Hoisting bucket beam posture correction and centering device and method for automatic coal cleaning in vertical shaft

Abstract

The present application discloses a device and method for posture correction and centering of a hoisting bucket lifting beam for automatic ore removal in a vertical shaft, and relates to the field of automatic control technology. The device collects hoisting bucket swing and speed signals, determines when the hoisting bucket is in a directable state, and then controls a double-sided synchronous drive unit to drive two translation centering beams to feed synchronously in opposite directions. The device identifies the lifting beam contact working condition through current mutation and displacement state, switches to a low-speed limited force guiding mode, corrects the inverted V-shaped rigid lifting beam yaw posture in a small step-by-step manner with a low-friction structure, and jointly determines the correction eligibility through displacement difference, contact force difference, and yaw angle. After the posture correction is completed, the hoisting bucket is lowered at a low speed, and the beam is unlocked for ore removal after the hook drop signal is confirmed. During operation, fault judgment is performed through synchronous error, current torque overrun, and sensor abnormalities, and the beam is immediately stopped and locked for protection upon triggering a fault. The present application realizes unmanned, high-precision, and high-safety hoisting bucket posture centering and ore removal linkage control.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, specifically to a device and method for correcting and centering the attitude of a bucket lifting beam used in automatic dumping of waste rock in vertical shafts. Background Technology

[0002] With the continuous increase in the development of deep mineral resources, the construction technology of vertical shaft development is gradually iterating towards intelligence and less manpower. The hook-type gravity automatic rock-turning system, due to its outstanding advantages of requiring no additional power and simple operation and maintenance, has been widely adopted in coal mine and metal mine shaft excavation and lining projects. When the bucket relies on a single flexible steel wire rope to complete the rock-lifting operation, it is easily affected by airflow and the impact of the lifting brake when reaching the unloading platform at the shaft entrance, which can easily cause horizontal swaying and irregular rotation around the steel wire rope axis. Therefore, the spatial orientation of the inverted V-shaped lifting beam at the top of the bucket directly determines whether the rock-turning action can be completed smoothly. Once the lifting beam yaw angle exceeds the allowable range, the lifting beam connecting rod will cause hard interference with the bucket body and unloading trough during the hook-down and tilting stage, resulting in rock-turning obstruction and equipment damage. Under these circumstances, the industry has carried out a number of technical breakthroughs to address bucket stabilization and automatic rock-turning control.

[0003] Chinese patent (publication number CN217867779U) discloses a rotating positioning device for a mining bucket. This solution sets a rotating base and a positioning turntable at the bottom of the turning platform. The turntable is pulled by the bottom traction rope to drive the bucket to rotate as a whole, thereby adjusting the bucket's position. However, the corrective force of this device is applied entirely to the bottom of the bucket, and it can only rotate the bucket as a whole. It cannot specifically correct the yaw angle of the top lifting beam. After correction, the inverted V-shaped lifting beam still has a yaw. Structural interference is likely to occur during the turning process. In addition, the bottom rotating mechanism occupies the space below the shaft, which limits its layout.

[0004] Chinese patent (publication number CN219906757U) discloses a bucket-turning device. This solution sets a turning mechanism with a hook on the turning platform. The hook engages with the bottom hook shaft of the bucket to achieve automatic gravity-driven turning and unloading of the bucket, simplifying the mechanical transmission structure of the turning mechanism. However, this device only realizes the function of turning the bucket when the hook is lowered, and does not set any bucket posture correction mechanism. After the bucket is lifted into place, the direction of the lifting beam is completely random. It is necessary to manually rotate the bucket to match the direction of the force on the turning bucket, which shows insufficient automation adaptation capability.

[0005] Chinese patent (publication number CN223687936U) discloses a hoisting bucket for slag removal in vertical shaft excavation. The solution arranges vertical guide rails on the inner wall of the vertical shaft, and the horizontal crossbar at the bottom of the bucket slides with the guide rails to constrain the lateral swaying of the bucket during the lifting process. However, this device can only limit the left and right displacement of the bucket when it is lifted up and down, and has no function of rotating around the vertical axis to correct deviation. After the bucket arrives at the unloading platform at the shaft opening, there is still a problem of random deflection of the lifting beam, and manual adjustment is still required before the unloading operation can be carried out.

[0006] In summary, existing bucket stabilization and turning centering equipment cannot achieve fully automatic attitude correction and centering of the bucket inverted V-shaped lifting beam, making it difficult to completely replace manual attitude adjustment. This restricts the full automation of the vertical shaft turning process. There is an urgent need for an attitude correction and centering device for bucket lifting beam, with dual-side synchronous drive and sensor interlock protection. Summary of the Invention

[0007] Based on the aforementioned technical problems, this application discloses a device and method for correcting and centering the attitude of a bucket lifting beam used in automatic dumping in vertical shafts. The device specifically includes a portal frame, a dual-sided synchronous drive unit, a translational centering beam, and a sensor interlocking control unit.

[0008] The portal frame consists of columns and a top beam, which spans the wellhead hoisting channel and connects to the foundation of the unloading platform to withstand the lateral force and torque during the bucket lifting beam posture correction process;

[0009] The dual-sided synchronous drive unit is symmetrically arranged on both sides of the portal frame. Each side includes a servo motor, coupling, ball screw, nut slider, linear guide rail and support seat. The dual-sided synchronous drive unit performs master-slave synchronous control based on encoder feedback to drive the nut sliders on both sides to move synchronously along the corresponding linear guide rail.

