CN-122009951-A - Energy-saving mechanical transportation device and method for mining operation

CN122009951ACN 122009951 ACN122009951 ACN 122009951ACN-122009951-A

Abstract

The invention relates to the technical field of mining machinery and discloses an energy-saving mechanical transportation device and method for mining operation. The energy-saving mechanical transportation device for mining operation comprises a main body frame and a hoisting mechanism arranged on the main body frame, wherein the hoisting mechanism is used for hoisting a heavy object to the main body frame and comprises a swing arm, a driving module for driving the swing arm to rotate and swing in a pitching mode and a traction module arranged on the swing arm, and the traction module comprises a pulley block, a traction chain, a length adjusting unit, a pulley adjusting unit sensing unit and a control unit. The invention constructs a dynamic tensioning closed-loop control system by adopting the highest point pulley capable of being axially and intelligently adjusted and matching with a multi-sensor real-time sensing and self-adaptive control algorithm, solves the problem of unbalanced chain tension caused by angle and load change of the traditional cantilever hoisting equipment, and reduces risks of chain dropping, tooth jumping and falling by reducing tension fluctuation of the chain.

Inventors

MENG QINGLIN
LI HONGBO
LIU YU
ZHANG XUEDONG
LI QIANG
WANG MING
LIU XUSHENG
HAN GUANG
Ji Quanjin
CAO ZHIQIANG
CAO YUJIA

Assignees

辽宁威跃集团机械制造有限公司

Dates

Publication Date: 20260512
Application Date: 20260123

Claims (10)

1. The energy-saving mechanical transportation device for mining operation is characterized by comprising a main body frame and a hoisting mechanism arranged on the main body frame; The hoisting mechanism is used for hoisting a heavy object to the main body frame and comprises a swing arm, a driving module for driving the swing arm to rotate and swing in a pitching mode and a traction module arranged on the swing arm; the traction module includes: The pulley block is arranged at the tail end of the swing arm and comprises at least three pulleys; The traction chain is wound on the pulley block, and the bottom end of the traction chain is connected with a hook; the length adjusting unit is fixedly arranged on the swing arm, is connected with the top end of the traction chain and is used for adjusting the height of the hook by retracting the traction chain; The pulley adjusting unit is used for driving one pulley with the highest position in the pulley block when the swing arm is in a horizontal reference state to move along the axial direction of the swing arm; The sensing unit is used for collecting working condition parameters related to chain tension in real time and at least comprises a tension sensor for detecting the real-time tension of the chain, an angle sensor for detecting the pitching angle of the swing arm and a load sensor for detecting the weight of a lifting load; the control unit is respectively connected with the sensing unit and the pulley adjusting unit in a signal way and is configured to: Receiving real-time data from a sensing unit; determining the target tension of the traction chain under the current working condition through a preset dynamic target tension calculation model based on the pitching angle of the swing arm and the weight of the lifting load; comparing the real-time tension of the traction chain with the target tension, and calculating the tension deviation; when the tension deviation exceeds a preset threshold value, calculating the axial adjustment quantity required by the highest pulley according to the deviation; And outputting a control instruction to the pulley adjusting unit, and driving the highest point pulley to axially move along the swing arm by an adjusting amount so as to adjust the tension of the traction chain to a target range.
2. The energy-saving type mechanical transportation device for mining operations according to claim 1, wherein the pulley adjusting unit comprises a linear guide rail arranged along an axial direction of the swing arm, a slider slidingly engaged with the linear guide rail, and a servo driving member for driving the slider to slide, and the highest point pulley is mounted on the slider.
3. The energy-saving type mechanical transportation device for mining operation according to claim 2, wherein the servo driving member comprises a servo motor and a ball screw pair connected with an output end of the servo motor, and the sliding block is fixedly connected with a nut of the ball screw pair.
4. The energy-saving type mechanical transportation device for mining operation according to claim 1, wherein the tension sensor is installed on a traction chain section between the highest point pulley and the length adjusting unit, the angle sensor is installed at a hinge joint of the swing arm and the driving module, and the load sensor is installed at a connection of the hook and the traction chain.
5. An energy efficient mining machine transportation device according to claim 2, wherein the sensing unit further comprises a position sensor for detecting the real-time position of the slider; The control unit is further configured to receive a feedback signal from the position sensor to perform position closed loop verification after the driving slider moves, and/or to acquire real-time tension of the traction chain again to perform tension closed loop verification.
6. The energy-saving type mechanical transportation device for mining operation according to claim 1, wherein the length adjusting unit is a servo cylinder fixedly installed on the swing arm, and the telescopic end of the length adjusting unit is connected with the top end of the traction chain.
7. The energy efficient mining machine transportation device according to claim 1, wherein the driving module includes a rotating base hinged to the swing arm and a servo hydraulic cylinder mounted between the rotating base and the swing arm.
8. An energy efficient mining machine transportation device according to claim 1, wherein the pulley block is composed of three pulleys, and the three pulleys are arranged in a triangle, and the highest point pulley is located at the apex angle of the triangle.
9. The energy-efficient mining machine transportation device according to claim 1, wherein the dynamic target tension calculation model is a functional relationship in which a swing arm pitch angle and a swing load weight are independent variables and a target tension is a dependent variable.
10. A hoisting method of an energy-saving type mechanical transportation device for mining operation, using the energy-saving type mechanical transportation device for mining operation according to any one of claims 1 to 9, characterized by comprising the following operation steps: s100, starting the conveying device, adjusting the swing arm to an operation position through the driving module, and lowering the traction chain and the hook through the length adjusting unit; s200, after the load is lifted, acquiring the pitching angle of a swing arm, the weight of the lifted load and the real-time tension of a traction chain in real time through a sensing unit; S300, the control unit determines the target tension of the traction chain through a dynamic target tension calculation model based on the pitching angle and the load weight; s400, the control unit calculates the deviation between the real-time tension and the target tension and judges whether the deviation exceeds an allowable range; S500, if the traction chain tension exceeds the preset value, the control unit calculates the pulley adjustment quantity according to the deviation and controls the pulley adjustment unit to drive the highest point pulley to axially move along the swing arm so as to adjust the traction chain tension; and S600, after adjustment, checking through a sensing unit, and if the tension degree does not reach the target range, repeating the steps S400-S500 for iterative adjustment until the requirement is met.

