RU2597052C2 - Method and apparatus for controlling lifting machine, storage medium and lifting machine system - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to hoisting devices. During release of stand (1) control of hoisting machine is performed in compliance with the condition of removal of fixtures (12) located above or below stops (10) for locking for automatic completion of coordinating movement upwards or downwards and common movement in the place of its application.

EFFECT: improved efficiency of operation of hoisting machine and control of safety for lock stand for prevention of errors during operation, made by a person, as well as reduced wear of brakes.

11 cl, 7 dwg

Description

The present invention relates to a method and device for controlling a lifting machine, to a storage medium and to a system of a lifting machine and, in particular, to a method and device for controlling a lifting machine with a cage operating in a mine, to a storage medium and to a system of a lifting machine, including in this device.

During loading and unloading of the lifting machine in the mine, the vibration platform receiving this device must be connected to the internal and external rails of the vehicle in order to avoid the application of shock loads directly to the cage and to avoid the enormous amount of elongation of the steel cable due to the enormous load. When a heavy platform car (maximum weight is approximately 39 tons) enters or leaves the crate, the relative elongation of the steel cable is large, and the relative elongation is even greater when climbing in a deep well, and in this case, when the equipment enters or leaves the crate, the crate bounces, becoming unstable, and this causes the equipment to not easily, reliably or stably enter and leave the crate.

Currently commonly used support devices for internal / external attachment of the stand include support machines and vibrating platforms. The support machine requires that the cage has a separate movable base plate, and this complicates the construction of the cage and its large mass, and, at the same time, its response time is very long, which increases the rise cycle time. When the cage receives the vibration platform, the cage is suspended due to the elastic deformation of the lifting steel cable and the impact on the cage when the mine trolley enters / leaves the cage, which causes the cage to jump and swing from side to side, and it is very likely that mine trolley with rails. The equipment of the trolley, which is consistent with the vibrating platform, is usually in a state with an upward slope, requiring a relatively greater pushing force for the trolley, and when passing the upward / downward slope of the vibrating platform while entering the cage / leaving it, it is very likely that personnel may to slip and fall, which is very dangerous.

Chinese Patent Application No. 200810150532.8, entitled "Cage stabilizing / cage locking device for shaft cage", discloses a cage stability / cage locking device for a mine cage, and a transforming platform capable of containing and locking is also disclosed in the prior art. a cage, and this transforming platform consists of a beam, providing stability of the cage, a centering device, a shock-absorbing hydraulic cylinder, etc., and the principle of its operation is as follows: when the cage is at rest at the bottom of the shaft, on the cage placed rocker cage providing resistance, in which a yoke providing stability stand, has a centering device acting in an opening provided in the upper part of the cage, and a cushioning hydraulic cylinder supports and centering device can dynamically absorb energy generated due to elastic deformation of the wire rope.

You may notice that the aforementioned cage stability / cage locking device for the mine cage and the transforming platform are very complex in construction, and a cumbersome program for lifting and lowering the cage is necessary for efficient control of the lifting machine.

The aim of the present invention is to provide a method for simple and direct control of a hoisting machine and its corresponding device, in which, after the loading / unloading operation on the horizon of the near-barrel yard, the hoisting machine can be controlled to release the stand locking device in a simple way and actuate it to move to the next the horizon of the borehole, which is the destination.

The present invention provides a method for controlling a load-lifting machine, wherein said load-lifting machine is used to lift the stand working in the shaft, and the stand is provided with a plurality of travel stoppers for locking, a plurality of locks are placed on the base of the wall of the shaft, said locks being used to maintain the position of said stand by moving in the direction of the said stand, approaching it when the said stand is stopped in place, ensuring its fixation in Above and below said travel stoppers for locking, and when it is necessary to release said stand, said locks are moved in directions from said stand to release said stand after all of them have been retracted,

releasing said stand, detecting the abduction state of said retainers and sending a “retainer retracted” signal;

send a shaft alarm signal for coordinating movement, if the said signal “latch retracted” indicates that the latchings located above / below the said travel stops for locking were withdrawn in one direction, but not all of them were withdrawn in the other direction;

driving said load-lifting machine for drawing said stand to perform said coordinating movement after receiving said shaft signal;

detecting the abduction state of said latches under predetermined conditions after said coordinating movement is completed, and sending a detection signal; and pulling said cage with said load-lifting machine so that it arrives directly at the destination if said detection signal indicates that all said latches have been retracted under given conditions.

You may notice that the lifting machine operator needs to operate the lifting machine only once, and the lifting machine can automatically complete the necessary coordinating movement and perform normal movement to its destination by releasing and braking at a time, which significantly increases the efficiency of the lifting machine having good safety control for the cage locking system to prevent human errors during operation, and eyuschey fairly high safety performance, and at the same time reducing brake wear it.

