WO2023097632A1 - Monorail crane for mining and control method therefor - Google Patents

Abstract

A monorail crane for mining and a control method therefor. The monorail crane for mining comprises: two cabs, the upper ends of the two cabs being respectively connected to collision-preventing devices by means of connecting rods; at least two driving portions used for driving the monorail crane to operate on a rail, the driving portions being provided with detection devices for detecting the wear thickness of friction wheels on the driving portions; an integrated control box comprising an outer frame, and a battery management device, a hydraulic pump station, a vehicle control device and at least two explosion-proof lithium battery boxes that are disposed in the outer frame; a lifting beam used for lifting and transporting a carried cargo; and connecting rods, the cabs, the integrated control box and the lifting beam being connected to each other by means of the connecting rods. Also disclosed is an integrated control method for a monorail crane for mining, the described monorail crane for mining is used, and in flat section, tractive force-based automatic removal of a driving portion can be implemented by operating a button by an operator, such that the energy consumption during operation can be reduced, and the battery life of lithium batteries is improved.

Description

A mining monorail locomotive and its control method technical field

The invention belongs to the technical field of monorail cranes, and in particular relates to a mine-used monorail crane locomotive and a control method thereof.

Background technique

The monorail crane is a system that uses an I-beam hanging above the roadway as a track, and is connected by hanging vehicles with various functions to form a train group, which is pulled by traction equipment and runs along the track. Its traction can be provided by wire rope, diesel engine, storage battery, lithium battery or aerodynamic device.

Among the existing monorail locomotives, battery monorail cranes and diesel engine monorail cranes are commonly used. Because diesel engine monorail cranes pollute the underground, explosion-proof battery monorail cranes are usually selected in some mines. Explosion-proof battery monorail cranes include cabs, driving parts , connecting rod, power supply unit, control trolley and lifting beam.

However, the current battery monorail crane can only operate on slopes less than 15°, and needs to be charged in a special space, which is difficult to meet the needs of some mines; in addition, the overall structure length of the existing battery monorail is too long, not compact enough. The safety performance of the crane and the endurance of the battery need to be improved.

Contents of the invention

The object of the present invention is to provide a mining monorail locomotive and its control method, which can solve the problems of the existing monorail structure, such as uncompact structure, poor safety performance of the whole machine, and poor endurance of the battery.

A mine monorail locomotive provided by the invention comprises:

Two driver's cabs are arranged at the head and tail of the whole machine. The upper ends of the two driver's cabs are respectively connected with anti-collision devices through connecting rods. first sensor;

At least two drive parts are used to drive the monorail locomotive to run on the track. The detection device is provided on the drive part, and the detection device is used to detect the wear thickness of the friction wheel on the drive part; The drive motor is connected with an explosion-proof frequency converter;

An integrated control box, including a box outer frame and a power management device, a hydraulic pump station, a vehicle control device and at least two explosion-proof lithium battery boxes arranged inside the box outer frame;

a lifting beam, used for hoisting the cargo to be carried, the lifting beam is provided with a second sensor for detecting the weight of the cargo being carried;

A connecting rod, the cab, the integrated control box and the lifting beam are connected to each other through the connecting rod.

In a possible embodiment, the driving part includes a clamping swing arm, a fixing frame is arranged on the clamping swing arm, the detection device is connected to the fixing frame, and the detection device is installed on At least one clamping arm on the drive part.

In a possible embodiment, the detection device includes a first guide rod movably arranged on the fixed frame, a first spring arranged on the first guide rod, and an end of the first guide rod The roller is pressed against the side wall of the friction wheel through the action of the first spring, and the other end of the first guide rod passes through the fixed frame and is sequentially screwed to the limit block and the fixed The first pressing piece is provided, the first trigger switch is arranged on the fixed frame, the first pressing piece can contact the first trigger switch when the first spring stretches a set distance, the first The trigger switch is used to send an alarm signal to the vehicle control device.

In a possible embodiment, the set distance that the first spring extends is 10 mm to 15 mm.

