs 13 on both sides of the brake track 1 during work. Specifically, the lateral positioning wheel mechanism 21 is also provided with a pressing adjustment unit, which includes a rotating shaft 212, a rotating plate 213, a limiting bottom plate 214 and an adjusting bolt 215, the rotating shaft 212 is fixed on the frame base 25, the rotating plate 213 is hinged to the rotating shaft 212, the positioning wheel support block 211 is fixedly connected to the rotating plate 213, the limiting bottom plate 214 is mounted on the frame base 25, the end of the rotating plate 213 is provided with a through hole, and the adjusting bolt 215 is threadedly connected with the limiting bottom plate 214 through the through hole, so as to adjust the pressing degree between the lateral positioning wheel 210 and the web 13 of the brake track 1.

[0043] Referring to Figure 7 , in this embodiment, two controllable brake wheel mechanisms 22 are provided. The two controllable brake wheel mechanisms 22 are located inside the two lateral positioning wheel mechanisms 21, and the controllable brake wheel mechanism 22 includes two brake wheel boxes 220 symmetrically arranged on both sides of the brake track 1, the brake wheel boxes 220 are mounted on the frame base 25, and each brake wheel box 220 is provided with two groups of execution mechanisms, each group of execution mechanisms includes an electric control hydraulic cylinder 221 and a brake wheel 222, the electric control hydraulic cylinder 221 is mounted at the rear end of the brake wheel box 220, and the brake wheel is rotatably mounted on the telescopic rod at the front end of the electric control hydraulic cylinder 221, and the electric control hydraulic cylinder 221 is used to control the telescopic rod to extend, so that the brake wheel 222 is placed on the brake base 25.

[0044] Referring to Figure 8 , the carriage load bearing mechanism 23 is located between the two controllable brake wheel mechanisms 22, and includes two groups of load bearing units, each group of load bearing unit includes two load bearing wheels 230, the load bearing wheels 230 are symmetrically arranged along the center line of the brake track 1, the load bearing wheels 230 are mounted on load bearing shafts 231, the load bearing shafts 231 are mounted on the frame base 25 through frame connecting pieces 232, and the load bearing wheels 230 are placed on the lower flange 14 of the brake track 1 during work.

[0045] Two lateral brake wheel mechanisms 21, two controllable brake wheel mechanisms 22, one carriage load bearing mechanism 23 and two frame load bearing mechanisms 24 are provided in the brake frame 2, and the installation and layout of the above mechanisms can ensure that the monorail crane is balanced and runs smoothly.

[0046] Referring to Figure 5 In the embodiment, two frame load bearing mechanisms 24 are respectively located outside the two lateral positioning wheel mechanisms 21, and the frame load bearing mechanism 24 comprises two mechanism load bearing wheels 240, which are arranged symmetrically with the center line of the braking rail 1, and are respectively installed on the frame base 25 through a rotating shaft and a mechanism mounting plate 241.

[0047] The device further comprises a control unit, which comprises an electric control box 26 and a vehicle state sensing module 27 installed on the frame base 25, and the vehicle state sensing sensor 27 is electrically connected with the electric control box 26. The vehicle state sensing module 27 comprises a three-axis acceleration sensor, a speed sensor and a three-axis tilt sensor. The three-axis acceleration sensor is used to collect the linear acceleration of the monorail crane, obtain the motion state and attitude of the monorail crane, the speed sensor is used to collect the running speed of the monorail crane, and the three-axis tilt sensor is used to collect the tilt angle of the monorail crane body. Specifically, the three-axis acceleration sensor is an ADXL345BCCZ-RL7 three-axis digital accelerometer, and the working voltage is 2-3.6V; the speed sensor adopts a Zhongke Alpha zero speed sensor AH711 type; and the three-axis tilt sensor is an SCL3300-D01 type.

[0048] Referring to Figure 2 The device further comprises a mine round link chain 15, which is fixedly connected with the top of the braking rail 1 at the bottom and is fixedly connected with the roadway roof connecting plate 16 at the top, and is used to fix the braking rail 1 on the roof.

[0049] The application further provides a coal mine underground monorail crane slope anti-sliding control method, which comprises the following steps:

[0050] Step S1, when performing the anti-slip task of the underground monorail crane, the vehicle body state sensing module 26 installed on the vehicle frame base 25 monitors the state of the monorail crane body in real time through the three-axis acceleration sensor, speed sensor and three-axis tilt sensor. When the vehicle body data is abnormal, the electric control hydraulic cylinder 221 in the brake wheel box 220 is controlled by the electric control box 26 to push out the brake wheel 222 and place it on the stop base I110. The abnormal vehicle body data refers to the speed sensor detecting that the monorail crane still produces a slip speed exceeding the set threshold after normal braking stop, including the speed signal of uphill reverse slip and downhill forward slip, indicating that the vehicle body is not in a stationary state. The three-axis acceleration sensor collects unexpected linear acceleration data, that is, the monorail crane appears to accelerate in the direction of the slope without active driving instructions, reflecting the change in kinetic energy when the vehicle body slips. The tilt angle monitored by the three-axis tilt sensor does not match the preset slope inclination reference value, combined with the speed and acceleration data, confirming that the vehicle body slips due to the influence of the gravity component caused by the inclination, rather than normal posture adjustment. After the three types of abnormal data are collected by the carriage state sensing module, the electric control box 26 judges and triggers the anti-slip brake command to ensure that the secondary brake mechanism is started only in the real slip scenario.

