A manned cage transportation system and method suitable for deep shaft construction

Abstract

The present application relates to a kind of manned cage transport system and transport method suitable for deep shaft construction, including horizontal transport mechanism, including travelling trolley, horizontally laid load cable, closed laid circulating traction cable, cable support and motor drive assembly;The travelling trolley bottom is connected with snatch lifting appliance by first hydraulic cylinder;Motor drive assembly is connected with circulating traction cable;Wellhead transfer mechanism is set at the junction of horizontal tunnel and shaft, including two guide rails laid in horizontal tunnel, telescopic platform slidably fitted in the guide rail, and telescopic drive piece driving telescopic platform to slide along guide rail;Manned cage, top is symmetrically provided with snatch column matched with snatch lifting appliance;Lifting transport mechanism includes winch arranged at the bottom of shaft, and diverting pulley set above wellhead;The wire rope of winch is sequentially connected with the top of manned cage after passing through diverting pulley set, realizes the automatic connection of horizontal transport and vertical lifting.

Description

Technical Field

[0001] This invention relates to the fields of water conservancy and hydropower, mining machinery and underground engineering construction technology, and in particular to a manned cage transportation system and method suitable for deep vertical shaft construction. Background Technology

[0002] Deep shafts (such as water intake shafts and ventilation shafts) are a key link in underground engineering construction. They are deep and have narrow spaces, and are usually connected to upper horizontal tunnels with straight sections, making the transportation of personnel and materials extremely difficult. Traditional deep shaft transportation methods mostly use simple hoisting systems, which have the following defects: (1) Horizontal transportation and vertical lifting are independent processes, resulting in low handover efficiency and high safety risks for manual operation; (2) The cage swings due to inertia during movement, making the connection and alignment with the lifting mechanism in the wellhead area cumbersome and unreliable; (3) There is a lack of reliable physical locking mechanism in the personnel entry and exit process, resulting in significant cage swaying and threatening personnel safety. Summary of the Invention

[0003] The purpose of this invention is to provide a manned hoisting cage transportation system and method suitable for deep vertical shaft construction, to solve the problems of ineffective connection and difficult conversion between horizontal transportation and vertical lifting in the prior art. This system and method, through a systematic layout of steps, ensures the safety and reliability of the transportation process.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A manned cage transportation system suitable for deep vertical shaft construction includes: A horizontal transport mechanism, installed in the upper horizontal tunnel of the water diversion project, includes a load-bearing cable, a circulating traction cable, a traveling trolley, and a motor drive assembly. The load-bearing cable is horizontally tensioned at the top of the upper horizontal tunnel. The circulating traction cable is laid to the side and below the load-bearing cable, forming a closed loop. The motor drive assembly drives the circulating traction cable. The traveling trolley includes a frame, a set of traveling wheels on the upper part of the frame, and a cable gripper on the side of the frame. The traveling wheels are in rolling contact with the load-bearing cable. The cable gripper is clamped to the circulating traction cable. A first gripping lifting device is connected to the bottom of the frame via a first hydraulic cylinder. The wellhead junction mechanism is located at the junction of the horizontal tunnel and the vertical shaft. It includes two guide rails laid in the upper horizontal tunnel, a telescopic platform that slides with the guide rails, and a telescopic drive component that drives the telescopic platform to slide along the guide rails. The guide rails extend to the edge of the vertical shaft wellhead, and each guide rail is provided with a support base anchored to the rock mass of the well wall below its end on the vertical shaft side. The lifting and transport mechanism includes a winch arranged at the bottom of the shaft, a steering pulley set above the shaft opening, and a wire rope; the wire rope is led out from the drum of the winch and passes through the steering pulley, and the free end of the wire rope is connected to a second grabbing device; The manned hoist cage has symmetrical gripping columns on its top that cooperate with a gripping lifting device. The gripping columns cooperate with either a first gripping lifting device or a second gripping lifting device.

[0005] Furthermore, the outer wall of the gripping column is provided with a circumferential groove, and the edge of the groove is provided with a guide chamfer; Both the first and second gripping lifting devices include a housing, a lifting lug located on the top of the housing, a position sensor, and at least two locking components located on the side wall of the housing. The bottom of the housing is provided with a guide ramp that slopes inward and converges towards the center, forming a positioning hole through which the gripping column passes. The housing is equipped with a position sensor corresponding to the gripping column. The locking components include an electromagnetic drive and a locking tongue connected to the electromagnetic drive. The locking tongue passes through the side wall of the housing and, driven by the electromagnetic drive, engages with a slot on the outer wall of the gripping column.

