Encoder setting structure of direct-drive mine hoisting system of permanent magnet low-speed motor

Abstract

A kind of permanent magnet low-speed motor direct-drive type mine hoist system encoder setting structure is fixedly provided with angle encoder on the outside end of motor shaft and winch shaft, wherein motor shaft end angle encoder is electrically connected with electric control system and permanent magnet motor frequency converter respectively by code splitter, and winch shaft end angle encoder is electrically connected with electric control system and gate control system respectively by code splitter, to solve the problem that multiple angle encoders are coaxially arranged on the end of winch shaft in direct-connected low-speed permanent magnet synchronous mine hoist, which cannot meet the requirement in "Coal Safety Regulations" that rotational speed feedback signal needs to be collected from encoders arranged at different positions;In addition, by driving electric control system, a temple type depth indicator provided with driving motor is driven, to solve the problem that traditional temple type depth indicator cannot be driven in direct-connected low-speed permanent magnet synchronous mine hoist, and meet the requirement of customers to insist on setting mechanical depth indicator.

Description

Technical Field

[0001] This utility model relates to the technical field of direct-drive mining hoisting systems using permanent magnet low-speed motors, specifically to an encoder setting structure for such systems. Background Technology

[0002] The existing mine hoist drive system uses a high-speed hoisting motor that is reduced in speed by a reducer to drive the hoisting winch. At the same time, the reducer outputs a low-speed rotating shaft to drive a gate-type depth indicator to visually display the position of the hoisting container. The Coal Mine Safety Regulations (2022 edition) stipulate that the electrical control system in the mine hoisting system must adopt a master-slave PLC control mode. In the master-slave PLC control, the speed feedback signal is collected from encoders set on the high-speed hoisting motor shaft and the low-speed winch shaft (or the low-speed drive shaft of the gate-type depth indicator). That is, the speed feedback signal needs to be collected from encoders set in different positions. The two are independent of each other but are compared with each other, and are used for the position, speed control and protection of the hoisting container.

[0003] With the technological advancements in high-power, low-speed permanent magnet synchronous motors in China, there are now solutions for mine hoist drive systems that directly drive hoisting winches using low-speed permanent magnet synchronous motors; for example, application number 20292470516.0. A Chinese utility model patent discloses a direct-drive low-speed permanent magnet synchronous mining hoist. In this hoist, the motor shaft and winch shaft are directly connected (eliminating the need for a reducer), and their speeds are the same, eliminating the need for a high-speed hoisting motor shaft and a low-speed winch shaft. While an angle encoder is installed on the outer end of the motor shaft, its power supply is provided by the permanent magnet motor frequency converter. Therefore, the encoder signal can only be used by the frequency converter and cannot be directly connected to the PLC of the electrical control system. Consequently, some mining hoisting system manufacturers have installed three angle encoders coaxially on the winch shaft end to collect signals for use by the master / slave PLC and gate control system of the electrical control system. However, this encoder configuration, where the encoders are actually installed in the same location, contradicts the requirement in the "Coal Mine Safety Regulations" that speed feedback signals must be collected from encoders installed in different locations. Therefore, this design needs improvement.

[0004] Furthermore, Article 423 of the "Coal Mine Safety Regulations" (2022 edition) clearly stipulates the protection of the hoisting container position indicator: when the position indicator fails, it should automatically cut off the power and activate the brake for safety. However, the above provision only requires that the hoisting container position indicator must have safety protection, but does not specify whether the hoisting container position indicator device should be mechanical or digital. The "Single Rope Winding Mine Hoist" (GB / T20961-2018) depth indication system stipulates that digital depth indicators should be given priority for vertical shaft hoists, but does not specify the type of depth indicator device for inclined shaft hoists. Moreover, currently, multi-rope friction hoists... Over 99% of hoisting equipment is equipped with digital depth indicators. Single-rope winding hoists have gradually phased out mechanical depth indicators in recent years, especially vertical shaft hoists, which almost entirely use digital depth indicators. However, some coal and mining companies still insist on installing mechanical depth indicators (i.e., archway-type depth indicators) to visually display the position of the hoisting container. After adopting direct-drive low-speed permanent magnet synchronous mining hoists, there is actually no longer a power shaft output from the reducer to drive the archway-type depth indicator. Therefore, how to set up and drive the archway-type depth indicator to meet customer requirements is also a problem that needs to be solved. Utility Model Content

