CN106672771B - A kind of flexible guide rail rope beat active control system and method - Google Patents
A kind of flexible guide rail rope beat active control system and method Download PDFInfo
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- CN106672771B CN106672771B CN201611213514.0A CN201611213514A CN106672771B CN 106672771 B CN106672771 B CN 106672771B CN 201611213514 A CN201611213514 A CN 201611213514A CN 106672771 B CN106672771 B CN 106672771B
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- bar mechanism
- rope
- electromagnet
- control system
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 151
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 19
- 241000269793 Cryothenia peninsulae Species 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 7
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 7
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 229910052742 iron Inorganic materials 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/02—Hoistway equipment mounted in head-frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/02—Guideways; Guides
Landscapes
- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
- Types And Forms Of Lifts (AREA)
Abstract
A kind of flexible guide rail rope beat active control system and method, belong to Guide rail rope control system and method.The upper end of the system car is connected with hoisting rope, and hoisting rope passes through driving wheel, two car guide ropes are symmetrically respectively connected in the top and bottom of car, and car elasticity collision block is also associated in the junction of car and car guide rope；There are four four-bar mechanisms, is connect respectively with four car guide ropes, and the other end of four-bar mechanism is connected on well enclosure, and an electromagnetism moving system is respectively connected on the well enclosure between upper and lower two four-bar mechanisms；It is also associated with connecting rope and four-bar mechanism drawstring in four four-bar mechanisms and four car guide rope junctions, the connecting rope other end is connect with connecting rope leading block, and the other end of four-bar mechanism drawstring is connect with drawstring leading block；Electric-control system is connect with electromagnetism action system electrical.It is installed in narrow well enclosure, be suitable for the car of different height makes the more stable safety of the operation of car with electromagnetism motion control system.
Description
Technical field
The present invention relates to a kind of flexible guide rail rope beat active control system and method, be particularly suitable for hoisting container along
The beat of guide rope inhibits in operational process above and below flexible guiding rope.
Background technology
With being stepped up for seam mining depth, the cage guide form of underground Lifting Convey equipment is from rigid cage guide gradually mistake
It crosses to flexible cage guide, flexible guiding rope is due to having saving material, the low and simple in structure feature of economic cost to be used for underground
The guide device of promotion.Winding shaft pre-tightens guide rope using tensioning apparatus, as shaft depth increases, to ensure safety, leads
Increase to the preload difficulty of rope, cannot ensure that every 100m steel wire tensionings reach defined and want not less than 1t with safety coefficient simultaneously
It asks.Steel wire rope pretightning force cannot be guaranteed that then the lateral stiffness of cable guide cannot be guaranteed, guide rope beat is difficult to inhibit, and deep-well carries
Equipment safety stationarity is risen to be difficult to ensure.
Invention content
Technical problem：The purpose of the present invention is overcoming shortcoming in the prior art, it is inclined to provide a kind of flexible guide rail rope
Active control system and method are put, the car to solve the well-bucket of mine depth vertical, cage and mine elevator is led along cable guide
To when beat inhibit problem.
Technical solution：The flexible guide rail rope beat active control system of the present invention, it includes connecting rope leading block, connection
Rope, four-bar mechanism drawstring, drawstring leading block, electromagnetism moving system, car, driving wheel, electric-control system and four-bar mechanism；It is described
The upper end of car is connected with hoisting rope, and hoisting rope passes through driving wheel, two sedan-chairs are symmetrically respectively connected in the top and bottom of car
Compartment guide rope is connected with car elasticity collision block in the junction of car and car guide rope；There are four the four-bar mechanisms, on
Lower symmetrical and structure is identical to be located at left and right sides of well enclosure, and one end of four-bar mechanism is connect with four car guide ropes, the other end
It is connected on well enclosure, an electromagnetism moving system is respectively connected on the well enclosure between upper and lower two four-bar mechanisms；Four four
Linkage and four car guide rope junctions are respectively connected with connecting rope and four-bar mechanism drawstring, the other end of connecting rope and connection
Leading block of restricting connects, and the other end of four-bar mechanism drawstring is connect with drawstring leading block；Electric-control system and electromagnetism moving system
Electrical connection.
The electric-control system includes the relay being connected with electromagnet, the controller and controller being connected with relay
Connected car status signal picker, the elevator positive and negative rotation sensor being connected respectively with signal picker and depth signal pass
Sensor, and the elevator and depth indicator that are respectively connected with elevator positive and negative rotation sensor and depth signal sensor；Institute
The controller stated is connected with the screw drive motor of electromagnetism moving system.
The four-bar mechanism includes cylinder body supporting rack, is hinged on the cylinder body on cylinder body supporting rack is built in cylinder body
Piston rod, effect and cylinder interior and piston rod bottom spring and the clamp armed lever on the armed lever supporting rack that is hinged on,
Clamp armed lever free end is equipped with U-shaped card head, and U-shaped card head is equipped with spring collision block.
The electromagnetism moving system includes the screw drive motor being fixedly mounted on well enclosure, and screw drive motor is logical
It crosses shaft coupling and is connected with the lead screw being fixedly mounted on well enclosure, lead screw is equipped with feed screw nut for linear motion, leading screw spiral shell
Mother is equipped with nut set, and nut is put on equipped with the screw nut sleeve idler wheel with mobile feed screw nut movement, and the side wall of nut set is radial
Equipped with electromagnetic touch head, the electromagnet parallel with feed screw nut is connected with by electromagnetic touch head, electromagnet is equipped with along electromagnetism
The electromagnet idler wheel of iron guide groove operation.
The nut set includes electromagnetic touch head, and electromagnetic touch head is located at the side wall radial position of nut set, passes through electricity
Magnetic contact head is connected with the electromagnet parallel with feed screw nut.
The leading screw guide groove includes connection component, guide groove plate and idler wheel fixed card slot；In the upper end of connection component
It is connected with guide groove plate, there is idler wheel fixed card slot on guide groove plate.