[0010] The translation centering beam consists of two parallel long strip beams, each connected to a corresponding nut slider, and moves synchronously toward a preset center plane P under the constraint of a linear guide rail. The inner side of the translation centering beam is provided with a rounded guide surface, wear-resistant pad, or guide roller, which is used to form multi-point contact or low-friction guidance with the inverted V-shaped rigid lifting beam above the bucket, so that the linear motion of the translation centering beam is converted into the correction motion of the inverted V-shaped rigid lifting beam around the vertical axis of the bucket.

[0011] The sensor interlocking control unit is connected to the dual-side synchronous drive unit to obtain the displacement difference, speed difference, drive current or torque status of the two drive shafts, and control the translational alignment beam to perform the actions of approaching each other, limiting force guidance and retracting beam according to the detection results.

[0012] Preferably, the dual-sided synchronous drive unit is specifically configured as follows: linear guide rails are arranged laterally along the top crossbeam, and each translation centering beam is equipped with a nut slider at both ends to form a dual-end support sliding pair with the linear guide rail; the servo motor has a built-in position encoder, and the sensor interlocking control unit collects the encoder position signal in real time to realize dual-axis master-slave synchronous closed-loop control.

[0013] Preferably, the translational centering beams specifically have two working positions: an opening position and a guiding position. The opening position provides passage space for the lifting and lowering of the bucket and its entry and exit from the unloading platform. The guiding position allows the two beams to simultaneously approach to a limited stroke, contacting the inclined side of the inverted V-shaped rigid lifting beam to generate an eccentric correction moment. After the guiding is completed, the two beams do not clamp the lifting beam, maintaining a fixed non-clamping safety gap so that the inverted V-shaped rigid lifting beam approaches the preset center plane P and restricts the lateral freedom of the bucket lifting beam.

[0014] Preferably, the sensor interlocking control unit specifically performs the following: after the bucket is in position and the swing amplitude is below the threshold, it controls the translational alignment beam to move towards each other at a low speed; after detecting that the alignment beam is in contact with the inverted V-shaped rigid lifting beam, it switches to the force-limiting low-speed guiding mode; when the dual-axis synchronization error, drive torque, and lifting beam yaw angle all fall within the allowable threshold, it determines that the correction is complete; after receiving the hook-drop confirmation signal, it drives the translational alignment beam to return to the open position and unlocks the turning action.

[0015] The method described herein is as follows:

[0016] After the fully loaded bucket is lifted above the unloading platform, the current position and swing status of the bucket are checked.

[0017] Once the arrival detection signal is valid and the main hoist stops lifting, determine whether the lateral swing or speed of the bucket exceeds a preset threshold; if it exceeds the set threshold, keep the translation centering beam in the open position and wait for the bucket to enter the guideable range.

[0018] When the bucket enters the guideable range, the control of the dual-side synchronous drive unit is activated, so that the drive units on both sides of the portal frame operate synchronously and drive the two translational centering beams to move towards each other along the linear guide rail in the direction of the preset center plane.

[0019] Before the translation center beam enters the action area of ​​the inverted V-shaped rigid lifting beam, the dual-side synchronous drive unit is decelerated. When one of the translation center beams contacts the inclined side or end of the inverted V-shaped rigid lifting beam, the contact state is judged according to the position change and the drive current change, and the low-speed, force-limiting guide mode is switched to make the eccentric contact force act on the inverted V-shaped rigid lifting beam and generate the correction torque around the vertical axis of the bucket.

[0020] The two translational centering beams are controlled to continue moving synchronously, with small displacements and limited force, so that the inverted V-shaped rigid lifting beam gradually turns to the preset center plane under the action of the rounded corner guide surface, wear-resistant pad, or guide roller. The displacement difference, contact force difference, and yaw angle estimate of the two axes are detected in real time. When the detected parameters enter the allowable threshold range or the translational centering beam reaches the set guide position, the attitude correction is determined to be completed, and a non-clamping safety gap is maintained.

[0021] After the attitude correction is completed, the bucket is lowered at low speed to keep the inverted V-shaped rigid lifting beam in the preset direction. When the bottom of the bucket confirms the hook drop signal of the turning hook, the two translational centering beams are controlled to return to the open position. After the open position is confirmed, the turning action is executed. When the sensor is abnormal, the synchronization error of the two axes exceeds the limit, or the drive current or torque exceeds the threshold, the current action is stopped and the beam retraction control is executed.

[0022] Preferably, the deceleration control of the dual-side synchronous drive unit specifically involves: employing a master-slave synchronous control algorithm to set the target displacement of the main drive shaft. Displacement following the drive shaft Real-time acquisition of actual displacement values ​​from two-axis encoders, and calculation of synchronous displacement error between the two axes. ;

[0023] Preset synchronous displacement error allowable threshold Synchronous control logic: When At that time, the two axes maintain a preset uniform speed and synchronous operation; when At the same time, the control system dynamically corrects the running speed of the driven shaft, reduces the synchronization error, and always maintains the parallel centering movement posture of the two translational centering beams.

[0024] Preferably, the control of the two translational beams to continue moving synchronously, with small displacements and limited force specifically involves: setting a pre-defined warning distance for the beam lifting action area. Real-time detection of the distance between the translational centering beam and the preset center plane ,when When the deceleration control is activated, the deceleration control formula is: ,in Initial movement speed, To achieve a smooth deceleration effect where the closer the distance, the lower the speed, in real-time operation;

[0025] Real-time acquisition of drive unit current value Preset no-load reference current When the translation of the middle beam stops and When it is determined that the translational beam and the inverted V-shaped rigid lifting beam are in effective contact, the system immediately switches to a low-speed, force-limiting guiding mode. In the formula... This is the threshold for sudden current change.

