Lifting device and engineering machine

Abstract

The embodiment of the application discloses a lifting device and engineering machinery, the lifting device is used for setting in the construction equipment working in the roadway, the lifting device is used for setting a target sensor, the lifting device comprises: a mounting bracket used for setting in the construction equipment; a lifting assembly is arranged in the mounting bracket, the lifting assembly is used for setting the target sensor, and the lifting assembly can assemble the target sensor to the top of the construction equipment; a detection assembly, comprising an obstacle detection sensor group, a position maintaining sensor group and a position sensor group; a controller in communication connection with the lifting assembly and the detection assembly, the controller can control the lifting action of the lifting assembly according to the first signal, so as to complete the switching of the target sensor between the working position and the maintenance position; when the target sensor is in the working position, the lifting assembly is controlled according to the second signal to avoid obstacles, and the height of the target sensor is maintained in the set range according to the third signal.

Description

Technical Field

[0001] This application relates to the field of mining equipment technology, and in particular to a lifting device and engineering machinery. Background Technology

[0002] In underground coal mine operations, coal mine safety monitoring systems are crucial for ensuring safe operations. Some sensors need to be installed on the top of the mine roadways for monitoring, and their positions need to be adjusted as the working equipment changes location to improve the timeliness and effectiveness of the monitoring results.

[0003] In related technologies, sensors are placed on the longwall face of the construction equipment so that their position can be adjusted as the equipment moves. However, due to the low brightness, high ceiling, and uneven surface of the underground coal mine environment, it is difficult to observe the working environment of sensors placed at high locations. As the equipment moves, the sensors are very likely to collide with protrusions on the ceiling, leading to damage. Summary of the Invention

[0004] This application discloses a lifting device and engineering machinery. The lifting component drives the target sensor to move up and down, thereby reducing the difficulty of installing the target sensor on the construction equipment. At the same time, the detection component detects obstacles in front of and above the target sensor, ensuring the safe operation of the target sensor.

[0005] To achieve the above objectives, this application discloses a lifting device for installation on construction equipment capable of operating within a tunnel. The lifting device is used to install a target sensor and includes: Mounting brackets are used to mount the construction equipment; A lifting assembly is provided on the mounting bracket. The lifting assembly is used to mount the target sensor and can assemble the target sensor onto the top of the construction equipment. The detection assembly includes an obstacle detection sensor group for detecting obstacles ahead, a position holding sensor group for detecting the distance between the target sensor and the top of the roadway, and a position sensor group for detecting when the target sensor reaches a working position or a maintenance position. The controller is communicatively connected to the lifting assembly and the detection assembly, and the controller is capable of: Based on the first signal output by the position sensor group, the lifting and lowering action of the lifting assembly is controlled to complete the switching of the target sensor between the working position and the maintenance position; When the target sensor is in the working position, the lifting assembly is controlled to avoid obstacles according to the second signal output by the obstacle detection sensor group and / or the third signal output by the position holding sensor group.

[0006] In one possible implementation, the lifting component includes: A lifting base, one end of which is fixedly connected to the mounting bracket; A pulley mechanism is provided on the lifting base and the mounting bracket; A lifting swing arm is connected to the pulley mechanism and the mounting bracket. The lifting swing arm can rotate relative to the mounting bracket under the action of the pulley mechanism or the gravity of the lifting swing arm. The lifting swing arm is used to set the target sensor, and the detection component is set on the lifting swing arm.

[0007] In one possible implementation, the pulley mechanism includes: A lifting winch is located at one end of the lifting base away from the mounting bracket; The first fixed pulley is located at one end of the mounting bracket near the lifting base; The second fixed pulley is located at the end of the mounting bracket that is away from the lifting base; A rope, one end of which is connected to the lifting winch, and the other end of which is wound around the first and second fixed pulleys and connected to the lifting swing arm. The lifting winch can tighten the rope to pull the end of the lifting swing arm equipped with the target sensor away from the ground, or keep the rope taut so that the weight of the lifting swing arm, the target sensor, and the detection component mounted on the lifting swing arm can bring the end of the lifting swing arm equipped with the sensor closer to the ground. A hydraulic motor is installed on the lifting winch to drive the lifting winch to tighten the rope, thereby adjusting the position of the lifting swing arm.