[0006] Furthermore, the upper part of the telescopic platform is provided with a capture guide groove with an inverted trapezoidal cross-section, and the bottom sides of the manned cage have guide chamfers with an inverted trapezoidal cross-section extending downwards, the guide chamfers being adapted to the inner wall shape of the capture guide groove.

[0007] Furthermore, multiple strain gauge load sensors are spaced apart along the length of the telescopic platform, and a tension sensor is installed at the guide pulley at the drive end of the circulating traction cable. The load sensors and tension sensors are used to monitor the vertical load borne by the telescopic platform and the real-time traction force of the circulating traction cable, respectively. A weight sensor is installed inside the manned cage to collect the total weight of the manned cage in real time.

[0008] Furthermore, clamp arm assemblies are provided on both sides of the guide rail away from the shaft. The clamp arm assembly includes a mounting base, a third hydraulic cylinder connected to the mounting base, and a clamp arm connected to the telescopic end of the third hydraulic cylinder. The clamping end of the clamp arm is provided with jaws that are adapted to the bottom edge of the manned cage. The clamp arm extends and retracts under the drive of the third hydraulic cylinder, and clamps or releases the manned cage through the jaws.

[0009] Furthermore, it also includes a control unit, which is electrically connected to the horizontal transport mechanism, the wellhead handover mechanism, the lifting transport mechanism, and the clamp arm assembly, respectively.

[0010] A method for transporting a manned hoist cage suitable for deep vertical shaft construction, based on any one of claims 1-6, comprising the following steps: S1: Control the motor drive component to drive the cyclic traction cable to run, and drive the traveling trolley to the preset position at the wellhead along the carrying cable; S2: Control the telescopic drive to extend the telescopic platform along the guide rail to below the personnel cage; control the first hydraulic cylinder to extend, lowering the personnel cage until it is fully seated on the telescopic platform; control the first grabbing device to disengage from the grabbing column at the top of the personnel cage, control the first hydraulic cylinder to retract, causing the first grabbing device to rise and disengage from the grabbing column, control the traveling trolley to move away from directly above the personnel cage; control the second grabbing device to establish a connection with the grabbing column of the personnel cage, control the winch to lift the personnel cage a certain distance, and then control the telescopic drive to retract the telescopic platform back to the outside of the well. S3: Control the winch to drive the wire rope to pull the personnel cage down in the vertical shaft to perform the transportation task; S4: After the delivery task is completed, control the winch to lift the personnel cage over the wellhead to a certain height; control the telescopic drive to drive the telescopic platform to extend below the personnel cage, and control the winch to lower the personnel cage until it is fully seated on the telescopic platform; control the second grabbing device to disconnect from the personnel cage; control the traveling trolley to move above the personnel cage; control the first hydraulic cylinder to extend and lower the first grabbing device, and connect and lock the first grabbing device to the grabbing column; control the first hydraulic cylinder to retract to lift the personnel cage away from the telescopic platform, and use the traveling trolley to transfer the personnel cage to the side of the guide rail away from the vertical shaft. S5: After the manned hoist reaches the preset position, the control clamp arm assembly clamps the bottom of the manned hoist to achieve fixation.

[0011] Furthermore, the manned hoist cage is equipped with a position marker, and multiple data acquisition terminals are arranged at intervals on the side of the guide rail; the position marker is read by the data acquisition terminal to obtain the running position of the manned hoist cage in real time; when the manned hoist cage is detected to be close to the preset stopping point, the motor drive assembly is controlled to decelerate the manned hoist cage and stop at the preset stopping point.

[0012] Furthermore, the method for determining whether the manned cage is fully seated is as follows: when the difference between the load value detected by the load sensor built into the telescopic platform and the total weight of the manned cage detected by the weight sensor is within a preset deviation range, and the tension sensor detects that the cable tension has dropped to a preset tension threshold, it is determined that the manned cage is fully seated.

[0013] Furthermore, during the operation of the traveling trolley, the total weight of the manned cage is collected by a weight sensor, and the real-time running acceleration of the traveling trolley is collected by an acceleration sensor. The control unit calculates the theoretical traction force of the traveling trolley based on the total weight and the real-time running acceleration, and obtains the actual traction force collected by the tension sensor. The actual traction force is compared with the theoretical traction force in real time. When the deviation between the actual traction force and the theoretical total traction force exceeds a preset safety threshold, the control unit reduces the running acceleration of the traveling trolley.

