Automatic transfer system for special underground coal mine container and control method

Abstract

The invention relates to the technical field, in particular to a coal mine underground special container automatic transfer system and a control method, and the system comprises a container relative position detection mechanism, a vehicle-mounted controller, a spin lock mechanism and a frequency conversion all-in-one machine. The container relative position detection mechanism is mounted on the container gripper and used for detecting a position signal of the container gripper relative to the bottom of the container; the vehicle-mounted controller is installed in the main hanging bracket and used for receiving and processing position signals conveyed by the container relative position detection mechanism. The spin lock mechanism is mounted on the container gripper; the frequency conversion all-in-one machine is installed in the container hanging bracket and used for receiving a command sent by the vehicle-mounted controller and transmitting the command to the container relative position detection mechanism and the spin lock mechanism after processing the command. The container is placed on the rollator, and reflectors are arranged on the periphery of the rollator. Through real-time feedback and control, automatic transshipment of the container is achieved, the accuracy and efficiency of transshipment positioning of the container are improved, the operation risk is reduced, and safety and stability are improved.

Description

Technical Field

[0001] This invention relates to the technical field, specifically to an automatic container transfer system and control method for underground coal mines. Background Technology

[0002] With the development of my country's coal mining industry and the improvement of underground automation, the requirements for coal mine auxiliary transportation equipment are gradually increasing. Explosion-proof monorail cranes for mining are widely used as important auxiliary transportation equipment in coal mines for transporting materials, personnel, and equipment. Their structure typically includes a main crane frame and container grabs mounted on the main crane frame.

[0003] Currently, there are two main methods for transshipping explosion-proof monorail containers in coal mines: one is entirely manual transshipment. Operators must be directly close to the load or container, manually hooking, unhooking, securing, and adjusting its position. This method is extremely labor-intensive, inefficient, and personnel are constantly in the danger zone of lifting and moving heavy objects, posing a high risk to personal safety.

[0004] Secondly, there is the method of close-range remote control operation by the operator. The explosion-proof monorail crane is equipped with an explosion-proof close-range remote control, which the operator uses to control the lifting and transfer operations while standing under the monorail. This method requires the operator to visually judge the relative position of the spreader and the material, which relies heavily on the operator's experience. It is not possible to accurately lower the container grabber to the appropriate height for grabbing the container in one go, and the operator is still in a relatively dangerous working environment, posing a risk to personal safety. Summary of the Invention

[0005] Given that existing technologies rely heavily on operator experience, cannot accurately lower the container gripper to the appropriate height for container gripping in a single operation, and pose personal safety risks, this invention provides a dedicated automatic container transfer system and control method for underground coal mines. By using a container relative position detection mechanism to monitor the position of the container gripper relative to the bottom of the container in real time, the onboard controller can precisely control the container gripper's adaptive gripping of the container, achieving automatic container transfer without operator intervention. This improves the accuracy and efficiency of container transfer positioning, while reducing labor costs and operational risks.

[0006] This invention provides a special automatic container transfer system for underground coal mines, comprising:

[0007] The container relative position detection mechanism is installed on the container gripper and is used to detect the position signal of the container gripper relative to the bottom of the container;

[0008] The on-board controller, installed inside the main crane, is used to receive and process the position signals transmitted by the container relative position detection mechanism;

[0009] A rotary lock mechanism, installed on the container gripper, is used to lock itself in place with the container gripper;

[0010] And a frequency converter integrated machine, installed inside the container crane, is used to receive commands issued by the vehicle controller, process the received commands and transmit them to the container relative position detection mechanism and the rotary lock mechanism;

[0011] The container is placed on the walking aid, which is equipped with reflectors around its perimeter.

[0012] Furthermore, the container relative position detection mechanism includes: a photoelectric sensor for real-time acquisition of photoelectric signals from the reflector, and a signal acquisition board electrically connected to the photoelectric sensor;

[0013] The signal acquisition board is used to receive the photoelectric signals collected by the photoelectric sensor, process the photoelectric signals into position signals, and transmit them to the vehicle controller.