In a possible embodiment, the detection device includes an infrared receiver and an infrared emitter fixed on the fixed frame, the infrared receiver and the infrared emitter are arranged above and below the friction wheel, and The projection point of the infrared rays on the infrared emitter on the friction wheel is the maximum wear position of the friction wheel; when the infrared receiver receives the infrared signal from the infrared emitter, Send an alarm signal.

In a possible embodiment, the anti-collision device includes a first movable trolley connected to the free end of the connecting rod and a second movable trolley connected by an elastic member, the first movable trolley and the second movable trolley are respectively Rollingly arranged on the track, one of the first movable trolley and the second movable trolley is provided with a second trigger switch, and the other is provided with a second pressing member, and the second trigger switch is connected with the first movable trolley. The two pressing parts are oppositely arranged and can contact each other when the elastic part shrinks, and the second trigger switch is used to trigger the emergency braking device to perform emergency braking.

In a possible embodiment, the elastic member includes a second guide rod arranged on the first movable trolley, a second spring is sheathed on the second guide rod, and the two springs of the second spring The two ends are respectively against the first movable trolley and the second movable trolley, and the second guide rod is screwed with an adjusting nut after passing through the second movable trolley.

The present invention also provides a control method for a mining monorail locomotive, including:

Receive the control signal of the operating handle through the programmable controller installed in the vehicle control device, and control the explosion-proof frequency converter so that each of the drive motors runs at a constant speed or constant torque;

During operation, the signal acquisition unit set on the vehicle control device collects the inclination angle parameter of the position of the monorail locomotive and the weight parameter of the cargo being carried through the first sensor and the second sensor respectively, and calculates in the processing unit To obtain the traction of the monorail locomotive;

When the monorail hangs on the flat section and receives the swing drive command, control cut off the power supply of the drive part at the set position according to the numerical value of the traction force and control cut off the hydraulic circuit of the clamping oil cylinder on the corresponding drive part;

When the collected inclination angle parameter value is greater than the set value, the power supply of the driving part of the swing drive and the hydraulic circuit of the clamping cylinder on the corresponding driving part are automatically opened.

In the above control method, according to the numerical value of the traction force, the control cuts off the power supply of the driving parts at the set position and quantity, and the control cuts off the hydraulic circuit of the clamping cylinder on the corresponding driving part, including:

Setting intervals with different traction forces, each of the intervals corresponds to the preset position of the driving part that needs to be thrown;

When receiving the spin drive command, the vehicle control device calculates the traction force of the monorail locomotive by collecting the inclination angle parameter of the position of the monorail locomotive and the weight parameter of the load;

The traction value is obtained by the processing unit, and compared with the two end values of the set interval to determine the interval where the traction value is located, and the driving part of the set number and position in the interval is executed.

In the above control method, the calculation formula of the traction force is:

F＝(G ₀ +G ₁ )sinθ+μ(G ₀ +G ₁ )cosθ

Among them, F is the traction force, G ₀ is the weight of the monorail crane, G ₁ is the weight of the goods being carried, μ is the friction coefficient, and θ is the slope.

The mining monorail locomotive provided in this embodiment can remind the operator to replace the friction wheel in time when the friction wheel wears to a set degree by providing a detection device for detecting the wear thickness of the friction wheel on the driving part. By installing the anti-collision device at the front of the cab, on the one hand, the anti-collision device is equipped with an inclination sensor for detecting the inclination, which can make a real-time judgment on whether the vehicle is on the slope; Emergency braking is performed before the crane collides with obstacles to reduce the occurrence of safety problems. By adopting an integrated control box, the integrated control box includes a power management device, a hydraulic pump station, a vehicle control device and at least two explosion-proof lithium battery boxes, etc., which are arranged in the outer frame of the box, and the structure of the whole machine can be simplified through the integrated design , shorten the length of the whole machine, and provide flexibility in the operation of the whole machine. The driving motor of the driving part is controlled by a separate explosion-proof frequency converter. When one driving part is damaged, the driving part can be shut down without affecting the use of other driving parts.