[0008] In one possible implementation, the lifting arm includes: The first rod, the fixed end of the first rod being rotatably fixed to the mounting bracket; The second rod has a fixed end that is rotatably fixed to the free end of the first rod. The free end of the second rod is used to set the target sensor, and the detection component is set at the free end of the second rod. An angle adjustment component is provided, wherein the free end of the first rod and the fixed end of the second rod are connected by the angle adjustment component. An adjusting cylinder is disposed on the first rod, and the rope is connected to the adjusting cylinder. The adjusting cylinder is communicatively connected to the controller so that the controller adjusts the position of the first rod based on the first signal and the second signal.

[0009] In one possible implementation, a position sensor group is disposed on the lifting base and respectively disposed on both sides of the connection between the lifting swing arm and the lifting base. The position sensor group is capable of generating the first signal based on the position of the lifting swing arm. The obstacle detection sensor group is disposed at one end of the second rod used to set the target sensor. The obstacle detection sensor group is disposed on the side of the second rod away from the target sensor. The obstacle detection sensor group can generate the second signal based on the obstacle situation in front of the target sensor. The position-keeping sensor group is disposed at one end of the second rod used to set the target sensor. The position-keeping sensor group and the target sensor are disposed on the same side of the second rod. The position-keeping sensor group can generate the third signal based on the distance between the target sensor and the top of the tunnel.

[0010] In one possible implementation, the position sensor group includes a working status detection sensor and a maintenance status detection sensor. The maintenance status detection sensor is positioned closer to the lifting base than the lifting arm, while the working status detection sensor is positioned away from the lifting base than the lifting arm. The working status detection sensor can identify the lifting arm and generate a first working signal, and the maintenance status detection sensor can identify the lifting arm and generate a first maintenance signal.

[0011] In one possible implementation, the obstacle detection sensor group includes a front sensor and a rear sensor, which are disposed on the same horizontal plane and are separated by a first preset distance along a first horizontal direction. The front sensor can generate a second warning signal based on the presence of an obstacle within a second preset distance along the feeding direction of the construction equipment, and the rear sensor can generate a second alarm signal based on the presence of an obstacle within the second preset distance along the feeding direction of the construction equipment.

[0012] In one possible implementation, the position-keeping sensor group includes a high-position sensor and a low-position sensor, which are arranged vertically and have a first preset height between them. The high-position sensor can generate a third warning signal based on the presence of an obstacle within a second preset height above it, and the low-position sensor can generate a third alarm signal based on the presence of an obstacle within the second preset height above it.

[0013] In one possible implementation, the lifting device further includes: An alarm component is communicatively connected to the controller, which can issue an alarm command to the alarm component based on the absence of the first signal, the presence of the second alarm signal but absence of the second warning signal, or the presence of the third alarm signal but absence of the third warning signal.

[0014] Secondly, embodiments of this application disclose an engineering machinery, including: Construction equipment; The lifting device as described in any one of the first aspects above.

[0015] Thus, the lifting device provided in this application embodiment, through the coordinated operation of components such as the lifting assembly, detection assembly, and controller, achieves automated switching between the working position and maintenance position of the target sensor. This reduces the difficulty of installing the target sensor on top of the construction equipment and also reduces the difficulty of daily inspection and maintenance of the target sensor. Furthermore, the obstacle detection sensor group and the position holding sensor group can perceive the unevenness of the tunnel ceiling and obstacles in the direction of travel in real time, and autonomously control the lifting assembly to perform obstacle avoidance actions. This effectively prevents the target sensor from colliding with the tunnel ceiling, ensuring the long-term stable operation of the target sensor in complex tunnel environments and indirectly extending the service life of the target sensor.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1This is one of the structural schematic diagrams of a lifting device in a working state provided in an embodiment of this application; Figure 2 This is a second schematic diagram of a lifting device in operation, provided in an embodiment of this application. Figure 3 This is a schematic diagram of a lifting device under maintenance, provided in an embodiment of this application. Figure 4 This is one of the enlarged partial views of a lifting device provided in an embodiment of this application; Figure 5 This is a second enlarged partial view of a lifting device provided in an embodiment of this application; Figure 6 This is the third enlarged partial view of a lifting device provided in an embodiment of this application.

[0019] Explanation of reference numerals in the attached figures: 1-Lifting device, 10-Mounting bracket, 20-Lifting assembly, 201-Lifting base, 202-Pulley mechanism, 2021-Lifting winch, 2022-First fixed pulley, 2023-Second fixed pulley, 2024-Rope, 203-Lifting swing arm, 2031-First rod, 2032-Second rod, 2033-Angle adjustment component, 2034-Adjusting cylinder, 30-Detection assembly, 301-Position sensor group, 3011-Working status detection sensor, 3012-Maintenance status detection sensor, 302-Obstacle detection sensor, 3021-Front position sensor, 3022-Rear position sensor, 303-Position holding sensor, 3031-High position sensor, 3032-Low position sensor, 2-Construction equipment, 3-Target sensor. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0022] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0023] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0024] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0025] Please refer to Figures 1 to 3 This application provides a lifting device 1. The lifting device 1 is used to install on construction equipment 2, which can operate in a tunnel, and the lifting device 1 is used to install target sensors 3.