The prosecutor method of the flexible guide rail rope beat active control of the present invention, includes the following steps：
A. mine elevator is powered, car system initialization before operation；
When car is located at well head, the upper four-bar mechanism opening above electromagnetic control system is detached with Guide rail rope, position
Lower four-bar mechanism closure below electromagnetic control system is contacted with Guide rail rope；
When car is located at shaft bottom, it is located at the upper four-bar mechanism above electromagnetic control system and is closed, contacted with Guide rail rope, position
Lower four-bar mechanism opening below electromagnetic control system is detached with Guide rail rope；And by controller control motor operating, electromagnetism
Iron obtains the electric electromagnet contact head for making nut cover and the iron core of electromagnet is attracted；
B. when car is run, depth signal is transmitted to depth instruction by the depth signal sensor on car in real time
Device, depth indicator indicate the depth location of car；Elevator positive and negative rotation sensor on car in real time by uplink or
Downlink signal is transferred in signal picker, controller by the elevator positive and negative rotation signal control motor of signal picker just
Reversion, and pass through the start and stop of the depth location of car control screw drive motor；Driving lead screw turns when screw drive motor operates
Dynamic, feed screw nut, which moves, in nut set makes electromagnetic actuation, touches head with the electromagnet that fortune is connected with nut set and makees directly
Line moves；Implement normal condition control and runaway condition control.
The normal condition rate-determining steps are：
The depth signal of car in signal picker is converted into the bottom resilient collision block bottom end for car apart from well head
Distance x；Two elastic collision block distances mounted on car upper and lower ends are h；Four-bar mechanism above electromagnetism moving system is closed
When, the contact position of U-shaped card head and guide rope is L apart from pithead position0；Four-bar mechanism below electromagnetism moving system is closed
When, the contact position of U-shaped card head and guide rope is L apart from pithead position1, and require：H ＜ L1-L0；Controller (11-4)
Method is as follows to be judged to the signal of signal picker：
A. when car downlink, if L0＜ x-h ＜ L1, controller control electromagnet obtains electric, the upper electromagnetism of iron core and nut set
Iron contact head is attracted, and as feed screw nut moves downward under motor driving, lower end four-bar mechanism is in the open shape of position A
State, upper four-bar mechanism are in the closed state of position B；If x-h ＜ L0Or x-h ＞ L1, controller (11-4) is failure to actuate；
B. when car uplink, if L0＜ x ＜ L1, controller control electromagnet obtains electric, the upper electromagnet of iron core and nut set
Contact head is attracted, and as feed screw nut moves upwards under motor driving, lower end four-bar mechanism is in the closed state of position B,
Upper four-bar mechanism is in the opening state of position A；If x ＜ L0Or x ＞ L1, controller (11-4) is failure to actuate.
The runaway condition rate-determining steps：
When in electric-control system motor or magnet control failure, the rotation of the four-bar mechanism up and down of the left and right sides is not by electricity
The control of magnetic force, electromagnet) in freely unfettered state；
A. when car downlink, the lower end elasticity collision block of car guide sleeve is touched with the elastic collision block generation of lower four-bar mechanism
It hits, lower end four-bar mechanism U-shaped card head rotates down, and drawstring pulls down electromagnet, and drawstring is driven to pull down upper end four-bar mechanism
Clamp, upper end four-bar mechanism are in closed state position B, and lower end four-bar mechanism is in the opening state of position A；
B. when car uplink, car elasticity collision block and this collision of upper end four-bar mechanism elasticity collision block, upper end four-bar mechanism
Opening state in position A, lower end four-bar mechanism are in the closed state of position B.
Advantageous effect, as the above scheme is adopted, two four-bar mechanisms symmetrical above and below respectively by a drawstring with
Electromagnet among two four-bar mechanisms is connected, and a connecting rope one end is connected with upper end four-bar mechanism clamp armed lever,
One end is connected with lower end four-bar mechanism clamp armed lever, and is oriented to by each two leading blocks up and down, forms Opposite direction connection circuit.
Before motor operating, system initialization, controller controls electromagnet and is attracted with screw nut sleeve.Subsequent controller controls driving motor
Rotation pulls rope movement, realizes the pendulum synchronous up and down of two four-bar mechanisms up and down with the circuit that connecting rope is constituted by drawstring
Dynamic movement.
The flexible guide rail rope beat Active Control Method is that a set of beat active control system is realized to side guiding
The beat of rope inhibits, and in underground work, two systems is selected to be symmetrically installed as one group of work.With the increasing of shaft depth
Add, the group number of the beat active control system can be set according to actual needs.
When car is in pithead position, electromagnet moves upwards under motor driving, and the institute for being arranged in hoistway is flexible
Guide rail rope beat active control system and the lower end four-bar mechanism clamp armed lever of method are rotated up state in the close position, lead to
Cross connecting rope circuit pulls upper end four-bar mechanism clamp armed lever to rotate up and state in an open position from side, and each leisure
It is locked in the position under the resilient force of precompressed spring cylinder.
When car is in bottom hole location, electromagnet is moved downward by motor driving, and the institute for being arranged in hoistway is flexible
Guide rail rope beat active control system and the upper end four-bar mechanism clamp armed lever of method rotate down state in the close position, lead to
Cross connecting rope circuit pulls lower end four-bar mechanism clamp armed lever to be rotated down and state in an open position from side, and each leisure
It is locked in the position under the resilient force of precompressed spring cylinder.
In two four-bar mechanisms symmetrical above and below of well enclosure, and the Electromagnetic Control among two four-bar mechanisms is set
System, three connects and composes circuit by three ropes, and realizes two four bars to the control of electromagnet by electric-control system
The synchronous hunting of mechanism moves.The beat active control system is installed in narrow well enclosure space, is suitable for difference
The car of height dimension, and electromagnetism motion control system is used, car is implemented along in operational process above and below flexible guiding rope
The beat of guide rope is inhibited, the more stable safety of the operation of car is made.
