Automatic opening and closing device for air door of shuttle car haulage roadway in underground coal mine

Abstract

The utility model discloses an automatic opening and closing device for an air door of a shuttle car haulage roadway in an underground coal mine, which can greatly reduce the labor intensity of car following workers and simultaneously improve the safety benefit, the economic benefit and the social benefit, and belongs to the technical field of air door automation. The device comprises an air door inner sensor, an air door outer sensor, a pulse sensor and an air door complete opening sensor, the air door inner sensor is located on the inner side of an air door, the air door outer sensor is located on the outer side of the air door, and the pulse sensor is located on a wheel making contact with a steel wire rope. The air door inner sensor, the air door outer sensor, the pulse sensor and the air door complete opening sensor all transmit received signals to the instruction system, the instruction system transmits signals to the electromagnetic valve, the electromagnetic valve controls the pneumatic air cylinder, and the pneumatic air cylinder controls opening and closing of the air door.

Description

Technical Field

[0001] This utility model belongs to the field of air door automation technology, and specifically relates to an automatic opening and closing device for air doors in coal mine underground shuttle transport roadways. Background Technology

[0002] Currently, most shuttle car operators manually open or close the damper when approaching it. However, manually opening and closing the damper often presents the following potential risks:

[0003] 1. Often, people take chances and act arbitrarily, opening the air door when the shuttle car is close to it (when the shuttle car speed and the air door opening are at a critical point, usually when the air door has just been fully opened and the vehicle has already reached the air door). This could lead to the vehicle crashing into the air door and damaging the ventilation facilities in the coal mine if there is a sudden difficulty in opening the air door and the air door has not been fully opened in time.

[0004] 2. Due to human laziness and impatience, people often illegally cross the steel wire rope to open or close the air doors without sending a stop signal to the shuttle operator during shuttle operation.

[0005] 3. Insufficient manual opening, where the driver judges that the vehicle can pass safely. When special vehicles or oversized or overweight vehicles pass by, the inaccurate human judgment may cause damage to the air door and disrupt the ventilation system.

[0006] If the ventilation system is damaged, toxic and harmful gases such as methane will accumulate at the working face, and the oxygen concentration will drop, posing a significant threat to the lives and property of underground personnel, which is unacceptable for safe coal mine production. Utility Model Content

[0007] The purpose of this utility model is to provide an automatic opening and closing device for the air doors of underground shuttle car transport roadways in coal mines, which can greatly reduce the labor intensity of the train attendants, while improving safety, economic and social benefits.

[0008] This utility model is achieved using the following technical solution:

[0009] An automatic opening and closing device for an air door in a coal mine underground shuttle transport roadway includes an inner air door sensor, an outer air door sensor, a pulse sensor, and a fully open air door sensor. The inner air door sensor is located inside the air door, the outer air door sensor is located outside the air door, and the pulse sensor is located on the wheel in contact with the wire rope. The inner air door sensor, the outer air door sensor, the pulse sensor, and the fully open air door sensor all transmit the received signals to a command system. The command system transmits signals to a solenoid valve, which controls a pneumatic cylinder. The pneumatic cylinder cooperates to control the opening and closing of the air door.

[0010] More preferably, the instruction system is connected to a DC power supply system, which includes diodes, Zener diodes, and capacitors.

[0011] More preferably, the instruction system includes a receiving and processing unit one, a receiving and processing unit two, and an execution unit. The pulse sensor transmits the received signal to receiving and processing unit one and receiving and processing unit two, respectively. The sensor inside the damper transmits the received signal to receiving and processing unit one, and the sensor outside the damper transmits the received signal to receiving and processing unit two. The outputs of receiving and processing unit one and receiving and processing unit two are connected to the execution unit. The output of the execution unit is connected to a solenoid valve, and the solenoid valve's air path is connected to a pneumatic cylinder.

[0012] Further preferably, the receiving and processing unit one includes a counter one, a register one, a DIP switch one, a numerical comparator one, a PNP transistor one, a capacitor one, and several resistors and NOT gates one; the receiving and processing unit two includes a counter two, a register two, a DIP switch two, a numerical comparator two, a NOT gate two, a PNP transistor two, a capacitor two, and several resistors; the execution unit includes a decoder, an OR gate three, a NOT gate three, a solenoid valve, an NPN transistor three, an NPN transistor four, a monostable trigger circuit one, and a monostable trigger circuit two; the pulse sensor receives the signal... The signal is transmitted to counters one and two, which are equipped with reset terminals. The output of counter one is connected to register one. The output of the sensor inside the damper is simultaneously connected to NOT gate one and the base of PNP transistor one. NOT gate one is connected to counter one. The collector of PNP transistor one serves as the output and is connected to register one, while being grounded through capacitor one and resistor one. Register one is connected to numerical comparator one, which compares the value with a preset value from DIP switch one. The output of counter two is connected to register two, and the output of the sensor outside the damper... The output is simultaneously connected to the base of NOT gate 2 and PNP transistor 2. NOT gate 2 is connected to counter 2. The collector of PNP transistor 2 is connected as an output to register 2, and grounded through capacitor 2 and resistor 2. Register 2 is connected to comparator 2, which compares the value preset by DIP switch 2. The outputs of comparators 1 and 2, and the damper fully open sensor are connected to a decoder. The output of the decoder is connected to monostable trigger circuit 1 and monostable trigger circuit 2 through OR gate 3 and NOT gate 3. The output of the first monostable trigger circuit is connected to the base of NPN transistor three, the transmitter of NPN transistor three is grounded, and the collector of NPN transistor three is connected to the solenoid valve opening coil. The output of the second monostable trigger circuit is connected to the base of NPN transistor four, the transmitter of NPN transistor four is grounded, and the collector of NPN transistor four is connected to the solenoid valve closing coil. The solenoid valve opening coil and the solenoid valve closing coil are connected to a DC power supply system. The first monostable trigger circuit includes a timer one, a resistor, and a capacitor. The second monostable trigger circuit includes a timer two, a resistor, and a capacitor.

[0013] More preferably, the sensor inside the damper is located at a distance greater than the train length plus five meters from the damper, and the sensor outside the damper is located at a distance greater than the train length plus five meters from the damper.

[0014] More preferably, the sensor inside the damper and the sensor outside the damper are non-contact sensors.