[0026] Construction equipment 2 can be a coal mining machine, scraper conveyor or hydraulic support working in the roadway. Construction equipment 2 has a fully mechanized mining face. Target sensor 3 can be a gas sensor, carbon monoxide sensor or other fully mechanized mining face sensor. Target sensor 3 needs to move together with the fully mechanized mining face when working.

[0027] The lifting device 1 includes a mounting bracket 10. The mounting bracket 10 is used to mount the construction equipment 2.

[0028] The lifting device 1 includes a lifting assembly 20. The lifting assembly 20 is mounted on the mounting bracket 10 and is used to mount the target sensor 3. The lifting assembly 20 can mount the target sensor 3 to the top of the construction equipment 2.

[0029] The lifting device 1 includes a detection assembly 30. The detection assembly 30 includes an obstacle detection sensor 302 group for detecting obstacles in front, a position holding sensor 303 group for detecting the distance between the target sensor 3 and the top of the tunnel, and a position sensor group 301 group for detecting when the target sensor 3 reaches the working position or maintenance position.

[0030] The lifting device 1 includes a controller. The controller is communicatively connected to the lifting assembly 20 and the detection assembly 30, and the controller is capable of performing steps 101 to 102: Step 101: The controller controls the lifting and lowering action of the lifting assembly 20 according to the first signal output by the position sensor group 301, so as to complete the switching of the target sensor 3 between the working position and the maintenance position.

[0031] Specifically, the controller can receive the first signal output by the position sensor group 301, and determine through the first signal whether the lifting assembly 20 is in the state of driving the target sensor 3 to rise or driving the target sensor 3 to fall, thereby enabling the target sensor 3 to reach the working position or maintenance position.

[0032] Step 102: When the target sensor 3 is in the working position, the controller controls the lifting assembly 20 to avoid obstacles based on the second signal output by the obstacle detection sensor group 302 and / or the third signal output by the position holding sensor group 303.

[0033] When the target sensor 3 is in the working position, the target sensor 3 will move together with the construction equipment 2. Due to the unevenness of the inner wall of the tunnel, the top of the construction equipment 2 may collide with the top of the tunnel when the construction equipment 2 is feeding. This may cause the target sensor 3, which is set on the top of the construction equipment 2, to collide with the top of the tunnel, resulting in damage to the target sensor 3.

[0034] The obstacle detection sensor group 302 can detect obstacles within a certain distance ahead of the construction equipment 2 along the feed direction on the top of the tunnel. When an obstacle is detected, a second signal is generated, which in turn causes the controller to control the lifting assembly 20 to lower the target sensor 3 to avoid the obstacle ahead in the feed direction. When the obstacle is located on top of the construction equipment 2, the position holding sensor 303 can detect the obstacle and generate a third signal, which causes the controller to control the lifting assembly 20 to lower the target sensor 3 to avoid the obstacle located above the construction equipment 2.

[0035] Thus, the lifting device 1 provided in this embodiment achieves automated switching between the working position and the maintenance position of the target sensor 3 through the coordinated operation of components such as the lifting assembly 20, the detection assembly 30, and the controller. This reduces the difficulty of installing the target sensor 3 on the top of the construction equipment 2 and also reduces the difficulty of daily inspection and maintenance of the target sensor 3. In addition, the obstacle detection sensor group 302 and the position holding sensor group 303 can detect the unevenness of the tunnel top and obstacles in the direction of travel in real time, and control the lifting assembly 20 to perform obstacle avoidance actions when obstacles are detected. This effectively avoids collisions between the target sensor 3 and the tunnel top, ensuring the long-term stable operation of the target sensor 3 in complex tunnel environments and indirectly extending the service life of the target sensor 3.

[0036] In some embodiments, the lifting assembly 20 includes a lifting base 201. One end of the lifting base 201 is fixedly connected to the mounting bracket 10.

[0037] The lifting assembly 20 includes a pulley mechanism 202. The pulley mechanism 202 is disposed on the lifting base 201 and the mounting bracket 10.

