公开(公告)号：US11691846B2

公开(公告)日：2023-07-04

申请号：US16772162

申请日：2019-09-12

Applicant: China University of Mining and Technology

Inventor： Gang Shen ,  Zhencai Zhu ,  Xiang Li ,  Yu Tang ,  Guohua Cao ,  Gongbo Zhou ,  Songyong Liu ,  Yuxing Peng ,  Hao Lu

IPC: B66B1/28 ,  G06F30/23 ,  B66B19/00 ,  F15B15/00 ,  G05B13/04 ,  G06F111/10

CPC classification number: B66B1/28 ,  B66B19/00 ,  F15B15/00 ,  G05B13/042 ,  G06F30/23 ,  G06F2111/10

Abstract: The present invention discloses a hoisting container pose control method of a double-rope winding type ultra-deep vertical shaft hoisting system. The method comprises the following steps of step 1, building a mathematical model of a double-rope winding type ultra-deep vertical shaft hoisting subsystem; step 2, building a position closed-loop mathematical model of an electrohydraulic servo subsystem; step 3, outputting a flatness characteristics of a nonlinear system; step 4, designing a pose leveling flatness controller of a double-rope winding type ultra-deep vertical shaft hoisting subsystem; and step 5, designing a position closed-loop flatness controller of the electrohydraulic servo subsystem.

公开(公告)号：US10981203B2

公开(公告)日：2021-04-20

申请号：US16076685

申请日：2017-11-13

Applicant: China University of Mining and Technology ,  XUZHOU ZHIRUN MINING EQUIPMENT SCIENCE AND TECHNOLOGY CO., LTD

Inventor： Songyong Liu ,  Qizhi Xie ,  Hongxiang Jiang ,  Hongzhuang Wu ,  Cheng Cheng ,  Wei Li ,  Gang Shen ,  Wei Tang ,  Houguang Liu ,  Jianhua Yang

IPC: B08B9/051 ,  B08B13/00 ,  F16L55/32 ,  F16L101/12 ,  E03F9/00 ,  E02F3/20

Abstract: The present invention discloses a single-drive bidirectional-crawling pipe-cleaning robot, including a front body assembly, a transmission assembly, and a rear body assembly. The transmission assembly is driven by a single power source, and a transmission effect of a connecting rod mechanism, a gear mechanism, and an equal-dwell cam mechanism is used to implement alternate retraction and support of the front body assembly and the rear body assembly in a radial direction and a telescopic motion in an axial direction between the front body assembly and the rear body assembly and at the same time implement synchronous rotation of a dredging cutter head, so as to implement bidirectional crawling and pipe cleaning work of the robot along a pipe. The present invention is stable, reliable, compact, and practical, and implements single-drive bidirectional crawling and pipe cleaning in a pipe having a greatly changing pipe diameter, so that the obstacle negotiation performance and adaptability to pipe diameter changes of an in-pipe robot are effectively improved, the endurance of the in-pipe robot is improved, and practical engineering significance in cleaning of a horizontal pipe having a greatly changing pipe diameter is provided.

公开(公告)号：US10301150B2

公开(公告)日：2019-05-28

申请号：US15547517

申请日：2016-12-07

Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY

Inventor： Yuxing Peng ,  Yadong Wang ,  Zhencai Zhu ,  Gongbo Zhou ,  Zhiyuan Shi ,  Guohua Cao ,  Songyong Liu ,  Wei Li

IPC: B66B7/04 ,  F16F7/14 ,  H02N2/18 ,  B66B11/00

Abstract: A shock-absorbing and energy-collecting roller cage shoe including a base, a main energy-collecting module, two auxiliary energy-collecting modules, and a roller is provided. The base is provided with three containing spaces for containing the main energy-collecting module and the two auxiliary energy-collecting modules. In the three containing spaces, the main energy-collecting module and the two auxiliary energy-collecting modules are respectively connected fixedly to the base through wire rope shock absorbers, the main energy-collecting module and the two auxiliary energy-collecting modules are respectively pressed on the left side, the upper side and the lower side of the roller, and the right side of the roller is pressed on a cage guide. The energy-collecting modules collect vibrational energy generated by vibration in the operation process of a lifting container, and convert the vibrational energy into collectable piezoelectric energy. The piezoelectric energy can be used to supply electric energy to electricity-consuming installations, such as such as the illumination of the lifting container, and thereby the collection and utilization of energy are realized.