As one of the embodiments of the invention, if the said signal “latch retracted” indicates that there are still latches that were not successfully retracted, located both above and below the travel stops for locking, then said load-lifting machine is blocked. If, nevertheless, there are non-retracted latches located both above and below the travel stops for locking, this probably means that there was a malfunction during the retraction of the latches, and blocking the lifting machine at this moment helps to prevent accidents.

As one of the embodiments of the invention, if the said signal “latch retracted” indicates that all the latches located above and below the travel stops for locking were retracted, they send a shaft signal for normal movement, and after receiving the shaft signal the lifting machine pulls the cage, moving it directly to its destination. If all the latches located above and below the stop limiters for locking were retracted, this indicates the absence of any obstacles both above and below the stand, and the ascent and descent can be performed according to the command.

As one of the embodiments of the invention, if the said signal “latch retracted” indicates that all the latches located above the travel stops for locking were retracted, but not all the latches located below them were removed, then the said signal of the shaft signal for coordinating movement is a signal to perform coordinating movement of the stand up; or

if the mentioned signal “latch retracted” indicates that all the latches located below the stop stops for locking were withdrawn, but all the latches located above them were not retracted, then the mentioned signal of the shaft signal for coordinating movement is a signal for performing coordinating movement of the cage down .

During the lifting or lowering of the cage by the lifting machine, interaction between the shaft operator and the lifting machine operator is necessary, in embodiments of the present invention, if the shaft operator wants the crate to reach its destination, it is only necessary to perform the same operation again. without sending a signal for coordinating movement, that is, the mine operator can send the usual “start” command to the operator of the lifting machine only once, not considering the state of ksatory. Similarly, the lifting machine operator also needs to operate the lifting machine only once, that is, control the cage to move to the destination, and the lifting machine can automatically complete the necessary coordinating movement, performing release and braking at a time, and perform normal moving to her destination. There is no need for the mine operator to send a command to the operator of the hoisting machine twice, and there is also no need for the operator of the hoisting machine to actuate it twice, and there is no need for releasing and braking the hoisting machine twice, i.e. there is no movement performed twice. Essentially, the operating efficiency of the lifting machine can be significantly improved, the cage locking system has full safety control to prevent human errors during operation, there is a rather high safety feature, and at the same time, the brake wear in it is reduced, and the lifting the machine can automatically release the cage locking device after loading / unloading is completed at the horizon of the near-barrel yard, and can be automatically brought back to The action to move to the next horizon of the roundabout yard, which is the destination.

As one of the embodiments of the invention, the condition for the complete retraction of the said latches under the specified conditions is, in particular, the following: the distance after the said cage has been moved does not exceed the specified maximum distance, and all the latches were allotted, or all said latches were retracted for a predetermined period of time after said specified maximum distance was passed by said stand.

When setting the maximum distance, if the maximum distance is too large, then there is a possibility that the clamps can hit the stand, while setting a predetermined period of waiting time, mainly to wait for the action of the hydraulic cylinders, that is, to expect that the clamps will be diverted by hydraulic cylinders to their place.

As one embodiment of the invention, when said shaft signal for coordinating movement is a signal for performing coordinating movement of the cage up, the maximum speed during said moving up is the first maximum speed, and the maximum speed during the subsequent movement directly to the destination is the second maximum speed, while the magnitude of said first maximum speed is less than the aforementioned second maximum speed, and

when said shaft signal for coordinating movement is a signal for coordinating movement of the stand down, the maximum speed during said moving down is the third maximum speed, and the maximum speed during a subsequent movement directly to the destination is the fourth maximum speed, wherein the value of said third maximum speed is less than the value of said fourth maximum speed.

As one embodiment of the invention, said second maximum speed and fourth maximum speed are equal in magnitude, said first maximum speed and third maximum speed are equal in magnitude.

Since the distance of the coordinating movement is relatively small, if the cage is operating at a relatively low speed, stability during operation can be ensured, and during normal movement, a relatively high speed can be used to control the movement to a predetermined position.

As one of the embodiments of the invention, if not all of the latches were retracted under the mentioned predetermined conditions, then working braking is performed in the said lifting machine. If not all of the latches were allotted within the specified maximum distance after the said stand was moved, or if not all of the latches were allotted for a predetermined period of time after the specified maximum distance was passed by the said stand, then this means that the cage locking system cannot provide release and that it must perform operational braking to ensure safety.