[0038] The lifting assembly 20 includes a lifting swing arm 203. The lifting swing arm 203 is connected to the pulley mechanism 202 and the mounting bracket 10. The lifting swing arm 203 can rotate relative to the mounting bracket 10 under the gravity of the pulley mechanism 202 or the lifting swing arm 203. The lifting swing arm 203 is used to set the target sensor 3, and the detection assembly 30 is set on the lifting swing arm 203.

[0039] Specifically, the lifting base 201 can be designed as a telescopic structure formed by two single rods. The first single rod is a rod with a cavity. The diameter of the second single rod connected to the mounting bracket 10 is slightly smaller than the diameter of the cavity of the first single rod, so that the second single rod can be set in the cavity of the third single rod, thereby forming a telescopic structure. The first single rod is provided with a fixing member to keep the length of the second single rod extending out of the cavity of the first single rod stable, so that the workers can adjust the height of the lifting base 201 according to different construction equipment 2.

[0040] The lifting swing arm 203 can be connected to the lifting base 201 and the mounting bracket 10 via a hinge shaft. When an obstacle appears at the top of the tunnel, it can smoothly swing by the traction force of the pulley mechanism 202 or its own weight, thereby causing the target sensor 3 to adaptively adjust its height in the vertical direction. When the lifting assembly 20 lifts the target sensor 3, the pulley mechanism 202 pulls the lifting swing arm 203, thereby enabling the target sensor 3 to reach the target position. The pulley mechanism 202 is then fixed to counteract the weight of the lifting swing arm 203 and the target sensor 3 and detection assembly 30 mounted on the lifting swing arm 203. The state of the target sensor 3 when it reaches the target position is as follows: Figure 1 and Figure 2 As shown; when the target sensor 3 needs to be inspected or maintained, it is only necessary to reduce the pulling force provided by the pulley mechanism 202, so that the lifting swing arm 203, relying on its own weight and the weight of the target sensor 3 and the detection component 30 set on the lifting swing arm 203, drives the target sensor 3 to descend slowly. When the target sensor 3 descends to the lowest position, the state is as shown. Figure 3 As shown.

[0041] The above embodiment achieves smooth lifting and lowering of the target sensor 3 by utilizing the dynamic balance of traction force and gravity. During ascent, the pulley mechanism 202 precisely pulls the lifting swing arm 203 and locks it when the target sensor 3 reaches the target position. During descent, only the pulling force needs to be released, and gravity allows for automatic and slow reset, thus eliminating the need for a complex electric drive unit, reducing energy consumption and cost. When the tunnel top is low, the height of the target sensor 3 can also be adjusted by the lifting assembly 20. Utilizing the gravity of the lifting swing arm 203, the detection assembly 30, and the target sensor 3 to lower the target sensor 3 avoids sudden drops, improving the safety and convenience of inspection and maintenance of the target sensor 3, and effectively enhancing the durability and maintenance efficiency of the lifting device 1 in harsh underground environments.

[0042] In some embodiments, the pulley mechanism 202 includes a lifting winch 2021. The lifting winch 2021 is disposed at one end of the lifting base 201 away from the mounting bracket 10.

[0043] The pulley mechanism 202 includes a first fixed pulley 2022. The first fixed pulley 2022 is disposed at one end of the mounting bracket 10 near the lifting base 201.

[0044] The pulley mechanism 202 includes a second fixed pulley 2023. The second fixed pulley 2023 is disposed at one end of the mounting bracket 10 away from the lifting base 201.

[0045] The pulley mechanism 202 includes a rope 2024. One end of the rope 2024 is connected to the lifting winch 2021, and the other end of the rope 2024 is wound around the first fixed pulley 2022 and the second fixed pulley 2023 and connected to the lifting swing arm 203. The lifting winch 2021 can tighten the rope 2024 to pull the end of the lifting swing arm 203 on which the target sensor 3 is located away from the ground, or keep the rope 2024 taut so that the weight of the lifting swing arm 203, the target sensor 3, and the detection component 30 located on the lifting swing arm 203 can bring the end of the lifting swing arm 203 on which the sensor is located closer to the ground.

[0046] The pulley mechanism 202 includes a hydraulic motor. The hydraulic motor is mounted on the lifting winch 2021 to drive the lifting winch 2021 to tighten the rope 2024, thereby adjusting the position of the lifting boom 203.

[0047] The lifting winch 2021 can automatically wind up, unwind, and secure the rope 2024 under the drive of a hydraulic motor. Alternatively, the rope 2024 can be manually wound up, unwind, and secured by an operator using the handle of the lifting winch 2021. It should be noted that in this embodiment, the automatic winding up, unwinding, and securing of the lifting winch 2021 by the controller controlling the hydraulic motor is used as an example for explanation. The rope 2024 is wound around the first fixed pulley 2022 and the second fixed pulley 2023 to adjust the direction of the tension applied by the rope 2024 to the lifting swing arm 203.