[0005] To overcome the shortcomings in the prior art, this utility model discloses an encoder setting structure for a direct-drive mine hoisting system of a permanent magnet low-speed motor. This structure addresses the problem that in a direct-drive low-speed permanent magnet synchronous mine hoist, multiple angle encoders are coaxially mounted on the winch shaft end, which fails to meet the requirement in the "Coal Mine Safety Regulations" that the speed feedback signal must be collected from encoders located at different positions.

[0006] To achieve the aforementioned objective, this utility model adopts the following technical solution: an encoder mounting structure for a direct-drive permanent magnet low-speed motor mining hoisting system. The direct-drive permanent magnet low-speed motor mining hoisting system includes a low-speed permanent magnet motor, a hoisting winch, an electrical control system, a brake control system, and a permanent magnet motor frequency converter. The electrical control system and the permanent magnet motor frequency converter are communicatively connected. The low-speed permanent magnet motor and the hoisting winch are directly driven and connected via the motor shaft and the winch shaft. An angle encoder is fixedly mounted on the outer end of each of the motor shaft and the winch shaft. The angle encoder on the motor shaft end is electrically connected to the electrical control system and the permanent magnet motor frequency converter respectively via a code divider. The angle encoder on the winch shaft end is directly electrically connected to the electrical control system and the brake control system, or electrically connected to the electrical control system and the brake control system respectively via a code divider.

[0007] Furthermore, the electrical control system includes a main electrical control system and a slave electrical control system, which are connected in communication. The motor shaft end angle encoder is electrically connected to the main electrical control system and the permanent magnet motor frequency converter through a code divider. The winch shaft end angle encoder is electrically connected to the gate control system and the slave electrical control system through a code divider.

[0008] Furthermore, the winch shaft end angle encoder is provided with two, one of which is electrically connected to the electrical control system 2, and the other is electrically connected to the gate control system.

[0009] Furthermore, the motor shaft end angle encoder is connected to the motor shaft via a motor angle measuring shaft; a threaded hole is provided at the center of the outer end of the motor shaft; a rotating sleeve is provided in the angle encoder; the motor angle measuring shaft includes a motor measuring shaft body, one end of which is provided with a motor encoder connector, and the other end is provided with a motor measuring shaft flange and a motor shaft connecting shaft head in sequence; the motor measuring shaft flange is provided with several threaded holes evenly distributed around the axis, and the motor shaft connecting shaft head is provided with external threads;

[0010] The motor shaft connecting shaft head of the motor angle measuring shaft is connected to the center threaded hole of the outer end of the motor shaft by thread. The outer end of the motor shaft is tightened by adjusting bolts through the threaded hole on the flange of the motor measuring shaft to fix the motor shaft of the motor angle measuring shaft.

[0011] The motor encoder connector of the motor angle measuring shaft is fixedly connected to the rotating sleeve of the angle encoder.

[0012] Furthermore, a motor shaft connecting tapered neck is provided between the motor measuring shaft flange and the motor shaft connecting head of the motor angle measuring shaft, and a tapered hole is provided on the threaded hole at the center of the outer end of the motor shaft. The motor shaft connecting tapered neck and the tapered hole at the outer end of the motor shaft are matched; thread fixing adhesive is provided between the motor shaft connecting head and the threaded hole at the center of the outer end of the motor shaft.