[0014] The beneficial effects of this invention are: The manned cage transportation system described in this invention controls the manned cage to switch back and forth between horizontal and vertical transportation states. It can transport personnel located in the horizontal tunnel to the working face at the bottom of the vertical shaft, and can also lift and transfer personnel located at the bottom of the vertical shaft back to the upper horizontal tunnel. This realizes the full-process mechanized transportation of underground engineering personnel, reduces safety risks during the handover process, and improves transportation efficiency.

[0015] An innovative design incorporates an inverted trapezoidal capture guide groove on the telescopic platform and a guide chamfer at the bottom of the cage. This design allows for positional deviations when lowering the manned cage, and utilizes the cage's own weight and inclined sliding to achieve "forced centering," thus solving the handover problem of inaccurate docking.

[0016] The clamp arm assembly installed at the end of the guide rail achieves absolute rigid fixation of the manned cage after it arrives at the station, eliminating the swaying hazard when personnel enter or exit. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application.

[0018] Appendix Figure 1 This is a schematic diagram of the overall architecture of the transportation device required for a manned cage transportation method suitable for deep vertical shaft construction.

[0019] Appendix Figure 2 This is a magnified view of the junction between the telescopic platform and the cage.

[0020] Appendix Figure 3 This is a cross-sectional view of the first grabbing and lifting device.

[0021] Appendix Figure 4 This is a schematic diagram of the clamp arm assembly.

[0022] In the diagram: 1. Bearing cable; 2. Circulating traction cable; 3. Traveling trolley; 4. Cable gripper; 5. First hydraulic cylinder; 6. First grabbing device; 7. Cable support; 8. Guide rail; 9. Telescopic platform; 10. Telescopic drive component; 11. Support base; 12. Winch; 13. Wire rope; 14. Second grabbing device; 15. Personnel cage; 16. Grab column; 17. Slot; 18. Housing; 19. Lifting lug; 20. Positioning hole; 21. Position sensor; 22. Electromagnetic drive component; 23. Locking tongue; 24. Capture guide groove; 25. Steering pulley; 26. Clamp arm assembly; 27. Mounting base; 28. Third hydraulic cylinder; 29. ​​Clamp arm; 30. Clamp jaws; 31. Shaft. Detailed Implementation

[0023] 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.

[0024] like Figures 1-4 As shown, a manned hoisting system suitable for deep vertical shaft construction includes a horizontal transport mechanism, a shaft opening handover mechanism, a lifting transport mechanism, and a manned hoisting cage 15. The horizontal transport mechanism is located inside the upper horizontal tunnel, the lifting transport mechanism is located inside the vertical shaft 31, and the shaft opening handover mechanism is located at the junction of the upper horizontal tunnel and the vertical shaft 31.

[0025] The horizontal transport mechanism includes a horizontally laid load-bearing cable 1, a closed-loop circulating traction cable 2, a traveling trolley 3, and a motor drive assembly. Two load-bearing cables 1 are arranged in parallel, and both cables 1 are horizontally tensioned to the top of the upper tunnel via cable supports 7 located on both sides of the vertical shaft 31. The cable supports 7 are anchored to the top of the upper tunnel wall, stably tensioning the load-bearing cables 1 along the length of the upper tunnel, serving as the running track for the traveling trolley 3. The circulating traction cable 2 is laid to the side and below the load-bearing cables 1, forming a closed loop.

[0026] The trolley 3 includes a frame, a set of wheels on the upper part of the frame, and a cable gripper 4 on the side of the frame. The wheels are in rolling contact with two load-bearing cables 1, allowing the trolley 3 to glide smoothly along the load-bearing cables 1. The cable gripper 4 is clamped to the circulating traction cable 2, allowing the trolley 3 to move synchronously with the circulating traction cable 2. A first gripping device 6 is connected to the bottom of the frame via a first hydraulic cylinder 5. The extension and retraction of the first hydraulic cylinder 5 drives the first gripping device 6 to rise and fall, thereby realizing the lifting and lowering operation of the personnel cage 15.

[0027] In some embodiments, the cable gripper 4 adopts an existing pre-made spring-pressed friction cable gripper 4, specifically including a fixed clamp body, a movable clamp body, a preload spring and a friction pad. Under the action of the preload spring, the movable clamp body presses the circulating traction cable 2 onto the friction pad of the fixed clamp body, and the friction force clamps and connects the traveling trolley 3 with the circulating traction cable 2.