[0048] In the above embodiments, the pulling force of the lifting winch 2021 can be transmitted to the lifting boom 203 after being deflected by the fixed pulley, realizing smooth control of the lifting and lowering action of the target sensor 3. The dual working modes of the lifting winch 2021, which can be driven by a hydraulic motor or manually, take into account both the efficiency of automated operation and the flexibility of emergency maintenance. At the same time, the rope 2024 effectively optimizes the force direction and spatial adaptability by relying on the fixed pulley guidance. Using gravity to achieve descent not only simplifies the power requirements and energy consumption, but also avoids the target sensor 3 from falling suddenly, thereby improving the adaptability of the lifting device 1 to the complex working conditions of underground roadways, as well as its operational safety, environmental adaptability, and long-term operational stability.

[0049] In some embodiments, the lifting arm 203 includes a first rod 2031. The fixed end of the first rod 2031 is rotatably fixed to the mounting bracket 10.

[0050] The lifting arm 203 includes a second rod 2032. The fixed end of the second rod 2032 is rotatably fixed to the free end of the first rod 2031. The free end of the second rod 2032 is used to set the target sensor 3, and the detection component 30 is set at the free end of the second rod 2032.

[0051] The lifting arm 203 includes an angle adjusting member 2033. The free end of the first member 2031 and the fixed end of the second member 2032 are connected by the angle adjusting member 2033.

[0052] The lifting swing arm 203 includes an adjusting cylinder 2034. The adjusting cylinder 2034 is disposed on the first rod 2031, and the rope 2024 is connected to the adjusting cylinder 2034. The adjusting cylinder 2034 is communicatively connected to the controller so that the controller adjusts the position of the first rod 2031 based on the first signal and the second signal.

[0053] Similarly, the first rod 2031 can also be designed as a telescopic rod formed by two single rods. The third single rod, fixed to the mounting bracket 10, is a rod with a cavity. The diameter of the fourth single rod connected to the second rod 2032 is slightly smaller than the diameter of the cavity of the third single rod, so that the fourth single rod can be placed within the cavity of the third single rod, thus forming a telescopic structure. A fixing member is provided on the third single rod to keep the length of the fourth single rod extending beyond the cavity of the third single rod stable, thereby allowing workers to adjust the length of the first rod 2031 according to different construction equipment 2. The first rod 2031 and the second rod 2032 are connected by a first adjusting member to adjust the relative angle between the first rod 2031 and the second rod 2032. Preferably, the adjusting cylinder 2034 can be located at the end of the third single rod of the first rod 2031 near the second rod 2032. The controller can control the adjusting cylinder 2034 based on the first and second signals, thereby achieving fine adjustment of the height of the lifting swing arm 203. When obstacles or protrusions appear at the top of the tunnel, the controller can also control the adjusting cylinder 2034 to avoid the obstacles or protrusions, thereby preventing the target sensor 3 from being damaged by collision. In addition, the cable of the target sensor 3 can also be fixed on the lifting swing arm 203 to prevent the cable from shaking or being pulled when the construction equipment 2 moves, thereby ensuring that the target sensor 3 can work stably for a long time.

[0054] In the above embodiment, the telescopic first rod 2031 allows the operator to quickly adjust the rod length according to the actual working conditions, improving the ease of installation and versatility. The controller can adjust the height of the lifting swing arm 203 in real time by adjusting the cylinder 2034, thereby actively avoiding local protrusions or sudden obstacles at the top of the roadway, effectively reducing the risk of collision of the target sensor 3 and improving the operational safety of the target sensor 3 in the underground coal mine environment.

[0055] In some embodiments, the position sensor group 301 is disposed on the lifting base 201 and respectively disposed on both sides of the connection between the lifting swing arm 203 and the lifting base 201. The position sensor group 301 can generate a first signal based on the position of the lifting swing arm 203.

[0056] An obstacle detection sensor group 302 is disposed at one end of the second rod 2032 for setting the target sensor 3. The obstacle detection sensor group 302 is disposed on the side of the second rod 2032 away from the target sensor 3. The obstacle detection sensor group 302 can generate a second signal based on the obstacle situation in front of the target sensor 3.

[0057] The position holding sensor group 303 is set on one end of the second rod 2032 for setting the target sensor 3. The position holding sensor group 303 and the target sensor 3 are set on the same side of the second rod 2032. The position holding sensor group 303 can generate a third signal based on the distance between the target sensor 3 and the top of the roadway.