[0013] Furthermore, thread-locking adhesive is provided between the contact surface of the adjusting bolt and the motor shaft; thread-locking adhesive is also provided between the adjusting bolt and the threaded hole.

[0014] Furthermore, the winch shaft end angle encoder is connected to the winch shaft via a winch angle measuring shaft; the outer end of the winch shaft has a light hole at its center, and several threaded holes are evenly distributed around the axis of the light hole; a rotating sleeve is rotatably provided in the angle encoder; the winch angle measuring shaft includes a winch measuring shaft body, one end of which has a winch encoder connector, and the other end has a winch measuring shaft flange and a winch shaft connecting shaft head in sequence, the winch measuring shaft flange has several through holes evenly distributed around its axis, and the winch shaft connecting shaft head is a light shaft;

[0015] The winch shaft connecting shaft head of the winch angle measuring shaft is set in the light hole at the center of the outer end of the winch shaft. The through hole of the winch measuring shaft flange corresponds to several threaded holes at the outer end of the winch shaft. The winch measuring shaft flange is fixedly set at the outer end of the winch shaft by connecting bolts.

[0016] The winch encoder connector of the winch angle measuring shaft is fixedly connected to the rotating sleeve of the angle encoder.

[0017] Furthermore, thread-locking adhesive is provided between the connecting bolts and the through hole of the winch measuring shaft flange.

[0018] Preferably, it also includes a gate-type depth indicator and a motor driver; the gate-type depth indicator is equipped with a drive motor, the drive motor is electrically connected to the motor driver, and the motor driver is electrically connected to the electronic control system.

[0019] Due to the adoption of the above-described technical solution, this utility model has the following beneficial effects: The encoder setting structure of the direct-drive permanent magnet low-speed motor mining hoisting system disclosed in this utility model has angle encoders fixedly installed at the outer ends of the motor shaft and the winch shaft. The motor shaft-end angle encoder is electrically connected to the electrical control system and the permanent magnet motor frequency converter via a code divider, while the winch shaft-end angle encoder is electrically connected to the electrical control system and the brake control system via a code divider. This solves the problem in direct-drive low-speed permanent magnet synchronous mining hoists where multiple angle encoders are coaxially installed at the winch shaft end, failing to meet the requirement in the "Coal Mine Safety Regulations" that the speed feedback signal must be collected from encoders installed at different positions. Furthermore, by driving a gate-type depth indicator equipped with a drive motor through the electrical control system, the problem of not being able to drive traditional gate-type depth indicators in direct-drive low-speed permanent magnet synchronous mining hoists is solved, satisfying the customer's insistence on installing a mechanical depth indicator. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the encoder setup structure for a direct-drive permanent magnet low-speed motor mining hoisting system according to Example 1.

[0021] Figure 2 This is a schematic diagram of the angle encoder.

[0022] Figure 3 A schematic diagram of the motor angle measuring shaft;

[0023] Figure 4 A schematic diagram of the mounting structure for the angle encoder at the motor shaft end;

[0024] Figure 5 A schematic diagram of the winch angle measuring shaft;

[0025] Figure 6 A schematic diagram of the installation structure for the angle encoder at the winch shaft end;

[0026] Figure 7 This is a schematic diagram of the encoder setup structure for a permanent magnet low-speed motor direct-drive mine hoisting system in Embodiment 2;

[0027] Figure 8 A schematic diagram of the installation structure for coaxially mounting two angle encoders at the winch end.