[0028] The motor drive assembly is located at one end of the upper tunnel and specifically includes a variable frequency motor, a reducer, a drive wheel, and a tensioning device. The output shaft of the variable frequency motor is connected to the input shaft of the reducer, which in turn connects to the drive wheel. The drive wheel is a grooved friction wheel, and its grooves make frictional contact with the circulating traction cable 2. This friction drives the circulating traction cable 2 to circulate in a closed loop, which in turn drives the traveling trolley 3 to reciprocate horizontally along the carrying cable 1 via the cable gripper 4. The tensioning device includes a tensioning wheel and an adjusting screw. By adjusting the screw, the position of the tensioning wheel is changed, thereby adjusting the pretension of the circulating traction cable 2. The variable frequency motor controls the rotational speed of the drive wheel by adjusting its output frequency, thus controlling the running speed of the circulating traction cable 2 and the traveling trolley 3.

[0029] The wellhead connection mechanism is located at the junction of the upper horizontal tunnel and the vertical shaft 31, and includes two guide rails 8, a telescopic platform 9, a telescopic drive component 10, and a support base 11. The two guide rails 8 are laid on the ground of the upper horizontal tunnel and extend along the extension direction of the upper horizontal tunnel to the edge of the wellhead of the vertical shaft 31. The telescopic platform 9 is slidably engaged with the two guide rails 8 and can extend along the guide rails 8 to above the wellhead of the vertical shaft 31 or retract outside the shaft.

[0030] Each guide rail 8 has a support base 11 located below its end on the side of the shaft 31. The support base 11 is anchored to the rock mass on the side of the shaft wall of the shaft 31, providing support for the cantilevered end of the telescopic platform 9 extending from the guide rail 8. In some embodiments, the support base 11 includes a diagonal brace anchored to the shaft wall of the shaft 31 and a support at the top of the diagonal brace. The support supports the telescopic platform 9 extending into the shaft opening, and the diagonal force transmission path of the diagonal brace effectively transmits the vertical load borne by the cantilevered end of the telescopic platform 9 to the rock mass anchoring point. The support base 11 is arranged inside the centerline of the shaft 31 to avoid the material transport space within the shaft 31 and prevent operational interference.

[0031] The telescopic drive component 10 includes a support mounted on the upper horizontal tunnel and a second hydraulic cylinder hinged to the support. The other end of the second hydraulic cylinder is hinged to the telescopic platform 9. When the second hydraulic cylinder extends, it drives the telescopic platform 9 to extend along the guide rail 8 toward the vertical shaft 31; when the second hydraulic cylinder retracts, it drives the telescopic platform 9 to retract along the guide rail 8 back outside the shaft.

[0032] The lifting and transport mechanism includes a winch 12, guide pulleys 25, and a wire rope 13. The winch 12 is fixedly anchored to the foundation at the bottom of the well. A normally closed brake is installed on the winch 12 to control the smooth start and stop of the wire rope 13. In the event of a power failure or system malfunction, the brake automatically engages, restricting the winding and unwinding of the wire rope 13 and preventing the personnel cage 15 from shifting and falling. Guide pulleys 25 are spaced apart above the well opening. The wire rope 13 is drawn vertically from the drum of the winch 12 and passes through each guide pulley 25 in sequence. The free end of the wire rope 13 is connected to a second grabbing device 14. The wire rope 13 travels in the middle area between two supporting cables 1, avoiding interference with the path of the supporting cables 1. Preferably, the wire rope 13 is equipped with an anti-rotation joint to reduce the rotational swaying of the cage caused by the self-rotation of the wire rope 13.

[0033] The top of the manned cage 15 is symmetrically provided with grabbing posts 16, which cooperate with the first grabbing device 6 or the second grabbing device 14.

[0034] A circumferential groove 17 is provided on the outer wall of the gripping column 16, and a guide chamfer is provided at the edge of the groove 17. The first gripping lifting device 6 and the second gripping lifting device 14 have the same structure, both including a housing 18, a lifting lug 19 provided on the top of the housing 18, a position sensor 21, and at least two locking components provided on the side wall of the housing 18. The bottom of the housing 18 is provided with a guide slope that slopes inward and converges towards the center. The guide slope forms a positioning hole 20 for the gripping column 16 to pass through. The guide slope has a tolerance guiding effect on the lateral deviation of the gripping column 16, guiding the gripping column 16 to extend into the center of the positioning hole 20, thereby accommodating the position deviation when the cage swings. The housing 18 is provided with a position sensor 21 corresponding to the gripping column 16, which is used to detect the alignment status of the gripping column 16 after it passes through the positioning hole 20, so as to control the locking timing of the locking components. The locking assembly includes an electromagnetic drive unit 22 and a locking tongue 23 connected to the electromagnetic drive unit 22. The locking tongue 23 penetrates the side wall of the housing 18. Driven by the electromagnetic drive unit 22, the locking tongue 23 engages with a slot 17 on the outer wall of the gripping column 16, achieving a mechanical locking connection to the personnel cage 15. When the connection is released, the electromagnetic module is de-energized or energized in reverse, and the locking tongue 23 exits radially from the slot 17, disengaging the gripping device from the gripping column 16. The locking assembly is evenly distributed around the circumference of the housing 18, applying constraints to the gripping column 16 from multiple directions to ensure the reliability of the connection.

