Full-automatic ore-drawing linkage device for mine electric locomotive

Abstract

The utility model discloses a kind of mine electric locomotive full-automatic ore drawing linkage device, including mine explosion-proof electric locomotive body, store ore drawing bin, ore drawing gate board execution mechanism, bin body control unit, vehicle-mounted control unit, wireless communication component, alignment detection component, material level detection component.Bin body, vehicle-mounted control unit are bidirectional linkage by wireless communication, rely on alignment, material level double detection to realize electric locomotive automatic alignment, automatic ore drawing, full bin self-stop, automatic drive off whole-process unmanned operation.This device alignment precision is high, eliminates scattering ore, off-load hidden danger, without manual attendance, operation efficiency is high, all pieces meet underground explosion-proof standard, can transform existing mine equipment.

Description

Technical Field

[0001] This utility model relates to the technical field of underground mine rail transport ore release equipment, and is particularly applicable to automated ore release equipment for explosion-proof electric locomotives used in underground metal and non-metal mines, specifically a fully automatic ore release linkage device for mining electric locomotives. Background Technology

[0002] Traditional ore-carrying operations in underground mines generally employ a semi-automated operation mode of manual driving and positioning combined with manual control of independent gate valves, referring to... Figure 1 Existing traditional ore discharge equipment mainly includes a mining locomotive body, a fixed underground ore storage and discharge bin, a manual / semi-electric ore discharge gate, an independent manual operating platform, simple location markers in the roadway, a traction carriage, and a manual observation post. The ore storage and discharge bin is fixedly arranged above the roadway track, and the ore discharge gate is independently equipped with a manual operating platform. The locomotive's travel control system and the ore discharge gate's execution system are completely physically isolated, and there is no signal communication or linkage control structure.

[0003] The existing complete ore discharge operation process is as follows: The locomotive driver drives the empty carriage to the area below the ore discharge bin, roughly aligning it visually using simple roadway markers; after alignment, the ore discharge operator is notified via walkie-talkie and on-site announcement; the operator manually operates the control panel to open the gate and discharge ore, visually observing the ore accumulation height in the carriage throughout the process, judging the discharge volume based on personal experience, and then manually closing the gate; after discharge, the driver is notified again to drive away. This traditional method has several unavoidable technical defects: 1. The alignment relies on manual visual judgment and there is no precise position detection structure. The parking alignment error is large, which can easily lead to misalignment between the ore outlet and the car, ore spillage in the roadway, and uneven loading of the car. Spilled ore requires additional manual cleaning, and uneven loading will cause the locomotive to become unbalanced, posing a major underground safety hazard of derailment and overturning. 2. The locomotive travel system and the ore discharge gate have no linkage communication structure. The whole process relies on manual communication and step-by-step manual operation, which has problems such as waiting for positioning, delayed information transmission, and untimely response to ore discharge start and stop. The locomotive idle waiting time accounts for a high proportion, the operation process is fragmented, and the ore transfer efficiency of a single shift is extremely low. 3. Without a dual closed-loop protection structure for material level detection and vehicle arrival, on the one hand, operators rely on experience to discharge ore, which can easily lead to insufficient ore discharge, low utilization of the car, or excessive ore discharge and spillage; on the other hand, there is a situation where the gate is opened to discharge ore before the locomotive has fully stopped, resulting in a large amount of ore waste and equipment damage from the impact of the ore. 4. The entire operation requires two people, the locomotive driver and the ore discharge operator, to be on duty underground. The underground roadways are dusty, dimly lit, and have a small working space. Personnel on duty for a long time are prone to visual fatigue and operational errors. At the same time, they are exposed to dangerous underground environments such as falling rocks and mechanical collisions for a long time, making manual operation highly risky.

[0004] Currently, there is no publicly available technology that can establish a complete set of hardware devices for bidirectional closed-loop linkage between the locomotive's driving and braking system and the underground ore discharge gate actuator, thus failing to fundamentally solve the multiple defects of the aforementioned traditional ore discharge operations. Utility Model Content

[0005] The purpose of this utility model is to provide a fully automatic ore discharge linkage device for mining locomotives, which can solve at least two of the technical defects of existing underground locomotive manual ore discharge operations, such as low positioning accuracy, independent system without linkage, uncontrollable ore discharge volume, high dependence on manual labor, and prominent safety hazards.