[0015] More preferably, the wheel in contact with the wire rope is a wire rope wheel, a reversing wheel, or a wire rope friction wheel.

[0016] More preferably, the pulse sensor is a proximity switch, an eddy current sensor, or a Hall sensor.

[0017] More preferably, the damper fully open sensor is a mechanical switch.

[0018] More preferably, the pulse sensor provides one pulse per centimeter.

[0019] This utility model is applicable to underground coal mine roadways equipped with air doors that use rail transport such as shuttle cars and endless rope circulating winches. When the shuttle car needs to pass through the air door, it automatically identifies the shuttle car and automatically opens the air door. After the shuttle car passes through the air door, the air door automatically closes. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the present invention.

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a circuit diagram of the receiving and processing unit.

[0023] Figure 2 This shows the circuit diagram of the receiving and processing unit two.

[0024] Figure 3 This represents the circuit diagram of the execution unit.

[0025] Figure 4 This is a circuit diagram of the present invention.

[0026] Figure 5 This diagram shows the power supply system of this utility model.

[0027] Figure 6 This diagram illustrates the working principle of this utility model.

[0028] In the diagram: 1—Counter 1, 2—Register 1, 3—DIP switch 1, 4—Comparator 1, 5—Inverter 1, 6—PNP transistor 1, 7—Counter 2, 8—Register 2, 9—DIP switch 2, 10—Comparator 2, 11—Inverter 2, 12—PNP transistor 2, 13—Decoder, 14—OR gate 3, 15—Inverter 3, 16—NPN transistor 3, 17—Monostable trigger circuit 1, 18—Monostable trigger circuit 2, 19—NPN transistor 4, 20—Inside damper sensor, 21—Outside damper sensor, 22—Pulse sensor, 23—Damper fully open sensor, 24—Wire rope, 25—Rope pulley, 26—Shuttle car, 27—Rail. Detailed Implementation

[0029] To better understand the above-mentioned objectives, features, and advantages of this utility model, the solution of this utility model will be further described below. It should be noted that, unless otherwise specified, the embodiments and features of this utility model can be combined with each other.

[0030] In this description, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. It should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joint" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0031] Many specific details are set forth in the following description in order to provide a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the present invention, and not all embodiments.

[0032] The specific embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0033] An automatic opening and closing device for the ventilation door of a coal mine underground shuttle car 26 transport roadway includes an inner door sensor 20, an outer door sensor 21, a pulse sensor 22, and a fully open door sensor 23. The inner door sensor 20 is located inside the ventilation door, the outer door sensor 21 is located outside the ventilation door, and the pulse sensor 22 is located on the wheel in contact with the wire rope 24. The inner door sensor 20, the outer door sensor 21, the pulse sensor 22, and the fully open door sensor 23 all transmit the received signals to the command system. The command system transmits signals to the solenoid valve, which controls the pneumatic cylinder. The pneumatic cylinder cooperates to control the opening and closing of the ventilation door.

[0034] The instruction system is connected to a DC power supply system, which includes diodes, Zener diodes, and capacitors.

[0035] In this embodiment, the DC power supply system consists of diode D1, Zener diode 7805 (U14), and capacitors (C7, C8, C9, C10).

[0036] The command system includes a receiving and processing unit 1, a receiving and processing unit 2, and an execution unit. The pulse sensor 22 transmits the received signals to the receiving and processing units 1 and 2 respectively. The damper sensor 20 transmits the received signals to the receiving and processing unit 1, and the damper external sensor 21 transmits the received signals to the receiving and processing unit 2. The outputs of the receiving and processing units 1 and 2 are connected to the execution unit. The output of the execution unit is connected to the solenoid valve, and the solenoid valve's air path is connected to the pneumatic cylinder.

[0037] The receiving and processing unit one includes counter one 1, register one 2, DIP switch one 3, numerical comparator one 4, PNP transistor one 6, capacitor one, and several resistors and NOT gate one 5. The receiving and processing unit two includes counter two 7, register two 8, DIP switch two 9, numerical comparator two 10, NOT gate two 11, PNP transistor two 12, capacitor two, and several resistors. The execution unit includes decoder one 13, OR gate three 14, NOT gate three 15, solenoid valve, NPN transistor three 16, NPN transistor four 19, monostable trigger circuit one 17, and monostable trigger circuit two 18.

[0038] In this embodiment, the receiving and processing unit is as follows Figure 1 As shown, it consists of a counter 74HC393 (U1:A, U1:B), a register 74HC273 (U2), DIP switches (DSW1, DSW2), a numerical comparator 74HC85 (U3, U4), an NOT gate 74HC04 (U5:A, U5:B), a PNP transistor Q1, resistors (R2, R3, R4, R5, R6, R7, R8, R9, R24), and a capacitor C2.

[0039] Receiving and processing unit two Figure 2As shown, it consists of a counter 74HC393 (U6:A, U6:B), a register 74HC273 (U7), DIP switches (DSW3, DSW4), a numerical comparator 74HC85 (U8, U9), an NOT gate 74HC04 (U10:A, U10:B), a PNP transistor Q2, resistors (R11, R12, R13, R14, R15, R16, R17, R18, R23), and a capacitor C3.

[0040] Execution unit such as Figure 3 As shown, it consists of a decoder 1374HC259 (U13), an OR gate 74HC32 (U12:A, U12:B), an NOT gate 74HC04 (U5:C, U5:D), a dual 555 timer NE556 (U11:A, U11:B), solenoid valve opening and closing coils (RL1, RL2), NPN transistors (Q3, Q4), resistors (R20, R21, R22, R25), and capacitors (C1, C4, C5, C6).