Advantage：
(1) flexible guide rail rope beat active control system of the present invention and method are used and reasonable Arrangement as needed is in hoistway
Wall can realize that the beat of mine elevator hoistway guide rope inhibits；
(2) flexible guide rail rope beat active control system of the present invention and method have been connected by two four-bar mechanisms by rope
At movement, therefore the car of the applicable different height dimensional parameters of the system；
(3) when flexible guide rail rope beat active control system and method work normally, according to container operating state signal, come
It controls electromagnet and generates electromagnetic force and motion control is carried out to upper and lower two four-bar mechanisms, avoid the direct of car and U-shaped card head
Collision, eliminates the impaction lesion to mechanism and car；Further, it when magnet control failure, is designed on U-shaped card head
Elastic collision block can buffer the impact force of U-shaped card head collision block and container, and degree of injury is preferably minimized；
(4) flexible guide rail rope beat active control system and method for the invention are longitudinally arranged in hoistway, in lateral cloth
Set that the space occupied is small, without increasing additional hoistway space size；
(5) two four-bar mechanisms up and down used are simple in structure, easy to process and dismounting.
Description of the drawings
Fig. 1 is the flexible guide rail rope beat active control system structural schematic diagram of the present invention；
Fig. 2 is the flexible guide rail rope beat active control system electric-control system schematic diagram of the present invention；
Fig. 3 is the structural schematic diagram of the electromagnetism moving system of the present invention；
Fig. 4 is the four-bar mechanism connection diagram of the present invention；
Fig. 5 is the nut nested structure schematic diagram of electromagnetism moving system of the present invention；
Fig. 6 (a) is the leading screw guide groove connection diagram of the present invention；；
Fig. 6 (b) is the idler wheel fixed card slot structural schematic diagram of leading screw guide groove of the present invention
In figure：1- well enclosures；2,15,16,17- connecting rope leading blocks；3- connecting ropes；The upper four-bar mechanism drawstrings of 4-；5-
Drawstring leading block；6- electromagnetism moving systems；7- cars；Four-bar mechanism drawstring under 8-；9- car guide ropes；10- driving wheels；
11- electric-control systems；12- hoisting ropes；13- four-bar mechanisms；14- car elasticity collision blocks；The lower-lefts 15- connecting rope leading block；16- is right
Upper connecting rope leading block；The bottom rights 17- connecting rope leading block；
6-1- leading screw end bearings, 6-2- ball screws, 6-3- leading screw guide grooves, 6-4- screw nut sleeve idler wheels, 6-5-
Nut set, 6-6- feed screw nuts, 6-7- nuts and nut set connection bolt and nut, 6-8- leading screw front supports, 6-9- guide screw locks
Tight nut and washer, 6-10- shaft couplings, 6-11- screw drive motors, 6-12- electromagnet guide grooves, 6-13- electromagnet, 6-
14- electromagnet idler wheels；
11-1- elevators, 11-2- elevator positive and negative rotation sensors, 11-3- signal pickers, 11-4- controllers, 11-5-
Relay, 11-6- depth signal sensors, 11-7- depth indicators；
13-1- cylinder body supporting racks, 13-2- springs, 13-3- cylinder bodies, 13-4- piston rods, 13-5- connecting rope fag ends fix dress
It sets, 13-6- clamp armed levers, 13-7- armed lever supporting racks, 13-8-U type clamps, 13-9- elasticity collision blocks, 13-10- drawstring fag ends are solid
Determine device；
6-3.1- connection components, 6-3.2- guide groove plates, 6-3.3- idler wheel fixed card slots；6-5.1- electromagnet contact heads.
Specific implementation mode
The flexible guide rail rope beat active control system of the present invention, including connecting rope leading block 2, connecting rope 3, four bar machines
Structure drawstring 4, electromagnetism moving system 6, car 7, car guide rope 9, driving wheel 10, electric-control system 11, carries drawstring leading block 5
Rise rope 12, four-bar mechanism 13 and car elasticity collision block 14；The upper end of car 7 is connected with hoisting rope 12, and hoisting rope 12 passes through driving
Wheel 10, is symmetrically respectively connected with two car guide ropes 9, in the company of car 7 and car guide rope 9 in the top and bottom of car 7
The place of connecing is also associated with car elasticity collision block 14；There are four four-bar mechanisms 13, is connect respectively with four car guide ropes 9, four bar machines
The other end of structure 13 is connected on well enclosure 1, and an electromagnetism is respectively connected on the well enclosure 1 between upper and lower two four-bar mechanisms 13
Moving system 6；It is also associated with connecting rope 3 and four-bar mechanism in four four-bar mechanisms 13 and four 9 junctions of car guide rope
Drawstring 4,3 other end of connecting rope are connect with connecting rope leading block 2, the other end and the drawstring leading block 5 of four-bar mechanism drawstring 4
Connection；Electric-control system 11 is electrically connected with electromagnetism moving system 6.
4 car elasticity collision blocks 14 are housed, by electric-control system 11 to electromagnetism acts at left and right sides of 7 upper and lower ends of car
Magnet control in system 6 realizes moving synchronously for upper and lower two four-bar mechanisms 13；The rope of two four-bar mechanisms 13 above and below connection
Rope includes upper four-bar mechanism drawstring 4, lower four-bar mechanism drawstring 8 and connecting rope 3：One end of the upper four-bar mechanism drawstring 4 and control
Electromagnet 6-13 connections processed, the other end bypass the drawstring being located on well enclosure 1 and positioned at 6 top of electromagnetism moving system and are oriented to cunning
After wheel 5, it is connected with the rope head fixing device 13-10 of the clamp armed lever 13-6 of upper four-bar mechanism；The lower four-bar mechanism drawstring 8
One end is connect with control electromagnet 6-13, and the other end is led around the drawstring on well enclosure 1 and positioned at 6 lower section of electromagnetism moving system
To after pulley 5, it is connected with the rope head fixing device 13-10 on the clamp armed lever 13-6 of lower four-bar mechanism；One end of connecting rope 3
Be connected with the clamp armed lever 13-6 of upper four-bar mechanism, the other end successively bypass 4 groups of well enclosure connecting rope leading blocks 2,16,17,
After 15, it is connected with the clamp armed lever 13-6 of lower four-bar mechanism.