The present invention also provides a control device for a load-lifting machine, wherein said load-lifting machine is used to lift the stand working in the shaft, said stand is equipped with a plurality of travel stoppers for locking, a plurality of locks are placed on the base of the wall of the shaft, said locks being used to maintain the position of the said stand by moving in the direction of said stand, approaching it when said stand is stopped in place, providing f fixing above and below said travel stops for locking, and when it is necessary to release said stand, said locks are moved in directions from said stand to release said stand after all of them have been retracted, and said device includes:

a latching state detecting unit for detecting a discharge state of said latchings upon release of said cage and for transmitting a “latching away” signal,

a coordinating movement signal unit for analyzing said “latched away” signal after receiving it and for transmitting a shaft signal for coordinating movement if said latches were withdrawn in one direction while not all of them were withdrawn in the other direction,

a coordinating movement control unit for driving said hoisting machine to pull said stand to perform said coordinating movement after receiving said shaft signal for coordinating movement;

a decision unit for detecting a withdrawal state of said latches under predetermined conditions after said coordinating movement has been completed and for transmitting a detection signal; and

a conventional movement control unit for transmitting a control command to said load-lifting machine to pull said stand to move it directly to its destination, if said detection signal indicates that all latches have been retracted.

As one of the embodiments of the invention, if all the latches located above the said travel stop stops were retracted, but not all the latches lower than them were retracted, the transmitted signal from the shaft signaling signal for coordinating movement is a signal for the cage to coordinate upward movement , and if all the latches located below the mentioned travel stoppers for locking were allotted, but not all the latches located above were allotted x stop limiters, the aforementioned transmitted shaft signal for coordinating movement is a signal for the cage to perform coordinating movement down.

As one of the embodiments of the invention, it further comprises a brake unit for transmitting a command to lock the said lifting machine in the case when the signal “retracted” indicates that there are still latches that were not retracted, located as above and below the travel stops for locking; and / or for transmitting a command to perform operational braking of the aforementioned load-lifting machine when the signal “latch retracted” indicates that not all of the latch latches were retracted under specified conditions.

As one of the embodiments of the invention, the condition for the complete retraction of the said latches under the specified predetermined conditions is, in particular, the following: all of the latches were retracted after a predetermined maximum distance after the coordinating movement was performed by the cage, or all the latches were allotted for a predetermined period of time after the specified specified distance was passed by the said stand.

As one embodiment of the invention, when said shaft signal for coordinating movement is a signal for performing coordinating movement of the cage up, the maximum speed during said moving up is the first maximum speed, and the maximum speed during the subsequent movement directly to the destination is the second maximum speed, while the magnitude of said first maximum speed is less than the aforementioned second maximum speed, and

when said shaft signal for coordinating movement is a signal for coordinating movement of the stand down, the maximum speed during said moving down is the third maximum speed, and the maximum speed during a subsequent movement directly to the destination is the fourth maximum speed, wherein the value of said third maximum speed is less than the value of said fourth maximum speed.

As one embodiment of the invention, said second maximum speed and fourth maximum speed are equal in magnitude, said first maximum speed and third maximum speed are equal in magnitude.

Also proposed is a load-lifting machine system including a cage, a load-lifting machine for lifting said stand, and further including a lifting machine control device described above.

In addition, the present invention provides a machine-readable storage medium that stores instructions to enable the machine to execute any of the aforementioned methods of controlling a load-lifting machine.

Using the method, device, system of the lifting machine, as well as the storage medium proposed in the present invention, the mine operator needs to perform the same operation only once without transmitting a coordinating movement signal in three different scenarios (all the latches located above travel stoppers for locking, all the latches located below them were allotted, and all the latches located above them and below them were allotted), that is, it is only necessary to send once the usual “start” command to the operator of the hoisting machine without considering the scenario in which the stand lock device is located. Similarly, the lifting machine operator also needs to operate the lifting machine only once, and the lifting machine can automatically complete the necessary coordinating movement and perform normal movement to the destination by performing release and braking at a time. For the mine operator, there is no need to send a command to the operator of the hoisting machine twice, for the operator of the hoisting machine there is also no need to actuate it twice, and there is no need to release and brake the hoisting machine twice, i.e. in moving twice. The operating efficiency of the lifting machine is greatly improved, the cage locking system has good safety control to prevent human errors during operation, there is a rather high safety characteristic, and at the same time, the brake wear in it is reduced, and the lifting machine can automatically to release the cage locking device after loading / unloading is completed at the horizontal of the borehole, and can be automatically activated to move tions on the next horizon pit bottom, is the destination.

The accompanying drawings below are intended only for illustrative description and explanation of the present invention and are intended to not limit the scope of the present invention.

The drawings show the following:

in the drawing of FIG. 1 shows a schematic diagram of a stand;

in the drawing of FIG. 2 is a partial flowchart of a procedure according to embodiments of a method of the present invention;

in the drawings of FIG. 3a, FIG. 3b and FIG. 3c shows partial flowcharts of a procedure performed in a procedure according to embodiments of the method of the present invention in various scenarios;

in the drawing of FIG. 4 is a partial flowchart of a procedure according to embodiments of a method of the present invention; and

in the drawing of FIG. 5 is a structural block diagram according to embodiments of the apparatus of the present invention.