Description

Energy-saving mechanical transportation device and method for mining operation Technical Field The invention relates to the technical field of mining machinery, in particular to an energy-saving mechanical transportation device and method for mining operation. Background In mine operation, the crawler-type carrier is a novel carrier designed and manufactured for carrying and transporting underground hydraulic supports of coal mines, can walk on non-hardened roads, improves production efficiency, reduces production cost, lightens labor intensity of workers and reduces safety risks. A cantilever crane is typically provided on the truck, and the loading and unloading of the material is indicated by the cantilever crane. Such devices typically include a swing arm that can rotate and pitch on a frame, and a hoist mechanism consisting of a pulley block and a traction chain. In actual operation, when the swing arm performs pitching motion or the lifting load fluctuates, the effective working length and the tensioning state of the traction chain can change dynamically, so that the problem of overtightening or loosening of the chain is caused. In the prior art, a fixed pulley block is adopted to carry out static compensation in a mechanical tensioning wheel assisting mode. However, the compensation mode cannot adapt to the working condition of dynamic change in real time, and has low adjustment precision and response lag. Excessive tightening of the chain can increase transmission resistance and aggravate abrasion of the chain wheel and the chain, and excessive loosening of the chain can easily cause tooth jump and chain disengagement, even cause lifting and shaking and high-altitude falling, and possibly threaten operation safety and efficiency. Therefore, what is needed is a mine transportation device that can intelligently and real-time adjust the chain tension to adapt to complex dynamic conditions and has both energy conservation and high reliability. Disclosure of Invention The invention aims to provide an energy-saving mechanical transportation device and method for mining operation, which solve the technical problems. The invention solves the technical problems by the following technical proposal: the invention provides an energy-saving mechanical transportation device for mining operation, which comprises a main body frame and a hoisting mechanism arranged on the main body frame, wherein the hoisting mechanism comprises a main body frame and a hoisting mechanism; The hoisting mechanism is used for hoisting a heavy object to the main body frame and comprises a swing arm, a driving module for driving the swing arm to rotate and swing in a pitching mode and a traction module arranged on the swing arm; the traction module includes: The pulley block is arranged at the tail end of the swing arm and comprises at least three pulleys; The traction chain is wound on the pulley block, and the bottom end of the traction chain is connected with a hook; the length adjusting unit is fixedly arranged on the swing arm, is connected with the top end of the traction chain and is used for adjusting the height of the hook by retracting the traction chain; The pulley adjusting unit is used for driving one pulley with the highest position in the pulley block when the swing arm is in a horizontal reference state to move along the axial direction of the swing arm; The sensing unit is used for collecting working condition parameters related to chain tension in real time and at least comprises a tension sensor for detecting the real-time tension of the chain, an angle sensor for detecting the pitching angle of the swing arm and a load sensor for detecting the weight of a lifting load; the control unit is respectively connected with the sensing unit and the pulley adjusting unit in a signal way and is configured to: Receiving real-time data from a sensing unit; determining the target tension of the traction chain under the current working condition through a preset dynamic target tension calculation model based on the pitching angle of the swing arm and the weight of the lifting load; comparing the real-time tension of the traction chain with the target tension, and calculating the tension deviation; when the tension deviation exceeds a preset threshold value, calculating the axial adjustment quantity required by the highest pulley according to the deviation; And outputting a control instruction to the pulley adjusting unit, and driving the highest point pulley to axially move along the swing arm by an adjusting amount so as to adjust the tension of the traction chain to a target range. Preferably, the pulley adjusting unit comprises a linear guide rail arranged along the axial direction of the swing arm, a sliding block in sliding fit with the linear guide rail and a servo driving piece for driving the sliding block to slide, and the highest point pulley is arranged on the sliding block. Preferably, the servo driving piece comprises