[0058] Specifically, since the lifting arm 203 can swing around the connection point, when the lifting arm 203 approaches one of the position sensors in the position sensor group 301, the position sensor can output a first signal, which in turn causes the controller to issue a corresponding control command based on the first signal. Both the obstacle detection sensor 302 and the position holding sensor 303 are used to ensure that the target sensor 3 is in a safe working environment. Their placement around the target sensor 3 ensures the accuracy and timeliness of the detection results. The obstacle detection sensor group 302 is used to detect obstacles appearing in front of the target sensor 3. Therefore, the obstacle detection sensor group 302 is positioned on the same horizontal plane as the target sensor 3, while the position holding sensor group 303 is positioned above the target sensor 3 and slightly further away from the construction equipment 2, to detect obstacles or protrusions that are about to appear above the target sensor 3.

[0059] In the above embodiment, by setting the position sensor group 301 on both sides of the connection between the lifting base 201 and the lifting swing arm 203, the controller can obtain a more accurate working state of the lifting device 1 based on the position sensor group 301. The obstacle detection sensor group 302 is placed on the back side at the same level as the target sensor 3, which can identify obstacles in the feed direction in advance without being blocked by the target sensor 3 body; the position holding sensor group 303 is slightly higher and external to the target sensor 3, which can detect the approaching top protrusion or height change in advance, thereby reserving sufficient obstacle avoidance response time for the controller, and thus improving the operational safety of the target sensor 3 in complex tunnel environments.

[0060] In some embodiments, the position sensor group 301 includes a working status detection sensor 3011 and a maintenance status detection sensor 3012. The maintenance status detection sensor 3012 is disposed closer to the lifting base 201 than the lifting arm 203, while the working status detection sensor 3011 is disposed away from the lifting base 201 than the lifting arm 203. The working status detection sensor 3011 can identify the lifting arm 203 and generate a first working signal, and the maintenance status detection sensor 3012 can identify the lifting arm 203 and generate a first maintenance signal.

[0061] For example, when the lifting lever 203 drives the target sensor 3 to rise under the action of the pulley mechanism 202 and the controller, such as Figure 4As shown, the position sensor group 301 can sense when the lifting arm 203 approaches the working state detection sensor 3011 and generate a first working signal; when the lifting arm 203 lowers the target sensor 3 under its own gravity and the action of the pulley mechanism 202 and the controller, such as Figure 5 As shown, the position sensor group 301 can generate a first maintenance signal when the lifting swing arm 203 approaches the maintenance status detection sensor 3012.

[0062] In the above embodiments, the position sensor group 301, by deploying the working status detection sensor 3011 and the maintenance status detection sensor 3012 at both ends of the swing path of the lifting swing arm 203, directly triggers the corresponding signal using the physical position of the lifting swing arm 203, thereby achieving accurate identification of the working position and the maintenance position. This avoids the cumulative errors and signal drift that may be caused by the encoder or angle sensor, improves the reliability and anti-interference capability of judging the working status of the lifting device 1, and thus enhances the long-term stability and operation and maintenance safety of the lifting device 1 under the harsh working conditions of the coal mine while ensuring that the target sensor 3 reaches the predetermined position smoothly.

[0063] In some embodiments, please refer to Figure 6 The obstacle detection sensor group 302 includes a front sensor 3021 and a rear sensor 3022. The front sensor 3021 and the rear sensor 3022 are arranged on the same horizontal plane and have a first preset distance between them along the first horizontal direction. The front sensor 3021 can generate a second warning signal based on the presence of an obstacle within a second preset distance along the feeding direction of the construction equipment 2, and the rear sensor 3022 can generate a second alarm signal based on the presence of an obstacle within a second preset distance along the feeding direction of the construction equipment 2.

[0064] The first preset distance can be set to 200mm, and the second preset distance can be set to 300mm. When the controller receives the second warning signal and the second alarm signal in succession, the controller issues a control command to make the lifting assembly 20 move the target sensor 3 downward until the obstacle detection sensor 302 group no longer outputs the second signal, and the controller controls the lifting assembly 20 to stop moving.

[0065] In the above embodiment, the sequential triggering of the front sensor 3021 and the rear sensor 3022 on the same obstacle provides sufficient response time for the controller and the lifting assembly 20, enabling the target sensor 3 to descend smoothly and accurately to avoid the obstacle until it passes through it. This improves the reliability and stability of the obstacle avoidance action and provides reliable protection for the target sensor 3 to maintain stable operation in complex tunnel environments.