The mining monorail crane integrated control method provided in this embodiment adopts the above-mentioned mining monorail crane locomotive. By adopting this control method, the operator can operate the button to realize automatic driving according to the traction force during the flat section, which can reduce The energy consumption during operation improves the battery life of the lithium battery.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the overall structural diagram of the mining monorail locomotive provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of the internal structure of the integrated control box provided by an embodiment of the present invention;

Fig. 3 is a structural diagram of an anti-collision device provided by an embodiment of the present invention;

Fig. 4 is a structural diagram of a drive unit provided by an embodiment of the present invention;

Fig. 5 is an installation structure diagram of a detection device provided by an embodiment of the present invention.

[Corrected 17.12.2021 under Rule 91]
Fig. 6 is an installation structure diagram of a detection device provided by another embodiment of the present invention.

In the figure: 1. cab; 2. drive unit; 21. friction wheel; 22. drive motor; 23. explosion-proof frequency converter; 24. reducer; 25. detection device; 251. fixed frame; 252. first pressing piece ; 253, the first spring; 254, the roller; 255, the limit block; 256, the first guide rod; 257, the first trigger switch; 258, the infrared emitter; 259, the infrared receiver; ;27. Clamping oil cylinder; 3. Lifting beam; 4. Integrated control box; 41. Box outer frame; 42. Explosion-proof lithium battery box; 43. Vehicle control device; 44. Hydraulic pump station; 45. Power management device ;5, connecting rod; 6, anti-collision device; 61, the first movable trolley; 62, the second movable trolley; 63, the second guide rod; 64, the second spring; 65, the adjusting nut; 66, the second pressing piece ; 67, the second trigger switch; 68, the guide wheel; 69, the walking wheel.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the present invention scope of protection.

In the description of this specification, references to the terms "one embodiment", "some embodiments", "exemplary embodiments", "example", "specific examples", or "some examples" mean that a combination of the embodiments or An example describes a particular feature, structure, material, or characteristic that is included in at least one embodiment or example of the invention. In the present invention, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

Referring to FIGS. 1-5 , this embodiment provides a monorail locomotive, including two cabs 1 , at least two driving parts 2 , an integrated control box 4 , a lifting beam 3 and a plurality of connecting rods 5 .

Wherein, two cabs 1 are respectively arranged at the head and the tail of the whole machine, and both cabs 1 can be used as the main cab. When one of the cabs is used as the main cab, the control platform of the other cab cannot operate.

Referring to Figure 1, an anti-collision device 6 is connected to the front of the cab 1 through a connecting rod 6. When the monorail locomotive encounters an obstacle during operation, the anti-collision device 6 can touch the obstacle in advance and trigger Emergency stop action, improve driving safety performance.

With reference to Fig. 3, this anti-collision device 6 comprises the first movable trolley 61 that is connected on the free end of connecting rod and the second movable trolley 62 that is connected by elastic member, and this first movable trolley 61 and the second movable trolley 62 can be the monorail crane. A part of the load-carrying trolley, that is, only including the guide wheel 68 and the traveling wheel 62 and the part of the mounting plate body, a pair of traveling wheels 69 of the first movable trolley 61 and the second movable trolley 62 roll and walk on both sides of the web of the I-shaped steel track. On the side, a pair of guide wheels 68 of the first movable trolley 61 and the second movable trolley 62 are arranged on both sides of the horizontal plate at the bottom of the I-beam track so that the movable trolley can walk in the center. One of the first movable trolley 61 and the second movable trolley 62 is provided with a second trigger switch 67, and the other is provided with a second pressing member 66, the second trigger switch 67 is opposite to the second pressing member 66 and When the elastic member shrinks, the two can contact each other, and the second trigger switch 67 is used to trigger the emergency braking device to perform emergency braking.

Continuing to refer to FIG. 3 , optionally, the elastic member includes a second guide rod 63 arranged on the first movable trolley 61 , the second guide rod 63 is sleeved with a second spring 64 , and the two ends of the second spring 64 Respectively against the first movable trolley 61 and the second movable trolley 62 , the second guide rod 63 passes through the second movable trolley 62 and is screwed with an adjusting nut 65 . That is to say, when the obstacle 61 touches the obstacle, the second spring 64 shrinks, and the distance between the first movable trolley 61 and the second movable trolley 62 is shortened so that the second pressing member 66 contacts the second trigger switch 67 Touch, the second trigger switch sends a signal to the brake device, and the brake is realized by the brake of the brake oil cylinder of the brake device.