The electric-control system 11 includes：Elevator 11-1, elevator positive and negative rotation sensor 11-2, signal picker 11-
3, controller 11-4, relay 11-5, depth signal sensor 11-6 and depth indicator 11-7；
The input terminal of elevator positive and negative rotation sensor 11-2 and depth signal sensor 11-6 and signal picker 11-3 connects
It connects, elevator positive and negative rotation sensor 11-2 and depth signal sensor 11-6 are connected on elevator 11-1, depth signal sensing
Device 11-6 is connect with depth indicator 11-7；The output end of signal picker 11-3 is connect with controller 11-4, controller 11-4
Pass through electromagnet (6-13) phase downlink connection of relay 11-5 and electromagnetism moving system (6)；The output end of controller (11-4) is also
It is connected with the screw drive motor (6-11) of electromagnetism moving system (6).
The four-bar mechanism (13) includes：Cylinder body supporting rack 13-1, spring 13-2, cylinder body 13-3, piston rod 13-4, connect
Splicing rope head fixing device 13-5, clamp armed lever 13-6, armed lever supporting rack 13-7, U-shaped card head 13-8, elasticity collision block 13-9 and drawing
Restrict rope head fixing device 13-10；
It is hinged with cylinder body 13-3 on cylinder body supporting rack 13-1；There is piston in cylinder body 13-3, is connected in one end of piston
There is piston rod 13-4, in the piston other end to thering is spring 13-2, the end of piston rod 13-4 to be hinged between the bottoms cylinder body 13-3
Clamp armed lever 13-6, clamp armed lever 13-6 are connect with U-shaped card head 13-8, the flexible collision block 13-9 on U-shaped card head 13-8；Clamp
Armed lever 13-6 is also hinged with armed lever supporting rack 13-7, has connecting rope rope head fixing device 13-5 and drawstring on clamp armed lever 13-6
Rope head fixing device 13-10.
The electromagnetism moving system includes：Leading screw end bearing 6-1, ball screw 6-2, leading screw guide groove 6-3, leading screw
Nut covers idler wheel 6-4, nut set 6-5, feed screw nut 6-6, nut and nut set connection bolt and nut 6-7, leading screw front support
6-8, leading screw locking nut and washer 6-9, shaft coupling 6-10, screw drive motor 6-11, electromagnet guide groove 6-12, electromagnet
6-13 and electromagnet idler wheel 6-14；
Ball screw 6-2 is located in leading screw guide groove 6-3, and leading screw end bearing is connected in one end of ball screw 6-2
6-1 is connect in the other end of ball screw 6-2 with leading screw front support 6-8, leading screw front support 6-8 and leading screw locking nut
And washer 6-9, shaft coupling 6-10 and screw drive motor 6-11 are linked in sequence；Nut set 6-5 is connected on ball screw 6-2
With feed screw nut 6-6, it is externally connected with screw nut sleeve idler wheel 6-4 in ball screw 6-2, screw nut sleeve idler wheel 6-4 is overlapped on
On leading screw guide groove 6-3；The lever of electromagnet 6-13 is connect with nut set 6-5, and electromagnet idler wheel 6- is connected outside electromagnet 6-13
14, electromagnet idler wheel 6-14 is located on electromagnet guide groove 6-12.
The nut covers 6-5：Electromagnetic touch head (6-5.1), electromagnetic touch head (6-5.1) are located at nut set (6-
5) side wall radial position is connected with and the parallel electromagnet (6- of feed screw nut (6-6) by electromagnetic touch head (6-5.1)
13)。
The leading screw guide groove 6-3 includes：Connection component 6-3.1, guide groove plate 6-3.2 and idler wheel fixed card slot 6-
3.3；It is connected with guide groove plate 6-3.2 in the upper end of connection component 6-3.1, there is idler wheel fixed card slot on guide groove plate 6-3.2
6-3.3。
The flexible guide rail rope beat Active Control Method of the present invention, steps are as follows：
A. mine elevator is powered, the system initialization before operation of car 7；
When car 7 is located at well head, the opening of upper four-bar mechanism 13 above electromagnetic control system 6 is divided with Guide rail rope 9
From the lower four-bar mechanism 13 positioned at 6 lower section of electromagnetic control system is closed to be contacted with Guide rail rope 9；
When car 7 is located at shaft bottom, the upper four-bar mechanism 13 for being located at 6 top of electromagnetic control system is closed, and is connect with Guide rail rope 9
It touches, the lower four-bar mechanism 13 positioned at 6 lower section of electromagnetic control system is opened to be detached with Guide rail rope 9；And it is controlled by controller 11-4
Motor 6-11 operatings, electromagnet 6-13 obtain the electric iron core for making the electromagnet contact head 6-5.1 and electromagnet 6-13 of nut set 6-5 and inhale
It closes；
B. when car 7 is run, depth signal is transmitted to depth by the depth signal sensor 11-6 on car in real time
Spend indicator 11-7, the depth location of depth indicator 11-7 instruction cars 7；Elevator positive and negative rotation on car 7 passes
For sensor 11-2 in real time by upstream or downstream signal transmission to signal picker 11-3, controller 11-4 passes through signal picker
The positive and negative rotation of the elevator positive and negative rotation signal control motor 6-13 of 11-3, and lead screw driving is controlled by the depth location of car 7
The start and stop of motor 6-11；Driving lead screw 6-2 rotations when screw drive motor 6-11 operatings, are located at feed screw nut in nut set 6-5
6-6 movements make electromagnet 6-13 be attracted, and band fortune and nut cover the electromagnet that is connected of 6-5 to touch a 6-5.1 for linear motion；It is real
Apply normal condition control and runaway condition control.