[0051] Step S2, the left and right symmetric brake wheels 222 on the brake frame 2 cooperate with the upper and lower and left and right symmetric stop blocks I112 in the stop mechanism I11, the brake wheels 222 drive the stop blocks I112 to rotate around the stop block rotation shaft 113 to compress the torsion spring 114 and absorb part of the kinetic energy, and the brake wheels 222 pass through one brake per level, that is, one level brake.

[0052] Step S3, when the brake wheel 222 moves to the stop mechanism II12, it collides with the stop block II122, drives the stop block II122 to move along the stop groove II121, and makes the brake spring 124 compress along the stop groove II121 and absorb the remaining kinetic energy of the vehicle body, completing a complete anti-slip process.

[0053] In the present application, the brake track 1 cooperates with the original I-shaped track running underground to bear the running support and anti-slip function of the monorail crane. In specific implementation, the selected original I-shaped track needs to be removed and replaced with the brake track 1 according to the actual situation of the monorail crane on site. Since a single monorail crane is configured with multiple carriages 3, multiple brake tracks 1 can be set in the full length of the monorail crane to cooperatively perform the anti-slip task. It should be noted that the device is only used for anti-slip operation and does not belong to the normal braking stop system of the monorail crane, and its starting condition is that the monorail crane slips after normal braking stop.

[0054] It should be noted that the anti-slip device of the application is installed on a ramp, which can be an uphill ramp or a downhill ramp. When the monorail crane stays on the uphill ramp, the slip is in the reverse direction (the monorail crane driving direction is front) and is inclined downward, that is, the reverse slip, and when the monorail crane stays on the downhill ramp, the slip is in the forward direction and is inclined downward. The two slip methods can be used by the device, and the stop mechanism I is located above the stop mechanism II.

[0055] The embodiments of the application are described in detail above with reference to the drawings, but the application is not limited thereto, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the application, which are all within the protection scope of the claims of the application.

Claims

1. A device for preventing runaway vehicles on a monorail ramp in an underground coal mine, characterized in that, include: A braking track (1) has an I-shaped cross-section. Stopping mechanisms I (11) are provided on both sides of the braking track (1). Each stopping mechanism I (11) includes a stopping base I (110) and a brake. The stopping base I (110) is integrally disposed on the outer side of the upper and lower flanges of the braking track (1). Multiple stopping grooves I (111) are arranged along the length direction on the braking base I (110), and the brake is installed within the stopping grooves I (111). The brake includes a stop block I (112), a stop block rotating shaft (113), and a torsion spring (114). The torsion spring (114) is fixed on the stop block rotating shaft (113). A cylindrical groove is provided on the stop block I (112). The front end of the stop block rotating shaft (113) and the torsion spring (114) are placed together in the cylindrical groove, and the rear end is installed on the stop base I (110). The stop block I (112) and the stop block rotating shaft (113) are rotatably connected. A brake frame (2) runs on a brake track (1). The brake frame (2) includes a frame base (25) and at least one set of controllable wheel mechanisms (22) mounted on the frame base (25). The controllable wheel mechanism (22) includes two brake wheel housings (220) symmetrically arranged on both sides of the brake track (1). Each brake wheel housing (220) is provided with at least one set of actuators. The actuators include an electro-hydraulic cylinder (221) and a brake wheel (222). The rear end of the electro-hydraulic cylinder (221) is installed in the brake wheel housing (220). The brake wheel (222) is rotatably mounted on a telescopic rod at the front end of the electro-hydraulic cylinder (221). The electro-hydraulic cylinder (221) is used to control the extension of the telescopic rod to place the brake wheel (222) on the stop base I (110). The control unit includes an electrical control box (26) and a vehicle body status sensing module (27) mounted on the chassis base (25). The vehicle body status sensing module (27) is electrically connected to the electrical control box (26). The vehicle body status sensing module (27) includes a three-axis accelerometer, a speed sensor, and a three-axis tilt sensor. The three-axis accelerometer is used to collect the linear acceleration of the monorail and obtain the motion state and attitude of the monorail. The speed sensor is used to collect the running speed of the monorail. The three-axis tilt sensor is used to collect the tilt angle of the monorail body.