[0041] Pulse sensor 22 transmits the received signal to counter 1 and counter 7. Counter 1 and counter 7 are equipped with a reset terminal. The output of counter 1 is connected to register 2. The output of damper sensor 20 is simultaneously connected to NOT gate 5 and the base of PNP transistor 6. NOT gate 5 is connected to counter 1, and the collector of PNP transistor 6 is connected to register 2 as an output. It is also grounded through capacitor 1 and resistor 2. Register 2 is connected to numerical comparator 4, which compares the value with the preset value of DIP switch 3. The output of counter 7 is connected to register 8. The output of damper sensor 21 is simultaneously connected to NOT gate 11 and the base of PNP transistor 12. NOT gate 11 is connected to counter 7, and the collector of PNP transistor 12 is connected to register 8 as an output. It is also grounded through capacitor 2 and resistor 2. Register 8 is connected to numerical comparator 10. The value preset by the second 10 and the second 9 of the DIP switch is compared. The outputs of the first 4, the second 10 and the damper fully open sensor 23 are connected to the decoder 13. The output of the decoder 13 is connected to the first monostable trigger circuit 17 and the second monostable trigger circuit 18 through the OR gate 3 14 and the NOT gate 3 15. The output of the first monostable trigger circuit 17 is connected to the base of the third NPN transistor 16. The transmitter of the third NPN transistor 16 is grounded. The collector of the third NPN transistor 16 is connected to the solenoid valve opening coil. The output of the second monostable trigger circuit 18 is connected to the base of the fourth NPN transistor 19. The transmitter of the fourth NPN transistor 19 is grounded. The collector of the fourth NPN transistor 19 is connected to the solenoid valve closing coil. The solenoid valve opening coil and the solenoid valve closing coil are connected to DC current. The first monostable trigger circuit 17 includes a timer 1, a resistor and a capacitor. The second monostable trigger circuit 18 includes a timer 2, a resistor and a capacitor.

[0042] The receiving and processing unit one and receiving and processing unit two are basically the same in principle, structure and use of chips and electronic devices, except that they are two units for receiving and processing signals from sensor 21 inside and outside the damper, respectively.

[0043] The execution unit performs logical operations on the signals output by receiving and processing unit 1, receiving and processing unit 2, and damper fully open sensor 23 to determine whether to open or close the damper, and then executes the action command on the solenoid valve.

[0044] In this embodiment, an external 24V DC power supply is used, and the 24V DC power is directly connected to... Figure 5 The 24V supply is sufficient; all internal chips are powered by 5V DC, derived from [source missing]. Figure 5 Only two solenoid valve coils at the +5V terminal require 24V DC power, which is taken from... Figure 5 At 24V.

[0045] To verify whether the designed circuit can solve the termination problem, a simulation experiment is required. In the simulation experiment, two relays with a rated voltage of 24V are used to replace the two coils of the three-position five-way valve. From the perspective of control principle, the experimental requirements are fully met and the replacement conditions are met.

[0046] The sensor 20 inside the damper and the sensor 21 outside the damper are each simulated using a DC power supply, a resistor and a push-button switch. Under normal conditions, they output a high level. When the button is pressed (i.e. signal trigger), that is, when the sensor 20 inside the damper or the sensor 21 outside the damper receives a signal, it outputs a low level.

[0047] The rotation pulse sensor 22 of the friction steel wire rope 24 mainly provides a pulse signal to the system. In this embodiment, one pulse is emitted per centimeter. That is, the number of signals emitted is the number of centimeters of the circumference of the friction wheel and the number of rotations of the wheel. It can be compared with a speed sensor. It should be noted that according to the principle of the whole system, it can be known that only one pulse sensor 22 is needed and it can be installed inside or outside the damper. Similarly, the distance is not important.

[0048] Specifically, the principle of the receiving and processing unit is as follows: Pin 1 (CLK) of the 74HC393 (U1) dual 4-bit counter expanded into an 8-bit counter receives the pulse signal from the rotation pulse sensor 22, and the falling edge counts.

[0049] The 74HC393 counter forms an 8-bit counter. Pins 2 and 12 (MR) are used as clear terminals to receive the signal from the damper sensor 20 transmitted through two NOT gates 74HC04 (U5:A, U5:B). When pins 2 and 12 of the counter 74HC393 (U1) are high, the output of counter-1 is all zero. Only when pins 2 and 12 of the counter 74HC393 (U1) are low and there is a falling edge signal on pin 1 will counter-1 output the count normally.

[0050] The rotation pulse sensor 22 of the friction wire rope 24 rotates as long as the shuttle 26 moves along the track 27, and thus continuously outputs pulse signals, continuously providing falling edge signals to the counter 1. At this time, sensor 20 inside the damper determines the output of counter 1. That is, when sensor 20 inside the damper receives a signal (i.e., shuttle 26 blocks the infrared light of the infrared through-beam sensor), sensor 20 inside the damper outputs a low level, which is sent to pins 2 and 12 of counter 74HC393 (U1). Counter 1 then starts to count normally. The counting output of pins (3, 4, 5, 6, 8, 9, 10, 11) of counter 74HC393 (U1) is connected to pins (3, 4, 7, 8, 13, 14, 17, 18) of register 74HC273 (U2). Pin 11 (CLK) of register 74HC273 (U2) is triggered by a rising edge, and the trigger signal can only trigger register 2 when pin 1 (MR) is high (a low level blocks register 2, and the output is all zero). This allows the input signal when the rising edge arrives to be sent to the output pins (2, 5, 6, 9, 12, 15, 16, 19). The base of PNP transistor Q1 is connected to the output of sensor 20 in the damper, the emitter is connected to a high level, and the collector is connected as the output to pin 1 of register 74HC273 (U2) and to ground through resistor R24 ​​and capacitor C2.

[0051] Under normal conditions, sensor 20 in the damper outputs a high level, PNP transistor Q1 is in the cutoff state, and its collector is connected to ground through resistor R24. The collector outputs a low level and is connected to pin 1 of register 74HC273 (U2). When pin 1 is low, register 2 is blocked. Only when the level is high, if a rising edge signal is given to pin 11, the output pins (2, 5, 6, 9, 12, 15, 16, 19) of register 2 can output the valid data of the input pins (3, 4, 7, 8, 13, 14, 17, 18) when the rising edge arrives.