The normal condition rate-determining steps are：
By 14 bottom end of bottom resilient collision block that the conversion of the depth signal of the car 7 in signal picker 11-3 is car 7 away from
From well head distance x；Mounted on two of 7 upper and lower ends of car elastic collision blocks 14 apart from for h；6 top of electromagnetism moving system
When four-bar mechanism 13 is closed, the contact position of U-shaped card head 13-8 and guide rope 9 is L apart from pithead position0；Electromagnetism acts
When the four-bar mechanism of 6 lower section of system is closed, the contact position of U-shaped card head 13-8 and guide rope 9 is L apart from pithead position1, and
It is required that：H ＜ L1-L0；Controller 11-4 judges that method is as follows to the signal of signal picker 11-3：
A. when 7 downlink of car, if L0＜ x-h ＜ L1, controller 11-4 control electromagnet 6-13 obtains electric, iron core and nut
The electromagnet contact head 6-5.1 covered on 6-5 is attracted, as feed screw nut 6-6 is moved downward under motor 6-11 drivings, lower end four
Linkage is in the opening state of position A, and upper four-bar mechanism is in the closed state of position B；If x-h ＜ L0Or x-h ＞ L1,
Controller 11-4 is failure to actuate；
B. when 7 uplink of car, if L0＜ x ＜ L1, controller 11-4 control electromagnet 6-13 obtains electric, iron core and nut set
Electromagnet contact head 6-5.1 on 6-5 is attracted, as feed screw nut 6-6 is moved upwards under motor 6-11 drivings, four bar of lower end
Mechanism is in the closed state of position B, and upper four-bar mechanism is in the opening state of position A；If x ＜ L0Or x ＞ L1, controller
11-4 is failure to actuate.
The runaway condition rate-determining steps：
When in electric-control system 11 motor 6-11 or electromagnet 6-13 control failure, four-bar mechanism 13 up and down of the left and right sides
Rotation do not controlled by electromagnetic force, electromagnet 6-13 is in freely unfettered state；
A. when 7 downlink of car, the elastic collision block of the lower end elasticity collision block 14 and lower four-bar mechanism 13 of 7 guide sleeve of car
13-9 generates collision, and lower end four-bar mechanism U-shaped card head 13-8 is rotated down, and drawstring 8 pulls down electromagnet 6-13, drives drawstring 4
The clamp 13-8 of upper end four-bar mechanism is pulled down, upper end four-bar mechanism is in closed state position B, and lower end four-bar mechanism is in position
Set the opening state of A；
B. when 7 uplink of car, car collision block 14 and upper end four-bar mechanism elasticity collision block 13-9 is collided, upper end four-bar mechanism
Opening state in position A, lower end four-bar mechanism are in the closed state of position B.
The invention will be further described for embodiment in below in conjunction with the accompanying drawings：
As shown in Figure 1, being symmetrically arranged at identical two four-bar mechanisms of symmetrical above and below and structure of 1 left and right sides of well enclosure
13, be connected to the left and right sides well enclosure 1 on two four-bar mechanisms 13 symmetrical above and below rope and be arranged in about two it is right
Electromagnetism moving system 6 between the four-bar mechanism 13 of title, and be arranged in 7 upper and lower ends of car, the left and right sides 4 elastic collisions
Block 14 controls two four-bar mechanisms 13 of realization or more by electric-control system 11 to the electromagnet 6-13 in electromagnetism moving system 6
It moves synchronously；The rope of two four-bar mechanisms 13 includes upper four-bar mechanism drawstring 4, lower four-bar mechanism drawstring 8 and connects above and below connection
Splicing 3；
One end of the upper four-bar mechanism drawstring 4 is connect with control electromagnet 6-13, and the other end bypasses and is located at well enclosure 1
Above and after the drawstring leading block 5 of 6 top of electromagnetism moving system, the fag end with the clamp armed lever 13-6 of upper four-bar mechanism
Fixing device 13-10 is connected；
One end of the lower four-bar mechanism drawstring 8 with control electromagnet 6-13 connect, the other end bypass well enclosure 1 on and
After the drawstring leading block 5 of 6 lower section of electromagnetism moving system, fixed with the fag end on the clamp armed lever 13-6 of lower four-bar mechanism
Device 13-10 is connected；
One end of connecting rope 3 is connected with the clamp armed lever 13-6 of upper four-bar mechanism, and the other end bypasses 4 groups of well enclosures and connects successively
After splicing leading block 2,16,17,15, it is connected with the clamp armed lever 13-6 of lower four-bar mechanism.
As shown in Fig. 2, the electric-control system 11 includes the relay 11-5 being connected with electromagnet 6-13, with relay
Connected 11-5 controller 11-4, the car status signal picker 11-3 being connected with controller 11-4, respectively with signal acquisition
Elevator positive and negative rotation sensor 11-2 and depth signal sensor 11-6 connected device 11-3, and sensed with elevator positive and negative rotation
The elevator 11-1 and depth indicator 11-7 that device 11-2 and depth signal sensor 11-6 are respectively connected with；The controller
11-4 is connected with the screw drive motor 6-11 of electromagnetism moving system 6.
The four-bar mechanism 13 includes the cylinder body 13- on cylinder body supporting rack 13-1, the cylinder body supporting rack 13-1 being hinged on
3, be built in inside piston rod 13-4 in cylinder body 13-3, effect and cylinder body 13-3 and the spring 13-2 of the bottoms piston rod 13-4 with
And the clamp armed lever 13-6 on the armed lever supporting rack 13-7 being hinged on, the free ends clamp armed lever 13-6 are equipped with U-shaped card head 13-8, U
Type clamp 13-8 is equipped with spring collision block 13-9.
The electromagnetism moving system 6 includes lead screw driving electricity (6-11, the lead screw driving being fixedly mounted on well enclosure 1
Motor 6-11 is connected by shaft coupling 6-10 with the lead screw 6-2 being fixedly mounted on well enclosure 1, and lead screw 6-2, which is equipped with, makees straight line
The feed screw nut 6-6 of movement, feed screw nut 6-6 are equipped with nut and cover 6-5, and nut set 6-5 is equipped with to be moved with mobile feed screw nut 6-6
The side wall of dynamic screw nut sleeve idler wheel 6-4, nut set 6-5 are radially provided with electromagnetic touch head 6-5.1, pass through electromagnetic touch head 6-
5.1 are connected with the electromagnet 6-13 parallel with feed screw nut 6-6, and electromagnet 6-13 is equipped with to be run along electromagnet guide groove 6-12
Electromagnet idler wheel 6-14.