[0028] In the diagram: 1. Low-speed permanent magnet motor; 1.1 Motor shaft; 1.2 Motor end cover; 2. Hoisting winch; 2.1 Winch shaft; 2.2 Winch bearing housing end cover; 3. Angle encoder; 3.1 Rotary sleeve; 3.1.1 Set screw hole; 3.1.2 Rotary sleeve keyway; 4. Code divider; 5. Electrical control system; 5.1 Main electrical control system; 5.2 Slave electrical control system; 6. Brake control system; 7. Permanent magnet motor frequency converter; 8. Motor angle measuring shaft; 8.1 8.1 Motor measuring shaft body; 8.2 Motor encoder connector; 8.3 Motor measuring shaft flange; 8.3.1 Threaded hole; 8.4 Motor shaft connecting head; 8.5 Motor shaft connecting tapered neck; 9. Winch angle measuring shaft; 9.1 Winch measuring shaft body; 9.2 Winch encoder connector; 9.3 Winch measuring shaft flange; 9.3.1 Through hole; 9.4 Winch shaft connecting head; 10. Archway-type depth indicator; 11. Motor driver. Detailed Implementation

[0029] The present invention will be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention. Example 1

[0030] See the instruction manual appendix Figure 1 An encoder mounting structure for a direct-drive permanent magnet low-speed motor mining hoisting system is disclosed. The system includes a low-speed permanent magnet motor 1, a hoisting winch 2, an electrical control system 5, a gate control system 6, and a permanent magnet motor frequency converter 7. The electrical control system 5 and the frequency converter 7 are communicatively connected. The low-speed permanent magnet motor 1 and the hoisting winch 2 are directly driven by a motor shaft 1.1 and a winch shaft 2.1. An angle encoder 3 is fixedly mounted on the outer end of each of the motor shaft 1.1 and the winch shaft 2.1. The electrical control system 5 includes a main electrical control system 5.1 and a slave electrical control system 5.2, which are communicatively connected. The angle encoder 3 on the motor shaft 1.1 end is electrically connected to the main electrical control system 5.1 and the permanent magnet motor frequency converter 7 via a code divider 4. The angle encoder 3 on the winch shaft 2.1 end is electrically connected to the gate control system 6 and the slave electrical control system 5.2 via a code divider 4.

[0031] See the instruction manual appendix Figure 4 , 6The angle encoder 3 at the motor shaft 1.1 is connected to the motor shaft 1.1 via the motor angle measuring shaft 8, and the angle encoder 3 at the winch shaft 2.1 is connected to the winch shaft 2.1 via the winch angle measuring shaft 9. In the encoder setting structure technical solution of the direct-drive mine hoisting system for permanent magnet low-speed motors in this patent application, the accuracy and stability requirements of the output signals of the two angle encoders 3 are different. Therefore, the connection structures between the two angle encoders 3 and the measured shafts are different. Among them, the angle encoder 3 at the motor shaft 1.1 provides the permanent magnet motor inverter 7 with the real-time angle signal of the rotor of the low-speed permanent magnet motor 1 (i.e., motor shaft 1.1) to drive the rotation of the low-speed permanent magnet motor 1. The accuracy and stability of the output signal of the angle encoder 3 are crucial. The requirements for accuracy are extremely high; otherwise, the low-speed permanent magnet motor 1 will experience severe overheating, insufficient output power, and abnormal vibration. Therefore, the installation accuracy (including coaxiality and radial runout) of the angle measuring shaft 8 set at the motor shaft 1.1 end is also extremely high. The angle encoder 3 at the winch shaft 2.1 end provides the real-time angle signal of the winch shaft 2.1 to the electrical control system 5 and the gate control system 6 to measure and control the rotational speed of the hoisting winch 2 and the position of the hoisting container. Therefore, the accuracy and stability requirements of the output signal of the angle encoder 3 are lower, and the installation accuracy (including coaxiality and radial runout) of the angle measuring shaft 9 set at the winch shaft 2.1 end is also lower. Therefore, the connection structure between the two angle encoders 3 and the measured shaft is different.

[0032] See attached instructions Figure 2 The angle encoder 3 adopts a brushless resolver transmitter of model SG68-0280. The angle encoder 3 has a rotating sleeve 3.1, and the inner hole of the rotating sleeve 3.1 is provided with a keyway. The exposed side wall of the left side of the rotating sleeve 1.1 is evenly provided with three set screw holes 3.1.1, and the set screw holes 3.1.1 are provided with internal threads.