[0006] The technical solution of this utility model is implemented as follows: This invention provides a fully automatic ore-discharging linkage device for mining locomotives, enabling fully unmanned operation of the entire process, including automatic locomotive positioning, automatic ore discharge, automatic ore stopping at full load, and automatic departure after ore discharge. This improves ore discharge efficiency, eliminates safety hazards such as ore spillage, uneven loading, and ore overflow, reduces the number of personnel required for underground operations, and is suitable for underground gas and dust explosion-proof environments. Specifically: A fully automatic ore discharge linkage device for mining locomotives includes a mining explosion-proof locomotive body, an underground fixed ore storage and discharge bin, an electrically operated ore discharge gate mechanism, a bin explosion-proof control box, an on-board explosion-proof control terminal, a mining wireless communication module, a positioning detection component, a car body material level detection sensor, a locomotive speed control module, a locomotive explosion-proof braking execution unit, a mining traction car body, and a mining explosion-proof power supply module; The ore storage and discharge bin is fixedly installed above the track of the underground mining roadway. A precision discharge port is set at the bottom of the ore storage and discharge bin, and an electrically operated discharge gate mechanism is assembled at the discharge port. The explosion-proof control box of the bin is fixedly installed on the side wall of the ore storage and discharge bin away from the dust erosion area. The alignment detection components are installed in pairs on the roadway walls on both sides of the ore discharge port. They include an explosion-proof laser rangefinder and an explosion-proof infrared alignment sensor. The alignment detection components are electrically connected to the explosion-proof control box of the silo via an explosion-proof cable. The material level detection sensor in the hopper is an explosion-proof ultrasonic sensor, which is fixedly arranged inside the lower side of the ore discharge port, facing the inside of the mining traction hopper. The material level detection sensor is connected to the explosion-proof control box of the hopper through an explosion-proof cable. The electrically operated ore discharge gate mechanism includes a gate body, an explosion-proof electric push rod, and a gate guide rail. The explosion-proof electric push rod is electrically connected to the explosion-proof control box of the bin, and receives signals from the control box of the bin to reciprocate along the guide rail to control the opening and closing of the gate and the ore discharge flow. The mining wireless communication module is divided into a warehouse end and a vehicle end. The warehouse end is integrated into the warehouse explosion-proof control box, and the vehicle end is integrated into the vehicle explosion-proof control terminal. Both use a dedicated underground wireless frequency band to achieve bidirectional, delay-free, anti-interference signal transmission. The mining explosion-proof locomotive body is equipped with a mining traction car, an on-board explosion-proof control terminal, a speed control module, and an explosion-proof braking actuator. The speed control module is integrated into the locomotive drive system, and the explosion-proof braking actuator is installed at the locomotive's traveling wheels. Both the speed control module and the explosion-proof braking actuator are electrically connected to the on-board explosion-proof control terminal. The mine explosion-proof power supply module is equipped with two independent power supply branches. The first branch supplies power to the vehicle-mounted explosion-proof control terminal, the vehicle-mounted wireless communication module, the speed control module, and the explosion-proof braking actuator. The second branch supplies power to the silo explosion-proof control box, the alignment detection component, the silo material level detection sensor, and the electric actuator ore discharge gate mechanism. All power supply lines use mine explosion-proof cables, and all electrical components meet the GB3836 underground explosion-proof standard. The overall workflow of the device is divided into three stages: automatic driving and alignment, automatic ore discharge, and automatic departure. (1) Automatic driving alignment: The electric locomotive pulls the empty car at a constant speed toward the ore discharge bin. The laser rangefinder collects the horizontal distance between the electric locomotive and the ore discharge bin in real time and transmits it to the bin control box. The data is then transmitted back to the vehicle terminal via the wireless communication module. The vehicle terminal issues a deceleration command based on the distance data, and the electric locomotive slowly approaches. After the infrared alignment sensor detects that the car is fully aligned with the ore discharge opening, it outputs a positioning signal. The vehicle terminal triggers the explosion-proof braking actuator to lock the wheels, and the electric locomotive stops precisely. The alignment error is controlled to be ≤2cm. (2) Automatic ore discharge: After receiving the arrival signal of the car body, the silo control box verifies that the car body is empty through the material level sensor, and then drives the explosion-proof electric push rod to open the gate to discharge ore; the material level sensor monitors the ore height inside the car body in real time. When the ore reaches the preset full load safety threshold, the silo control box quickly closes the gate to stop discharging ore. (3) Automatic departure: After the gate is closed and the ore is discharged, the bin control box sends a departure command to the vehicle terminal through the wireless communication module. The vehicle terminal controls the braking unit to release the brake, and the speed control module drives the electric locomotive to automatically leave the ore discharge area. No manual on-site operation is required for the entire operation.

[0007] Furthermore, this utility model provides multiple sets of replaceable implementation structures: Replacement solutions for detection components: Explosion-proof laser rangefinders can be replaced with explosion-proof ultrasonic rangefinders or explosion-proof radar sensors; explosion-proof infrared positioning sensors can be replaced with explosion-proof proximity switches or explosion-proof photoelectric sensors; and cargo compartment level detection sensors can be replaced with explosion-proof laser level sensors or traction frame load detection sensors. Replacement solutions for ore discharge actuators: Explosion-proof electric push rods can be replaced with explosion-proof hydraulic push rods or explosion-proof pneumatic push rods; the gate body can be replaced with a fan-shaped rotary gate. Communication method replacement solution: The mining wireless communication module can be replaced with RS485 and CAN mining wired bus communication, and explosion-proof cables are used to realize wired two-way signal transmission between the silo control box and the vehicle terminal; Control unit integration solution: The split vehicle-mounted explosion-proof control terminal and the cargo box explosion-proof control box can be integrated into an integrated explosion-proof main control unit, which can be directly connected to the locomotive speed control and braking module through explosion-proof cables, eliminating the need for wireless communication structure; Replacement solution for explosion-proof braking actuator: The electromagnetic braking structure of the explosion-proof braking actuator can be replaced with a hydraulic braking or pneumatic braking structure.

[0008] Compared with the prior art, the beneficial effects of this utility model are: 1. Precise automatic alignment eliminates safety hazards related to ore spillage and vehicle operation. This utility model adopts an alignment detection component to automatically collect the vehicle position and control the locomotive deceleration and braking in a closed loop, thereby improving the alignment accuracy and ensuring that the ore discharge port and the traction car are completely aligned. From the hardware structure, it eliminates ore spillage and car unbalanced loading, reduces the amount of manual ore cleaning work, avoids locomotive derailment and side rollover accidents, and greatly improves the safety of equipment operation.