Optionally, a first sensor (not shown) for detecting the inclination angle of the position of the monorail locomotive is provided on the first movable trolley 61 .

Referring to FIG. 4 , the drive unit 2 includes a pair of drive motors 22 , and each drive motor 22 is connected with an explosion-proof frequency converter 23 , that is, the drive motor 22 and the explosion-proof frequency converter 23 form an integrated machine. The drive motor 22 is connected with a speed reducer 24 , and the speed reducer 24 is connected with a friction wheel 21 through transmission. The driving part 2 also includes a mounting bracket, and one end of the two clamping swing arms 26 is hinged on the mounting bracket, and a pair of speed reducers 24 are installed on the two clamping swing arms 26 respectively, and the other ends of the two clamping swing arms 26 Connect the cylinder bottom of the clamping oil cylinder 27 and the free end of the piston rod respectively.

Optionally, at least one of the clamping swing arms 26 on at least one of the driving parts 2 is provided with a detection device 25 for detecting the wear thickness of the friction wheel 21 on the driving part 2 .

In a possible embodiment, referring to FIG. 5 , a fixed frame 251 is provided on the clamping swing arm 26, and a detection device 25 is connected to the fixed frame 251. The first guide rod 256 , the first spring 253 provided on the first guide rod 256 and the roller 254 provided at one end of the first guide rod 256 , the roller 254 leans against the side wall of the friction wheel 21 by the action of the first spring 253 On the other hand, the other end of the first guide rod 256 passes through the fixed frame 251 and then sets a limit block 255 and a fixed first pressure piece 252 in sequence. The limit block 255 is used to limit the maximum moving distance of the first guide rod 256, A first trigger switch 257 is also arranged on the fixed frame 251, and the first pressing member 252 can be in contact with the first trigger switch 257 when the first spring 253 stretches a set distance. The control device 43 sends an alarm signal, and may also send a signal that the friction wheel 21 needs to be replaced to the display panel in the cab 1 .

In some embodiments, the set distance that the first spring 253 stretches is 10mm-15mm, that is, when the wear amount of the friction wheel 21 reaches the set value, it is necessary to remind to replace the friction wheel 21 .

In another possible embodiment, referring to FIG. 6 , the detection device 25 provided on the fixed frame 251 includes an infrared receiver 259 and an infrared emitter 258 fixed on the fixed frame 251, and the infrared receiver 259 and the infrared emitter 258 Be arranged on the upper and lower sides of the friction wheel 21, and the projection point of the infrared rays on the infrared transmitter 258 on the friction wheel 21 is the maximum wear position of the friction wheel 21 (the dotted line position on the friction wheel among Fig. 6); when the infrared receiver receives When the infrared signal from the infrared emitter is received, an alarm signal is sent to the vehicle control device 43, and a signal that the friction wheel 21 needs to be replaced can also be sent to the display panel in the cab 1.

In some possible implementations, the integrated control box 4 includes a box outer frame 41 and a power management device 45 arranged inside the box outer frame, a hydraulic pump station 44, a vehicle control device 43 and two explosion-proof lithium battery boxes 42 . Among them, the battery capacity of the explosion-proof lithium battery box is 230AH. By using two explosion-proof lithium battery boxes with a battery capacity of 230AH to power the monorail locomotive, it can tow the monorail locomotive with less than 5 drive units. Due to the reduction of a trolley for the power supply unit, the overall length of the monorail locomotive is shortened, and the structure of the whole machine is more compact.

In some embodiments, the lifting beam is provided with a second sensor for detecting the weight of the cargo being carried.

Above cab 1 , integrated control box 4 and lifting beam 3 are connected with each other through connecting rod 5 .

The present invention also improves a control method of a monorail crane, including:

The control signal of the operating handle is received by the programmable controller set in the vehicle control device, and the explosion-proof frequency converter is controlled to make each driving motor run at a constant speed or constant torque.