As shown in Figure 3 and Figure 5, the electromagnetism moving system 6 includes being fixedly mounted on the driving motor 6- of well enclosure 1
11, one end is connected by shaft coupling 6-10 with motor 6-11, and the other end is fixedly mounted on the lead screw 6-2 of hoistway 1, and carries spiral shell
The feed screw nut 6-6 for linear motion along lead screw 6-2 of mother set 6-5, pass through electricity with nut set 6-5 electromagnetic touch heads 6-5.1
The electromagnet 6-13 that magnetic force engages；The linkage rope includes connecting the fixation fag end 13-10 of upper end four-bar mechanism in
Between electromagnet 6-13 drawstring 4, connect lower end four-bar mechanism fixation fag end 13-10 and intermediate electromagnet 6-13 drawstring 8, with
And one end is connected on the fixation fag end 13-5 of upper end four-bar mechanism, the other end is bypassed from side and is fixed on well enclosure 1 successively
Pulley 2,16,17,15 after, the connecting rope 3 that is connected on the fixation fag end 13-5 of lower end four-bar mechanism.
As shown in figure 4, four-bar mechanism the supporting rack 13-1 and 13-7 is by being the cylinder body by being installed in well enclosure 1
The armed lever supporting rack 13-7 compositions of body cradle 13-1 and a triangle；The four-bar mechanism 13 is hinged by the cylinder body being hinged on
Cylinder body 13-3 on frame 13-1, the piston rod 13-4 being built in cylinder body 13-3, it acts on inside cylinder body 13-3 and piston rod 13-
Clamp armed lever 13-6 compositions on the spring 13-2 of the 4 bottoms and armed lever holder 13-7 being hinged on, the clamp armed lever 13-
6 free end is connected with the U-shaped card head 13-8 with elastic collision block 13-9；
As shown in fig. 6, the guide groove 6-3 of screw nut sleeve idler wheel 6-4 or electromagnet idler wheel 6-14 are by a guide groove plate
6-3.2 and two idler wheel fixed card slot 6-3.3 is fixedly connected by connection component 6-3.1, by screw nut sleeve idler wheel 6-4 or electricity
Magnet idler wheel 6-14 is constrained in guide groove.
The operation principle of flexible guide rail rope beat active control system is：When mine elevator is powered, elevator 11-1 fortune
System initialization before row, controller 11-4 control motor 6-11 operatings and electromagnet 6-13 obtain electric, make the electromagnet of nut set 6-5
The iron core of contact head 6-5.1 and electromagnet 6-13 is attracted.In the process of running, depth indicator 11-7 passes through sensor to car 7
The car upstream or downstream that the depth signal and elevator 11-1 for the car that 11-6 is generated are generated by positive and negative rotation sensor 11-2
The positive and negative rotation that signal transmission passes through the elevator 11-1 of processing signal picker 11-3 to signal picker 11-3, controller 11-4
The positive and negative rotation of signal control motor 6-13, the depth signal by handling car 7 control the start and stop of motor 6-11.Nut covers 6-5
Pedestal is connected by bolt and nut device 6-7 with feed screw nut 6-6, and nut covers the upper end of 6-5 for square hollow structure, and spiral shell
Two sides of mother set 6-5 rotate in motor 6-11 under the effect of contraction of guide groove 6-3 equipped with idler wheel 6-4 and drive lead screw
When 6-2 is rotated, nut covers 6-5 can be for linear motion along guide groove 6-3.The electromagnet contact head 6-5.1 of nut set 6-5 simultaneously
It is attracted with the iron core of electromagnet 6-13, electromagnet 6-13 is moved synchronously with feed screw nut 6-6.When motor 6-11 drive electromagnet
When 6-13 is moved from top to bottom, electromagnet 6-13 by drawstring 4 by the clamp armed lever 13-6 of upper end four-bar mechanism toward drop-down, and locate
In the closed state of position B, clamp armed lever 13-6 is pulled down simultaneously is wound on 2,16,17,15 connecting rope 3 of pulley successively, then lower end
The clamp armed lever 13-6 of four-bar mechanism rotates down the opening state in position A.
The flexible guide rail rope beat Active Control Method of the present invention leads side with the realization of a set of beat active control system
Inhibit to the beat of rope, in underground work, two systems as shown in Figure 1 are symmetrically installed carrys out work as one group.It is specific
Control method is as follows：
When flexible guide rail rope beat active control in normal operating conditions, car 7 is in any position normal operation
Process, if car 7 from any position downlink when, the downlink of the depth signal and positive and negative rotation sensor 11-2 of depth transducer 11-6
Signal collected device 11-3 acquisitions simultaneously, by the bottom that the depth signal conversion of the car 7 in signal picker 11-3 is car 7
Distance x of 14 bottom end of elastic collision block apart from well head；Mounted on two of 7 upper and lower ends of car elastic collision blocks 14 apart from for h；Electromagnetism
When the four-bar mechanism 13 of 6 top of moving system is closed, the contact position of U-shaped card head 13-8 and guide rope 9 is apart from pithead position
For L0；When the four-bar mechanism of 6 lower section of electromagnetism moving system is closed, the contact position of U-shaped card head 13-8 and guide rope 9 is apart from well
Mouth position is L1, and require：H ＜ L1-L0.Controller 11-4 judges the signal of signal picker 11-3 method is such as
Under：
When 7 downlink of car, if L0＜ x-h ＜ L1, controller 11-4 control electromagnet 6-13 obtains electric, iron core and nut
The electromagnet contact head 6-5.1 covered on 6-5 is attracted, as feed screw nut 6-6 is moved downward under motor 6-11 drivings, lower end four
Linkage is in the opening state of position A, and upper four-bar mechanism is in the closed state of position B；If x-h ＜ L0Or x-h ＞ L1,
Controller 11-4 is failure to actuate.
When 7 uplink of car, if L0＜ x ＜ L1, controller 11-4 control electromagnet 6-13 obtains electric, iron core and nut set
Electromagnet contact head 6-5.1 on 6-5 is attracted, as feed screw nut 6-6 is moved upwards under motor 6-11 drivings, four bar of lower end
Mechanism is in the closed state of position B, and upper four-bar mechanism is in the opening state of position A；If x ＜ L0Or x ＞ L1, controller
11-4 is failure to actuate.