2. The anti-slippage device for monorail ramps in coal mines according to claim 1, characterized in that, With the monorail running direction as the front, a stop mechanism II (12) is also provided at the front of the stop mechanism I (11) and on the outer side of the upper and lower wing plates on both sides of the brake rail (1). The stop mechanism II (12) includes a stop base II (120), a stop block II (122), a slide rod (123) and a brake spring (124). A stop groove II (121) is provided on the stop mechanism II (12) along the length direction. The brake spring (124) and the stop block II (122) are sleeved on the slide rod (123). The slide rod (123) is fixed in the stop groove II (121). The stop block II (122) is located on the side of the stop groove (121) close to the stop mechanism I (11). The stop block II (122) is slidably connected to the slide rod (123).

3. The anti-slippage device for monorail ramps in coal mines according to claim 1, characterized in that, The brake frame (2) also includes a transverse positioning wheel mechanism (21). The two transverse positioning wheel mechanisms (21) are located at both ends of the frame base (25). The transverse positioning wheel mechanism (21) includes two transverse positioning wheels (210) and a positioning wheel support block (211). The transverse positioning wheels (210) are fixed on the frame base (25) by the positioning wheel support block (211). During operation, the two transverse positioning wheels (210) are clamped on the web plates (13) on both sides of the brake rail (1).

4. The anti-slippage device for monorail ramps in coal mines according to claim 3, characterized in that, The transverse positioning wheel mechanism (21) further includes a clamping adjustment unit, which includes a rotating shaft (212), a rotating plate (213), a limiting base plate (214), and an adjusting bolt (215). The rotating shaft (212) is fixed on the frame base (25), the rotating plate (213) is rotatably connected to the rotating shaft (212), and the positioning wheel support block (211) is fixedly connected to the rotating plate (213). The limiting base plate (214) is installed on the frame base (25), and the rotating plate (213) has a through hole at its end. The adjusting bolt (215) passes through the through hole and is threadedly connected to the limiting base plate (214) to adjust the clamping degree between the transverse positioning wheel (210) and the web plate (13) of the brake rail (1).

5. The anti-slippage device for a monorail ramp in a coal mine according to claim 3, characterized in that, The brake frame (2) also includes a carriage load-bearing mechanism (23), which is located between the two controllable wheel mechanisms (22) and includes at least one set of load-bearing units. Each set of load-bearing units includes two load-bearing wheels (230). The load-bearing wheels (230) are symmetrically arranged along the centerline of the brake track (1). The load-bearing wheels (230) are mounted on the load-bearing shaft (231), which is mounted on the frame base (25) through the frame connector (232). When working, the load-bearing wheels (230) are placed on the lower wing plate (14) of the brake track (1).

6. The anti-slippage device for monorail ramps in coal mines according to claim 1, characterized in that, The brake frame (2) also includes two frame load-bearing mechanisms (24), which are installed close to the transverse positioning wheel mechanism (21); each of the frame load-bearing mechanisms (24) includes two mechanism load-bearing wheels (240), which are symmetrically arranged about the centerline of the brake track (1) and are installed on the frame base (25) through a rotating shaft and a mechanism mounting plate (241).

7. The anti-slippage device for monorail ramps in coal mines according to claim 1, characterized in that, It also includes a mining circular chain (15), the bottom of which is fixedly connected to the top of the brake rail (1), and the upper part is fixedly connected to the roadway roof connecting plate (16).

8. The anti-slippage device for monorail ramps in coal mines according to claim 1, characterized in that, The braking rail (1) is replaced by removing part of the original I-beam rail.

9. A method for preventing runaway cars on a monorail ramp in an underground coal mine, based on the anti-runaway car device for a monorail ramp in an underground coal mine as described in any one of claims 1-8, characterized in that, Includes the following steps: Step S1: The vehicle body status perception module (27) monitors the status of the monorail crane in real time through a three-axis acceleration sensor, a speed sensor, and a three-axis tilt sensor. When the vehicle body data is abnormal, the electric control box (26) controls the electro-hydraulic cylinder (221) in the brake wheel box (220) to push out the brake wheel (222) and place it on the stop base I (110). Step S2: The brake wheel (222) symmetrically mounted on the left and right sides of the brake frame (2) cooperates with the stop block I (112) symmetrically mounted on the left and right sides of the stop mechanism I (11). The brake wheel (222) drives the stop block I (112) to rotate around the stop block rotation axis (113), thereby compressing the torsion spring (114) to absorb part of the kinetic energy. Each time the brake wheel (222) passes through a brake, it performs a first-level braking. Step S3: When the brake wheel (222) moves to the stop mechanism II (12), it impacts the stop block II (122), causing the stop block II (122) to move along the stop groove II (121), so that the brake spring (124) is compressed along the stop groove II (121) and absorbs the remaining kinetic energy of the vehicle body, thus completing a complete anti-rollover process.

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