[0014] Furthermore, the rotary locking mechanism includes: a pressing screw component disposed at the gripping end of the container gripper, a solenoid valve disposed on the pressing screw component, and a position sensor installed at the bottom of the pressing screw;

[0015] The container is provided with a fastening mounting groove corresponding to the pressing screw component;

[0016] The position sensor is used to detect the pressing position of the pressing screw in real time and feed the signal back to the vehicle controller in real time.

[0017] This invention also provides a control method for an automatic transshipment system for special containers in underground coal mines, comprising the following:

[0018] The container relative position detection mechanism detects the position of the container in real time and transmits the position signal of the container relative to the container gripper to the vehicle controller.

[0019] After receiving and processing the real-time position signal of the container relative position detection mechanism, the vehicle controller issues a command to the container gripper to descend and grab it.

[0020] The container gripper executes a descent command, and after the container gripper descends to the commanded height, the vehicle controller issues a locking command.

[0021] The rotary locking mechanism executes a locking command. After the container gripper is locked to the container, the vehicle controller issues a lifting command to the container gripper.

[0022] After the container is grabbed and placed in the designated position, the vehicle controller issues an end command, the rotary locking mechanism loosens, the container gripper disengages from the container, and the container transfer is completed.

[0023] Furthermore, the container relative position detection mechanism detects the position of the container in real time, including:

[0024] The photoelectric sensor receives the photoelectric signal from the reflector in real time and transmits the photoelectric signal to the signal acquisition board;

[0025] The signal acquisition board receives and processes photoelectric signals, and transmits the processed data to the vehicle controller.

[0026] Furthermore, the locking mechanism is characterized in that it executes a locking command, including:

[0027] The pressing bolt rod extends into the fastening mounting groove, and then the solenoid valve is controlled to lock;

[0028] The position sensor detects the pressing position of the pressing bolt rod in real time and transmits the position signal to the vehicle controller.

[0029] Furthermore, the feature is that issuing a command to the container gripper to descend and grasp includes:

[0030] The variable frequency integrated machine receives the descent and grab command signal issued by the vehicle controller;

[0031] The variable frequency drive converts the received command signals into data instructions and then transmits them to the container gripper.

[0032] Furthermore, the feature is that the vehicle controller issues a locking command, including:

[0033] The frequency converter receives a locking command signal from the vehicle controller;

[0034] The frequency converter converts the received command signals into data instructions and transmits them to the rotary locking mechanism.

[0035] Furthermore, the feature is that the on-board controller issues a lifting command to the container gripper, including:

[0036] The frequency converter receives the rising command signal sent by the vehicle controller;

[0037] The variable frequency drive converts the received command signals into data instructions and transmits them to the container gripper.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] This invention patent utilizes a container relative position detection mechanism in conjunction with a reflector to detect the position data of the container gripper relative to the container in real time. After receiving and analyzing the data in real time, the on-board controller issues commands to control the container gripper to descend, grasp, and ascend, thereby achieving precise grasping of the container by the container gripper. Specifically, the variable frequency drive receives the commands from the on-board controller, converts the commands into control signals, drives the container gripper to descend precisely, and secures the container to the container gripper through a rotary locking mechanism. Then, the container is raised to complete the gripping operation with adaptive height.

[0040] This patent uses a container relative position detection mechanism to detect the position information of the container gripper to the bottom of the container in real time. This allows the vehicle-mounted controller to accurately control the container gripper's adaptive gripping of the container, realizing automatic container transfer without the need for operators. This not only significantly improves the accuracy and efficiency of container transfer positioning and reduces labor costs and operational risks, but also enhances the safety and stability of container transfer operations through real-time feedback and control.

[0041] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0042] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0043] Figure 1 This is a schematic diagram of an automated container transshipment system for underground coal mines.

[0044] Figure 2 This is a flowchart of the operation of an automated container transshipment system for underground coal mines.

[0045] Figure 3 This is a flowchart illustrating the control method for an automated container transshipment system specifically designed for underground coal mines.

[0046] The following are the labels in the diagram: 1. Container relative position detection mechanism; 2. On-board controller; 3. Twisting lock mechanism; 4. Assistive vehicle; 5. Reflector; 6. Container gripper; 7. Main crane; 8. Container. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0048] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0049] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0050] Please refer to Figures 1-3 The present invention provides an automatic container transfer system for underground coal mines, comprising: a container relative position detection mechanism 1, an on-board controller 2, a rotary lock mechanism 3, and a frequency converter integrated machine.