[0026] Preferably, the low-speed, force-limiting guidance mode specifically involves: presetting the maximum permissible output torque of the drive unit. Single fine-tuning displacement step size Limit the maximum contact pressure during the correction process;

[0027] A step-by-step guiding strategy is adopted to control the dual axes. For synchronous feeding of small unit displacement, the driving torque and contact pressure are collected in real time after each displacement feed is completed, and low-friction guidance and correction are achieved through rounded guide surfaces, wear-resistant pads or guide rollers.

[0028] If real-time torque Immediately stop the displacement feed and maintain the current posture until the torque drops back to a safe range.

[0029] Preferably, the low-speed, force-limiting guidance mode specifically involves: presetting the maximum permissible output torque of the drive unit. Single fine-tuning displacement step size Limit the maximum contact pressure during the correction process;

[0030] A step-by-step guiding strategy is adopted to control the dual axes. For synchronous feeding of small unit displacement, the driving torque and contact pressure are collected in real time after each displacement feed is completed, and low-friction guidance and correction are achieved through rounded guide surfaces, wear-resistant pads or guide rollers.

[0031] If real-time torque Immediately stop the displacement feed and maintain the current posture until the torque drops back to a safe range.

[0032] Preferably, the execution of the turning action is as follows: after the posture correction is completed, the control system outputs a low-speed lowering command, controls the main hoist to drive the bucket to descend slowly and uniformly, and maintains the inverted V-shaped rigid lifting beam in contact with the preset center plane posture by translating and guiding the middle beam.

[0033] The system collects the hook-down detection signal in real time. When the hook-down confirmation signal is valid, it determines that the bucket is in place, triggers the beam retraction command, and controls the dual-side synchronous drive units to run in reverse synchronously, driving the two translational centering beams to quickly retract to the initial open position.

[0034] After confirming that the signal indicating the center beam is in position is correct, the interlock of the turning system is unlocked, allowing automatic turning operations to proceed.

[0035] Compared with the prior art, the technical solution of this application has the following technical effects:

[0036] This invention uses a portal frame as the overall load-bearing base. The frame spans above the wellhead channel and can stably withstand the lateral forces and torques generated during correction operations. The frame is adapted to wellhead vibration and corrosion conditions and has added protective structures. It does not occupy the limited space in the lower part of the wellbore, has stronger installation adaptability, and higher load-bearing stability.

[0037] This invention employs a dual-sided synchronous drive unit paired with a dual-end support sliding pair structure. By controlling the synchronous feeding of the two translational center beams through a master-slave synchronous closed-loop encoder, it can offset the off-center load caused by single-sided contact, effectively avoid beam deflection and motion jamming faults, and smoothly generate a correction torque around the vertical axis of the bucket. The correction process is impact-free and the force is uniform.

[0038] This invention features a rounded guide surface, wear-resistant pad, or guide roller on the inner side of the translation centering beam to form a low-friction contact structure. This transforms the linear feed motion into a rotational correction action of the inverted V-shaped rigid lifting beam. After the guidance is completed, a non-clamping safety gap is retained, which only restricts the lateral degree of freedom and does not lock the vertical movement space of the bucket. This accurately corrects the yaw angle of the lifting beam without squeezing or damaging the bucket and lifting beam components.

[0039] This invention combines monitoring of bucket swing, drive displacement, torque current, work position and hook dropping signals, and completes attitude correction through joint determination of multiple parameter thresholds, realizing automatic linkage of the entire process of correction, lowering, beam retraction and rock turning, and greatly shortening the cycle time of rock turning operation.

[0040] Once the present invention detects sensor malfunction, excessive synchronous displacement difference, or excessive drive current / torque, it can immediately stop the feed and prioritize driving the translational centering beam back to the open position, thereby eliminating the risk of mechanical squeezing and collision at the wellhead and improving the inherent safety level of wellhead construction.

[0041] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the preferred embodiments of this application are described in detail below with reference to the accompanying drawings.

[0042] The above and other objects, advantages and features of this application will become more apparent to those skilled in the art from the following detailed description of specific embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0044] Based on the description of the figures and their corresponding technical content in the document, the titles of the figures are as follows:

[0045] Figure 1Overall structural diagram of the device for correcting and centering the lifting beam posture of the bucket;

[0046] Figure 2 Layout diagram of the supporting frame and dual-sided synchronous drive unit structure;

[0047] Figure 3 Diagram showing the interaction between the translation of the middle beam and the inverted V-shaped lifting beam;

[0048] Figure 4 A step-by-step schematic diagram of the attitude correction and automatic centering process;

[0049] Figure 5 This is a flowchart illustrating the overall process of correcting and aligning the attitude of the bucket lifting beam for automatic dumping in vertical shafts.

[0050] Figure descriptions: 1. Portal load-bearing frame; 11. Column; 12. Top beam; 2. Dual-sided synchronous drive unit; 21. Servo motor; 22. Coupling; 23. Ball screw; 24. Nut slider; 25. Linear guide rail; 26. Support seat; 3. Translation centering beam; 31. Rounded corner guide surface; 32. Wear-resistant pad; 33. Guide roller; 4. Sensor interlock control unit; 5. Inverted V-shaped rigid lifting beam. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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, not all embodiments. In the following description, specific details such as specific configurations and components are provided merely to help fully understand the embodiments of this application. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. In addition, for clarity and brevity, descriptions of known functions and structures are omitted in the embodiments.

[0052] It should be understood that the phrase "an embodiment" or "this embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "an embodiment" or "this embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0053] Furthermore, reference numerals and / or letters may be repeated in different examples within this application. Such repetition is for the purpose of simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or settings discussed.

[0054] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" in this article describes another type of relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the related objects before and after it are in an "or" relationship.

[0055] In this article, the term "at least one" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, "at least one of A and B" can mean: A exists alone, A and B exist simultaneously, or B exists alone.