[0009] 2. The entire machine operates in both directions, significantly improving the efficiency of underground ore feeding and transfer. By adopting wireless two-way communication between the vehicle-mounted control unit and the silo control unit, the structural defects of existing technologies where the locomotive and ore discharge gate are completely independent and isolated are overcome. This eliminates the need for manual announcements and manual step-by-step operations, making the ore discharge process continuously automated. There is no invalid waiting time for the locomotive, and the ore discharge and transfer volume per shift is significantly increased.

[0010] 3. A dual closed-loop protection mechanism of "in place + material level" ensures precise and controllable ore discharge.

[0011] The device is equipped with a two-level safety interlock logic: the gate cannot be opened if the car is not precisely aligned, to prevent premature ore discharge and spillage; the gate will automatically close when the car reaches the preset full load height to prevent ore overflow from damaging the equipment, improve the loading utilization rate of the car, reduce the impact and wear of ore on the silo and rails, and extend the service life of the equipment.

[0012] 4. The entire process is unmanned, reducing the risks of manual operations underground. The entire system achieves fully automated driving and positioning, automatic ore discharge, and automatic departure. No on-site personnel are required to monitor the ore discharge operation underground; only remote monitoring from the ground is needed to complete the operation. This reduces the number of personnel working underground, avoids the risks of visual fatigue and operational errors caused by prolonged exposure to dust and narrow tunnels, and lowers the probability of personal injury from falling rocks and mechanical collisions.

[0013] 5. Modular design, highly versatile, and low modification cost. The split control layout can be directly installed on existing old-style mining locomotives and fixed ore storage bins without replacing the original main equipment; at the same time, it is equipped with multiple alternative implementation methods such as communication, sensors, drive push rods, and braking mechanisms, which can be flexibly selected according to different mine roadway conditions and underground supporting power systems, and are suitable for various metal and non-metal mine underground rail-guided ore release scenarios. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 A schematic diagram of the existing underground electric locomotive-based traditional manual ore-feeding operation structure; Figure 2 This is a schematic diagram of the overall structure of the fully automatic ore discharge linkage device for mining locomotives of this utility model.

[0016] Explanation of reference numerals in the attached figures: 1-Mining explosion-proof locomotive body; 2-Ore storage and discharge bin; 3-Ore discharge gate actuator; 4-Alignment detection component; 5-Onboard control unit; 6-Bin body control unit; 7-Wireless communication component; 8-Speed ​​control module; 10-Carriage material level detection component; 11-Mining explosion-proof power supply module; 12-Mining traction carriage; 13-Explosion-proof cable. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0019] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0020] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0022] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0023] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0024] Example 1: Fully Automatic Ore Discharge Linkage Device for Mining Locomotives Reference Figure 2 This embodiment is an implementation plan for a fully automatic ore discharge linkage device for mining locomotives. It adopts a split-type bin control unit 6 + vehicle-mounted control unit 5 with wireless communication component 7 to transmit signals. All electrical components are explosion-proof for mining and are suitable for high-risk underground roadways containing gas, metal dust and rock dust.

[0025] (I) Overall machine structure and assembly positions of each component: The main body 1 of the mine explosion-proof electric locomotive serves as the main body for movement and is equipped with wheels at the bottom. The original explosion-proof drive circuit is integrated inside, and the sealed space of the driver's cab is used to install the on-board control unit 5. The rear of the mine explosion-proof electric locomotive 1 rigidly pulls the mine traction car 12, and the two move synchronously along the roadway track.

[0026] Ore storage and discharge bin 2: The underground fixed ore pass is cast and fixed directly above the roadway track. The bottom of the bin has a vertical ore discharge port. The track directly below the ore discharge port is a dedicated ore discharge parking area for electric locomotives. The flat area on the upper part of the side wall of the bin is used to fix the bin control unit 6. The installation position is far away from the ore scouring range of the ore falling from the ore discharge port to reduce dust intrusion.

[0027] The ore discharge gate actuator 3 is assembled at the bottom of the ore discharge port of the ore storage and discharge bin 2. It consists of three parts: the gate body, the explosion-proof electric push rod, and the gate guide rail. The gate body moves horizontally along the gate guide rail, and the explosion-proof electric push rod serves as the power source to drive the gate to open and close, thereby adjusting the flow area of ​​the ore discharge port.

[0028] The silo control unit 6 is an explosion-proof and sealed box structure that is fixedly installed on the upper side wall of the ore storage and discharge silo 2. The box integrates a wireless communication component 7, a signal acquisition board, and a relay output module to uniformly receive analog and digital signals collected by various sensors and output drive signals to control the action of the ore discharge gate actuator 3.

[0029] Vehicle-mounted control unit 5: A small explosion-proof enclosure, sealed and installed inside the cab of the mining explosion-proof locomotive body 1, equipped with an intrinsically safe operation display screen; the enclosure integrates a wireless communication component 7 vehicle-mounted terminal, with a built-in control program storage module, used to issue speed adjustment, braking, and departure commands.