[0051] The container relative position detection mechanism 1 is installed on the container gripper 6 to detect the position signal of the container gripper 6 relative to the bottom of the container 8; the vehicle-mounted controller 2 is installed inside the main gantry 7 to receive and process the position signal transmitted by the container relative position detection mechanism 1; the rotary locking mechanism 3 is installed on the container gripper 6 to grip and lock the container 8; the frequency converter is installed inside the gantry of the container 8 to receive commands from the vehicle-mounted controller 2, process the received commands, and transmit them to the container relative position detection mechanism 1 and the rotary locking mechanism 3; the container 8 is placed on the trolley 4, and reflectors 5 are provided around the trolley 4.

[0052] In this embodiment, the container relative position detection mechanism 1 works in conjunction with the reflector 5 to detect the position data of the container gripper 6 relative to the container 8 in real time. After receiving and analyzing the data in real time, the vehicle controller 2 issues commands to control the container gripper 6 to descend, grip, and ascend, so as to achieve precise gripping of the container 8 by the container gripper 6. Specifically, the frequency converter receives the commands issued by the vehicle controller 2, converts the commands into control signals, drives the container gripper 6 to descend precisely, and fastens the container 8 to the container gripper 6 through the rotary locking mechanism 3. Then, the container 8 is raised to complete the gripping operation with adaptive height.

[0053] In this embodiment, the container relative position detection mechanism 1 detects the position information of the container gripper 6 to the bottom of the container 8 in real time, so that the vehicle controller 2 can accurately control the container gripper 6 to adaptively grasp the container 8, realizing automatic transfer of the container 8 without the need for operators. This not only greatly improves the accuracy and efficiency of container 8 transfer positioning and reduces labor costs and operational risks, but also improves the safety and stability of container 8 transfer operations through real-time feedback and control.

[0054] In this embodiment, the container relative position detection mechanism 1 works in conjunction with the reflector 5 to detect the position of the container gripper 6 to the bottom of the container 8 in real time, and transmits the real-time data to the vehicle controller 2. After processing the real-time position information, the vehicle controller 2 plans the optimal travel path. During the descent of the container gripper 6, the container relative position detection mechanism 1 continuously collects position information, so that the vehicle controller 2 can adjust the travel trajectory according to the real-time situation, forming a dynamic real-time position feedback loop to ensure the accuracy of the container gripper 6.

[0055] like Figure 1 As shown, the container relative position detection mechanism 1 includes: a photoelectric sensor for real-time acquisition of photoelectric signals from the reflector 5, and a signal acquisition board electrically connected to the photoelectric sensor; the signal acquisition board is used to receive the photoelectric signals acquired by the photoelectric sensor and process the photoelectric signals into position signals for transmission to the vehicle controller 2.

[0056] In this embodiment, a trolley 4 is provided at the bottom of the container 8 to assist in the flexible transfer of the container 8, thereby enhancing the smoothness and flexibility of the transfer. A reflector 5 is provided on the trolley 4. When the reflector 5 is illuminated by natural light, it reflects photoelectric signals toward the photoelectric sensor. The photoelectric sensor collects the photoelectric signals reflected by the reflector 5 in real time and transmits the collected photoelectric signals to the signal acquisition board. The signal acquisition board processes the photoelectric signals and converts them into data commands, which are then transmitted to the vehicle controller 2. This allows the vehicle controller 2 to obtain the formation trajectory of the container gripper 6 and its position relative to the container 8 in real time, facilitating real-time correction of the operation of the container gripper 6.

[0057] Furthermore, the collaborative operation of the photoelectric sensor and reflector 5 enables non-contact position sensing, effectively avoiding mechanical wear and external interference, and significantly improving the reliability and response speed of signal acquisition. This further allows the container gripper 6 to accurately locate and correct its gripping position, and controls it to perform flexible and precise transfer operations on the container 8, ensuring smooth movement and accurate positioning of the container 8 during the transfer process.