List of reference positions:

1 - stand

2 - mine hoisting machine

3 - head rope

4 - mine

5 - base

10 - stop for stop

12 - clamp

14 - a hydraulic cylinder

16 - sensor

100 - control device of the lifting machine

101 - latch state detection unit

102 - coordinating movement control unit

103 - decision block

104 - conventional motion control unit

105 - brake unit

106 - block coordinate signal movement

For a better understanding of the technical features, objects and effects of the present invention, specific embodiments of the present invention will now be described with reference to the accompanying drawings.

To solve the problem of rocking and shaking, when the counterweight in the form of a trolley with a load enters / leaves the crate, in the drawing of FIG. Cage 1 is shown in Figure 1, and the task of ensuring the stability of the cage is accomplished by inserting latches (or called cage locking bolts) into the base of the cage to lock the crate.

As shown in FIG. 1, the cage locking device is used to lock the cage 1 vertically in a predetermined loading and unloading position, so that the cage is flush with the floor surface, so that cage 1 can be stably fixed in a relatively accurate position. The stand locking device is usually fixed to the base 5 of the shaft 4 and mainly includes eight detents 12, each of which has a position detection sensor 16 and is actuated by hydraulic cylinders 14, and at four points of the bottom frame of the stand 1 are provided detents 12, movable in the directions to stand 1, approaching it, and fixed above and below the stroke limiter 10 to lock (positioning unit) the frame of the stand. When the stand 1 is unloaded at the bottom of the shaft, then, due to a change in the relative elongation of the head rope 3, stand 1 moves up after the cargo is removed from the vibration platform, at this moment the latches 12 located above are in contact with the travel stop 10 for locking. When the cage 1 is loaded at the bottom of the shaft, due to the change in the relative elongation of the head rope, the cage 1 moves down after the load is placed in the cage 1, at this moment the latches 12 located below are in contact with the stopper 10 for locking.

Stand 1 must stop within the ± 20 mm tolerance interval under the control of the hoist control system (WCS) for the mine hoist 2 so that it is flush with the floor. After the stand 1 is stopped in place, the latches 12 move towards the stand 1, approaching it, and the positions of all these 8 latches 12 are monitored by the sensors 16. When all the latches 12 reach their positions above and below the stop stops 10 for locking, the vibration platform is lowered and the mine door is opened, at this moment a loading or unloading operation can be performed. After the loading or unloading operation is completed, the shaft door is closed and the vibration platform is lifted. After the vibrating platform has reached its final vertical position, it is locked with a locking device on its side, and when the shaft door is closed and the vibrating platform is raised, the hydraulic cylinders try to pull the latches out of the stand to release the stand.

It can be seen that if, after loading or unloading, the cage needs to be activated to move to the next destination, then it is necessary to ensure that the latches are removed from the cage, so during this procedure it is necessary to control the lifting machine to automatically release the cage locking device after loading / unloading is complete on the horizon the roundabout yard and to automatically bring it into action to move to the next horizon of the roundabout yard, which is the destination.

With reference to the drawing of FIG. 1, the head rope 3 of the lifting system is extended in accordance with the loaded weight and the position of the stand 1 in the shaft 4, the larger the loaded weight, or the lower the position of the stand 1 in the shaft 4, the greater the elongation of the head rope 3. For this after unloading of stand 1, stand 1 moves up, stopper stops 10 located on stand 1 press on latches 12 located above them, whereas after stand 1 is loaded, stand 1 moves downward, and stop stops 10 for stopper are available on Fly 1, press on the retainers 12 disposed below them. This design of the locks 12 and lock stops 10 requires that when the locks 10 for lock are still in contact with the locks 12, the locks 12 could not move away from their positions, and it is necessary that the control system of the lifting machine 2 move the position of the stand 1 so as to allow the latches 12 to move in the directions from the stand 1. Only those latches 12 that have not been inserted (that is, not in contact with the stop stops 10 for locking) can be moved to directions from stand 1 without moving stand 1. For example, if stand 1 is unloaded, stand 1 will move up. Before performing the lifting cycle, it is necessary that the control system of the lifting machine 2 moves the stand 1 down until the release of the clips 12 located above it. Similarly, the same procedure should also be taken into account when loading, but the difference is that stand 1 needs to be moved upward to allow release of latches 12 located below it.

In particular, after stand 1 is in place, braking is performed, then stand (1) is supported by four (4) locks 12 located above stand 1 and four (4) locks 12 located below stand 1; if the weight is loaded into stand 1, stand 1 will move downward, applying force to these four (4) latches 12 located below it, as a result of the extension of the head rope 3; before stand 1 can be moved to the next destination, all 8 of these latches 12 must be returned to positions outside shaft 4; after the operator, at the horizontal level of the shaft 4, begins to release the cage locking system, these eight (8) locks 12 are respectively retracted by the drive provided by the hydraulic cylinder 14, however, only those four (4) can return to positions outside the shaft 4 ) of the latch 12, which are located above, while the four (4) latch 12, which are located below, will still remain pressed by the cage 1 and can not be retracted, at this moment it is necessary that the lifting machine 2 was moved upward to such a distance that also take away the four (4) clips 12 located below it. At this point, all of these eight (8) latches 12 are returned to positions outside of shaft 4, and now stand 1 is no longer locked by latches 12 and can be mixed to the next destination.