[0052] When shuttle 26 contacts and blocks the infrared light from sensor 20 inside the damper, sensor 20 receives a low-level signal, turning on PNP transistor Q1 and causing its collector to output a high level, making register 74HC273 (U2) output effectively. However, at this time, there is no valid rising edge input to pin 11 of register 74HC273 (U2), so the output is all low. (When shuttle 26 passes sensor 20 and loses its blocking effect, and the infrared light is reconnected, pin 11 (CLK) of register 74HC273 (U2) receives the rising edge signal first. At this time, pin 1 of register 74HC273 (U2) is still high, and the output pins (2, 5, 6, 9, 12, 15, 16, 19) of register 74HC273 (U2) are validly output to the input pins (3, 4, 7, 8).) The data (13, 14, 17, 18) are processed. Then, due to the discharge time of capacitor C2, transistor Q1 is cut off after a certain delay. Only then does pin 1 of register 74HC273 (U2) receive a low level, register 74HC232 (U2) is blocked, and the output pins (2, 5, 6, 9, 12, 15, 16, 19) change from valid output to zero. This time is sufficient for the subsequent comparison between the output pins (2, 5, 6, 9, 12, 15, 16, 19) of register 74HC273 (U2) and the preset values ​​of DSW1, DSW2, through the eight-bit comparator 74HC85 (U3, U4) expanded from two four-bit comparators 74HC85 (U3, U4) (pins (10, 12, 13, 15, 10, 12, 13, 15)).

[0053] The output pins (2, 5, 6, 9, 12, 15, 16, 19) of register 74HC273 (U2) are connected to the pins (10, 12, 13, 15, 10, 12, 13, 15) of the eight-bit comparator 74HC85 (U3, U4) which is expanded from two four-bit comparators 74HC85 (U3, U4), respectively, and are compared with the preset values ​​of the DIP switches (DSW1, DSW2).

[0054] All pins (5, 6, 7, 8, 5, 6, 7, 8) of the DIP switches (DSW1, DSW2) are connected to a high level. Pins (1, 2, 3, 4, 1, 2, 3, 4) are connected to pins (9, 11, 14, 1, 9, 11, 14, 1) of the numerical comparator 74HC85 (U3, U4) and to ground via resistors (R2, R3, R4, R5, R6, R7, R8, R9).

[0055] When DIP switch 3 is in the ON position, the corresponding bit outputs a high level; when it is in the OFF position, the corresponding bit outputs a low level. This encodes and presets the DIP switch 3, which is then fed into the numerical comparator 74HC85 (U3, U4). The numerical comparator 74HC85 (U4) outputs a high level only when the preset values ​​of the output pins (2, 5, 6, 9, 12, 15, 16, 19) of register 74HC273 (U2) and the pins (1, 2, 3, 4, 1, 2, 3, 4) of DIP switches (DSW1, DSW2) are the same; otherwise, it outputs a low level. Pin 6 of the numerical comparator 74HC85 (U4) is connected to pin 2 of the decoder 1374HC259 (U13) in the execution unit.

[0056] The principle of the receiving and processing unit two is as follows: The 74HC393 (U6) dual 4-bit counter, expanded into an 8-bit counter, receives pulse signals from the rotation pulse sensor 22 via pin 1 (CLK). The falling edge triggers counter 7 to count. Pins 2 and 12 (MR) of the 74HC393 8-bit counter serve as clear terminals, receiving signals from the damper external sensor 21 transmitted via two NOT gates 74HC04 (U10:A, U10:B). When pins 2 and 12 of the counter 74HC393 (U6) are high, the counter output is all zero. Only when pins 2 and 12 of the counter 74HC393 (U6) are low, and pin 1 has a falling edge signal, does counter 7 output count normally. The rotation pulse sensor 22 of the friction wire rope 24 rotates whenever the shuttle 26 is running, continuously outputting pulse signals and providing falling edge signals to counter 7. At this time, the damper external sensor 21 determines the output of counter 7.

[0057] That is, when the external sensor 21 receives a signal (the shuttle 26 blocks the infrared light of the infrared beam sensor), the external sensor 21 outputs a low level, which is sent to pins 2 and 12 of the counter 74HC393 (U6). The counter 7 then starts to count normally. The counting output of pins (3, 4, 5, 6, 8, 9, 10, 11) of the counter 74HC393 (U6) is connected to the input pins (3, 4, 7, 8, 13, 14, 17, 18) of the register 74HC273 (U7). Pin 11 (CLK) of the register 74HC273 (U7) is triggered by a rising edge, and the trigger signal can only trigger the register 8 when pin 1 (MR) is high (a low level will block the register 8, and the output will be all zero). This allows the input signal when the rising edge arrives to be sent to the output pins (2, 5, 6, 9, 12, 15, 16, 19). The base of PNP transistor Q2 is connected to the output of the external sensor 21 of the damper, the emitter is connected to a high level, and the collector is connected as the output to pin 1 of register 74HC273 (U7) and to ground through resistor R23 and capacitor C3.

[0058] Under normal conditions, the external sensor 21 of the damper outputs a high level, the PNP transistor Q2 is in the cutoff state, the collector is connected to ground through resistor R23, and the collector outputs a low level connected to pin 1 of register 74HC273 (U7). When pin 1 is low, register 8 is blocked. Only when the level is high, if a rising edge signal is given to pin 11, the output pins (2, 5, 6, 9, 12, 15, 16, 19) of register 8 will output the valid data of the input pins (3, 4, 7, 8, 13, 14, 17, 18) when the rising edge arrives.

[0059] When the external sensor 21 receives a signal and outputs a low level, the PNP transistor Q2 turns on, and the collector outputs a high level, making register 74HC273 (U7) output effectively. Since there is no valid rising edge input to pin 11 of register 74HC273 (U7) at this time, the output is all low. (When the shuttle 26 passes the internal sensor 20 of the damper and loses its blocking effect, and the infrared light is reconnected, pin 11 (CLK) of register 74HC273 (U7) receives the rising edge signal first. At this time, pin 1 of register 74HC273 (U7) is still high, and the output pins (2, 5, 6, 9, 12, 15, 16, 19) of register 74HC273 (U7) are validly output to the input pins (3, 4, 7, 8, 13, 14, 17, 19).) The data in step 8) is then processed. Due to the discharge time of capacitor C3, transistor Q2 is cut off after a certain delay. Only then does pin 1 of register 74HC273 (U7) receive a low level, register 74HC232 (U7) is blocked, and the output pins (2, 5, 6, 9, 12, 15, 16, 19) change from valid output to zero. This time is sufficient for the subsequent comparison between the output pins (2, 5, 6, 9, 12, 15, 16, 19) of register 74HC273 (U7) and the preset values ​​of DSW3, DSW4 by the pins (10, 12, 13, 15, 10, 12, 13, 15) of the eight-bit comparator 74HC85 (U8, U9) expanded from two four-bit comparators 74HC85 (U8, U9).