[0035] The upper part of the telescopic platform 9 is provided with a capture guide groove 24 with an inverted trapezoidal cross section. The bottom sides of the manned cage 15 have guide chamfers with an inverted trapezoidal cross section extending downwards, which are adapted to the inner wall shape of the capture guide groove 24 and are used to guide and position the manned cage 15 when it is seated.

[0036] The manned cage 15 has a position marker on its side wall, and multiple data acquisition terminals are arranged at intervals on the outer side of the guide rail 8. The data acquisition terminals are used to read the position marker.

[0037] At the top of the upper tunnel, corresponding to the starting point of the travel of the traveling trolley 3, limit brackets are installed at both ends. Each limit bracket has a buffer block to physically limit the travel of the traveling trolley 3 and prevent it from exceeding its travel range. The buffer blocks can be made of high-strength rubber or polyurethane polymer material to absorb impact energy and reduce rigid collisions when the traveling trolley 3 comes into contact with them.

[0038] Clamping arm assemblies 26 are provided on both sides of the guide rail away from the vertical shaft. The clamping arm assembly 26 includes a mounting base 27, a third hydraulic cylinder 28 connected to the mounting base 27, and a clamping arm 29 connected to the telescopic section of the third hydraulic cylinder 28. The clamping end of the clamping arm 29 is provided with jaws 30 that are adapted to the bottom edge of the manned cage 15. The clamping arm 29 extends and retracts under the drive of the third hydraulic cylinder 28, and clamps or releases the manned cage 15 through the jaws 30.

[0039] When the traveling trolley 3 transfers the manned cage 15 to the preset platform area on the guide rail away from the vertical shaft, the first hydraulic cylinder 5 is extended to lower the manned cage 15 onto the guide rail 8, so that the bottom of the cage contacts the guide rail 8; the clamp arm assembly 26 extends and retracts under the drive of the second hydraulic cylinder, and the clamping end clamps the manned cage 15 through the jaws 30 to achieve rigid fixation of the cage.

[0040] Multiple strain gauge load sensors are spaced apart along the length of the telescopic platform 9. A tension sensor is installed at the drive end of the circulating traction cable 2. The load sensors and tension sensors are used to monitor the vertical load borne by the telescopic platform 9 and the real-time traction force of the circulating traction cable 2, respectively. A weight sensor is installed inside the cage to collect the total weight of the manned cage 15 in real time.

[0041] A method for transporting a manned hoist cage 15 suitable for construction of a deep vertical shaft 31, the method comprising the following steps: S1: The control motor drive assembly drives the circulating traction cable 2, causing the traveling trolley 3 to move along the carrying cable 1 to the preset position at the wellhead. During the horizontal transport phase, the personnel cage 15 is suspended from the bottom of the frame of the traveling trolley 3 by the first gripping lifting device 6, and the first hydraulic cylinder 5 is in the retracted state, with the personnel cage 15 suspended below the traveling trolley 3. The traveling trolley 3 moves synchronously with the circulating traction cable 2 through the clamping connection of the gripper 4, moving horizontally along the carrying cable 1 towards the vertical shaft 31, transporting the personnel cage 15 to the preset position at the wellhead.