[0030] Wireless communication component 7: It is divided into two separate modules: the warehouse wireless terminal and the vehicle wireless terminal. The warehouse wireless terminal is integrated and packaged inside the warehouse control unit 6, and the vehicle wireless terminal is integrated and packaged inside the vehicle control unit 5. It adopts a special explosion-proof wireless communication frequency band for underground use and has the ability to resist dust, signal attenuation of tunnel walls, and noise interference.

[0031] Alignment detection component 4: It is installed in pairs symmetrically on the rock walls of the roadway on both sides of the ore discharge opening of the ore storage and discharge bin 2, with the installation height flush with the upper edge of the mining traction car 12; the component includes two sets of sensing units: an explosion-proof laser rangefinder sensor and an explosion-proof infrared alignment sensor, which synchronously collect signals of locomotive distance and car alignment status.

[0032] Carriage level detection component 10: Explosion-proof ultrasonic level sensor is selected and hoisted and fixed to the top of the inside of the ore discharge port of the ore storage bin 2. The probe is vertically downward and facing the inside of the mining traction car 12 below. The hoisting position avoids the area directly impacted by the ore to prevent damage to the sensor.

[0033] Speed ​​control module 8: Integrated into the original explosion-proof drive control cabinet of the mine explosion-proof locomotive body 1, without changing the main drive structure of the locomotive, only adding a signal receiving interface to receive the driving and deceleration control signals issued by the vehicle control unit 5.

[0034] Explosion-proof braking actuator (hereinafter referred to as braking unit): adopts an electromagnetic braking structure. Four sets of explosion-proof braking actuators are installed one-to-one at the four sets of traveling wheels of the mine explosion-proof locomotive body 1, directly controlling the wheel locking parking and brake release driving.

[0035] Mining traction car 12: A standard mining rail loading car, rigidly connected to the mining explosion-proof electric locomotive body 1, used to receive ore falling from the ore storage bin 2.

[0036] Mining explosion-proof power supply module 11: Independent explosion-proof enclosure, located on the side wall of the ore storage and discharge bin 2, with two electrically isolated voltage-stabilized power supply branches inside, and all output cables are mining flame-retardant and explosion-proof shielded cables.

[0037] Explosion-proof cable 13: All sensors, control units and actuators of the whole machine use explosion-proof cable 13 for signal transmission and power supply connection. The outer shielding layer of the cable is grounded to eliminate interference from stray current signals in the well.

[0038] (ii) Electrical connection relationship between various components of the whole machine External connections of the hull control unit 6: (1) The silo control unit 6 is electrically connected to the alignment detection component 4 and the cargo compartment material level detection component 10 via explosion-proof cable 13, and receives position and material level data collected by the two types of sensors in real time; (2) The bin control unit 6 is electrically connected to the explosion-proof electric push rod of the ore discharge gate actuator 3 through the explosion-proof cable 13, and outputs a switch drive signal to control the extension and retraction of the push rod; (3) The warehouse control unit 6 integrates a wireless communication component 7 warehouse end, which is electrically connected to the main board inside the warehouse control unit 6 to realize data transmission and reception; (4) The silo control unit 6 is connected to the second power supply branch of the mine explosion-proof power supply module 11 to obtain a stable explosion-proof power supply.

[0039] The vehicle control unit 5 connects to external systems as follows: (1) The vehicle control unit 5 is electrically connected to the speed control module 8 and the explosion-proof brake actuator unit respectively through the explosion-proof cable 13, and issues speed adjustment, braking and brake release drive commands; (2) The vehicle control unit 5 integrates a wireless communication component 7 vehicle terminal, which is electrically connected to the main board inside the vehicle control unit 5 and interacts with the cargo body wireless terminal in two directions. (3) The vehicle control unit 5 is connected to the first power supply branch of the mine explosion-proof power supply module 11, which is independently powered and electrically isolated from the power supply on the side of the silo.

[0040] Connection logic for mine explosion-proof power supply module 11: The mine explosion-proof power supply module 11 is divided into two independent power supply branches, which are isolated from each other and have no electrical interconnection. The first branch outputs intrinsically safe voltage and supplies power to the vehicle control unit 5, the vehicle terminal of the wireless communication component 7, the speed control module 8, and the explosion-proof braking actuator. The second branch outputs power independently and supplies power to the bin control unit 6, the alignment detection component 4, the material level detection component 10 in the bin, and the ore discharge gate actuator 3. All power supply links use explosion-proof cables 13.

[0041] Wireless signal interaction link: After the bin control unit 6 collects the position and material level signals, it transmits them outward through the bin end of the wireless communication component 7; the vehicle control unit 5 receives the signals through the vehicle end of the wireless communication component 7, calculates them, and outputs control commands; after the electric locomotive completes the alignment and ore discharge, the vehicle-side status signal is transmitted back to the bin control unit 6, forming a two-way closed-loop signal link.