[0056] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion.

[0057] Example 1 describes a device for correcting and centering the attitude of a bucket lifting beam used in automatic dumping in vertical shafts. Specifically, it includes a portal frame 1, a dual-sided synchronous drive unit 2, a translational centering beam 3, and a sensor interlocking control unit 4.

[0058] The portal frame 1 consists of columns 11 and a top beam 12, which is used to span the wellhead lifting channel and connect with the foundation of the unloading platform to withstand the lateral force and torque during the process of correcting the attitude of the bucket lifting beam;

[0059] The dual-side synchronous drive unit 2 is symmetrically arranged on both sides of the portal frame 1. Each side includes a servo motor 21, a coupling 22, a ball screw 23, a nut slider 24, a linear guide rail 25, and a support seat 26. The dual-side synchronous drive unit 2 performs master-slave synchronous control based on encoder feedback to drive the nut sliders 24 on both sides to move synchronously along the corresponding linear guide rail 25.

[0060] The translation centering beam 3 consists of two parallel long strip beams, which are connected to the corresponding nut sliders 24 respectively, and move synchronously toward the preset center plane P under the constraint of the linear guide rail 25. The inner side of the translation centering beam 3 is provided with a rounded guide surface 31, a wear-resistant pad 32 or a guide roller 33, which are used to form multi-point contact or low-friction guidance with the inverted V-shaped rigid lifting beam 5 above the bucket, so that the linear motion of the translation centering beam 3 is converted into the correction motion of the inverted V-shaped rigid lifting beam 5 around the vertical axis of the bucket.

[0061] The sensor interlocking control unit 4 is connected to the dual-side synchronous drive unit 2 respectively, and is used to obtain the displacement difference, speed difference, drive current or torque status of the two drive shafts, and control the translation center beam 3 to perform the actions of approaching each other, limiting force guidance and retracting beam according to the detection results.

[0062] Furthermore, such as Figure 1 The diagram shows the overall structure of the bucket lifting beam posture correction and centering device, illustrating the arrangement of the entire equipment spanning above the unloading platform at the shaft opening. The external structure consists of multiple vertical columns 11 and a top horizontal beam 12 spliced ​​together to form a portal-type load-bearing body 1. Inside the frame, a bucket assembly fully loaded with gangue is suspended, with an inverted V-shaped rigid lifting beam 5 protruding above the bucket. The top beam of the portal frame is equipped with dual-sided synchronous drive units 2, and two parallel translational centering beams 3 are arranged on the left and right sides of the bucket. The entire equipment frame is fixed on the concrete base of the unloading platform, and the overall layout completely covers the bucket lifting and passage area.

[0063] Furthermore, the connection points of each component of the portal frame 1 are equipped with protective structures to adapt to the vibration and corrosion conditions of the shaft opening. The entire frame is spanned directly above the bucket lifting channel, providing a fixed installation benchmark and anti-torsional bearing base for the dual-side synchronous drive unit 2 and the translational centering beam 3.

[0064] Furthermore, the dual-side synchronous drive unit 2 is specifically configured as follows: the linear guide rail 25 is arranged laterally along the top crossbeam 12, and each translation centering beam 3 is equipped with a nut slider 24 at both ends to form a dual-end support sliding pair with the linear guide rail 25 (used to offset the unilateral load during the correction contact and avoid beam deflection and motion jamming faults); the servo motor 21 has a built-in position encoder, and the sensor interlocking control unit 4 collects the encoder position signal in real time to realize dual-axis master-slave synchronous closed-loop control.

[0065] Furthermore, such as Figure 2 The diagram shows the structural layout of the support frame and the dual-sided synchronous drive unit. The vertical portal frame 1 is fixed to the bottom foundation as the load-bearing base. The drive unit is arranged horizontally on the top beam 12. Each drive unit includes a servo motor 21, a coupling 22, a ball screw 23, a nut slider 24, and a linear guide 25. The red circle in the diagram marks the mating pair between the nut slider 24 and the linear guide 25. Both ends of the two translational centering beams 3 are connected to the top beam linear guide 25 through the nut slider 24 to form a dual-end support sliding structure. The bucket assembly is arranged in the center inside the frame 1.

[0066] Furthermore, the translation centering beam 3 specifically has two working positions: an opening position and a guiding position. The opening position provides passage space for the lifting of the bucket and its entry and exit from the unloading platform. The guiding position allows the two beams to approach each other synchronously to a limited stroke, and to contact the inclined side of the inverted V-shaped rigid lifting beam 5 to generate an eccentric correction moment. After the guiding is completed, the two beams do not clamp the lifting beam, maintaining a fixed non-clamping safety gap so that the inverted V-shaped rigid lifting beam 5 approaches the preset center plane P and restricts the lateral freedom of the bucket lifting beam.

[0067] Furthermore, such as Figure 3 The diagram shows the interaction between the translational beam and the inverted V-shaped lifting beam. The red dashed line marks the preset center plane P. The inverted V-shaped rigid lifting beam 5 has a yaw angle. The first and second translational center beams are fed towards each other in the horizontal direction. The first contact position is marked. The two parallel translational center beams 3 approach the inclined side of the inverted V-shaped rigid lifting beam 5 from both sides simultaneously. The eccentric correction torque is generated by contacting the inclined surface of the inverted V-shaped rigid lifting beam 5 through the inner rounded corner guide surface 31, wear-resistant pad 32 or guide roller 33 of the beam body.