Similarly, when the weight is taken out of the cage 1, the cage 1 will move upward, applying forces to those 4 latches 12, which are located above it, as a result of the tension of the head rope 3; before stand 1 can be moved to its next destination, it is necessary that all eight (8) locks 12 return to positions outside shaft 4; after the operator, at the horizontal level of the shaft 4, begins to release the cage locking system, these 8 latches 12, respectively, are driven by a hydraulic cylinder 14, however, only those four (4) latches 12 that can return to the position outside the shaft 4 are located below, while those 4 latches 12, which are located above, will still remain held by stand 1 due to the tension of the head rope 3 and cannot be retracted, at this moment it is necessary that the lifting machine 2 be remeschena down at such a distance as to take four (4) retainer 12 located above it. At this point, all these eight (8) latches 12 are returned to positions outside the shaft 4, and now stand 1 is no longer locked by the latches and can move to the next destination.

A detailed description will now be given of embodiments of the present invention together with the flowcharts shown in the drawings of FIG. 2, FIG. 3a, FIG. 3b, FIG. 3c and FIG. four.

As shown in FIG. 2:

S1: initial state - the stand is in place, braking is applied, and the stand is locked by the stand locking device;

S2: loading or unloading the cage is performed, if the load is loaded into the crate, the relative elongation of the head rope becomes large, the cage moves downward, applying force to the four (4) latches located below it, whereas in the case of the removal of cargo from the cage, the relative the elongation of the head rope becomes small, and forces are applied to the four (4) retainers located above it;

S3: after the operation S2 is completed, the operator, at the horizontal level of the shaft 4, starts the operation of releasing the cage locking system, at which point an attempt is made to retract these eight (8) latches using the drive provided by its corresponding hydraulic cylinder. In the case of the loading operation performed in operation S2, it is possible that only four (4) latches located above it will return to the retraction position away from the stand, while not all four (4) latches located below her, can be diverted as a result of the fact that they are pressed by the cage; in the case of the unloading operation performed in operation S2, it is possible that only those four (4) latches that are located below it will return to the retraction position away from the stand, while it is possible that not all those four (4) latches that located above it, can be diverted as a result of the fact that they are pressed by the cage; and if the horizon of the borehole where the cage is located is relatively high, then it is possible that all of the eight (8) locks can return to the retraction positions after the loading operation is completed as a result of the shorter head rope above the cage, or that the change in load is less;

S4: judge whether all of the four (4) latches located above were retracted, or whether all of the four (4) latches located below were retracted;

S5: if the result of the judgment in operation S4 is “no,” that is, there are latches that have not been successfully retracted, located both above and below, then the load handler is locked and forbidden to release the brake for operation, and at the same time send information a malfunction in which it is reported that the release of the cage locking system failed;

S6: if the result of the judgment in operation S4 is yes, then the shaft operator can send a normal move command to the operator of the load lifting machine;

S7: after receiving the command, the operator of the lifting machine starts the lifting machine;

Now a description of the operation of the lifting machine according to various scenarios of operation will be given:

Scenario I shown in FIG. 3a:

S8a: in this scenario, only the latches that were located above were completely allotted (operation S2 is the loading operation);

S9a: the hoisting machine automatically releases the brake;

S10a: start coordinating movement, that is, the lifting machine begins to automatically move up with a relatively low maximum speed of approximately 0.1 m / s during the movement, which is mainly due to the fact that stability during operation can be ensured when relatively low speed at a relatively short distance up;

S11a: this scenario is as follows: if all the latches were retracted during the coordinating movement in operation S10a, then operation S13 should be performed;

S12a: if, during the coordinating movement in operation S10a, the stand travel distance reaches a predetermined maximum distance, then at that moment the stand stops moving, and if after waiting for a predetermined period of time (equal to, for example, 2 seconds (s)) at that moment, all there are still some non-assigned latches, that is, if not all the latches were allotted while passing the specified maximum distance and not all the latches were allotted for the specified predetermined period of time, t to perform the operation S13a; when setting the maximum distance in the event that the maximum distance is too large, then there is a possibility that the latches can collide with the stand, while a predetermined period of time during which it is necessary to wait is set mainly to wait for the action of the hydraulic cylinders, then there is to expect that the clamps will be allocated hydraulic cylinders in their place.