[0033] See the instruction manual appendix Figure 3 The motor angle measuring shaft 8 includes a motor measuring shaft body 8.1. A motor encoder connector 8.2 is coaxially mounted on the right end of the motor measuring shaft body 8.1, and the motor encoder connector 8.2 has a keyway. A motor measuring shaft flange 8.3 is coaxially mounted on the left end of the motor measuring shaft body 8.1, and three threaded holes 8.3.1 are evenly distributed around the axis on the motor measuring shaft flange 8.3. A motor shaft connecting head 8.4 is coaxially mounted on the left end of the motor measuring shaft flange 8.4, and the motor shaft connecting head 8.4 has external threads. A coaxial motor shaft connecting tapered neck 8.5 is provided between the motor shaft connecting head 8.4 and the motor measuring shaft flange 8.3. Correspondingly, a threaded hole is provided at the center of the outer end of the motor shaft 1.1 connected to the motor angle measuring shaft 8, and a coaxial tapered hole is provided outside the threaded hole.

[0034] For the specific connection structure between the angle encoder 3 and the motor shaft 1.1, please refer to the appendix of the instruction manual. Figure 4The angle encoder 3 is fixedly mounted on the motor end cover 1.2 via an encoder bracket. The motor end cover 1.2 has a through hole in its center. When the motor angle measuring shaft 8 is assembled with the motor shaft 1.1, the motor shaft connecting head 8.4 is threaded into the outer center threaded hole of the motor shaft 1.1, and the motor shaft connecting tapered neck 8.5 engages with the tapered hole of the outer center threaded hole of the motor shaft 1.1 to ensure the coaxiality of the motor encoder connecting head 8.2 and the motor shaft 1.1. The motor encoder connecting head 8.2 passes through the center of the motor end cover 1.2. The through hole extends to the outside of the motor end cover 1.2; each of the three threaded holes 8.3.1 on the motor measuring shaft flange 8.3 is equipped with an adjusting bolt. The ends of the three adjusting bolts abut against the outer end face of the motor shaft 1.1. By adjusting the force of the three adjusting bolts against the outer end face of the motor shaft 1.1, the radial runout of the motor encoder connector 8.2 is adjusted, ultimately ensuring the coaxiality and radial runout of the motor encoder connector 8.2 and the motor shaft 1.1 after the motor angle measuring shaft 8 is connected to the motor shaft 1.1. The system ensures the accuracy and stability of the angle encoder 3's output signal after it is connected to the motor angle measuring shaft 8. The motor encoder connector 8.2 is located in the inner hole of the rotating sleeve 3.1, transmitting torque via a keyway. The rotating sleeve 3.1 is secured to the motor encoder connector 8.2 by tightening the set screws in the three set screw holes 3.1.1 on the rotating sleeve 1.1. To prevent loosening during operation, thread-locking adhesive is applied between the motor angle measuring shaft 8 and the motor shaft 1.1, between the adjusting bolt and the contact surface of the motor shaft 1.1, between the adjusting bolt and the threaded hole 8.3.1, and between the set screw and the set screw hole 3.1.1. During maintenance and disassembly of the angle encoder 3 and the motor angle measuring shaft 8, the set screws and adjusting bolts can be removed, or the motor angle measuring shaft 8 can be disassembled, by heating the areas where the thread-locking adhesive is applied.

[0035] Another anti-loosening structure for the connection between the rotating sleeve 3.1 and the motor encoder connector 8.2 is to set an anti-loosening ring with a groove that engages with the exposed top screw head to prevent the top screw in the top screw hole 3.1.1 from becoming loose. With this structure, no thread-fixing adhesive is needed between the top screw and the top screw hole 3.1.1. Therefore, when disassembling the angle encoder 3, it is not necessary to heat the thread-fixing adhesive on the top screw, thus preventing damage to the angle encoder 3 caused by heating the thread-fixing adhesive.