[0060] The output pins (2, 5, 6, 9, 12, 15, 16, 19) of register 74HC273 (U7) are respectively connected to the pins (10, 12, 13, 15, 10, 12, 13, 15) of the eight-bit comparator 74HC85 (U8, U9) which is expanded from two four-bit comparators 74HC85 (U8, U9), and compared with the preset values ​​of the DIP switches (DSW3, DSW4).

[0061] All pins (5, 6, 7, 8, 5, 6, 7, 8) of the DIP switches (DSW3, DSW4) are connected to a high level. Pins (1, 2, 3, 4, 1, 2, 3, 4) are connected to pins (9, 11, 14, 1, 9, 11, 14, 1) of the numerical comparator 74HC85 (U8, U9) and to ground via resistors (R11, R12, R13, R14, R15, R16, R17, R18).

[0062] When DIP switch 29 is in the ON position, the corresponding bit outputs a high level; when it is in the OFF position, the corresponding bit outputs a low level. This encodes DIP switch 29 and sends the preset value to comparator 20. Comparator 74HC85 (U9) outputs a high level only when the preset values ​​of the output pins (2, 5, 6, 9, 12, 15, 16, 19) of register 74HC273 (U7) and the pins (1, 2, 3, 4, 1, 2, 3, 4) of DIP switches (DSW3, DSW4) are the same; otherwise, it outputs a low level. Pin 6 of comparator 74HC85 (U9) is connected to pin 3 of decoder 1374HC259 (U13) in the execution unit.

[0063] The execution unit operates as follows: Input pin 1 of decoder 1374HC259 (U13) is connected to the output of damper fully open sensor 23; input pin 2 of decoder 1374HC259 (U13) is connected to pin 6 of numerical comparator 74HC85 (U4) in receiving and processing unit one; input pin 3 of decoder 1374HC259 (U13) is connected to pin 6 of numerical comparator 74HC85 (U9) in receiving and processing unit two; output pins 6 and 9 of decoder 1374HC259 (U13) are connected to input pins (1, 2) of OR gate 74HC32 (U12:A); output pins (7, 10) of decoder 1374HC259 (U13) are connected to input pins (4, 5) of OR gate 74HC32 (U12:B).

[0064] The output pin 3 of OR gate 74HC32 (U12:A) is connected to the input pin 6 (active low trigger) of a monostable trigger circuit consisting of dual 555 timers NE556 (U11:A), resistor R25, and capacitors C4 and C5 through NOT gate 74HC04 (U5:C).

[0065] The output pin 6 of OR gate 74HC32 (U12:B) is connected to the input pin 8 (active low trigger) of a monostable trigger circuit consisting of dual 555 timers NE556 (U11:B), resistor R20, and capacitors C1 and C6 through NOT gate 74HC04 (U5:D).

[0066] The output pin 5 of NE556 (U11:A) is connected to the base of NPN transistor Q3 via resistor R21. NPN transistor Q3 is used as a switching transistor, with its emitter grounded and its collector connected to one terminal of the solenoid valve's opening coil. The other terminal of the solenoid valve's opening coil is connected to a 24V DC power supply.

[0067] When the output pin 5 of NE556 (U11:A) outputs a high level, NPN transistor Q3 is turned on. The 24V DC power supply is connected to ground through the solenoid valve opening coil and then through NPN transistor Q3, and the current flows through the solenoid valve opening coil. Otherwise, NPN transistor Q3 is turned off, and the 24V DC power supply is turned off through the solenoid valve opening coil and then through NPN transistor Q3, and the current does not flow through the solenoid valve opening coil.

[0068] The output pin 9 of NE556 (U11:B) is connected to the base of NPN transistor Q4 via resistor R22. NPN transistor Q4 is used as a switching transistor with its emitter grounded and its collector connected to one terminal of the solenoid valve's closing coil. The other terminal of the solenoid valve's closing coil is connected to a 24V DC power supply.

[0069] When pin 9 of the NE556 (U11:B) outputs a high level, NPN transistor Q4 is turned on. The 24V DC power supply flows to ground through the solenoid valve closing coil and then through NPN transistor Q4, and the current flows through the solenoid valve closing coil. Otherwise, NPN transistor Q4 is turned off, and the 24V DC power supply flows to ground through the solenoid valve closing coil and then through NPN transistor Q4. Since transistor Q4 is not turned on, the current does not flow through the solenoid valve closing coil, and the damper does not close.

[0070] The working principle of this embodiment is as follows: It mainly includes four sensors: one each at a distance of about five meters from the outside and inside of the damper (approximately the length of a train), one at the sheave 25 or redirection wheel of the wire rope 24, and one when the damper is fully open; that is, one damper sensor 20 inside the damper and one damper sensor 21 outside the damper. The damper sensor 20 inside the damper and the damper sensor 21 outside the damper are non-contact sensors and are installed at a distance from the vehicle so as not to affect the passage of pedestrians or irregular materials. It also includes a command system, a DC power supply system, a three-position five-way solenoid valve, and a pneumatic cylinder.

[0071] There is a sensor inside and outside the damper indicating that the shuttle car 26 has arrived at the designated location where the damper needs to be opened or closed. In this embodiment, an infrared through-beam sensor is used.

[0072] A friction wheel for the wire rope 24, which can be specially designed to install sensors, can be installed on the nearby rope pulley 25. Sensors that can output pulse signals, such as proximity switches, eddy current sensors, and Hall sensors, can be selected.

[0073] The damper fully open sensor 23 can be any sensor or switch that can detect that the damper is fully open, such as a mechanical switch, proximity switch, etc.

[0074] The sensors selected here are all low-cost, commonly available models that can be easily purchased from the market.

[0075] The device of this invention can use a conventional model with low cost. However, if a special sensor for measuring the length of moving objects that is suitable for the conditions in underground coal mines is used, the cost will be thousands or tens of thousands of times that of ordinary sensors. The complexity of the function is mainly achieved through circuit design.