[0068] Furthermore, the sensor interlock control unit 4 specifically functions as follows: after the bucket is in position and the swing amplitude is below the threshold, it controls the translational alignment beam 3 to move towards each other at a low speed; after detecting that the alignment beam is in contact with the inverted V-shaped rigid lifting beam 5, it switches to the force-limiting low-speed guiding mode; when the dual-axis synchronization error, drive torque, and lifting beam yaw angle all fall within the allowable threshold, it determines that the correction is complete; after receiving the hook-drop confirmation signal, it drives the translational alignment beam 3 to return to the open position and unlocks the turning action.

[0069] Furthermore, the sensor interlocking control unit 4 is equipped with multiple sets of working condition detection sensors, including a bucket position sensor, a bucket swing speed sensor, a center beam position detection sensor, and a rock dumping hook confirmation sensor.

[0070] The sensor interlock control unit 4 has built-in fault interlock protection logic. When it detects abnormal sensor signals, excessive synchronous displacement difference between the two drive shafts, or excessive servo motor drive current / torque, it immediately interrupts the moving centering beam 3's approach action and prioritizes outputting a beam retraction control command to quickly retract the two moving centering beams 3 back to the open position.

[0071] Furthermore, such as Figure 4 The diagram shows the step-by-step process of attitude correction and automatic alignment, including four sub-diagrams: (a), (b), (c), and (d). Figure 4 (a) represents the random attitude entry stage. After the bucket is in place, the inverted V-shaped rigid lifting beam 5 exhibits a yaw angle. The middle beam 3 is moved to the open position and the bucket swing is stabilized. Figure 4(b) represents the approaching phase, where the two sides move synchronously and slowly toward the center plane P of the middle beam 3, and deceleration is completed before contacting the inverted V-shaped rigid lifting beam 5. Figure 4 (c) in the middle is the contact and correction stage. The single-sided translation of the middle beam 3 first contacts the inclined side of the inverted V-shaped rigid lifting beam 5. The eccentric force generates a correction torque around the vertical axis of the bucket. The small step feed is continuously used to correct the deflection angle of the inverted V-shaped rigid lifting beam 5. Figure 4 (d) in the diagram represents the guide completion and release stage, with the inverted V-shaped rigid lifting beam exhibiting a 5-yaw angle. Reduced to the allowable threshold, the two translational center beams 3 maintain a non-clamping safety gap, and the unloading beam is unlocked and the gangue is turned over after the correction is completed.

[0072] This embodiment details a bucket lifting beam attitude correction and centering device for automatic dumping in vertical shafts, including a portal frame 1, a dual-sided synchronous drive unit 2, a translational centering beam 3, and a sensor interlocking control unit 4. The portal frame 1 spans above the shaft opening channel and has a vibration-resistant and corrosion-resistant structure, providing a stable load-bearing installation benchmark for the entire equipment. The dual-sided synchronous drive unit 2 consists of a servo motor 21, a coupling 22, a ball screw 23, a nut slider 24, a linear guide rail 25, and a support seat 26. It adopts a double-end support sliding structure and encoder master-slave synchronous closed-loop control, which can effectively offset off-center loads and prevent jamming and deformation. Two parallel translational beams... The inner side of the middle beam 3 is equipped with a rounded guide surface 31, a wear-resistant liner 32, or a guide roller 33. The linear feed motion is converted into the rotational correction motion of the inverted V-shaped rigid lifting beam 5. After the guidance is completed, a non-clamping safety gap can be maintained, and only the lateral degree of freedom is constrained. The sensor interlock control unit 4 integrates multiple working condition sensors to monitor synchronous displacement, speed, current, and torque parameters in real time. It realizes the linkage control of low-speed force-limiting guidance, attitude threshold judgment, hook lowering, beam retraction, unlocking, and overturning. It also has the fault interlock protection capability for emergency beam retraction when parameters exceed limits or sensors malfunction. This device effectively solves the problems of low efficiency of manual attitude adjustment and safety risks of overturning and wellhead operations.

[0073] Example 2, based on Example 1, describes in detail a method for correcting and centering the attitude of the bucket lifting beam used in automatic dumping in vertical shafts, such as... Figure 5 As shown, specifically:

[0074] After the fully loaded bucket is lifted above the unloading platform, the current position and swing status of the bucket are checked.

[0075] When the arrival detection signal is valid and the main hoist stops lifting, it is determined whether the lateral swing or speed of the bucket exceeds the preset threshold; if it exceeds the set threshold, the translation centering beam 3 is kept in the open position, and the bucket is waited to enter the guideable range.

[0076] When the bucket enters the guideable range, the control of the dual-side synchronous drive unit 2 is activated, so that the drive units on both sides of the portal frame 1 run synchronously and drive the two translational centering beams 3 to move towards each other along the linear guide rail 25 in the direction of the preset center plane.

[0077] Before the translation centering beam 3 enters the action area of ​​the inverted V-shaped rigid lifting beam 5, the dual-side synchronous drive unit 2 is decelerated. When one of the translation centering beams 3 contacts the inclined side or end of the inverted V-shaped rigid lifting beam 5, the contact state is judged according to the position change and the drive current change, and the low-speed, force-limiting guide mode is switched to make the eccentric contact force act on the inverted V-shaped rigid lifting beam 5 and generate the correction torque around the vertical axis of the bucket.

[0078] The two translational centering beams 3 are controlled to continue moving synchronously, with small displacement and limited force, so that the inverted V-shaped rigid lifting beam 5 gradually turns to the preset center plane under the action of the rounded corner guide surface 31, wear-resistant pad 32 or guide roller 33. The displacement difference, contact force difference and yaw angle estimate of the two axes are detected in real time. When the detected parameters enter the allowable threshold range or the translational centering beam 3 reaches the set guide position, the attitude correction is determined to be completed and a non-clamping safety gap is maintained.

