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31.发明公开公开(公告)号：US20240317283A1
公开(公告)日：2024-09-26
申请号：US18034386
申请日：2022-09-30
Inventor： Fan JIANG , Zhencai ZHU , Xingtao HUANG , Gongbo ZHOU , Niansheng LIU , Libing WANG , Chuansheng ZHANG , Yuxing PENG , Gang SHEN , Chaofan ZHANG , Wenwen YI , Shuman CHENG , Zhengxu WANG
IPC: B61L25/02
CPC classification number: B61L25/025
Abstract: The present disclosure discloses a method for positioning an auxiliary transportation vehicle in a coal mine and a positioning system thereof. The method comprises: acquiring a rotation velocity of each wheels and a rotation angle of a steering wheel, constructing a kinematics model based on wheels not for steering of the vehicle and a kinematics model based on wheels for steering of the vehicle respectively, and constructing a kinematics model based on a geometric center of the vehicle according to the above two kinematics models; and according to a travelling condition of the vehicle, integrating the kinematics model based on the geometric center with a strap-down inertial navigation system for positioning, when the vehicle is in a normal travelling state; and integrating, the kinematics model based on the wheels not for steering with the strap-down inertial navigation system for positioning, when the vehicle is in an abnormal travelling state.
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32.发明公开公开(公告)号：US20230331263A1
公开(公告)日：2023-10-19
申请号：US18029326
申请日：2022-09-30
Inventor： Zhencai ZHU , Fan JIANG , Xingtao HUANG , Gongbo ZHOU , Niansheng LIU , Libing WANG , Chuansheng ZHANG , Junfeng GUO , Gang SHEN , Shuman CHENG , Jinlei MA , Chaofan ZHANG , Wenwen YI
CPC classification number: B61D11/00 , E21F17/18 , G05D1/028 , G05D2201/021
Abstract: The present disclosure discloses a low-energy-consumption grading and positioning method and system for a coal mine auxiliary transportation vehicle, which belongs to the technical field of mine tunnel transportation. The method comprises the following steps: S10, determining an optimal transportation route of a vehicle, and dividing the optimal transportation route into a plurality of locked intervals; S20, determining an initial velocity v0 of the vehicle passing through each locked interval; S30, constructing a discretization mileage estimation model to update a real-time position of the vehicle, and obtaining dynamic track information of the vehicle in each locked interval; S40, constructing a [v0, t] prediction model, and obtaining a theoretical time t0 of the vehicle passing through each locked interval through the prediction model; S50, comparing a actual time t and the theoretical time t0 of the vehicle passing through each locked interval, and selecting whether to start overtime early warning or overtime alarm; and S60, repeating S30 to S50 after the vehicle enters the next locked interval. The low-energy-consumption grading and positioning method and system for the coal mine auxiliary transportation vehicle provided in the present disclosure realizes on-demand positioning of the underground vehicle and reduces the consumption and cost of positioning.
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公开(公告)号：US20220063927A1
公开(公告)日：2022-03-03
申请号：US17266628
申请日：2020-04-10
Inventor： Gang SHEN , Zhencai ZHU , Kaiyu DAI , Yu TANG , Xiang LI , Yuxing PENG , Hao LU , Guohua CAO , Gongbo ZHOU , Wei LI , Fan JIANG
Abstract: The present invention discloses a drive system of a scraper conveyor and a control method. The drive system includes a nose sprocket, a tail sprocket, a nose sprocket drive mechanism, and a tail sprocket drive mechanism, where the nose sprocket drive mechanism is a hydraulic motor I, and the tail sprocket drive mechanism is a hydraulic motor II; and a hydraulic system that drives the hydraulic motor I and a hydraulic system that drives the hydraulic motor II include same hydraulic elements, and both include a three-position four-way solenoid directional valve, a two-position two-way solenoid directional valve, a two-position three-way solenoid directional valve, an accumulator, and an oil supplement valve group. The present invention is applicable to rapid starting and stopping of the scraper conveyor in a heavy load status while adjusting chain tension in real time, thereby resolving a power imbalance problem in a dual-drive system, and has a simple structure and a long service life.
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34.发明申请公开(公告)号：US20210277765A1
公开(公告)日：2021-09-09
申请号：US17043682
申请日：2019-11-11
Applicant: China University of Mining and Technology
Inventor： Chaoquan TANG , Gongbo ZHOU , Hongwei TANG , Zhenzhi HE , Gang ZHANG , Wei LI , Fan JIANG
Abstract: A movement-synchronized wellbore inspection system and a movement-synchronization control method thereof are disclosed. The wellbore inspection system comprises a rope-climbing robot, a wire rope, a ground wire rope moving device, a ground wire rope moving track, an underground wire rope moving device, an underground wire rope moving track, an inertial sensor and a control device. An upper end of the wire rope is connected to the ground wire rope moving device, and an lower end of the wire rope passes through the rope-climbing robot and is then connected to the underground wire rope moving device. The control device controls the underground and ground wire rope moving devices to move in synchronization, and then the inertial sensor carried on the rope-climbing robot detects posture data of the wire rope and transmits the data to the control device.
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Patent Agency Ranking
35.发明申请公开(公告)号：US20210276599A1
公开(公告)日：2021-09-09
申请号：US17043704
申请日：2019-11-11
Applicant: China University of Mining and Technology
Inventor： Gongbo ZHOU , Hongwei TANG , Chaoquan TANG , Zhencai ZHU , Zhenzhi HE , Wei LI , Fan JIANG
Abstract: Disclosed in the present invention are a rope climbing robot capable of surmounting an obstacle and an obstacle surmounting method thereof. The rope climbing robot includes a robot body. The robot body includes a shell, a drive module and a guide module. The shell is longitudinally cut into an even number of shell segments, and is laterally cut into a corresponding drive housing segment and a corresponding guide housing segment according to mounting positions of the drive module and the guide module in the shell. There is at least one guide module and at least one guide housing segment, and a shell opening mechanism is further mounted in the shell. The shell opening mechanism includes a first shell opening mechanism configured to open/close the guide housing segment and a second shell opening mechanism configured to open/close the drive housing segment.