[0076] In normal operation, both the sensor 20 inside the damper and the sensor 21 outside the damper (infrared through-beam sensor) output a high level. When the shuttle car 26 moves and comes into contact with the infrared light of the infrared through-beam sensor and blocks it, either the sensor 20 inside the damper or the sensor 21 outside the damper will activate and output a low level. The sensor 23 that fully opens the damper will output a low level when the damper is not fully open, and will output a high level when the damper is fully open.

[0077] Because the rotation pulse sensor 22 will continuously emit pulse signals according to the running speed of the shuttle car 26 as long as the wire rope 24 is driven by friction when the shuttle car 26 is running (here it is designed that the rotation pulse sensor 22 emits a pulse signal for every centimeter the shuttle car 26 moves).

[0078] When the head car of shuttle 26 moves to the damper external sensor 21, the damper external sensor 21 is activated and outputs a low level to the base of counter 74HC393 (U6), register 74HC273 (U7) and PNP transistor Q2.

[0079] Since the rotation pulse sensor 22 is also emitting pulse signals while the shuttle car 26 is running (here it is designed that one pulse is emitted for every centimeter the shuttle car 26 moves), the counter 74HC393 (U6) starts counting until the head of the shuttle car 26 passes the damper external sensor 21 and the infrared light is reconnected. The damper external sensor 21 ends its operation, the output returns to the normal high level, and the output of the counter 74HC393 (U6) is cleared to zero.

[0080] When pin 11 (CLK) of register 74HC273 (U7) receives the rising edge signal, register 74HC273 (U7) outputs a valid signal. After a certain delay, PNP transistor Q2 is turned off, and pin 1 of register 74HC273 (U7) receives a low level, at which point the output of register 74HC273 (U7) becomes zero.

[0081] When the damper external sensor 21 returns to a high level, it provides a rising edge signal to register 74HC273 (U7). Since the damper external sensor 21 is connected to counter 74HC393 (U6) via two NOT gates (11), and the connection to register 74HC273 (U7) is direct, the counter 74HC393 (U6) receives the signal from the damper external sensor 21 after register 74HC273 (U7). In other words, the rising edge signal of register 74HC273 (U7) precedes the clear signal of counter 74HC393 (U6), thus ensuring the validity of the input signal to register 74HC273 (U7). Furthermore, although PNP transistor Q2 is cut off when the damper external sensor 21 returns to a high level, the collector output remains high for a short period (gradually decaying to a low level after the rising edge signal of the register) due to the charge stored in capacitor 2. The register 74HC273 (U7) ensures that the rising edge of the register 74HC273 (U7) is valid during the effective output period, and the output of the counter 74HC393 (U6) lags behind the rising edge of the register 74HC273 (U7). This allows the register 74HC273 (U7) to effectively output the data of the counter 74HC393 (U6) when the damper sensor 21 recovers to a high level. The data is then sent to the numerical comparator 74HC85 (U8, U9) and compared with the preset values ​​of the DSW3 and DSW4 (the preset values ​​of the DSW3 and DSW4 are determined based on the length of the shuttle car 26 and the pulse width of the rotation pulse sensor 22. The length of the car 26 ÷ the pulse width = the preset value. Here, the shuttle car 26 is calculated to be 230 cm and the pulse width is 1 cm, so it is set to 230, which is 11100110 in binary. It can be adjusted by the DSW3 and DSW4 according to the actual situation).

[0082] If the output of the external damper sensor 21 returns to normal, the output of the counter 74HC393 (U6) (8, 9, 10, 11, 6, 5, 4, 3) happens to be "11100110", which is exactly equal to the value preset by the DSW3 and DSW4 switches. Then the system automatically identifies that the external damper sensor 21 is triggered by the shuttle car 26 (by identifying the length, non-shuttle car 26 triggers can be effectively filtered out when people or other external factors are involved). If the shuttle car needs to pass through or has already passed through the damper, then the equal output pin 6 of the numerical comparator 74HC85 (U9) outputs a high level, which is sent to the input pin 3 of the decoder 1374HC259 (U13) of the execution unit. If external factors other than the shuttle car 26 trigger the damper external sensor 21, the output terminals (8, 9, 10, 11, 6, 5, 4, 3) of the counter 74HC393 (U6) will not be equal to the values ​​preset by the DSW3 and DSW4 DIP switches. Therefore, the equal output terminal pin 6 of the numerical comparator 74HC85 (U9) will not output a high level. The input terminal pin 3 of the decoder 1374HC259 (U13) of the execution unit will not receive a high level, and therefore will not respond to the external factors other than the shuttle car 26 triggering the damper external sensor 21.

[0083] When the head carriage of shuttle 26 reaches the damper sensor 20, the damper sensor 20 activates, outputting a low level to the base of counter 74HC393 (U1), register 74HC273 (U2), and PNP transistor Q1. Since the rotation pulse sensor 22 also emits pulse signals as shuttle 26 moves (designed to produce one pulse for every centimeter of shuttle 26 movement), counter 74HC393 (U1) starts counting until the head carriage of shuttle 26 passes the damper sensor 20 (after the infrared light is reconnected). At this point, the sensor's activation ends, and the output returns to its normal high level, resetting the counter 74HC393 (U1) to zero.

[0084] When pin 11 (CLK) of register 74HC273 (U2) receives the rising edge signal, register 74HC273 (U2) outputs a valid signal. After a certain delay, transistor Q1 is turned off, and pin 1 of register 74HC273 (U2) receives a low level, at which point the output of register 74HC273 (U2) becomes zero.

[0085] When the damper sensor 20 returns to a high level, it provides a rising edge signal to register 74HC273 (U2). Since the damper sensor 20 is connected to counter 74HC393 (U1) via two NOT gates (-5), and register 74HC273 (U2) is directly connected, counter 74HC393 (U1) receives the signal from damper sensor 20 after register 74HC273 (U2). In other words, the rising edge signal of register 74HC273 (U2) precedes the clear signal of counter 74HC393 (U1), thus ensuring the validity of the input signal to register 74HC273 (U2). Furthermore, although PNP transistor Q1 is cut off when damper sensor 20 returns to a high level, the collector output remains high for a short period (gradually decaying to low level after the rising edge signal of the register) due to the charge stored in capacitor 1, providing the register with a high level. The register 74HC273 (U2) ensures that the rising edge of the register 74HC273 (U2) is valid during the effective output period, and the output of the counter 74HC393 (U1) lags behind the rising edge of the register 74HC273 (U2). This allows the register 74HC273 (U2) to effectively output the data of the counter 74HC393 (U1) when the sensor 20 in the damper recovers to a high level. The data is then sent to the numerical comparator 74HC85 (U3, U4) and compared with the preset values ​​of the DSW1 and DSW2 (the preset values ​​of the DSW1 and DSW2 are determined based on the length of the shuttle 26 head car and the pulse width of the rotation pulse sensor 22. The length of the car 26 ÷ the pulse width = the preset value. Here, the shuttle 26 head car is 230 cm long and the pulse width is 1 cm, so it is set to 230, which is 11100110 in binary. It can be adjusted by the DSW1-3 according to the actual situation).