[0042] S2: Control the telescopic drive component 10 to drive the telescopic platform 9 to extend along the guide rail 8 to below the manned cage 15; control the first hydraulic cylinder 5 to extend and lower the manned cage 15 until it is fully seated on the telescopic platform 9; the guide chamfer at the bottom of the manned cage 15 is inserted into the capture guide groove 24 on the upper part of the telescopic platform 9 during the descent, and the inclined surface of the inverted trapezoidal section guides the guide chamfer to return to its position, so that the manned cage 15 can be seated on the telescopic platform 9. The first grabbing device 6 is disconnected from the grabbing column 16 at the top of the manned cage 15. The first hydraulic cylinder 5 is retracted, causing the first grabbing device 6 to rise and disengage from the grabbing column 16. The traveling trolley 3 is moved away from directly above the manned cage 15. The second grabbing device 14 moves to above the grabbing column 16 under the traction of the wire rope 13. The second grabbing device 14 is connected to the grabbing column 16 of the manned cage 15. The winch 12 is raised a certain distance. Then, the telescopic drive 10 is used to drive the telescopic platform 9 to retract outside the well. S3: Control the winch 12 to drive the wire rope 13 to pull the personnel cage 15 down in the vertical shaft 31 to perform the conveying task; S4: After the delivery task is completed, control the winch 12 to lift the manned cage 15 past the preset height at the wellhead; control the telescopic drive 10 to drive the telescopic platform 9 to extend below the manned cage 15, and control the winch 12 to lower the manned cage 15 until it is fully seated on the telescopic platform 9; control the second grabbing device 14 to disconnect from the manned cage 15; control the traveling trolley 3 to move to directly above the manned cage 15; control the first hydraulic cylinder 5 to extend and lower the first grabbing device 6, and connect and lock the first grabbing device 6 to the grabbing column 16; control the first hydraulic cylinder 5 to retract to lift the manned cage 15 away from the telescopic platform 9, and use the traveling trolley 3 to transfer the manned cage 15 to the side of the guide rail 8 away from the vertical shaft 31; S5: After the manned cage 15 reaches the preset position, the first hydraulic cylinder 5 is extended to lower the manned cage 15 onto the guide rail 8, and the clamp arm assembly 26 is clamped to the bottom of the manned cage 15 to achieve fixation.

[0043] The method for determining whether the manned hoist 15 is fully seated is as follows: when the difference between the load value detected by the load sensor built into the telescopic platform 9 and the total weight of the manned hoist 15 detected by the weight sensor is within a preset deviation range, and the tension sensor detects that the cable tension has dropped to a preset tension threshold, the manned hoist 15 is determined to be fully seated. This multi-sensor combined judgment method can accurately identify the fully seated state of the hoist and avoid misjudgments.

[0044] During the operation of the traveling trolley 3, the position marking information on the manned cage 15 is read by a data acquisition terminal set on one side of the guide rail 8 to obtain the real-time running position of the manned cage 15. When the manned cage 15 is detected to be approaching the preset stopping point, the motor drive is controlled to decelerate the manned cage 15 and finally stop at the preset stopping point. Specifically, the data acquisition method includes at least one of RFID radio frequency identification, machine vision recognition, or position sensor detection.

[0045] During the operation of the traveling trolley 3, the total weight Q of the traveling trolley 3 and the manned cage 15 is collected by the weight sensor, and the real-time running acceleration a of the traveling trolley is collected by the acceleration sensor. The control unit calculates the theoretical total traction force of the traveling trolley based on the total weight Q and the real-time running acceleration a. The calculation formula is:

[0046] in, μ For the comprehensive friction coefficient, g It is the acceleration due to gravity; The control unit acquires the actual traction force collected by the tension sensor and compares the actual traction force with the theoretical traction force in real time. When the deviation between the actual traction force and the theoretical total traction force exceeds the preset safety threshold, it is determined that the cage is swinging abnormally. The control unit reduces the running acceleration of the traveling trolley to suppress the cable swing.

[0047] The control unit reads the actual feedback value from the tension sensor at the traction end at high frequency. If the actual total traction force fluctuates significantly with periodic pulses compared to the theoretical total traction force (e.g., deviating from the threshold by 15%), the system determines that the cage is experiencing abnormal resonance oscillation. In this case, the system automatically overrides the originally set 0.2 m / s 2 The acceleration curve dynamically outputs a lower acceleration command to the frequency converter, which performs flexible damping adjustment until the tension fluctuation tends to stabilize, effectively preventing the cage from hitting the tunnel wall.

[0048] When the telescopic drive 10 controls the telescopic platform 9 to fully extend, multiple strain gauge load sensors arranged inside the telescopic platform 9 collect the vertical load values ​​borne by each load application point of the telescopic platform in real time, and calculate the load distribution of the telescopic platform accordingly.