[0066] In some embodiments, the position holding sensor group 303 includes a high-position sensor 3031 and a low-position sensor 3032. The high-position sensor 3031 and the low-position sensor 3032 are arranged vertically, and there is a first preset height between the high-position sensor 3031 and the sensor. The high-position sensor 3031 can generate a third warning signal based on the presence of an obstacle within a second preset height above the high-position sensor 3031, and the low-position sensor 3032 can generate a third alarm signal based on the presence of an obstacle within a second preset height above the low-position sensor 3032.

[0067] The first preset height can be set to 250mm, and the second preset height can be set to 300mm. When the distance between the high-position sensor 3031 and the top of the tunnel is less than the second preset height, and the distance between the low-position sensor 3032 and the top of the tunnel is greater than the second preset height, the high-position sensor 3031 can generate a third warning signal. The controller only receives the third warning signal, indicating that the target sensor 3 maintains a relatively safe distance from the top of the tunnel. When there is an obstacle or protrusion on the top of the tunnel, which causes the distance between the low-position sensor 3032 and the top of the tunnel to also be less than the second preset height, the low-position sensor 3032 can generate a third alarm signal. Based on receiving the third warning signal and the third alarm signal, the controller sends a descent command to the lifting assembly 20, thereby reducing the height of the target sensor 3.

[0068] In the above embodiment, when the high-position sensor 3031 can output the third warning signal and the low-position sensor 3032 does not output the third alarm signal, it indicates that the distance from the target sensor 3 to the top of the roadway is in a relatively suitable state. When the low-position sensor 3032 also triggers the alarm, it indicates that the obstacle has entered the danger zone. Based on the received third warning signal and third alarm signal, the controller outputs a descent command, which improves the timeliness and accuracy of the obstacle avoidance action, ensures the safe operation of the target sensor 3, and also enhances the adaptability and operational stability of the lifting device 1 in the complex environment of the coal mine.

[0069] In some embodiments, the lifting device 1 further includes an alarm component. The alarm component is communicatively connected to the controller, which can issue an alarm command to the alarm component based on the absence of a first signal, the presence of a second alarm signal but absence of a second warning signal, or the presence of a third alarm signal but absence of a third warning signal.

[0070] The alarm component can be an audible and visual alarm. When the controller does not receive the first signal, it may be due to a malfunction of the position sensor or the inability of the lifting assembly 20 to operate. In this case, troubleshooting is required for the position detector group and the lifting assembly 20. When the front position sensor 3021 does not output the second warning signal, but the rear position sensor 3022 has already output the second alarm signal, it may be due to a malfunction of the front position sensor 3021, which is unable to detect the obstacle, or a false alarm by the rear position sensor 3022. In this case, troubleshooting is required for the obstacle detection sensor group 302. When the high position sensor 3031 does not output the third warning signal, but the low position sensor 3032 has already output the third alarm signal, it may be due to a malfunction of the high position sensor 3031, which is unable to detect the obstacle, or a false alarm by the low position sensor 3032. In this case, troubleshooting is required for the position holding sensor group 303.

[0071] The above embodiments enable staff to promptly detect hidden problems such as failure, false alarms, or loose installation in the detection component 30 by setting an alarm component in the lifting device 1. This avoids obstacle avoidance failure or malfunction due to a single sensor failure, shortens the troubleshooting time, and improves the maintainability and long-term operational reliability of the lifting device 1 under complex underground working conditions.

[0072] This application also provides an engineering machinery, which includes construction equipment 2 and a lifting device 1 as provided in any of the above embodiments. The engineering machinery provided in this application has the beneficial effects of any of the above embodiments regarding the lifting device 1 because it has the lifting device 1 as described in any of the above embodiments, which will not be elaborated upon here.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A lifting device, characterized in that, For installation on construction equipment capable of operating within a tunnel, the lifting device is used to install target sensors, and the lifting device includes: Mounting brackets are used to mount the construction equipment; A lifting assembly is provided on the mounting bracket. The lifting assembly is used to mount the target sensor and can assemble the target sensor onto the top of the construction equipment. The detection assembly includes an obstacle detection sensor group for detecting obstacles ahead, a position holding sensor group for detecting the distance between the target sensor and the top of the roadway, and a position sensor group for detecting when the target sensor reaches a working position or a maintenance position. The controller is communicatively connected to the lifting assembly and the detection assembly, and the controller is capable of: Based on the first signal output by the position sensor group, the lifting and lowering action of the lifting assembly is controlled to complete the switching of the target sensor between the working position and the maintenance position; When the target sensor is in the working position, the lifting assembly is controlled to avoid obstacles according to the second signal output by the obstacle detection sensor group and / or the third signal output by the position holding sensor group.