[0079] After the attitude correction is completed, the bucket is lowered at low speed to keep the inverted V-shaped rigid lifting beam 5 in the preset direction. When the bottom of the bucket confirms the hook drop signal of the turning hook, the two translational centering beams 3 are controlled to return to the open position. After the open position is confirmed, the turning action is performed. When the sensor is abnormal, the synchronization error of the two axes exceeds the limit, or the drive current or torque exceeds the threshold, the current action is stopped and the beam retraction control is performed.

[0080] Furthermore, the detection of the current positioning and swing status of the bucket is specifically as follows:

[0081] Real-time data on the lateral swing displacement of the bucket is collected using a bucket swing amplitude sensor and a speed sensor. With swing speed data ;

[0082] Preset maximum allowable swing threshold of the bucket Maximum permissible swing speed threshold When satisfied When the bucket enters the guideable range, it is determined that the subsequent correction action is triggered; if the condition is not met, it continues to wait and cyclically detects the swing state of the bucket, maintaining the translational alignment with the center beam in position 3.

[0083] Furthermore, deceleration control is applied to the dual-side synchronous drive unit 2, specifically by employing a master-slave synchronous control algorithm and setting the target displacement of the main drive shaft. Displacement following the drive shaft Real-time acquisition of actual displacement values ​​from two-axis encoders, and calculation of synchronous displacement error between the two axes. ;

[0084] Preset synchronous displacement error allowable threshold Synchronous control logic: When At that time, the two axes maintain a preset uniform speed and synchronous operation; when At the same time, the control system dynamically corrects the running speed of the driven shaft, reduces the synchronization error, and always maintains the parallel centering movement posture of the two translational centering beams 3.

[0085] Furthermore, the two translational beams 3 are controlled to continue moving synchronously, with small displacements and limited force. Specifically, the warning distance of the beam lifting area is preset. Real-time detection of the distance between the translational center beam 3 and the preset center plane ,when When the deceleration control is activated, the deceleration control formula is: ,in Initial movement speed, To achieve a smooth deceleration effect where the closer the distance, the lower the speed, in real-time operation;

[0086] Real-time acquisition of drive unit current value Preset no-load reference current When the translation of the middle beam 3 stops and When it is determined that the translational beam 3 and the inverted V-shaped rigid lifting beam 5 are in effective contact, the system immediately switches to a low-speed, force-limiting guiding mode. In the formula... This is the threshold for sudden current change.

[0087] Furthermore, the low-speed, force-limiting guidance mode specifically involves: presetting the maximum permissible output torque of the drive unit. Single fine-tuning displacement step size Limit the maximum contact pressure during the correction process;

[0088] A step-by-step guiding strategy is adopted to control the dual axes. For synchronous feeding of small unit displacement, the driving torque and contact pressure are collected in real time after each displacement feed is completed. Low-friction guidance and correction are achieved through rounded guide surface 31, wear-resistant pad 32 or guide roller 33.

[0089] If real-time torque Immediately stop the displacement feed and maintain the current posture until the torque drops back to a safe range.

[0090] Furthermore, the low-speed, force-limiting guidance mode specifically involves: presetting the maximum permissible output torque of the drive unit. Single fine-tuning displacement step size Limit the maximum contact pressure during the correction process;

[0091] A step-by-step guiding strategy is adopted to control the dual axes. For synchronous feeding of small unit displacement, the driving torque and contact pressure are collected in real time after each displacement feed is completed. Low-friction guidance and correction are achieved through rounded guide surface 31, wear-resistant pad 32 or guide roller 33.

[0092] If real-time torque Immediately stop the displacement feed and maintain the current posture until the torque drops back to a safe range.

[0093] Furthermore, the attitude correction completion determination of the inverted V-shaped rigid lifting beam 5 is achieved through multi-parameter threshold joint verification, specifically as follows:

[0094] Preset two-axis displacement difference threshold Contact force difference threshold yaw angle threshold for lifting beam The conditions for determining whether the correction is complete are constructed, and the formula is as follows:

[0095]

[0096] When the above-mentioned multi-parameter joint threshold conditions are met, or when the translational center beam 3 reaches the preset limit guide position, the posture correction of the inverted V-shaped rigid lifting beam 5 is deemed qualified, the control system locks the current beam position, maintains the preset non-clamping safety gap, and ensures that the bucket can be freely raised and lowered vertically without rigid constraints.

[0097] Furthermore, the specific execution of the turning action is as follows: after the posture correction is completed, the control system outputs a low-speed lowering command, controls the main hoist to drive the bucket to descend slowly and uniformly, and through the translational guiding and limiting effect on the middle beam 3, keeps the inverted V-shaped rigid lifting beam 5 always in contact with the preset center plane posture.

[0098] The system collects the hook-down detection signal in real time. When the hook-down confirmation signal is valid, it determines that the bucket is in place and triggers the beam retraction command. It controls the double-sided synchronous drive unit 2 to run in reverse synchronously, driving the two translational centering beams 3 to quickly retract to the initial open position.

[0099] After confirming that the signal indicating the center beam is in position is correct, the interlock of the turning system is unlocked, allowing automatic turning operations to proceed.

[0100] Furthermore, during operation, system fault interlock protection is implemented, specifically as follows:

[0101] Preset synchronization error exceeding threshold Drive current exceeding threshold Drive torque exceeding threshold ;

[0102] Perform real-time fault monitoring and judgment, when the following conditions are met. , , If any condition is met, or if the sensor signal is lost or abnormal, the system is deemed to be in failure.

[0103] To perform emergency fault handling, all correction and feed actions are paused immediately. The emergency beam retraction procedure is executed first, and the translation and centering beam 3 is retracted to the safe open position. The overturning operation permission is locked and a fault alarm signal is output. The equipment operation can only be restarted after the fault is reset.