[0049] The control unit calculates the overturning safety factor of the telescopic platform in its fully extended state based on the collected load data. and anti-slip safety factor The calculation formula is as follows:

[0050]

[0051] in: The stabilizing torque of the telescopic platform is calculated by multiplying the self-weight g of the telescopic platform by its extended self-weight lever arm L. The self-weight of the telescopic platform is a preset fixed value. The overturning moment generated by the telescopic platform and the manned cage is calculated by multiplying the vertical load value collected by the load sensor by the horizontal lever arm from the load application point to the rotation axis of the telescopic platform; The frictional force between the telescopic platform and the guide rail is calculated by multiplying the vertical load value collected by the load sensor by the preset friction coefficient between the telescopic platform and the guide rail. The horizontal thrust is calculated by multiplying the oil pressure value collected by the pressure sensor on the hydraulic oil circuit of the telescopic drive component 10 by the effective area of ​​the piston of the second hydraulic cylinder.

[0052] The strain gauge load cells inside the telescopic platform refresh data at millisecond-level frequencies. If the control unit detects the instantaneous overturning safety factor... ≤1.5 or anti-slip safety factor When the value is ≤1.3, the control unit cuts off the main oil circuit of the second hydraulic cylinder used to push the telescopic platform out, and uses a hydraulic lock to maintain the position of the telescopic platform. In other embodiments, further locking and positioning can be achieved by using an electromagnet locking pin. By setting an electromagnetic locking pin at the tail of the telescopic platform and opening a positioning hole at the corresponding position of the guide rail, the control unit triggers the electromagnet locking pin to de-energize. When the electromagnet in the electromagnetic locking pin is de-energized, the pin rod is inserted into the positioning hole under the action of the return spring to achieve mechanical locking.

[0053] This invention will use a traction force model By binding with a tension sensor, the inverter actively intervenes to modify the damping when swaying resonance is detected; the anti-overturning safety factor and anti-slip safety factor are linked with the telescopic drive component, and the underlying hardware is forcibly locked when the value approaches the red line, thus achieving system safety.

[0054] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A manned cage transportation system suitable for deep vertical shaft construction, characterized in that, include: A horizontal transport mechanism, located in the upper horizontal tunnel of the water diversion, includes a load-bearing cable, a circulating traction cable, a traveling trolley, and a motor drive assembly; The load-bearing cable is horizontally tensioned at the top of the upper tunnel; the circulating traction cable is laid below the load-bearing cable to form a closed loop; the motor drive assembly drives the circulating traction cable; the traveling trolley includes a frame, a set of traveling wheels on the upper part of the frame, and a cable gripper on the side of the frame; the traveling wheels are in rolling contact with the load-bearing cable; the cable gripper is clamped to the circulating traction cable; a first gripping lifting device is connected to the bottom of the frame through a first hydraulic cylinder; The wellhead junction mechanism is located at the junction of the horizontal tunnel and the vertical shaft. It includes two guide rails laid in the upper horizontal tunnel, a telescopic platform that slides with the guide rails, and a telescopic drive component that drives the telescopic platform to slide along the guide rails. The guide rails extend to the edge of the vertical shaft wellhead, and each guide rail is provided with a support base anchored to the rock mass of the well wall below its end on the vertical shaft side. The lifting and transport mechanism includes a winch arranged at the bottom of the shaft, a steering pulley set above the shaft opening, and a wire rope; the wire rope is led out from the drum of the winch and passes through the steering pulley, and the free end of the wire rope is connected to a second grabbing device; The manned hoist cage has symmetrical gripping columns on its top that cooperate with a gripping lifting device. The gripping columns cooperate with either a first gripping lifting device or a second gripping lifting device.

2. The manned cage transportation system for deep vertical shaft construction according to claim 1, characterized in that, The outer wall of the gripping column is provided with a circumferential groove, and the edge of the groove is provided with a guide chamfer. Both the first and second gripping lifting devices include a housing, a lifting lug located on the top of the housing, a position sensor, and at least two locking components located on the side wall of the housing. The bottom of the housing is provided with a guide ramp that slopes inward and converges towards the center, forming a positioning hole through which the gripping column passes. The housing is equipped with a position sensor corresponding to the gripping column. The locking components include an electromagnetic drive and a locking tongue connected to the electromagnetic drive. The locking tongue passes through the side wall of the housing and, driven by the electromagnetic drive, engages with a slot on the outer wall of the gripping column.

3. A manned cage transportation system suitable for deep vertical shaft construction according to claim 1, characterized in that, The upper part of the telescopic platform is provided with a capture guide groove with an inverted trapezoidal cross section, and the bottom sides of the manned cage have guide chamfers with an inverted trapezoidal cross section extending downwards, and the guide chamfers are adapted to the shape of the inner wall of the capture guide groove.