S13a: apply operational braking and send information about the malfunction, in which they report that the release of the cage locking system has failed;

Scenario II shown in FIG. 3b:

S8b: in this scenario, only those latches that were located below were completely allotted (operation S2 is the unloading operation);

S9b: the hoisting machine automatically releases the brake;

S10b: start coordinating movement, that is, the lifting machine starts to automatically move down at a relatively low maximum speed (for example, it can be the same as in operation S10a), equal to approximately 0.1 m / s during the movement, which is mainly due to the fact that stability during operation can be achieved at a relatively low speed at a relatively short distance downward;

S11b: this scenario is as follows: if all the latches were retracted during the coordinating movement in operation S10b, then operation S13 should be performed;

S12b: in this scenario, if during the coordinating movement during operation S10b, the distance of movement of the stand reaches a predetermined maximum distance, then at that moment the stand stops moving, and if after waiting for a given period of time (equal to, for example, 2 seconds (s)) at this moment, there are still no allotted latches, then you should perform operation S13b; for the same reason, when setting the maximum distance in the event that the maximum distance is too large, then there is a possibility that the latches can collide with the cage, while a predetermined period of time during which you must wait, set, basically, to wait for the action of the hydraulic cylinders, that is, to wait for the latches to be retracted by the hydraulic cylinders into place;

S13b: apply operational braking and send fault information, in which they report that the release of the cage locking system has failed;

Scenario III shown in FIG. 3c:

S8c: in this scenario, all the retainers that were located above and below were allotted (the head rope above the cage is relatively short, or the load change is relatively small);

S9c: the hoisting machine automatically releases the brake;

as shown in FIG. 4, after each of the three above-mentioned scenarios, continue to perform the following operations:

S13: after the aforementioned scenario S11a, S11b or S9c, the hoisting machine begins to perform normal movement to its destination, and the maximum speed value during normal movement may be greater than the maximum speed value in operation S10a and / or S10b;

S14: when the hoisting machine has reached its destination by normal movement, apply working braking;

S15: the shaft operator initiates a stand lock operation performed by the stand lock system; and

S16: S16 is a final state similar to the initial state S1, the cage is in place, braking is applied, and the cage is locked by the cage locking device, then the lifting cycle is completed.

As shown in FIG. 5, the present invention also provides a device 100 for controlling a load-lifting machine, wherein said load-lifting machine is used to lift the stand working in the shaft, the bottom of the stand is provided with a plurality of travel stops for locking, a plurality of latches are arranged on the base of the wall of the shaft, said latches being used to maintain the position of the said stand by moving in the directions to the said stand, approaching it when the said stand is stopped in place, providing chivaya its fixation above and below said travel stops for the locking, and when it is necessary to release said stand, said latches move in a direction away from said cage, to release said stand after they have been retracted and said device includes:

a latch state detecting unit 101 for detecting a discharge state of said latch upon release of said cage and for transmitting a “latch retracted” signal,

block 106 of the coordinating movement signal designed to analyze the said signal "retainer retracted" after receiving it and to transmit a mine signal for coordinating movement if the said latches in one direction were retracted, while in the other direction they were not allotted ,

a coordinating movement control unit 102 for driving said lifting machine for pulling said stand to perform said coordinating movement after receiving said shaft signal for coordinating movement;

a decision unit 103 for detecting the abduction state of said latches under predetermined conditions after performing said coordinating movement and for transmitting a detection signal; and

a conventional movement control unit 104 for transmitting a control command to said hoisting machine for pulling said stand to move it directly to its destination, if said detection signal indicates that all latches have been retracted.

As one of the embodiments of the invention, if all the latches located above the mentioned stop stops for locking were withdrawn, but not all the latches located below them were withdrawn, then the transmitted signal of the shaft signaling signal for coordinating movement is a signal for performing coordinating movement of the stand up, if all the latches located below the said stop stops were retracted, but not all the latches located above were retracted x stop limiters, the aforementioned transmitted shaft signal for coordinating movement is a signal for coordinating movement of the stand down.

As one embodiment of the invention, there is further provided a brake unit 105 for transmitting a command for locking the aforementioned load-lifting machine when the “latch retracted” signal indicates that there are latches that were not successfully retracted, located both above and below the travel stops for locking; and / or, for transmitting a command, to perform operational braking of the aforementioned load-lifting machine, when the signal “latch retracted” indicates that not all of the latch latches were retracted under specified conditions.

As one of the embodiments of the invention, the condition for the complete retraction of the said latches under the specified specified conditions is the following: all of the latches were allotted within the specified maximum distance after the coordinated movement was performed by the cage, or all of the latches were allotted for a given period time after the said specified stand has passed the specified maximum distance.

As one embodiment of the invention, when said shaft signal for coordinating movement is a signal for performing coordinating movement of the cage up, the maximum speed during said moving up is the first maximum speed, and the maximum speed during the subsequent movement directly to the destination is the second maximum speed, while the magnitude of said first maximum speed is less than the aforementioned second maximum speed, and

when said shaft signal for coordinating movement is a signal for coordinating movement of the stand down, the maximum speed during said moving down is the third maximum speed, and the maximum speed during a subsequent movement directly to the destination is the fourth maximum speed, wherein the value of said third maximum speed is less than the value of said fourth maximum speed.