[0104] This embodiment details a method for correcting and centering the attitude of the bucket lifting beam used in automatic dumping in a vertical shaft. By collecting the bucket's swing amplitude and speed signals, after determining that the bucket is in a guideable state, the dual-side synchronous drive unit 2 drives the two translational centering beams 3 to synchronously advance in opposite directions. The contact condition of the inverted V-shaped rigid lifting beam 5 is identified through current mutations and displacement states. A low-speed, force-limiting guiding mode is switched, and the yaw attitude of the inverted V-shaped rigid lifting beam 5 is corrected using a small-step progressive approach in conjunction with the rounded guide surface 31, wear-resistant pad 32, or guide roller 33 low-friction structure. The correction is deemed successful based on a combination of displacement difference, contact force difference, and yaw angle. After attitude correction, the bucket is lowered at low speed. Upon confirmation of the hook-down signal, the translational centering beam 3 is retracted and reset, unlocking the dumping process. During operation, faults are identified through synchronization error, current / torque exceeding limits, and sensor anomalies. If a fault is triggered, an immediate emergency stop is initiated, and the translational centering beam 3 is retracted for interlocking protection.

[0105] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any changes, modifications, substitutions, integrations, and parameter changes made to these embodiments within the spirit and principles of the present invention, without departing from the principles and spirit of the present invention, through conventional substitutions or to achieve the same function, fall within the scope of protection of the present invention.

Claims

1. A device for correcting and centering the posture of a bucket lifting beam used in automatic dumping of waste rock in vertical shafts, characterized in that, It includes a portal frame (1), a dual-sided synchronous drive unit (2), a translational centering beam (3), and a sensor interlocking control unit (4), specifically: The portal frame (1) consists of columns (11) and a top beam (12), which is used to cross the wellhead lifting channel and connect with the foundation of the unloading platform to withstand the lateral force and torque during the process of correcting the attitude of the bucket lifting beam; The dual-sided synchronous drive unit (2) is symmetrically arranged on both sides of the portal frame (1). Each side includes a servo motor (21), a coupling (22), a ball screw (23), a nut slider (24), a linear guide rail (25), and a support seat (26). The dual-sided synchronous drive unit (2) performs master-slave synchronous control based on encoder feedback to drive the nut sliders (24) on both sides to move synchronously along the corresponding linear guide rail (25). The translation centering beam (3) consists of two parallel long strip beams, which are connected to the corresponding nut sliders (24) and move synchronously toward the preset center plane P under the constraint of the linear guide rail (25). The inner side of the translation centering beam (3) is provided with a rounded guide surface (31), a wear-resistant pad (32) or a guide roller (33) to form multi-point contact or low-friction guidance with the inverted V-shaped rigid lifting beam (5) above the bucket, so that the linear motion of the translation centering beam (3) is converted into the correction motion of the inverted V-shaped rigid lifting beam (5) around the vertical axis of the bucket. The sensor interlocking control unit (4) is connected to the dual-side synchronous drive unit (2) respectively, and is used to obtain the displacement difference, speed difference, drive current or torque status of the two drive shafts, and control the translational middle beam (3) to perform the actions of approaching each other, limiting force guidance and retracting beam according to the detection results.

2. The device for correcting and centering the attitude of the bucket lifting beam for automatic dumping in a vertical shaft according to claim 1, characterized in that, The dual-side synchronous drive unit (2) is specifically: the linear guide rail (25) is arranged laterally along the top crossbeam (12), and each translation centering beam (3) is equipped with a nut slider (24) at both ends to form a double-end support sliding pair with the linear guide rail (25); the servo motor (21) has a built-in position encoder, and the sensor interlocking control unit (4) collects the encoder position signal in real time to realize dual-axis master-slave synchronous closed-loop control.

3. The device for correcting and centering the attitude of the bucket lifting beam for automatic dumping in a vertical shaft according to claim 1, characterized in that, The translation centering beam (3) specifically has two working positions: an opening position and a guiding position. The opening position is reserved for the lifting and lowering of the bucket and the entry and exit of the unloading platform. The guiding position is where the two beams move together to a limited stroke and contact the inclined side of the inverted V-shaped rigid lifting beam (5) to generate an eccentric correction torque. After the guiding is completed, the two beams do not clamp the lifting beam and maintain a fixed non-clamping safety gap so that the inverted V-shaped rigid lifting beam (5) is close to the preset center plane P and the lateral freedom of the bucket lifting beam is restricted.

4. The device for correcting and centering the attitude of the bucket lifting beam for automatic dumping in a vertical shaft according to claim 1, characterized in that, The sensor interlock control unit (4) specifically functions as follows: after the bucket is in position and the swing amplitude is below the threshold, it controls the translational center beam (3) to move towards each other at a low speed; after detecting that the center beam is in contact with the inverted V-shaped rigid lifting beam (5), it switches to the force-limiting low-speed guiding mode; when the dual-axis synchronization error, driving torque, and lifting beam yaw angle all fall into the allowable threshold, it determines that the correction is completed; after receiving the hook confirmation signal, it drives the translational center beam (3) to return to the open position and unlocks the turning action.