[0058] Furthermore, the installation of the trolley 4 ensures the stability of container 8 during transfer. When the main crane 7 and container gripper 6 work together to grasp container 8, the heavy weight of container 8 may cause slight swaying, resulting in friction between the bottom of container 8 and the ground during lifting, which could damage the container body. The trolley 4 provides flexible support and movable load-bearing capacity to the bottom of container 8 immediately when it sways slightly. Through the flexible movement of the trolley 4, it actively adapts to and counteracts the horizontal swaying tendency of container 8, thereby quickly eliminating the relative movement between the container body and the ground. This allows the bottom of container 8 to smoothly detach from the ground during the initial lifting stage, avoiding friction and scratches caused by swaying.

[0059] like Figure 1 As shown, the rotary locking mechanism 3 includes: a pressing screw component disposed on the gripping end of the container gripper 6, a solenoid valve disposed on the pressing screw component, and a position sensor installed at the bottom of the pressing screw component; the container 8 is provided with a fastening mounting groove corresponding to the pressing screw component; the position sensor is used to detect the pressing position of the pressing screw component in real time and to feed back the signal to the vehicle controller 2 in real time.

[0060] In this embodiment, the solenoid valve is in the open state when not in operation. When the container gripper 6 descends to grab the container 8, the pressing screw needs to be precisely aligned with the fastening mounting slot. Therefore, the vehicle controller 2 needs to control the pressing screw to extend into the fastening mounting slot. During this process, the position sensor detects the pressing position of the pressing screw in real time and transmits the position signal to the vehicle controller 2. The vehicle controller 2 receives the real-time position signal and monitors the pressing position to ensure the tightness of the connection between the pressing screw and the fastening mounting slot. When the position sensor detects that the pressing screw is fully fastened to the fastening mounting slot, it transmits the full pressing signal to the vehicle sensor. The vehicle sensor then controls the solenoid valve to close via the frequency converter, so that the container gripper 6 and the container 8 are fully fastened and grabbed. Subsequently, the loading and unloading of the container 8 can be smoothly controlled by controlling the rise and fall of the container gripper 6.

[0061] When container 8 is transferred, the vehicle controller 2 controls the solenoid valve to change from closed to open through the frequency converter, and controls the container gripper 6 to rise, so that the pressing bolt rod rises and disengages from the fastening mounting slot. At this time, the transfer operation of container 8 is completed.

[0062] Furthermore, by working in conjunction with the solenoid valve and the position sensor, the gripping and releasing process is automated. The position sensor monitors the position of the pressing screw in real time and feeds the signal back to the vehicle controller 2, providing an accurate basis for judging the action of the solenoid valve. This eliminates the risk of detachment due to misoperation or loose fastening, greatly improves operational safety, and further enhances the efficiency and reliability of the transfer operation.

[0063] like Figures 2-3 As shown, the present invention also provides a control method for an automatic transfer system for a special container 8 in coal mines, comprising the following:

[0064] The container relative position detection mechanism 1 detects the position of container 8 in real time and transmits the position signal of container 8 relative to container gripper 6 to the vehicle controller 2.

[0065] After receiving and processing the real-time position signal from the container relative position detection mechanism 1, the vehicle controller 2 issues a command to the container gripper 6 to descend and grab the container.

[0066] The container gripper 6 executes the descent command. After the container gripper 6 descends to the commanded height, the vehicle controller 2 issues a locking command.

[0067] The rotary locking mechanism 3 executes the locking command. After the container gripper 6 is fixedly locked to the container 8, the vehicle controller 2 issues a lifting command to the container gripper 6.

[0068] After the control unit grabs container 8 and places it in the designated position, the vehicle controller 2 issues an end command, the rotary lock mechanism 3 is released, the container gripper 6 disengages from container 8, and the transfer of container 8 is completed.

[0069] To further explain, the container relative position detection mechanism 1 detects the position of container 8 in real time, including: a photoelectric sensor receiving photoelectric signals from reflector 5 in real time and transmitting the photoelectric signals to a signal acquisition board. The signal acquisition board receives and processes the photoelectric signals and transmits the processed data to the vehicle controller 2.

[0070] To further explain, the locking mechanism 3 executes the locking command by: pressing the bolt rod into the fastening mounting slot, and then controlling the solenoid valve to lock. The position sensor detects the pressing position of the bolt rod in real time and transmits the position signal to the vehicle controller 2.