As one embodiment of the invention, said second maximum speed and fourth maximum speed are equal in magnitude, and said first maximum speed and third maximum speed are equal in magnitude.

In addition, also proposed such a system of a lifting machine, which includes a cage, a lifting machine for lifting the above-mentioned stands, further including the above-described control device of the lifting machine.

In addition, the present invention provides a machine-readable storage medium that stores instructions to enable the machine to perform any of the control methods of the lifting machine as described in this document.

In particular, a system or device may be provided provided with a storage medium in which program codes are stored that perform the functions of any of the aforementioned embodiments of the invention, and which enables the reading and execution of program codes stored in a storage medium by a computer (or central processing unit ( CPU), or microprocessor (MP)) of a system or device.

In this case, program codes read from a storage medium are substantially capable of performing the functions of any of the above embodiments of the invention, therefore, program codes and a storage medium storing program codes are part of the present invention.

Embodiments of storage media for providing program codes are, among other things, floppy disks, hard disk drives, magneto-optical disks, compact discs (such as, for example, read-only memory on a compact disc (CD-ROM), compact write-once disc (CD-R), write-back compact disc (CD-RW), read-only memory device on a universal digital disk (DVD-ROM), random-access memory device on a universal digital disk (DVD-RAM), universal digitally disc, with rewritable DVD-RW format, digital versatile disc, with format rewritable DVD + RW), magnetic tape, nonvolatile memory card, and a read only memory (ROM). It is possible, but not necessary, program codes that can be downloaded from the server computer via communication networks.

In addition, it should be clear that the functions of any of the above embodiments of the invention can be performed not only by executing program codes read by a computer, but also by providing an operating system running on a computer, etc. the ability to perform part or all of the actual operations based on instructions from program codes.

In addition, it should be understood that program codes read from the storage medium are written to the storage device provided in the expansion board in the computer, or written to the storage device provided in the expansion unit connected to the computer, after which part or all of the actual operations will be performed by a central processing unit (CPU), etc., installed in an expansion board or in an expansion unit, based on instructions from program codes to perform the functions of any of the above embodiments eniya invention.

The present invention provides a method and device for controlling a load-lifting machine, in which, when the cage is released, the load-lifting machine is a controller, which, in accordance with the retraction state of the latches located above or below the stop stops, automatically completes the coordinating move up or down and performs a normal move to her destination. The method and apparatus of the present invention can significantly increase the efficiency of the lifting machine, the stand lock system has good safety control to prevent human errors during operation, have a very high safety characteristic, and, at the same time, reduce brake wear in it .

By means of the lifting machine control method and device, as well as the lifting machine system of the present invention, the shaft operator needs to perform only the same operation once without transmitting a coordinating movement signal in three different scenarios (all the latches located above the travel stops were allotted for locking, all the latches located below them were allotted and all the latches located above them and below them were allotted), that is, you just need to send to the usual command “start” to the operator of the lifting machine once, not taking into account the scenario in which the stand locking device is located. Similarly, the lifting machine operator also needs to operate the lifting machine only once, and the lifting machine can automatically complete the necessary coordinating movement and perform normal movement to its destination by releasing and applying the brakes at a time. For the mine operator, there is no need to transmit the command to the operator of the lifting machine twice, for the operator of the lifting machine there is also no need to actuate it twice, and there is no need to release and apply braking of the lifting machine twice, i.e. the movement is not performed twice. The operating efficiency of the lifting machine is greatly improved, the cage locking system has good safety control to prevent human errors during operation, there is a rather high safety characteristic, and at the same time, the brake wear in it is reduced, and the lifting machine can automatically to release the cage locking device after loading / unloading is completed at the horizontal of the borehole, and can be automatically activated to move tions on the next horizon pit bottom, is the destination.

The above description is provided merely as an illustrative example of specific embodiments of the present invention, and is intended to not limit the scope of the present invention. Any equivalent change, alteration and combination made by specialists in this field of technology, without going beyond the concept and principles of the present invention, should fall within the scope of legal protection of the present invention.

Claims (11)