[0042] (III) Complete Fully Automated Operation Process Step 1: Automatic Driving and Precise Alignment Stage The ground remote monitoring system issues mining operation instructions, and the mining explosion-proof electric locomotive 1 pulls the empty mining tractor 12 to travel at a constant speed along the track to the ore storage bin 2. The on-board control unit 5 maintains low-speed and constant speed through the speed control module 8. When the locomotive enters the effective detection range of the alignment detection component 4, the explosion-proof laser ranging sensor inside the alignment detection component 4 continuously collects the horizontal distance between the locomotive head and the wall of the ore storage bin 2. The position data is transmitted to the bin control unit 6 via the explosion-proof cable 13. The bin control unit 6 then sends the distance data to the vehicle control unit 5 via the wireless communication component 7. The vehicle control unit 5 has a built-in graded speed regulation program: for example, the electric locomotive maintains a constant speed when it is outside the set distance from the ore discharge port; when the electric locomotive is within the set distance from the ore discharge port, a deceleration command is issued and the speed regulation module 8 controls the electric locomotive to coast at a low speed. When the explosion-proof infrared alignment sensor in the alignment detection component 4 detects that the mining tractor 12 completely blocks the infrared light path, it determines that the vertical alignment of the car body with the ore discharge port is completed. The hopper control unit 6 immediately transmits the car body positioning signal to the vehicle control unit 5 through the wireless communication component 7. The vehicle control unit 5 instantly triggers the explosion-proof braking actuator to lock all the traveling wheels, and the locomotive is fully parked. The alignment and parking error is stable at ≤2cm, and the automatic alignment is completed.

[0043] Step 2: Interlocked Automatic Ore Discharge Stage The silo control unit 6 synchronously receives two sets of interlocking signals: the car body arrival signal transmitted by the alignment detection component 4 and the empty silo signal transmitted by the car body material level detection component 10. After both sets of signals meet the interlocking conditions at the same time, the silo control unit 6 outputs a drive signal to the explosion-proof electric push rod of the ore discharge gate actuator 3. The push rod retracts and pulls the gate body to move horizontally along the gate guide rail, the ore discharge port opens, and the ore falls into the mining traction car body 12 by its own weight. Throughout the ore discharge process, the 10-level ore level detection component in the hopper continuously collects ore height data and uploads it to the hopper control unit 6 in real time. The system has a preset full-load safety threshold (a safety margin is reserved from the top of the hopper). When the ore accumulation height reaches the preset threshold, the hopper control unit 6 immediately outputs a reverse drive signal, and the explosion-proof electric push rod extends to push the gate body to close completely, closing the ore discharge port, stopping the ore discharge, and preventing ore from overflowing and spilling into the tunnel.

[0044] Step 3: Automatic Departure Phase After the ore discharge gate actuator 3 is fully closed, the bin control unit 6 generates a ore discharge completion command and sends it to the vehicle control unit 5 via the wireless communication component 7. After receiving the departure command, the vehicle control unit 5 first controls the explosion-proof brake actuator to release the wheel parking lock, and then outputs a forward drive signal to the speed control module 8. The mine explosion-proof electric locomotive body 1 pulls the fully loaded mine traction carriage 12 to automatically leave the track below the ore discharge bin and head to the next transfer point. The entire ore discharge process is completed without any on-site operators participating.

[0045] (iv) Explanation of Explosion-proof and Safety Interlock Logic This embodiment features a two-level hardware interlock protection system with no manual bypass unlocking channel. Incomplete Interlock: When the alignment detection component 4 fails to transmit the car arrival signal, the internal program of the hopper control unit 6 locks the ore discharge gate actuator 3, preventing it from outputting an opening signal and thus preventing ore discharge when the locomotive has not stopped or is misaligned. Full warehouse interlock: When the material level detection component 10 detects that there is already ore inside the car compartment and the threshold is reached, the warehouse control unit 6 continuously locks the gate opening circuit to prevent repeated ore discharge and ore overflow. The standard for the complete machine product adopts JB / T 10772-2007 "General Technical Conditions for Narrow-gauge Overhead Line Locomotives in Mining and Industrial Areas", which is specifically designed for overhead line locomotives in non-explosive environments (gold mines, iron mines, limestone mines, etc., non-coal underground / open-pit).

[0046] Example 2: Alignment detection component 4 and car body material level detection component 10 replace Example 1 In this embodiment, the overall frame, silo control unit 6, vehicle control unit 5, wireless communication component 7, ore discharge process, and connection relationship are completely consistent with those in embodiment 1. Only the internal sensing components of the alignment detection component 4 and the car body material level detection component 10 are replaced. The assembly and electrical connection logic of the remaining components remain unchanged, and the same fully automatic ore discharge effect can be achieved.

[0047] Alignment detection component 4 replacement plan: The original explosion-proof laser rangefinder in the alignment detection component 4 is replaced with an explosion-proof ultrasonic rangefinder or a mining radar sensor; the original explosion-proof infrared alignment sensor is replaced with an explosion-proof proximity switch or an explosion-proof photoelectric sensor; after replacement, the sensing components are also installed in pairs on the roadway walls on both sides of the ore storage and discharge bin 2, and connected to the bin control unit 6 through the explosion-proof cable 13; the distance between the locomotive and the alignment status of the carriage is collected by the principles of sound waves, radar, and induction triggering. The graded speed adjustment and precise parking control logic of the on-board control unit 5 remains unchanged, and the alignment error is still controlled to ≤2cm.

[0048] Replacement plan for the material level detection component 10 in the carriage: The original explosion-proof ultrasonic level sensor is cancelled, and an explosion-proof laser level sensor or a car body load detection sensor is selected as the car body level detection component 10. When the car body load detection sensor is selected, the sensor is installed at the connection position between the mining traction car body 12 and the mining explosion-proof locomotive body 1 traction frame. The ore loading amount is calculated by collecting the total weight of the car body in real time. The weight / height data is transmitted to the silo control unit 6 in real time. After the preset full load threshold is reached, the ore discharge gate actuator 3 is automatically closed to realize the closed-loop control of the ore discharge amount.