[0036] See the instruction manual appendix Figure 5The winch angle measuring shaft 9 includes a winch measuring shaft body 9.1. A winch measuring shaft flange 9.3 is coaxially provided at the right end of the winch measuring shaft body 9.1. Three through holes 9.3.1 are evenly distributed around the axis on the winch measuring shaft flange 9.3. A winch shaft connecting head 9.4 is coaxially provided at the right end of the winch measuring shaft flange 9.3. The winch shaft connecting head 9.4 is a smooth shaft. A winch encoder connector 9.2 is coaxially provided at the left end of the winch measuring shaft body 9.2. A keyway is provided on the winch encoder connector 9.2. Correspondingly, a smooth hole is provided at the center of the outer end of the winch shaft 2.1 connected to the winch angle measuring shaft 9. Three threaded holes are evenly distributed around the axis of the smooth hole.

[0037] For the specific connection structure between the angle encoder 3 and the winch shaft 2.1, please refer to the appendix of the instruction manual. Figure 6 Angle encoder 3 is fixedly mounted on winch bearing housing end cover 2.2 via encoder bracket. Winch bearing housing end cover 2.2 has a through hole at its center. When the winch angle measuring shaft 9 is assembled with the winch shaft 2.1, the winch shaft connecting head 9.4 is positioned in the center of the outer end of the winch shaft 2.1 through a light hole. The three light holes on the winch measuring shaft flange 9.3 correspond to the three threaded holes on the outer end of the winch shaft 2.1. Connecting bolts are used to fix the winch measuring shaft flange 9.3 to the outer end of the winch shaft 2.1. The winch encoder connector 9.2 passes through the through hole in the center of the winch bearing housing end cover 2.2 and extends to the outside of the winch bearing housing end cover 2.2. The winch encoder connector 9.2 is positioned in the inner hole of the rotating sleeve 3.1. Torque is transmitted via a flat key connection. The rotating sleeve 3.1 and the winch encoder connector 9.2 are fixedly connected by locking the three set screws in the three set screw holes 3.1.1 on the rotating sleeve 1.1. To prevent loosening of the connection between the winch angle measuring shaft 9 and the winch shaft 2.1, and the connection between the winch encoder connector 9.2 and the rotating sleeve 3.1 during operation, thread-locking adhesive is provided between the set screw and the set screw hole 3.1.1, and between the connecting bolts and threaded holes between the winch measuring shaft flange 9.3 and the motor shaft 1.1. When disassembling and repairing the angle encoder 3 and the motor angle measuring shaft 8, the set screws and connecting bolts can be removed by heating the areas where the thread-locking adhesive is provided, and the angle encoder 3 and the winch angle measuring shaft 9 can be removed. Because the accuracy and stability requirements of the output signal of the angle encoder 3 located at the outer end of the winch shaft 2.1 are relatively low, the connection structure between the winch angle measuring shaft 9 and the winch shaft 2.1 is also relatively simple. Under normal circumstances, there is no need to adjust the radial runout of the winch angle measuring shaft 9, and the installation and adjustment are relatively easy, which facilitates on-site operation and improves the efficiency of equipment installation and commissioning.

[0038] Similarly, an anti-loosening ring structure can also be used between the rotating sleeve 3.1 and the winch encoder connector 9.2 to prevent the set screw in the set screw hole 3.1.1 from becoming loose. When disassembling the angle encoder 3, there is no need to heat the thread fixing adhesive, thus preventing damage to the angle encoder 3 caused by heating the thread fixing adhesive. Example 2