[0086] If the output of the external sensor 21 of the damper returns to normal, the output of the counter 74HC393 (U1) (8, 9, 10, 11, 6, 5, 4, 3) happens to be "11100110", which is exactly equal to the value preset by the DSW1 and DSW2 switches. Then the system automatically identifies that the sensor is triggered by the shuttle 26 (by identifying the length, non-shuttle 26 triggers when people or other external factors are present can be effectively filtered out). If the shuttle needs to pass or has already passed through the damper, then the equal output pin 6 of the numerical comparator 74HC85 (U4) outputs a high level, which is sent to the input pin 3 of the decoder 1374HC259 (U13) of the execution unit. If external factors other than the shuttle car 26 trigger the damper sensor 20, the output terminals (8, 9, 10, 11, 6, 5, 4, 3) of the counter 74HC393 (U1) will not be equal to the values ​​preset by the DSW1 and DSW2 switches. Therefore, the equal output terminal pin 6 of the numerical comparator 74HC85 (U4) will not output a high level. The input terminal pin 3 of the decoder 1374HC259 (U13) of the execution unit will not receive a high level, and therefore will not respond to the external damper sensor 21 triggered by external factors other than the shuttle car 26.

[0087] At this time, the decoder 1374HC259 (U13) performs logical operations on the high and low levels sent by the damper fully open sensor 23, the high and low levels sent by pin 6 of the numerical comparator 74HC85 (U4) of the receiving and processing unit one, and the high and low levels sent by pin 6 of the numerical comparator 74HC85 (U9) of the receiving and processing unit two to determine whether the damper should be opened or closed, and executes the judgment result.

[0088] If the input pins (1, 2, 3) of decoder 1374HC259 (U13) are (010), meaning the damper is closed and sensor 20 inside the damper is triggered by the headcart 26, shuttle 26 needs to pass through the damper from the inside out. At this time, the output pin 6 of decoder 1374HC259 (U13) outputs a high level, which is then converted to a low level by OR gate 74HC32 (U12:A) and NOT gate 74HC04 (U5:C) (because the monostable trigger circuit 17 composed of NE556 is at a low level). The trigger is sent to pin 6 of the monostable trigger circuit NE556 (U11:A). Pin 5 of the monostable trigger circuit NE556 (U11:A) outputs a temporary high level (designed to remain high for 10 seconds before returning to low level; this time is the time required to fully open the damper; if the time is not appropriate, it can be adjusted by changing the value of capacitor C5 or resistor R25 to regulate the duration). This turns on NPN transistor Q3, energizing the solenoid valve opening coil and fully opening the damper.

[0089] If the input pins (1, 2, 3) of decoder 1374HC259 (U13) are (001), meaning the damper is closed and the external sensor 21 is triggered by the shuttle car 26, the shuttle car 26 needs to pass through the damper from the outside in. At this time, the output pin 9 of decoder 1374HC259 (U13) outputs a high level, which is then converted to a low level by OR gate 74HC32 (U12:A) and NOT gate 74HC04 (U5:C) (because the monostable trigger circuit 18 composed of NE556 is at a low level). The trigger is sent to pin 6 of the monostable trigger circuit NE556 (U11:A). Pin 5 of the monostable trigger circuit NE556 (U11:A) outputs a temporary high level (designed to remain high for 10 seconds before returning to low level; this time is the time required to fully open the damper; if the time is not appropriate, it can be adjusted by changing the value of capacitor C5 or resistor R25 to regulate the duration). This turns on NPN transistor Q3, energizing the solenoid valve opening coil and fully opening the damper.

[0090] If the input pins (1, 2, 3) of decoder 1374HC259 (U13) are (110), meaning the damper is fully open and sensor 20 inside the damper is triggered by the head car 26, and shuttle 26 has passed through the damper from the outside in, then the output pin 7 of decoder 1374HC259 (U13) outputs a high level, which is then converted to a low level by OR gate 74HC32 (U12:B) and NOT gate 74HC04 (U5:D) (because the monostable trigger circuit composed of NE556 is converted from low to high). The signal is sent to pin 8 of the monostable trigger circuit NE556 (U11:B). The output pin 9 of the monostable trigger circuit NE556 (U11:B) outputs a temporary high level (designed to remain high for 10 seconds before returning to low level; this time is the time required to close the damper. If the time is not appropriate, it can be adjusted by changing the value of capacitor C1 or resistor R20 to regulate the duration). This output powers NPN transistor Q4, which in turn energizes the solenoid valve closing coil, thus closing the damper.

[0091] If the input pins (1, 2, 3) of decoder 1374HC259 (U13) are (101), meaning the damper is fully open and the external sensor 21 is triggered by the shuttle car 26, and the shuttle car 26 has passed through the damper from the inside out, then the output pin 10 of decoder 1374HC259 (U13) outputs a high level, which is then converted to a low level by OR gate 74HC32 (U12:B) and NOT gate 74HC04 (U5:D) (because the monostable trigger circuit composed of NE556 is converted from low to high). The signal is sent to pin 8 of the monostable trigger circuit NE556 (U11:B). The output pin 9 of the monostable trigger circuit NE556 (U11:B) outputs a temporary high level (designed to remain high for 10 seconds before returning to low level; this time is the time required to close the damper. If the time is not appropriate, it can be adjusted by changing the value of capacitor C1 or resistor R20 to regulate the duration). This output powers NPN transistor Q4, which in turn energizes the solenoid valve closing coil, thus closing the damper.