[0049] This embodiment is applicable to mining roadways with extremely high dust concentrations and where optical probes are easily obscured by dust accumulation. It reduces the frequency of sensor cleaning and maintenance by relying on non-optical detection principles.

[0050] Example 3: Replacement of Example 3 with Ore Discharge Gate Actuator In this embodiment, all other components, assembly positions, electrical connections, and control processes are consistent with those in Embodiment 1, except that the internal power components and gate body structure of the ore discharge gate actuator 3 are replaced.

[0051] Replacement of explosion-proof drive actuator: Replace the original explosion-proof electric actuator with an explosion-proof hydraulic actuator or an explosion-proof pneumatic actuator; the chamber control unit 6 outputs an electrical signal to control the matching hydraulic solenoid valve and pneumatic solenoid valve, driving the actuator to complete the opening and closing of the gate; the explosion-proof hydraulic actuator is adapted to the roadway of the underground hydraulic station, and the explosion-proof pneumatic actuator is connected to the existing underground compressed air pipeline, relying on compressed air to provide driving power.

[0052] Gate body replacement: The straight-insertion sliding gate is replaced with a fan-shaped rotating gate; the push rod drives the fan-shaped gate to rotate around a fixed rotating shaft, and the flow area of ​​the ore discharge port is adjusted by the rotation angle to accurately control the ore falling flow rate and adapt to the large flow continuous ore discharge conditions.

[0053] The ore discharge gate actuator 3 is still assembled at the ore discharge port of the ore storage bin 2 and is electrically connected to the bin control unit 6 through the explosion-proof cable 13. It receives the opening and closing commands from the bin control unit 6, and the interlock protection logic and the ore discharge start and stop control logic remain unchanged.

[0054] Example 4: Wired bus communication replaces wireless communication components (7 examples) In this embodiment, the wireless communication component 7 is removed and replaced entirely with a wired communication component for mining. The structure, assembly, power supply, testing, and ore discharge process of the remaining components of the machine are exactly the same as in embodiment 1.

[0055] RS485 bus or CAN bus communication interfaces are installed at both ends of the hopper control unit 6 and the vehicle control unit 5 respectively. The hopper control unit 6 and the vehicle control unit 5 establish a wired two-way signal transmission link through a drag-resistant, explosion-proof shielded bus cable for mining. A bus cable winding and unwinding device is provided along the locomotive track. The communication cable is wound and unwound synchronously during the locomotive's operation to ensure continuous signal communication between the vehicle control unit 5 and the hopper control unit 6.

[0056] Electrical connection adjustment: The silo control unit 6 and the vehicle control unit 5 no longer integrate the wireless communication component 7. The silo end and the vehicle end are directly connected through the wired bus explosion-proof cable 13. The alignment and material level detection signals, locomotive speed regulation and braking commands, and ore discharge completion commands are all transmitted through the wired bus. The control logic, alignment process, and two-level interlocking program are completely consistent with Example 1.

[0057] This embodiment is applicable to mining scenarios where underground roadways have dense metal support, severe metal ore body shielding, attenuated wireless signals, and unstable wireless transmission.

[0058] Example 5: An example of replacing a separate control unit with an integrated explosion-proof main control unit. In this embodiment, the independent separate compartment control unit 6 and vehicle-mounted control unit 5 are eliminated and integrated into an integrated explosion-proof main control unit. The structures of the remaining detection components, ore discharge gate actuator 3, speed control module 8, explosion-proof braking actuator, and mine explosion-proof power supply module 11 remain unchanged.

[0059] The integrated explosion-proof main control unit is a large explosion-proof enclosure, sealed and fixedly installed on the side wall of the ore storage and discharge bin 2; the integrated explosion-proof main control unit extends downward through long-distance explosion-proof shielded cables and is electrically connected to the speed control module 8 and the explosion-proof braking actuator; the alignment detection component 4, the car body material level detection component 10, and the ore discharge gate actuator 3 are directly connected to the integrated explosion-proof main control unit through the explosion-proof cable 13; the whole machine eliminates the wireless communication component 7, eliminating the need for wireless signal transmission and reception.

[0060] Signal interaction and operation process: The integrated explosion-proof main control unit directly collects signals from the alignment detection component 4 and the car body material level detection component 10, and sends deceleration, braking and departure commands directly to the speed control module 8 and the explosion-proof braking execution unit through a long cable; after the ore is discharged, it directly outputs the driving command to drive the locomotive away. The entire interlocking control logic and automatic operation steps are completely consistent with those in Example 1.

[0061] This embodiment is suitable for mining scenarios with small underground mines, short track distances, low wiring costs, and no need for wireless communication.

[0062] Example 6: Replacement of Explosion-proof Braking Actuator Example In this embodiment, all other components, assembly methods, signal connections, and operating procedures are the same as in Embodiment 1, except that the internal braking structure of the explosion-proof braking actuator is replaced.