[0039] See the instruction manual appendix Figure 7 This embodiment also includes a gate-type depth indicator 10 and a motor driver 11. The gate-type depth indicator 10 is equipped with a servo motor or stepper motor, which is electrically connected to the motor driver 11. The motor driver 11 is electrically connected to the electrical control system 5. The motor driver 11 drives the servo motor or stepper motor in the gate-type depth indicator 10 to rotate, causing the indicator needle in the gate-type depth indicator 10 to move up and down, mechanically displaying the position of the hoisting container. This solves the problem that traditional gate-type depth indicators cannot be driven in direct-drive low-speed permanent magnet synchronous mining hoists, and meets the customer's requirement to install a mechanical depth indicator. Preferably, in this embodiment, two angle encoders 3 are coaxially arranged at the winch shaft 2.1 end. One angle encoder 3 is electrically connected to the electrical control system 5.2, and the other angle encoder 3 is electrically connected to the gate control system 6. See the appendix of the specification. Figure 8 When there are two angle encoders 3 on the winch shaft 2.1, the two angle encoders 3 are coaxially fixed on the encoder support. The encoder support is fixed on the left end of the winch shaft 2.1. The winch encoder connector 9.2 is connected to the encoder drive shaft through a universal coupling. The encoder drive shaft passes through the rotating sleeve 3.1 of the two angle encoders 3 and is fixedly connected to the rotating sleeve 3.1, so as to realize the coaxial setting of the two angle encoders 3.

[0040] The parts of this utility model not described in detail are existing technologies.

Claims

1. An encoder setting structure for a direct-drive permanent magnet low-speed motor mining hoisting system, the direct-drive permanent magnet low-speed motor mining hoisting system comprising a low-speed permanent magnet motor (1), a hoisting winch (2), an electrical control system (5), a brake control system (6), and a permanent magnet motor frequency converter (7), wherein the electrical control system (5) and the permanent magnet motor frequency converter (7) are communicatively connected, and the low-speed permanent magnet motor (1) and the hoisting winch (2) are directly driven connected via a motor shaft (1.1) and a winch shaft (2.1); characterized in that: An angle encoder (3) is fixedly installed on the outer end of the motor shaft (1.1) and the winch shaft (2.1); the angle encoder (3) at the end of the motor shaft (1.1) is electrically connected to the electrical control system (5) and the permanent magnet motor frequency converter (7) respectively through the code divider (4); the angle encoder (3) at the end of the winch shaft (2.1) is directly electrically connected to the electrical control system (5) and the gate control system (6), or is electrically connected to the electrical control system (5) and the gate control system (6) respectively through the code divider (4).

2. The encoder mounting structure of the permanent magnet low-speed motor direct-drive mining hoisting system according to claim 1, characterized in that: The electrical control system (5) includes a main electrical control system (5.1) and a slave electrical control system (5.2), and the main electrical control system (5.1) and the slave electrical control system (5.2) are connected in communication. The angle encoder (3) at the end of the motor shaft (1.1) is electrically connected to the main electrical control system (5.1) and the permanent magnet motor frequency converter (7) through the code divider (4). The angle encoder (3) at the end of the winch shaft (2.1) is electrically connected to the gate control system (6) and the slave electrical control system (5.2) through the code divider (4).

3. The encoder mounting structure of the permanent magnet low-speed motor direct-drive mining hoisting system according to claim 2, characterized in that: Two angle encoders (3) are provided at the end of the winch shaft (2.1). One angle encoder (3) is electrically connected to the electrical control system (5.2), and the other angle encoder (3) is electrically connected to the gate control system (6).