When flexible guide rail rope beat active control system is in non-normal working, i.e.,：When motor 6-11 or electromagnet
In the case of 6-13 control failures, the rotation of four-bar mechanism 3 is not controlled by electromagnetic force, and electromagnet 6-13 is in freely not by about
Pencil state.When 7 downlink of car, the lower end elasticity collision block 14 of 7 guide sleeve of car is produced with the elastic collision block 13-9 of lower end four-bar mechanism
Raw collision, lower end four-bar mechanism U-shaped card head 13-8 are rotated down, and drawstring 8 pulls down electromagnet 6-13, and drawstring 4 is driven to pull down
The clamp 13-8 of upper end four-bar mechanism, upper end four-bar mechanism are in the closed state of position B, and lower end four-bar mechanism is in position A
Opening state；Conversely, when 7 uplink of car, car collision block 14 and upper end four-bar mechanism elasticity collision block 13-9 is collided, four bar of upper end
Mechanism is in the opening state of position A, and lower end four-bar mechanism is in the closed state of position B.
Claims (9)
1. a kind of flexible guide rail rope beat active control system, it is characterised in that：It includes connecting rope leading block（2）, connection
Rope（3）, four-bar mechanism drawstring（4）, drawstring leading block（5）, electromagnetism moving system（6）, car（7）, driving wheel（10）, it is automatically controlled
System（11）And four-bar mechanism（13）；The car（7）Upper end be connected with hoisting rope（12）, hoisting rope（12）Across driving wheel
（10）, in car（7）Top and bottom be symmetrically respectively connected with two car guide ropes（9）, in car（7）With car guide rope
（9）Junction be connected with car elasticity collision block（14）；The four-bar mechanism（13）There are four, symmetrical above and below and structure is identical
It is located at well enclosure（1）The left and right sides, each four-bar mechanism（13）One end respectively with four car guide ropes（9）Connection, it is another
End is connected to well enclosure（1）On, in upper and lower two four-bar mechanisms（13）Between well enclosure（1）One electromagnetism action of upper each connection
System（6）；Four four-bar mechanisms（13）With four car guide ropes（9）Junction is respectively connected with connecting rope（3）And four-bar mechanism
Drawstring（4）, connecting rope（3）The other end and connecting rope leading block（2）Connection, four-bar mechanism drawstring（4）The other end and drawing
Rope leading block（5）Connection；Electric-control system（11）With electromagnetism moving system（6）Electrical connection.
2. flexible guide rail rope beat active control system according to claim 1, it is characterised in that：The electric-control system
（11）Including with electromagnet（6-13）Connected relay（11-5）, with relay（11-5）Connected controller（11-4）And
Controller（11-4）Connected car status signal picker（11-3）, respectively with signal picker（11-3）Connected elevator
Positive and negative rotation sensor（11-2）With depth signal sensor（11-6）, and with elevator positive and negative rotation sensor（11-2）And depth
Signal transducer（11-6）The elevator being respectively connected with（11-1）And depth indicator（11-7）；The controller（11-4）With
Electromagnetism moving system（6）Screw drive motor（6-11）It is connected.
3. flexible guide rail rope beat active control system according to claim 1, it is characterised in that：The four-bar mechanism
（13）Including cylinder body supporting rack（13-1）, the cylinder body supporting rack that is hinged on（13-1）On cylinder body（13-3）, be built in cylinder body
（13-3）Interior piston rod（13-4）, effect and cylinder body（13-3）Internal and piston rod（13-4）The spring of bottom（13-2）And
The armed lever supporting rack being hinged on（13-7）On clamp armed lever（13-6）, clamp armed lever（13-6）Free end is equipped with U-shaped card head
（13-8）, U-shaped card head（13-8）It is equipped with spring collision block（13-9）.
4. flexible guide rail rope beat active control system according to claim 1, it is characterised in that：The electromagnetism action
System（6）Including being fixedly mounted on well enclosure（1）On screw drive motor（6-11）, screw drive motor（6-11）Pass through connection
Axis device（6-10）Be fixedly mounted on well enclosure（1）On lead screw（6-2）It is connected, lead screw（6-2）It is equipped with for linear motion
Feed screw nut（6-6）, feed screw nut（6-6）Equipped with nut set（6-5）, nut set（6-5）It is equipped with mobile feed screw nut（6-
6）Mobile screw nut sleeve idler wheel（6-4）, nut set（6-5）Side wall be radially provided with electromagnetic touch head（6-5.1）, pass through electricity
Magnetic contact head（6-5.1）It is connected with and feed screw nut（6-6）Parallel electromagnet（6-13）, electromagnet（6-13）It is equipped with along electricity
Magnet guide groove（6-12）The electromagnet idler wheel of operation（6-14）.
5. flexible guide rail rope beat active control system according to claim 4, it is characterised in that：The nut set
（6-5）Including electromagnetic touch head（6-5.1）, electromagnetic touch head（6-5.1）Positioned at nut set（6-5）Side wall radial position, lead to
Cross electromagnetic touch head（6-5.1）It is connected with and feed screw nut（6-6）Parallel electromagnet（6-13）.
6. flexible guide rail rope beat active control system according to claim 4, it is characterised in that：The leading screw is oriented to
Slot（6-3）Including connection component（6-3.1）, guide groove plate（6-3.2）With idler wheel fixed card slot（6-3.3）；In connection component（6-
3.1）Upper end be connected with guide groove plate（6-3.2）, in guide groove plate（6-3.2）On have idler wheel fixed card slot（6-3.3）.