[0063] The original electromagnetic braking structure is replaced with a hydraulic braking structure or a pneumatic braking structure; the hydraulic braking system is equipped with an integrated explosion-proof hydraulic pump to provide braking force, and the pneumatic braking system is connected to the underground compressed air system; the vehicle control unit 5 outputs a switch signal through the explosion-proof cable 13 to control the brake valve group, so as to realize wheel locking for parking and brake release for driving; after the replacement, the precise parking alignment effect and response speed are exactly the same as the electromagnetic braking structure, and it is suitable for underground roadways without matching DC power supply and complete compressed air / hydraulic systems.

[0064] Example 7: Specific Example for Retrofitting Existing Mining Equipment This embodiment is an upgrade and renovation plan for existing old electric locomotives and ore storage and discharge bins 2. It does not require replacing the original explosion-proof mining electric locomotive body 1 and the main structure of the ore storage and discharge bins 2. It only requires adding the complete set of automated linkage accessories of this utility model. The assembly and connection relationship of each component is as follows: An alignment detection component 4 was installed on the existing roadway wall, and an explosion-proof cable 13 was laid to connect to the newly added silo control unit 6; the old manual gate was removed from the existing ore discharge port, and the ore discharge gate actuator 3 was installed, with the cable connected to the silo control unit 6; a car body material level detection component 10 was hoisted on the inside of the ore discharge port. An on-board control unit 5 is added to the cab of the existing explosion-proof mining locomotive body 1, a speed control module 8 is integrated into the locomotive drive system, and an explosion-proof braking actuator is added to the position of the traveling wheels. The three are connected to each other through an explosion-proof cable 13. A ore storage and ore discharge bin 2 side wall is equipped with a bin control unit 6 and a mine explosion-proof power supply module 11, and two isolated explosion-proof power supply cables are laid to supply power to all electrical components on the vehicle side and bin side, respectively. Debug the two-way signal transmission program of wireless communication component 7, and input the two-level interlock control program for positioning speed regulation and full-load shutdown. After the modification, the entire device structure, signal interaction, and fully automated operation process are completely consistent with Example 1, without the need to replace the original large main equipment in the mine, which greatly reduces the investment cost of upgrading mine equipment.

[0065] The beneficial effects of the technical solution of this utility model are: 1. Precise automatic alignment eliminates safety hazards related to ore spillage and vehicle operation. This utility model adopts a dual explosion-proof alignment detection structure of ranging + infrared, which automatically collects the vehicle position and controls the locomotive deceleration and braking in a closed loop. The alignment error can be controlled within 2cm, ensuring that the ore discharge port and the traction car are completely aligned. From the hardware structure, it eliminates ore spillage and car unbalanced loading, reduces the amount of manual ore cleaning work, avoids locomotive derailment and side rollover accidents, and greatly improves the safety of equipment operation.

[0066] 2. The entire machine operates in both directions, significantly improving the efficiency of underground ore feeding and transfer. Option 1 uses a dual-controller system with wireless two-way communication for both the vehicle and the warehouse, while Option 2 uses an integrated main controller with wired direct connection to the locomotive's execution components. Both options overcome the structural defects of existing technologies where the locomotive and the ore discharge gate are completely independent and isolated, eliminating the need for manual announcements and manual step-by-step operations. The ore discharge process is continuously automated, with no invalid waiting time for the locomotive, and the ore discharge and transfer volume per shift is significantly increased.

[0067] 3. Dual detection closed-loop protection ensures precise and controllable ore discharge. This utility model is equipped with two sets of protection logics: vehicle arrival detection and car body material level detection. The ore discharge action will only be initiated after the car body is accurately aligned and in place. When the ore in the car body reaches the preset full load threshold, the gate will automatically close, completely eliminating the problems of premature ore discharge, spillage, and waste. This maximizes the utilization of the car body's loading volume and avoids excessive ore impact that could damage the gate, car body, and other equipment, thus extending the service life of the entire machine.

[0068] 4. The entire process is unmanned, reducing the risks of manual operations underground. The entire system achieves fully automated driving and positioning, automatic ore discharge, and automatic departure. No on-site personnel are required to monitor the ore discharge operation underground; only remote monitoring from the ground is needed to complete the operation. This reduces the number of personnel working underground, avoids the risks of visual fatigue and operational errors caused by prolonged exposure to dust and narrow tunnels, and lowers the probability of personal injury from falling rocks and mechanical collisions.

[0069] 5. All components are explosion-proof and adaptable to harsh working conditions in underground mines. All sensors, control units, and actuators adopt a mine-grade explosion-proof design, complying with the GB3836 national standard for explosion protection, and are suitable for underground gas and high-dust hazardous working environments. The equipment is installed in locations that avoid areas directly exposed to dust, resulting in a low failure rate and long maintenance cycles, and can meet the needs of 24-hour continuous mining operations in mines.