4. The encoder mounting structure of the permanent magnet low-speed motor direct-drive mining hoisting system according to claim 1, characterized in that: An angle encoder (3) at the end of the motor shaft (1.1) is connected to the motor shaft (1.1) via a motor angle measuring shaft (8); a threaded hole is provided at the center of the outer end of the motor shaft (1.1); a rotating sleeve (3.1) is provided in the angle encoder (3); the motor angle measuring shaft (8) includes a motor measuring shaft body (8.1), a motor encoder connector (8.2) is provided at one end of the motor measuring shaft body (8.1), and a motor measuring shaft flange (8.3) and a motor shaft connecting shaft head (8.4) are provided in sequence at the other end; a number of threaded holes (8.3.1) are evenly distributed around the axis on the motor measuring shaft flange (8.3), and an external thread is provided on the motor shaft connecting shaft head (8.4); The motor shaft connecting shaft head (8.4) of the motor angle measuring shaft (8) is connected to the outer end center threaded hole of the motor shaft (1.1) by thread. The outer end of the motor shaft (1.1) is tightened by adjusting bolts through the threaded hole (8.3.1) on the motor measuring shaft flange (8.3) to fix the motor shaft (1.1) of the motor angle measuring shaft (8). The motor encoder connector (8.2) of the motor angle measuring shaft (8) is fixedly connected to the rotating sleeve (3.1) of the angle encoder (3).

5. The encoder mounting structure of the permanent magnet low-speed motor direct-drive mining hoisting system according to claim 4, characterized in that: A motor shaft connecting tapered neck (8.5) is provided between the motor measuring shaft flange (8.3) and the motor shaft connecting head (8.4) of the motor angle measuring shaft (8). A tapered hole is provided on the threaded hole at the center of the outer end of the motor shaft (1.1). The motor shaft connecting tapered neck (8.5) is matched with the tapered hole at the outer end of the motor shaft (1.1). Thread fixing glue is provided between the motor shaft connecting head (8.4) and the threaded hole at the center of the outer end of the motor shaft (1.1).

6. The encoder mounting structure of the permanent magnet low-speed motor direct-drive mining hoisting system according to claim 4, characterized in that: A thread-locking adhesive is provided between the contact surface of the adjusting bolt and the motor shaft (1.1); a thread-locking adhesive is provided between the adjusting bolt and the threaded hole (8.3.1).

7. The encoder mounting structure of the permanent magnet low-speed motor direct-drive mining hoisting system according to claim 1, characterized in that: An angle encoder (3) at the end of the winch shaft (2.1) is connected to the winch shaft (2.1) via a winch angle measuring shaft (9); the center of the outer end of the winch shaft (2.1) is provided with a light hole, and several threaded holes are evenly distributed around the axis of the light hole; a rotating sleeve (3.1) is provided in the angle encoder (3); the winch angle measuring shaft (9) includes a winch measuring shaft body (9.1), one end of the winch measuring shaft body (9.1) is provided with a winch encoder connector (9.2), and the other end is provided with a winch measuring shaft flange (9.3) and a winch shaft connecting shaft head (9.4) in sequence. Several through holes (9.3.1) are evenly distributed around the axis of the winch measuring shaft flange (9.3), and the winch shaft connecting shaft head (9.4) is a light shaft; The winch shaft connecting shaft head (9.4) of the winch angle measuring shaft (9) is set in the light hole at the center of the outer end of the winch shaft (2.1). The through hole (9.3.1) of the winch measuring shaft flange (9.3) corresponds to several threaded holes at the outer end of the winch shaft (2.1). The winch measuring shaft flange (9.3) is fixedly set at the outer end of the winch shaft (2.1) by connecting bolts. The winch encoder connector (9.2) of the winch angle measuring shaft (9) is fixedly connected to the rotating sleeve (3.1) of the angle encoder (3).

8. The encoder mounting structure of the permanent magnet low-speed motor direct-drive mining hoisting system according to claim 7, characterized in that: Thread-locking adhesive is provided between the connecting bolts and the through hole (9.3.1) of the winch measuring shaft flange (9.3).

9. The encoder mounting structure of the permanent magnet low-speed motor direct-drive mining hoisting system according to claim 1, characterized in that: It also includes a gate-type depth indicator (10) and a motor driver (11); the gate-type depth indicator (10) is equipped with a drive motor, the drive motor is electrically connected to the motor driver (11), and the motor driver (11) is electrically connected to the electronic control system (5).

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