2. The lifting device according to claim 1, characterized in that, The lifting assembly includes: A lifting base, one end of which is fixedly connected to the mounting bracket; A pulley mechanism is provided on the lifting base and the mounting bracket; A lifting swing arm is connected to the pulley mechanism and the mounting bracket. The lifting swing arm can rotate relative to the mounting bracket under the action of the pulley mechanism or the gravity of the lifting swing arm. The lifting swing arm is used to set the target sensor, and the detection component is set on the lifting swing arm.

3. The lifting device according to claim 2, characterized in that, The pulley mechanism includes: A lifting winch is disposed at one end of the lifting base away from the mounting bracket; The first fixed pulley is located at one end of the mounting bracket near the lifting base; The second fixed pulley is located at the end of the mounting bracket that is away from the lifting base; A rope, one end of which is connected to the lifting winch, and the other end of which is wound around the first and second fixed pulleys and connected to the lifting swing arm. The lifting winch can tighten the rope to pull the end of the lifting swing arm equipped with the target sensor away from the ground, or keep the rope taut so that the weight of the lifting swing arm, the target sensor, and the detection component mounted on the lifting swing arm can bring the end of the lifting swing arm equipped with the sensor closer to the ground. A hydraulic motor is installed on the lifting winch to drive the lifting winch to tighten the rope, thereby adjusting the position of the lifting swing arm.

4. The lifting device according to claim 3, characterized in that, The lifting arm includes: The first rod, the fixed end of the first rod being rotatably fixed to the mounting bracket; The second rod has a fixed end that is rotatably fixed to the free end of the first rod. The free end of the second rod is used to set the target sensor, and the detection component is set at the free end of the second rod. An angle adjustment component is provided, wherein the free end of the first rod and the fixed end of the second rod are connected by the angle adjustment component. An adjusting cylinder is disposed on the first rod, and the rope is connected to the adjusting cylinder. The adjusting cylinder is communicatively connected to the controller so that the controller adjusts the position of the first rod based on the first signal and the second signal.

5. The lifting device according to claim 4, characterized in that, A position sensor group is disposed on the lifting base and respectively disposed on both sides of the connection between the lifting swing arm and the lifting base. The position sensor group can generate the first signal based on the position of the lifting swing arm. The obstacle detection sensor group is disposed at one end of the second rod used to set the target sensor. The obstacle detection sensor group is disposed on the side of the second rod away from the target sensor. The obstacle detection sensor group can generate the second signal based on the obstacle situation in front of the target sensor. The position-keeping sensor group is disposed at one end of the second rod used to set the target sensor. The position-keeping sensor group and the target sensor are disposed on the same side of the second rod. The position-keeping sensor group can generate the third signal based on the distance between the target sensor and the top of the tunnel.

6. The lifting device according to claim 5, characterized in that, The position sensor group includes a working status detection sensor and a maintenance status detection sensor. The maintenance status detection sensor is located closer to the lifting base than the lifting swing arm, while the working status detection sensor is located away from the lifting base than the lifting swing arm. The working status detection sensor can identify the lifting swing arm and generate a first working signal, and the maintenance status detection sensor can identify the lifting swing arm and generate a first maintenance signal.

7. The lifting device according to claim 6, characterized in that, The obstacle detection sensor group includes a front sensor and a rear sensor, which are arranged on the same horizontal plane and are separated by a first preset distance along a first horizontal direction. The front sensor can generate a second warning signal based on the presence of an obstacle within a second preset distance along the feeding direction of the construction equipment, and the rear sensor can generate a second alarm signal based on the presence of an obstacle within the second preset distance along the feeding direction of the construction equipment.

8. The lifting device according to claim 7, characterized in that, The position-keeping sensor group includes a high-position sensor and a low-position sensor, which are arranged vertically and are at a first preset height. The high-position sensor can generate a third warning signal based on the presence of an obstacle within a second preset height above it, and the low-position sensor can generate a third alarm signal based on the presence of an obstacle within the second preset height above it.

9. The lifting device according to claim 8, characterized in that, The lifting device also includes: An alarm component is communicatively connected to the controller, which can issue an alarm command to the alarm component based on the absence of the first signal, the presence of the second alarm signal but absence of the second warning signal, or the presence of the third alarm signal but absence of the third warning signal.

10. An engineering machinery, characterized in that, include: Construction equipment; The lifting device as described in any one of claims 1 to 9 above.

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