5. A method for correcting and aligning the attitude of the bucket lifting beam in an automatic shaft turning system, applicable to the bucket lifting beam attitude correction and alignment device for automatic shaft turning as described in any one of claims 1-4, specifically comprising: After the fully loaded bucket is lifted above the unloading platform, the current position and swing status of the bucket are checked. When the arrival detection signal is valid and the main hoist stops lifting, determine whether the lateral swing or speed of the bucket exceeds the preset threshold; if it exceeds the set threshold, keep the translation center beam (3) in the open position and wait for the bucket to enter the guideable range; When the bucket enters the guideable range, the control of the dual-side synchronous drive unit (2) is activated, so that the drive units on both sides of the portal frame (1) run synchronously and drive the two translational center beams (3) to move towards each other along the linear guide rail (25) in the direction of the preset center plane. Before the translational center beam (3) enters the action area of ​​the inverted V-shaped rigid lifting beam (5), the dual-side synchronous drive unit (2) is decelerated. When one of the translational center beams (3) contacts the inclined side or end of the inverted V-shaped rigid lifting beam (5), the contact state is judged according to the position change and the drive current change, and the low-speed, force-limiting guide mode is switched to make the eccentric contact force act on the inverted V-shaped rigid lifting beam (5) and generate the correction torque around the vertical axis of the bucket. Control the two translational center beams (3) to continue moving synchronously, with small displacement and limited force, so that the inverted V-shaped rigid lifting beam (5) gradually turns to the preset center plane under the action of the rounded guide surface (31), wear-resistant pad (32) or guide roller (33), and detect the displacement difference, contact force difference and yaw angle estimate of the two axes in real time. When the detection parameters enter the allowable threshold range or the translational center beam (3) reaches the set guide position, it is determined that the attitude correction is completed and a non-clamping safety gap is maintained. After the attitude correction is completed, the bucket is lowered at low speed so that the inverted V-shaped rigid lifting beam (5) remains in the preset direction. When the bottom of the bucket confirms the hook drop signal of the turning hook, the two translational centering beams (3) are controlled to return to the open position. After the open position is confirmed, the turning action is performed. When the sensor is abnormal, the two-axis synchronization error exceeds the limit, or the drive current or torque exceeds the threshold, the current action is stopped and the beam retraction control is performed.

6. The device for correcting and centering the attitude of the bucket lifting beam for automatic dumping in a vertical shaft according to claim 5, characterized in that, The deceleration control of the dual-side synchronous drive unit (2) is specifically as follows: a master-slave synchronous control algorithm is adopted, and the target displacement of the main drive shaft is set. Displacement following the drive shaft Real-time acquisition of actual displacement values ​​from two-axis encoders, and calculation of synchronous displacement error between the two axes. ; Preset synchronous displacement error allowable threshold Synchronous control logic: When At that time, the two axes maintain a preset uniform speed and synchronous operation; when At the same time, the control system dynamically corrects the running speed of the shaft, reduces the synchronization error, and always maintains the parallel centering movement posture of the two translational centering beams (3).

7. The device for correcting and centering the attitude of the bucket lifting beam for automatic dumping in a vertical shaft according to claim 5, characterized in that, The control of the two translational beams (3) to continue moving synchronously, with small displacement and limited force is as follows: the pre-set warning distance of the lifting beam action area is as follows. Real-time detection of the distance between the translational center beam (3) and the preset center plane ,when When the deceleration control is activated, the deceleration control formula is: ,in Initial movement speed, To achieve a smooth deceleration effect where the closer the distance, the lower the speed, in real-time operation; Real-time acquisition of drive unit current value Preset no-load reference current When the translation of the middle beam (3) stops and When it is determined that the translational center beam (3) is in effective contact with the inverted V-shaped rigid lifting beam (5), it immediately switches to a low-speed, force-limiting guiding mode, where... This is the threshold for sudden current change.

8. The device for correcting and centering the attitude of the bucket lifting beam for automatic dumping in a vertical shaft according to claim 7, characterized in that, The low-speed, force-limiting guidance mode specifically refers to: presetting the maximum permissible output torque of the drive unit. Single fine-tuning displacement step size Limit the maximum contact pressure during the correction process; A step-by-step guidance strategy is adopted to control the dual axes. For synchronous feeding of small unit displacement, the driving torque and contact pressure are collected in real time after each displacement feed is completed. Low friction guidance and correction are achieved through rounded guide surface (31), wear-resistant pad (32) or guide roller (33). If real-time torque Immediately stop the displacement feed and maintain the current posture until the torque drops back to a safe range.

9. The device for correcting and centering the attitude of the bucket lifting beam for automatic dumping in a vertical shaft according to claim 5, characterized in that, The low-speed, force-limiting guidance mode specifically refers to: presetting the maximum permissible output torque of the drive unit. Single fine-tuning displacement step size Limit the maximum contact pressure during the correction process; A step-by-step guidance strategy is adopted to control the dual axes. For synchronous feeding of small unit displacement, the driving torque and contact pressure are collected in real time after each displacement feed is completed. Low friction guidance and correction are achieved through rounded guide surface (31), wear-resistant pad (32) or guide roller (33). If real-time torque Immediately stop the displacement feed and maintain the current posture until the torque drops back to a safe range.

10. The device for correcting and centering the attitude of the bucket lifting beam for automatic dumping in a vertical shaft according to claim 5, characterized in that, The specific execution of the turning action is as follows: after the posture correction is completed, the control system outputs a low-speed lowering command, controls the main hoist to drive the bucket to descend slowly and uniformly, and through the translational guidance and limiting effect on the middle beam (3), the inverted V-shaped rigid lifting beam (5) is kept in contact with the preset center plane posture. The real-time acquisition of the hook detection signal of the turning hook is completed. When the hook confirmation signal is valid, it is determined that the bucket is in place and the beam retraction command is triggered. The double-sided synchronous drive unit (2) is controlled to run in reverse synchronously, driving the two translational centering beams (3) to quickly return to the initial open position. After confirming that the signal indicating the center beam is in position is correct, the interlock of the turning system is unlocked, allowing automatic turning operations to proceed.

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