[0070] 6. Modular design, highly versatile, and low modification cost. The split control layout can be directly installed on existing old-style mining locomotives and fixed ore storage and discharge bins without replacing the original main equipment; at the same time, it is equipped with multiple alternative implementation methods such as communication, sensors, drive push rods, and braking mechanisms, which can be flexibly selected according to different mine roadway conditions and underground supporting power systems, and are suitable for various metal and non-metal mine underground rail-guided ore discharge scenarios.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A fully automatic ore-discharging linkage device for mining locomotives, characterized in that, It includes the main body of the explosion-proof electric locomotive for mining (1), the ore storage and discharge bin (2), the ore discharge gate actuator (3), the bin control unit (6), the vehicle control unit (5), the wireless communication component (7), the alignment detection component (4), and the car body material level detection component (10). The ore storage and discharge bin (2) is fixedly installed above the underground roadway track, and the ore discharge gate actuator (3) is assembled at the ore discharge port at the bottom of the ore storage and discharge bin (2); the bin body control unit (6) is electrically connected to the ore discharge gate actuator (3), the alignment detection component (4), and the car body material level detection component (10); The mining explosion-proof locomotive body (1) is equipped with a mining traction car (12), an on-board control unit (5), a speed control module (8), and an explosion-proof braking execution unit. The on-board control unit (5) is electrically connected to the speed control module (8) and the explosion-proof braking execution unit, respectively. The wireless communication component (7) includes a cargo body wireless terminal and a vehicle-mounted wireless terminal. The cargo body wireless terminal is integrated into the cargo body control unit (6), and the vehicle-mounted wireless terminal is integrated into the vehicle-mounted control unit (5). The cargo body control unit (6) and the vehicle-mounted control unit (5) achieve bidirectional signal transmission through the wireless communication component (7). The alignment detection component (4) is used to collect the position data of the mine explosion-proof locomotive body (1) and the mine traction car (12) relative to the ore discharge port in real time and transmit it to the cargo control unit (6). The cargo control unit (6) sends the position data to the vehicle control unit (5) via the wireless communication component (7). The vehicle control unit (5) controls the speed regulation module (8) to adjust the speed and the explosion-proof braking execution unit to brake according to the position data, so as to realize the automatic and accurate alignment of the car and the ore discharge port. The material level detection component (10) is used to collect the material accumulation height inside the mining traction car (12) in real time and transmit it to the silo control unit (6); after receiving the car arrival signal, the silo control unit (6) drives the ore discharge gate actuator (3) to start ore discharge, and when the material level detection component (10) reports that the material has reached the preset full load threshold, it drives the ore discharge gate actuator (3) to close and stop ore discharge; after the ore discharge is completed, the silo control unit (6) sends a departure command to the vehicle control unit (5) through the wireless communication component (7), and the vehicle control unit (5) controls the explosion-proof brake actuator to release the brake and the speed control module (8) to drive the locomotive to leave automatically.

2. The fully automatic ore discharge linkage device for mining locomotives according to claim 1, characterized in that, The alignment detection components (4) are installed in pairs on the roadway walls on both sides of the ore storage and discharge bin (2), including an explosion-proof distance sensor and an explosion-proof infrared alignment sensor; the explosion-proof distance sensor adopts any one of a laser distance sensor, an ultrasonic distance sensor or a mining radar sensor, and is used to detect the horizontal distance between the locomotive and the discharge bin; the explosion-proof infrared alignment sensor adopts any one of an infrared induction switch, an explosion-proof proximity switch or an explosion-proof photoelectric sensor, and is used to verify the vertical alignment accuracy between the car and the discharge opening.

3. The fully automatic ore discharge linkage device for mining locomotives according to claim 1, characterized in that, The material level detection component (10) of the car body is any one of the explosion-proof ultrasonic material level sensor, explosion-proof laser material level sensor or car body load detection sensor. The material level detection component (10) of the car body is fixedly installed on the inside of the ore discharge port of the ore storage bin (2) to monitor the filling height of the ore inside the car body in real time.

4. The fully automatic ore discharge linkage device for mining locomotives according to claim 1, characterized in that, The ore discharge gate actuator (3) includes a gate body and an explosion-proof drive push rod. The explosion-proof drive push rod is an explosion-proof electric push rod, an explosion-proof hydraulic push rod, or an explosion-proof pneumatic push rod. The gate body is a straight-insertion gate or a fan-shaped rotating gate. The explosion-proof drive push rod is electrically connected to the bin control unit (6) and is used to drive the gate body to reciprocate along the guide rail to adjust the opening and closing state of the ore discharge port and the ore discharge flow rate.

5. The fully automatic ore discharge linkage device for mining locomotives according to claim 1, characterized in that, The wireless communication component (7) can be replaced by a wired bus communication component for mining. The wired bus communication component adopts RS485 bus or CAN bus. The hull control unit (6) and the vehicle control unit (5) establish a wired bidirectional signal transmission link through an explosion-proof cable (13).

6. The fully automatic ore discharge linkage device for mining locomotives according to claim 1, characterized in that, The explosion-proof braking actuator adopts an electromagnetic braking structure, a hydraulic braking structure or a pneumatic braking structure, and is directly mounted on the traveling wheel of the mine explosion-proof electric locomotive body (1). It receives instructions from the vehicle control unit (5) to complete the parking brake and release braking actions.

7. The fully automatic ore discharge linkage device for mining locomotives according to claim 1, characterized in that, It also includes a mine explosion-proof power supply module (11), which is divided into two power supply branches. The first power supply branch supplies power to the vehicle control unit (5), the vehicle terminal of the wireless communication component (7), the speed control module (8), and the explosion-proof braking actuator. The second power supply branch supplies power to the silo control unit (6), the alignment detection component (4), the silo material level detection component (10), and the ore discharge gate actuator (3). All power supply lines use mine explosion-proof cables (13), and the entire set of electrical components complies with the GB3836 mine explosion-proof standard.

8. The fully automatic ore discharge linkage device for mining locomotives according to claim 1, characterized in that, The alignment control accuracy error of the alignment detection component (4) is ≤2cm.

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