[0071] To further explain, issuing a descent and gripping command to the container gripper 6 includes: the inverter integrated unit receiving the descent and gripping command signal from the vehicle controller 2. The inverter integrated unit converts the received command signal into data instructions and transmits them to the container gripper 6.

[0072] To further explain, the vehicle controller 2 issues a locking command, which includes: the inverter integrated unit receiving the locking command signal issued by the vehicle controller 2. After converting the received command signal into data instructions, the inverter integrated unit transmits it to the rotary locking mechanism 3;

[0073] To further explain, the on-board controller 2 issues a raising command to the container gripper 6, including: the frequency converter receiving the raising command signal from the on-board controller 2. The frequency converter converts the received command signal into data instructions and transmits them to the container gripper 6.

[0074] In this embodiment, the container 8 is first moved to the positioning area below the container gripper 6 by the trolley 4. Then, photoelectric sensors begin to collect photoelectric signals reflected by the reflector 5 mounted on the trolley 4 in real time. The collected photoelectric signals are transmitted to the signal acquisition board for signal processing, converted into high-precision real-time position data, and transmitted to the vehicle controller 2. Based on the position data, the vehicle controller 2 plans the optimal gripping path and drives the container gripper 6 to descend along a predetermined trajectory via a frequency converter.

[0075] During the descent of the container gripper 6, the photoelectric sensor and signal acquisition board work continuously, forming a dynamic real-time position feedback loop. This loop transmits continuous and accurate position data to the vehicle controller 2. Through the real-time position data, the vehicle controller 2 can not only quickly calibrate and fine-tune the preset trajectory to ensure the docking accuracy between the pressing screw and the fastening mounting slot on the top of the container 8, but also actively and flexibly adjust the descent path when encountering external interference or positional deviations, further improving the accuracy and reliability of gripping the container 8.

[0076] When the variable frequency drive (VFD) controller moves the container gripper 6 until the pressing screw is fully inserted into the fastening mounting slot, it stops descending. During this process, the position sensor continuously collects the real-time position of the pressing screw and transmits it to the on-board controller 2. The on-board controller 2 determines whether the pressing screw and the fastening mounting slot are fully secured based on the real-time pressing position, preventing the container 8 from falling off during gripping if not fully secured. When the pressing screw reaches the bottom of the fastening mounting slot, the position sensor transmits the position data to the on-board controller 2. The on-board controller 2 determines that the pressing is complete and then controls the solenoid valve to close, fully locking the pressing screw to the fastening mounting slot, ensuring the gripper 6's secure and stable gripping of the container 8.

[0077] When the position signal transmitted by the position sensor indicates that the downward screw has extended to the bottom of the fastening mounting slot and the solenoid valve is in the closed state, the vehicle controller 2 determines that the rotary locking mechanism 3 has completed the fastening and locking of the container gripper 6 and the container 8. Subsequently, the vehicle controller 2 controls the inverter integrated machine to perform the transfer operation on the container 8.

[0078] The variable frequency integrated machine receives commands from the vehicle controller 2 to control the container gripper 6 to rise, and drives the already stably gripped container 8 to rise synchronously. During the initial rise, the auxiliary vehicle 4 ensures that the bottom of the container 8 will not rub against the ground, improving the flexibility of the transfer operation.

[0079] Once the container reaches the designated height, it rotates and descends along the designated path, placing container 8 in the designated position. Subsequently, the vehicle controller 2 controls the solenoid valve to open via the frequency converter, controlling the container gripper 6 to rise, causing the pressing screw to gradually disengage from the fastening mounting slot. Once the pressing screw is completely disengaged from the fastening mounting slot, the transfer operation of container 8 is completed.

[0080] To further explain, the frequency converter is used to process the commands issued by the vehicle controller 2 and transmit the processed data instructions to the container gripper 6 and the solenoid valve respectively, so as to control the container gripper 6 to fasten and grip the container 8, and the container gripper 6 to lift and lower the container 8.