Specifically, the drive motors 22 in this embodiment are respectively connected with an explosion-proof frequency converter 23, and each explosion-proof frequency converter 23 can independently control the drive motors. Each explosion-proof frequency converter 23 is connected to the power on-off controller respectively, that is to say, each explosion-proof frequency converter 23 can be individually controlled by the power on-off controller. When the operator starts the vehicle and operates the handle, the corresponding resistance signal is sent to the main control CPU, and the main control CPU sends the signal to the explosion-proof frequency converter 23, and the explosion-proof frequency converter 23 controls the motor to run at a constant speed or constant torque. In this embodiment, parameters such as torque and rotational speed of the motor are fed back to the explosion-proof frequency converter 23 in real time, and the explosion-proof frequency converter 23 is feeding back signals to the main control CPU. If the constant speed speed regulation method is adopted, the main control CPU converts the external resistance signal into a speed signal, and controls the motor to run at a constant speed through an explosion-proof frequency converter. If the constant torque speed regulation mode is adopted, the main control CPU converts the external resistance signal into a torque signal, and controls the motor to run with constant torque through an explosion-proof frequency converter.

During the operation of the monorail crane, the signal acquisition unit provided on the vehicle control device 43 collects the inclination angle parameter of the position of the monorail crane locomotive and the weight parameter of the goods being carried through the first sensor and the second sensor respectively, and transmits the data in the processing unit Calculate to obtain the tractive force of the monorail locomotive, where the formula for calculating the tractive force is:

F＝(G ₀ +G ₁ )sinθ+μ(G ₀ +G ₁ )cosθ

Among them, F is the traction force, G ₀ is the weight of the monorail crane, G ₁ is the weight of the goods being carried, μ is the friction coefficient, and θ is the slope.

When the monorail hangs on the flat section and receives the swing drive command (the command is issued by the operator on the control panel), according to the numerical value of the calculated traction force, the control cuts off the power supply of the drive part at the set position and the control cuts off the corresponding drive part The hydraulic circuit of the upper clamping cylinder, specifically, includes:

Sections with different traction forces are set in the control program, and each section corresponds to the preset position of the drive unit that needs to be driven by swinging. If the maximum load on a 15-degree slope is 16 tons, it can be divided into several intervals according to the traction force corresponding to the load, and a corresponding number of driving parts is set in each interval.

When receiving the spin drive command, the vehicle control device calculates the traction force of the monorail locomotive by collecting the inclination angle parameter of the location of the monorail locomotive and the weight parameter of the load. The traction value is obtained by the processing unit, and compared with the two end values of the set interval to determine the interval where the traction value is located, and the driving part of the set number and position in the interval is executed.

When the collected inclination angle parameter value is greater than the set value (set an inclination angle value, such as 7°), the power supply of the driving part of the swing drive and the hydraulic circuit of the clamping cylinder on the corresponding driving part will be automatically opened, that is to say, on the upper For the sake of safety, the slope section does not perform throwing drive, but in the flat section (if the set inclination angle is less than 7°), the operator can automatically select this auxiliary operation function to perform throwing drive (throwing off part of the driving part), reducing Energy consumption, increase the battery life of the whole machine.

It should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, rather than limit it; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it still The technical solutions described in the foregoing embodiments may be modified, or part or all of the technical solutions may be modified, or some or all of the technical features may be equivalently replaced; and these modifications or replacements do not make the corresponding technical solutions The essence deviates from the scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. A mining monorail locomotive is characterized in that it comprises:

   Two driver's cabs are arranged at the head and tail of the whole machine. The upper ends of the two driver's cabs are respectively connected with anti-collision devices through connecting rods. first sensor;

   At least two drive parts are used to drive the monorail locomotive to run on the track. The detection device is provided on the drive part, and the detection device is used to detect the wear thickness of the friction wheel on the drive part; The drive motor is connected with an explosion-proof frequency converter;

   An integrated control box, including a box outer frame and a power management device, a hydraulic pump station, a vehicle control device and at least two explosion-proof lithium battery boxes arranged inside the box outer frame;

   a lifting beam, used for hoisting the cargo to be carried, the lifting beam is provided with a second sensor for detecting the weight of the cargo being carried;