7. the control method of the flexible guide rail rope beat active control of system according to claim 1, which is characterized in that packet
Include following steps：
A. mine elevator is powered, car（7）The system initialization before operation；
Work as car（7）When positioned at well head, it is located at electromagnetic control system（6）The upper four-bar mechanism of top（13）Opening and Guide rail rope
（9）Separation is located at electromagnetic control system（6）The lower four-bar mechanism of lower section（13）Closure and Guide rail rope（9）Contact；
Work as car（7）When positioned at shaft bottom, it is located at electromagnetic control system（6）The upper four-bar mechanism of top（13）It is closed, with Guide rail rope
（9）Contact is located at electromagnetic control system（6）The lower four-bar mechanism of lower section（13）Opening and Guide rail rope（9）Separation；And by controlling
Device（11-4）Control motor（6-11）Operating, electromagnet（6-13）Electric it must make nut set（6-5）Electromagnet contact head（6-5.1）
With electromagnet（6-13）Iron core be attracted；
B. car（7）When operation, the depth signal sensor on car（11-6）Depth signal is transmitted to depth in real time
Spend indicator (11-7), depth indicator（11-7）Indicate car（7）Depth location；Mounted on car（7）On promotion
Machine positive and negative rotation sensor（11-2）In real time by upstream or downstream signal transmission to signal picker（11-3）It is interior, controller（11-4）
Pass through signal picker（11-3）Elevator positive and negative rotation signal control motor（6-13）Positive and negative rotation, and pass through car（7）'s
Depth location controls the start and stop of screw drive motor (6-11)；Screw drive motor (6-11) drives lead screw when operating（6-
2）Rotation is located at nut set（6-5）Interior feed screw nut（6-6）Movement makes electromagnet（6-13）It is attracted, band fortune and nut set（6-5）
The electromagnet being connected touches head（6-5.1）It is for linear motion；Implement normal condition control and runaway condition control.
8. the control method of flexible guide rail rope beat active control system according to claim 7, it is characterised in that：Just
Often state rate-determining steps are：
By signal picker（11-3）In car（7）Depth signal conversion be car（7）Bottom resilient collision block（14）Bottom
Hold the distance x apart from well head；Mounted on car（7）The elastic collision block of two of upper and lower ends（14）Distance is h；Electromagnetism moving system
（6）The four-bar mechanism of top（13）When closure, U-shaped card head（13-8）With guide rope（9）Contact position apart from pithead position
For L0；Electromagnetism moving system（6）When the four-bar mechanism of lower section is closed, U-shaped card head（13-8）With guide rope（9）Contact position
It is L apart from pithead position1, and require：h<L1-L；Controller（11-4）To signal picker（11-3）Signal judged,
Method is as follows：
A. car（7）When downlink, if L0<x-h< L1, controller（11-4）Control electromagnet（6-13）Obtain electric, iron core and spiral shell
Mother set（6-5）On electromagnet contact head（6-5.1）It is attracted, in motor（6-11）With feed screw nut under driving（6-6）Downwards
Movement, lower end four-bar mechanism are in the opening state of position A, and upper four-bar mechanism is in the closed state of position B；If x-h< L0
Or x-h>L1, controller（11-4）It is failure to actuate；
B. car（7）When uplink, if L0<x< L1, controller（11-4）Control electromagnet（6-13）Obtain electric, iron core and nut
Set（6-5）On electromagnet contact head（6-5.1）It is attracted, in motor（6-11）With feed screw nut under driving（6-6）Fortune upwards
Dynamic, lower end four-bar mechanism is in the closed state of position B, and upper four-bar mechanism is in the opening state of position A；If x< L0Or x
> L1,Controller（11-4）It is failure to actuate.
9. the control method of flexible guide rail rope beat active control system according to claim 7, it is characterised in that：It is out of control
State rate-determining steps：
Work as electric-control system（11）In motor（6-11）Or electromagnet（6-13）Control failure, the four-bar mechanism up and down of the left and right sides
（13）Rotation do not controlled by electromagnetic force, electromagnet（6-13）In freely unfettered state；
A. work as car（7）When downlink, car（7）The lower end elasticity collision block of guide sleeve（14）With lower four-bar mechanism（13）Elastic collision
Block（13-9）Generate collision, lower end four-bar mechanism U-shaped card head（13-8）It rotates down, drawstring（8）Pull down electromagnet（6-13）,
Drive drawstring（4）Pull down the clamp of upper end four-bar mechanism（13-8）, upper end four-bar mechanism is in closed state position B, lower end
Four-bar mechanism is in the opening state of position A；
B. work as car（7）When uplink, car elasticity collision block（14）With upper end four-bar mechanism elasticity collision block（13-9）Collision, upper end four
Linkage is in the opening state of position A, and lower end four-bar mechanism is in the closed state of position B.
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| CN201611213514.0A CN106672771B (en) | 2016-12-23 | 2016-12-23 | A kind of flexible guide rail rope beat active control system and method |
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| CN201611213514.0A CN106672771B (en) | 2016-12-23 | 2016-12-23 | A kind of flexible guide rail rope beat active control system and method |
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| CN106672771B true CN106672771B (en) | 2018-09-28 |
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| CN107601212A (en) * | 2017-11-08 | 2018-01-19 | 苏州鑫强精密机械有限公司 | A kind of lift car is with cable anti-swing device |
| CN109230279B (en) * | 2018-08-15 | 2023-08-11 | 柳州铁道职业技术学院 | Building construction hoisting device |
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| DE1123805B (en) * | 1958-12-04 | 1962-02-15 | Gutehoffnungshuette Sterkrade | Shaft guidance, especially for mining shafts |
| CN102869595B (en) * | 2010-05-14 | 2015-06-17 | 奥的斯电梯公司 | Elevator system with rope sway mitigation |
| CN102020162B (en) * | 2010-12-03 | 2013-06-26 | 中国矿业大学 | Wire rope guide rail tensioning device for mining elevator |
| CN202368578U (en) * | 2011-12-19 | 2012-08-08 | 山东泰丰矿业集团有限公司 | Whole-course anti-excessive deflection protective device for hanging seat of aerial manned device for mining |
| CN202378870U (en) * | 2011-12-22 | 2012-08-15 | 山东科兴机电设备有限公司 | Anti-deflection device of cableway bidirectional hanging chair |
| CN103183034B (en) * | 2013-04-03 | 2015-08-19 | 中国矿业大学 | Parallel flexible cable suspension system guide rail rope deflection restraining mechanism and method |
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