[0092] It should be noted that if the sensor simulated in the experiment outputs high and low levels opposite to those of the actual sensor used, then it is only necessary to add an NOT gate to the output of the sensor and then connect it to the circuit.

[0093] The above description is merely a specific embodiment of this utility model, enabling those skilled in the art to understand or implement it. Although detailed descriptions have been provided with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments, and all should be covered by the protection scope of the claims.

Claims

1. An automatic opening and closing device for the ventilation door of a coal mine underground shuttle car transport roadway, characterized in that: The system includes an inner damper sensor (20), an outer damper sensor (21), a pulse sensor (22), and a fully open damper sensor (23). The inner damper sensor (20) is located inside the damper, the outer damper sensor (21) is located outside the damper, and the pulse sensor (22) is located on the wheel that contacts the wire rope (24). The inner damper sensor (20), the outer damper sensor (21), the pulse sensor (22), and the fully open damper sensor (23) all transmit the received signals to the command system. The command system transmits signals to the solenoid valve, the solenoid valve controls the pneumatic cylinder, and the pneumatic cylinder controls the opening and closing of the damper.

2. The automatic opening and closing device for the air door of a coal mine underground shuttle car transport roadway according to claim 1, characterized in that: The instruction system is connected to a DC power supply system, which includes diodes, Zener diodes, and capacitors.

3. The automatic opening and closing device for the air door of a coal mine underground shuttle car transport roadway according to claim 2, characterized in that: The instruction system includes a receiving and processing unit one, a receiving and processing unit two, and an execution unit. The pulse sensor (22) transmits the received signal to the receiving and processing unit one and the receiving and processing unit two, respectively. The damper sensor (20) transmits the received signal to the receiving and processing unit one, and the damper sensor (21) transmits the received signal to the receiving and processing unit two. The outputs of the receiving and processing unit one and the receiving and processing unit two are connected to the execution unit, and the output of the execution unit is connected to the solenoid valve.

4. The automatic opening and closing device for the air door of a coal mine underground shuttle car transport roadway according to claim 3, characterized in that: The receiving and processing unit one includes a counter one (1), a register one (2), a DIP switch one (3), a numerical comparator one (4), a PNP transistor one (6), a capacitor one, and several resistors and NOT gate one (5). The receiving and processing unit two includes a counter two (7), a register two (8), a DIP switch two (9), a numerical comparator two (10), a NOT gate two (11), a PNP transistor two (12), a capacitor two, and several resistors. The execution unit includes a decoder (13), an OR gate three (14), a NOT gate three (15), a solenoid valve, an NPN transistor three (16), an NPN transistor four (19), a monostable trigger circuit one (17), and a monostable trigger circuit two (18). The pulse sensor (22) will receive... The received signal is transmitted to counter one (1) and counter two (7). Counter one (1) and counter two (7) are equipped with a clear terminal. The output of counter one (1) is connected to register one (2). The output of the damper sensor (20) is simultaneously connected to the base of NOT gate one (5) and PNP transistor one (6). The NOT gate one (5) is connected to counter one (1). The collector of PNP transistor one (6) is connected to register one (2) as an output and is grounded through capacitor one and resistor one. Register one (2) is connected to numerical comparator one (4). The numerical comparator one (4) is compared with the preset value of DIP switch one (3). The output of counter two (7) is connected to register two (8). The damper transmits... The output of sensor (21) is simultaneously connected to the base of NOT gate 2 (11) and PNP transistor 2 (12). The NOT gate 2 (11) is connected to counter 2 (7). The collector of PNP transistor 2 (12) is connected to register 2 (8) as an output. It is also grounded through capacitor 2 and resistor. Register 2 (8) is connected to numerical comparator 2 (10). The numerical comparator 2 (10) is compared with the preset value of DIP switch 2 (9). The outputs of numerical comparator 1 (4), numerical comparator 2 (10), and damper fully open sensor (23) are connected to decoder (13). The output of decoder (13) is connected to monostable trigger circuit 1 (17) and monostable trigger circuit 2 (15) through OR gate 3 (14) and NOT gate 3 (15). Circuit 2 (18) is connected, the output of the monostable trigger circuit 1 (17) is connected to the base of NPN transistor 3 (16), the transmitter of NPN transistor 3 (16) is grounded, the collector of NPN transistor 3 (16) is connected to the solenoid valve opening coil, the output of the monostable trigger circuit 2 (18) is connected to the base of NPN transistor 4 (19), the transmitter of NPN transistor 4 (19) is grounded, the collector of NPN transistor 4 (19) is connected to the solenoid valve closing coil, the solenoid valve opening coil and the solenoid valve closing coil are connected to the DC power supply system; the monostable trigger circuit 1 (17) includes timer 1, resistor and capacitor, and the monostable trigger circuit 2 (18) includes timer 2, resistor and capacitor.

5. An automatic opening and closing device for the ventilation door of a coal mine underground shuttle car transport roadway according to any one of claims 1-4, characterized in that: The sensor (20) inside the damper is located at a distance greater than the length of the train plus five meters from the damper, and the sensor (21) outside the damper is located at a distance greater than the length of the train plus five meters from the damper.

6. An automatic opening and closing device for the ventilation door of a coal mine underground shuttle car transport roadway according to any one of claims 1-4, characterized in that: The sensor inside the damper (20) and the sensor outside the damper (21) are non-contact sensors.

7. An automatic opening and closing device for the ventilation door of a coal mine underground shuttle car transport roadway according to any one of claims 1-4, characterized in that: The wheel that contacts the wire rope (24) is the wire rope (24) wheel, the redirecting wheel, or the wire rope (24) friction wheel.

8. An automatic opening and closing device for the ventilation door of a coal mine underground shuttle car transport roadway according to any one of claims 1-4, characterized in that: The pulse sensor (22) is a proximity switch, an eddy current sensor, or a Hall sensor.

9. An automatic opening and closing device for the ventilation door of a coal mine underground shuttle car transport roadway according to any one of claims 1-4, characterized in that: The fully open damper sensor (23) is a mechanical switch.

10. An automatic opening and closing device for the ventilation door of a coal mine underground shuttle car transport roadway according to any one of claims 1-4, characterized in that: The pulse sensor (22) provides one pulse per centimeter.

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