4. A manned cage transportation system suitable for deep vertical shaft construction according to claim 1, characterized in that, Multiple strain gauge load sensors are spaced along the length of the telescopic platform. A tension sensor is installed at the guide pulley at the drive end of the circulating traction cable. The load sensors and tension sensors are used to monitor the vertical load borne by the telescopic platform and the real-time traction force of the circulating traction cable, respectively. A weight sensor is installed inside the manned cage to collect the total weight of the manned cage in real time.

5. A manned cage transportation system suitable for deep vertical shaft construction according to claim 4, characterized in that, Clamping arm assemblies are provided on both sides of the guide rail away from the vertical shaft. The clamping arm assembly includes a mounting base, a third hydraulic cylinder connected to the mounting base, and a clamping arm connected to the telescopic end of the third hydraulic cylinder. The clamping end of the clamping arm is provided with jaws that are adapted to the bottom edge of the manned cage. The clamping arm extends and retracts under the drive of the third hydraulic cylinder, and clamps or releases the manned cage through the jaws.

6. A manned cage transportation system suitable for deep vertical shaft construction according to claim 5, characterized in that, It also includes a control unit, which is electrically connected to the horizontal transport mechanism, the wellhead handover mechanism, the lifting transport mechanism, and the clamp arm assembly.

7. A method for transporting a manned hoist cage suitable for deep vertical shaft construction, based on any one of claims 1-6, characterized in that, The method includes the following steps: S1: Control the motor drive component to drive the cyclic traction cable to run, and drive the traveling trolley to the preset position at the wellhead along the carrying cable; S2: Control the telescopic drive to extend the telescopic platform along the guide rail to below the personnel cage; control the first hydraulic cylinder to extend, lowering the personnel cage until it is fully seated on the telescopic platform; control the first grabbing device to disengage from the grabbing column at the top of the personnel cage, control the first hydraulic cylinder to retract, causing the first grabbing device to rise and disengage from the grabbing column, control the traveling trolley to move away from directly above the personnel cage; control the second grabbing device to establish a connection with the grabbing column of the personnel cage, control the winch to lift the personnel cage a certain distance, and then control the telescopic drive to retract the telescopic platform back to the outside of the well. S3: Control the winch to drive the wire rope to pull the personnel cage down in the vertical shaft to perform the transportation task; S4: After the delivery task is completed, control the winch to lift the personnel cage over the wellhead to a certain height; control the telescopic drive to drive the telescopic platform to extend below the personnel cage, and control the winch to lower the personnel cage until it is fully seated on the telescopic platform; control the second grabbing device to disconnect from the personnel cage; control the traveling trolley to move above the personnel cage; control the first hydraulic cylinder to extend and lower the first grabbing device, and connect and lock the first grabbing device to the grabbing column; control the first hydraulic cylinder to retract to lift the personnel cage away from the telescopic platform, and use the traveling trolley to transfer the personnel cage to the side of the guide rail away from the vertical shaft. S5: After the manned hoist reaches the preset position, the control clamp arm assembly clamps the bottom of the manned hoist to achieve fixation.

8. A method for transporting a manned hoist cage suitable for deep vertical shaft construction according to claim 7, characterized in that, The manned hoist cage is equipped with a position marker, and multiple data acquisition terminals are arranged at intervals on the side of the guide rail. The position marker is read by the data acquisition terminal to obtain the running position of the manned hoist cage in real time. When the manned hoist cage is detected to be approaching a preset stopping point, the motor drive assembly is controlled to decelerate the manned hoist cage and stop at the preset stopping point.

9. A method for transporting a manned hoist cage suitable for deep vertical shaft construction according to claim 7, characterized in that, The method for determining whether the manned cage is fully seated is as follows: when the difference between the load value detected by the load sensor built into the telescopic platform and the total weight of the manned cage detected by the weight sensor is within a preset deviation range, and the tension sensor detects that the cable tension has dropped to a preset tension threshold, the manned cage is determined to be fully seated.

10. A method for transporting a manned hoist cage suitable for deep vertical shaft construction according to claim 7, characterized in that, During the operation of the traveling trolley, the total weight of the manned cage is collected by a weight sensor, and the real-time running acceleration of the traveling trolley is collected by an acceleration sensor. The control unit calculates the theoretical traction force of the traveling trolley based on the total weight and the real-time running acceleration, and obtains the actual traction force collected by the tension sensor. The actual traction force is compared with the theoretical traction force in real time. When the deviation between the actual traction force and the theoretical total traction force exceeds a preset safety threshold, the control unit reduces the running acceleration of the traveling trolley.

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