   A connecting rod, the cab, the integrated control box and the lifting beam are connected to each other through the connecting rod.
2. The mining monorail locomotive according to claim 1, wherein the driving part includes a clamping swing arm, and a fixing frame is arranged on the clamping swing arm, and the detection frame is connected to the fixing frame. device, the detection device is mounted on at least one clamping swing arm on the drive part.
3. The mining monorail locomotive according to claim 2, wherein the detection device comprises a first guide rod movably arranged on the fixed frame, a first spring arranged on the first guide rod and the first guide rod. A roller provided at one end of the first guide rod, the roller abuts against the side wall of the friction wheel through the action of the first spring, and the other end of the first guide rod passes through the fixed frame The limiting block and the first pressing piece fixedly arranged are screwed in turn, and the first trigger switch is arranged on the fixing frame, and the first pressing piece can be connected with the first pressing piece when the first spring stretches a set distance. A trigger switch is in contact, and the first trigger switch is used to send an alarm signal to the vehicle control device.
4. The mining monorail locomotive according to claim 3, characterized in that, the set distance for the extension of the first spring is 10 mm to 15 mm.
5. The mining monorail locomotive according to claim 2, wherein the detection device includes an infrared receiver and an infrared emitter fixed on the fixed frame, and the infrared receiver and the infrared emitter are arranged on the above and below the friction wheel, and the projection point of the infrared on the infrared transmitter on the friction wheel is the set wear position of the friction wheel; when the infrared receiver receives the infrared signal from the infrared transmitter , an alarm signal is sent to the vehicle control device.
6. The mining monorail locomotive according to claim 1, wherein the anti-collision device includes a first movable trolley connected to the free end of the connecting rod and a second movable trolley connected by an elastic member, the first movable trolley The movable trolley and the second movable trolley are respectively rolled and arranged on the track, one of the first movable trolley and the second movable trolley is provided with a second trigger switch, and the other is provided with a second pressing piece, The second trigger switch is arranged opposite to the second pressing member and can contact each other when the elastic member contracts, and the second trigger switch is used to trigger the emergency braking device to perform emergency braking.
7. The mining monorail locomotive according to claim 6, wherein the elastic member includes a second guide rod arranged on the first movable trolley, and a second spring is sheathed on the second guide rod , the two ends of the second spring respectively abut against the first movable trolley and the second movable trolley, and the second guide rod is screwed with an adjusting nut after passing through the second movable trolley.
8. The method for controlling the mine monorail locomotive according to any one of claims 1-7, characterized in that it comprises:

   Receive the control signal of the operating handle through the programmable controller installed in the vehicle control device, and control the explosion-proof frequency converter so that each of the drive motors runs at a constant speed or constant torque;

   During operation, the signal acquisition unit set on the vehicle control device collects the inclination angle parameter of the position of the monorail locomotive and the weight parameter of the cargo being carried through the first sensor and the second sensor respectively, and calculates in the processing unit To obtain the traction of the monorail locomotive;

   When the monorail hangs on the flat section and receives the swing drive command, control cut off the power supply of the drive part at the set position according to the numerical value of the traction force and control cut off the hydraulic circuit of the clamping oil cylinder on the corresponding drive part;

   When the collected inclination angle parameter value is greater than the set value, the power supply of the driving part of the swing drive and the hydraulic circuit of the clamping cylinder on the corresponding driving part are automatically opened.
9. The control method of the mining monorail locomotive according to claim 8, characterized in that, according to the numerical value of the traction force, the control cuts off the power supply of the driving part at the set position and the quantity, and the control cuts off the upper clamping of the corresponding driving part. The hydraulic circuit of the cylinder, including:

   Setting intervals with different traction forces, each of the intervals corresponds to the preset position of the driving part that needs to be thrown;

   When receiving the spin drive command, the vehicle control device calculates the traction force of the monorail locomotive by collecting the inclination angle parameter of the position of the monorail locomotive and the weight parameter of the load;

   The traction value is obtained by the processing unit, and compared with the two end values of the set interval to determine the interval where the traction value is located, and the driving part of the set number and position in the interval is executed.
10. The control method of the mine monorail locomotive according to claim 9, wherein the formula for calculating the traction force is:

    F＝(G ₀ +G ₁ )sinθ+μ(G ₀ +G ₁ )cosθ

    Among them, F is the traction force, G ₀ is the weight of the monorail crane, G ₁ is the weight of the goods being carried, μ is the friction coefficient, and θ is the slope.

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