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36.发明申请公开(公告)号：US20210053805A1
公开(公告)日：2021-02-25
申请号：US17044841
申请日：2019-09-12
Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY
Inventor： Zhencai ZHEN , Guohua CAO , Gongbo ZHOU , Yu TANG , Fan JIANG , Yuxing PENG , Gang SHEN , Hao LU
Abstract: A tension balance system for steel wire ropes on a friction hoisting driving end of an ultra-deep well includes a friction wheel, left and right guiding wheels, left and right steel wire ropes, left and right adjustment wheels, left and right rewinding wheels, left and right adjustment oil cylinders, a hydraulic pipeline, a pump station, a pipeline switch group, left and right hoisting containers, balance ropes, and reels. The friction wheel is disposed in the middle, the left and right adjustment wheels and the left and right rewinding wheels are circularly distributed around the friction wheel, the left and right guiding wheels, the left and right adjustment wheels, and left and right rewinding wheels are all symmetrically disposed on two sides of the friction wheel; both a quantity of left steel wire ropes and a quantity of right steel wire ropes are even numbers more than 2.
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公开(公告)号：US20190225287A1
公开(公告)日：2019-07-25
申请号：US16093891
申请日：2016-12-07
Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY
Inventor： Gongbo ZHOU , ZhaoXing GAO , Chaoquan TANG , Zhencai ZHU , Guohua CAO , Ping ZHOU , Hao CHEN
IPC: B62D57/024 , G01D21/02
Abstract: The present invention discloses an apparatus and method for patrol-inspection of a rigid cage channel. The patrol-inspection apparatus comprises a moving member, a transmission member, a driving member, a guide member, and a housing on a main bottom plate. The driving member comprises a tilt sensor and a pressure sensor connected to a microcontroller, the microcontroller is connected to a driver, the driver is connected to a brushless DC motor, and an output shaft of the brushless DC motor is provided with an optical encoder connected to the driver; The moving member comprises a driving output shaft and a driven output shaft, wheel flanges on the driving output shaft and the driven output shaft are each connected with a wheel hub, a permanent magnet is provided in the wheel hub, and a rubber skin is provided on the outer side of the wheel hub; The transmission member comprises a worm connected with the output shaft of the brushless DC motor, a worm wheel on the driving output shaft and meshed with the worm, timing pulleys on the driving output shaft and the driven output shaft, and a timing belt wound on the timing pulleys. The guide member comprises a guide wheel. The present invention increases inspection speed of the rigid cage channel and improves indirectly the production efficiency of the coal mine enterprise.
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公开(公告)号：US20180229941A1
公开(公告)日：2018-08-16
申请号：US15571045
申请日：2016-12-07
Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY
Inventor： Fan JIANG , Zhencai ZHU , Wei LI , Sunyang WU , Gongbo ZHOU , Guohua CAO , Yuxing PENG , Hao LU , Chunli HUA
CPC classification number: B65G43/06 , B65G19/08 , B65G19/22 , G01L1/2218 , G01L1/2281
Abstract: A chain fault diagnosis system and a chain fault diagnosis method for a scraper conveyor are provided. The diagnosis system includes a strain rosette attached on a top end surface of each sprocket tooth of the scraper conveyor. The strain rosette is connected to a signal gathering unit fixed on a scraper conveyor roller through a shielded conductor, the signal gathering unit sends a gathered signal to a wireless receiving device by means of wireless transmission, and the wireless receiving device transmits the gathered signal obtained thereby to an industrial control computer through a USB interface. The diagnosis method includes the following three steps: chain dislocation/skip fault judgment, chain breakage fault judgment and chain seizure fault judgment. A comprehensive monitoring of the chain state of the scraper conveyor is performed by measuring strain magnitudes in different directions of the sprocket tooth in real-time, transmitting the gathered signal to the industrial control computer via a wireless transmission method and dynamically diagnosing the faults of seizure, dislocation, skip and breakage of the scraper conveyor chain based on the obtained strain data.
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公开(公告)号：US20180120180A1
公开(公告)日：2018-05-03
申请号：US15548126
申请日：2016-12-02
Applicant: CHINA UNIVERSITY OF MINING AND TECHNOLOGY
Inventor： Zhencai ZHU , Wei LI , Xing ZHANG , Jiang FAN , Gongbo ZHOU , Yuxing PENG , Guohua CAO
IPC: G01L5/10
Abstract: Disclosed is a method for estimating tension of a chain of a scraper conveyor, belonging to a method for estimating chain tension. The method comprises the following steps: embedding strain sensors in a plurality of scrapers of a scraper conveyor to measure the tension of weak coupling points between the scrapers and chains, converting acquired sensor signals into data signals through an A/D conversion unit, transmitting the data signals to a data control center using a wireless transmission module, further processing the tension data information of the weak coupling points through the data control center, establishing a chain tension distribution model, and determining an the estimated tension of the chain of the scraper conveyor. The method provided by the present invention is simple, efficient and practical, and the estimation of tension of the whole continuous moving chain is completed by the tension measurement at limited positions of the chain. The chain of the scraper conveyor is meshed with a sprocket and continuously moves in a middle trough and its tension also changes in real time along with the load; the strain sensors are arranged on the scrapers to measure the tension of the weak coupling points between the scrapers and the chains, and the estimation of tension of the whole chain is completed by tension measurement at limited positions on the chain.
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