1. The control method of the lifting machine (2), in which the lifting machine (2) is used to lift the stand (1) working in the mine (4), and on the base (5) of the shaft wall (4) there are a lot of latches (12), characterized in that
the stand (1) is released and the detent position (12) is detected, and the “detent retracted” signal is sent, and the stand (1) is equipped with a plurality of travel stoppers (10) for locking, the latches (12) are used to maintain the position of the stand (1) for due to the movement in the directions to the stand (1), approaching it when the stand (1) is stopped in place, ensuring its fixation above and below the stops (10) of the stop for locking, and when it is necessary to release the stand (1), latches (12) in directions from stand (1) to release stand (1) after all about nor were set aside;
send a shaft alarm signal for coordinating movement, if the signal “latch retracted” indicates that the latches (12) located above / below the stop stops (10) for locking were withdrawn in one direction, but not all of them were withdrawn in the other direction ;
driving a lifting machine (2) for pulling the stand (1) to perform coordinating movement after receiving a mine signal for coordinating movement;
detect the state of the abduction of the latches (12) under the given conditions, and send a detection signal after performing a coordinating movement; and pull the cage (1) with a lifting machine (2) so that it comes directly to the destination if the detection signal indicates that all the latches (12) were retracted under the given conditions. 2. The method according to claim 1, characterized in that in the event that the signal “retainer retracted” indicates that there are still retainers (12) that were not successfully retracted, located both above and below the stops (10) the locking stroke, the lifting machine (2) is locked. 3. The method according to claim 1, characterized in that, in the event that the signal “latch retracted” indicates that all the latches (12) located above and below the stop stops (10) for locking were retracted, send a signal to the shaft alarms for normal movement, and after receiving the mine alarm, the crate (1) is pulled by a lifting machine (2) so that it comes directly to its destination. 4. The method according to claim 1, characterized in that in the case when all the latches (12) are retracted under the given conditions, this condition is, in particular, the following: the distance after the cage (1) was moved, not exceeds a predetermined maximum distance, and all latches (12) were retracted, or, all latches (12) were retracted for a predetermined period of time after a predetermined maximum distance was reached. 5. The method according to claim 1, characterized in that in the event that the signal “latch retracted” indicates that all the latches (12) located above the stop stops (10) for locking were removed, but not all the latches were retracted ( 12) located below them, the mine signal for coordinating movement is a signal for coordinating movement of the stand (1) up; or
in the event that with the signal “latch retracted” it is indicated that all the latches (12) located below the stop stops (10) for locking were withdrawn, but not all the latches (12) located above them were retracted by the shaft signal for coordinating displacement is a signal to perform coordinating movement of the stand (1) down. 6. The method according to claim 4, characterized in that when the mine signal for coordinating movement is used to perform coordinating movement of the stand (1) up, the maximum speed during the upward movement is the first maximum speed, and the maximum speed during its subsequent moving directly to the destination is the second maximum speed, the magnitude of the first maximum speed being less than the magnitude of the second maximum speed; and when the shaft signal for coordinating movement is used to perform coordinating movement of stand (1) down, the maximum speed during moving down is the third maximum speed, and the maximum speed during its subsequent movement directly to the destination is the fourth maximum speed, and the third maximum speed is less than the value of the fourth maximum speed. 7. The method according to claim 6, characterized in that the second maximum speed and the fourth maximum speed are equal in magnitude, and the first maximum speed and the third maximum speed are equal in magnitude. 8. The method according to claim 1, characterized in that if not all the clips (12) were retracted under the given conditions, then the working braking of the hoisting machine (2) is performed. 9. A device (100) for controlling a load-lifting machine (2), characterized in that the load-lifting machine (2) is used to lift the stand (1) operating in the shaft (4), the stand (1) is equipped with a plurality of stoppers (10) for stopping , on the basis of (5) the shaft wall (4), a plurality of latches (12) are placed, and the latches (12) are used to maintain the position of the stand (1) by moving in the directions to the stand (1), approaching it when the stand (1 ) stopped in place, ensuring its fixation above and below the limiters (10) of the stroke for locking, and when necessary Dimo release the stand (1), clips (12) are moved in directions away from the stand (1) for releasing the stand (1) after they have been laid;
wherein said device (100) comprises:
block (101) detecting the state of the latch, designed to detect the status of the abduction of the latch (12) when the cage (1) is released and to transmit the signal "latch is retracted",
block (106) of the coordinating movement signal, designed to analyze the signal “retainer retracted” after receiving it and for transmitting a mine signal for coordinating movement if it is indicated that the latches (12) were allotted in one direction, while in the other not all of them were assigned
a coordinating movement control unit (102) for driving a lifting machine (2) for pulling the stand (1) to perform a coordinating movement after receiving a mine signal for coordinating movement;
a decision block (103) for detecting the state of the abduction of the clips (12) under given conditions after performing a coordinating movement and for transmitting a detection signal; and
a conventional movement control unit (104) designed to transmit a command for controlling the lifting machine (2) to pull the stand (1) to move it directly to the destination, if the detection signal indicates that all the latches (12) have been retracted. 10. The device according to claim 9, characterized in that it further comprises a brake unit (105), designed to transmit a command to lock the load-lifting machine (2) in the case when the signal "latch retracted" indicates that there are latches (12) which have not been retracted, located both above and below the stop (10) of the stop for locking; and / or for transmitting a command to perform operational braking of the hoisting machine (2), when the signal “latch retracted” indicates that not all the latches (12) were retracted under specified conditions. 11. A lifting machine system comprising a stand (1) and a lifting machine (2) for lifting the stand (1), characterized in that it comprises a device (100) for controlling the lifting machine (2) according to claim 9 or 10.

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