[0081] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A special automatic container transfer system for underground coal mines, characterized in that, include: The container relative position detection mechanism (1) is installed on the container gripper (6) and is used to detect the position signal of the container gripper (6) relative to the bottom of the container (8); The vehicle controller (2) is installed inside the main gantry (7) and is used to receive and process the position signal transmitted by the container relative position detection mechanism (1); A rotary locking mechanism (3) is installed on the container gripper (6) and is used to grip and lock the container (8); And the frequency converter is installed in the container (8) hanger to receive commands issued by the vehicle controller (2), and after processing the received commands, transmit them to the container relative position detection mechanism (1) and the rotary lock mechanism (3); The container (8) is placed on the walking aid (4), and the walking aid (4) is equipped with reflectors (5) around its perimeter.

2. The automatic transshipment system for underground containers in coal mines according to claim 1, characterized in that, The container relative position detection mechanism (1) includes: a photoelectric sensor for real-time acquisition of photoelectric signals from the reflector (5), and a signal acquisition board electrically connected to the photoelectric sensor; The signal acquisition board is used to receive the photoelectric signals collected by the photoelectric sensor and process the photoelectric signals into position signals and transmit them to the vehicle controller (2).

3. The automatic transshipment system for underground containers in coal mines according to claim 2, characterized in that, The rotary locking mechanism (3) includes: a pressing screw component disposed at the gripping end of the container gripper (6), a solenoid valve disposed on the pressing screw component, and a position sensor installed at the bottom of the pressing screw; The container (8) is provided with a fastening mounting groove corresponding to the pressing screw; The position sensor is used to detect the pressing position of the pressing screw in real time and feed the signal back to the vehicle controller (2) in real time.

4. The control method for an automatic transshipment system for special containers in coal mines according to claim 3, characterized in that, Includes the following: The container relative position detection mechanism (1) detects the position of the container (8) in real time and transmits the position signal of the container (8) relative to the container gripper (6) to the vehicle controller (2); After receiving and processing the real-time position signal of the container relative position detection mechanism (1), the vehicle controller (2) issues a command to the container gripper (6) to descend and grab. The container gripper (6) executes a descent command. After the container gripper (6) descends to the commanded height, the vehicle controller (2) issues a locking command. The rotary locking mechanism (3) executes a locking command. After the container gripper (6) is fixedly locked to the container (8), the vehicle controller (2) issues a lifting command to the container gripper (6). After the control grabs the container (8) and places it in the designated position, the vehicle controller (2) issues an end command, the rotary locking mechanism (3) is released, the container gripper (6) disengages from the container (8), and the transfer of the container (8) is completed.

5. The control method for the automatic transshipment system for special containers in underground coal mines according to claim 4, characterized in that, The container relative position detection mechanism (1) detects the position of the container (8) in real time, including: The photoelectric sensor receives the photoelectric signal from the reflector (5) in real time and transmits the photoelectric signal to the signal acquisition board; The signal acquisition board receives and processes photoelectric signals, and transmits the processed data to the vehicle controller (2).

6. The control method for the automatic transshipment system for underground containers in coal mines according to claim 4, characterized in that, The rotary locking mechanism (3) executes a locking command, including: The pressing bolt rod extends into the fastening mounting groove, and then the solenoid valve is controlled to lock; The position sensor detects the pressing position of the pressing bolt rod in real time and transmits the position signal to the vehicle controller (2).

7. The control method for the automatic transshipment system for special containers in coal mines according to claim 4, characterized in that, Issuing a command to the container gripper (6) to lower and grasp the container includes: The frequency converter receives the descent grabbing command signal issued by the vehicle controller (2); The variable frequency drive converts the received command signals into data instructions and transmits them to the container gripper (6).

8. The control method for the automatic transshipment system for special containers in underground coal mines according to claim 4, characterized in that, The vehicle controller (2) issues a locking command, including: The frequency converter receives the locking command signal issued by the vehicle controller (2); The frequency converter converts the received command signal into data instructions and transmits them to the rotary lock mechanism (3).

9. The control method for the automatic transshipment system for special containers in coal mines according to claim 4, characterized in that, The on-board controller (2) issues a raising command to the container gripper (6), including: The frequency converter receives the rising command signal issued by the vehicle controller (2); The variable frequency drive converts the received command signals into data instructions and transmits them to the container gripper (6).

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