School of Mechatronic Engineering,China University of Mining and Technology;School of Mechanical,Electronic & Information Engineering,China University of Mining and Technology - Beijing;Information Research Institute, Ministry of Emergency Management of the PRC;China Coal Science and Industry Group Taiyuan Research Institute Co.,Ltd.
;Shijiazhuang Coal Mining Machinery Co., Ltd.

The auxiliary transportation system is an important part of the coal mine production system. Whether the auxiliary transportation equipment is advanced or not is directly related to the production efficiency and operation safety of the coal mine. In recent years, China has begun to vigorously promote the intelligent construction of coal mines. However,the traditional auxiliary transportation system still has many practical problems,such as discon- tinuous process,too many transfer links,high proportion of labor,and low degree of intelligence,which has become a weak link restricting the intelligent construction and unmanned development of coal mines. Facing the “unmanned” development goal of the auxiliary transportation system in coal mines,three key basic issues of continui- ty,standardization,standardized and intelligent solutions are proposed respectively for rail type and trackless auxilia- ry transportation systems,and then a new composite continuous unmanned auxiliary transportation system integra- ting multiple traditional auxiliary transportation equipment is proposed. Firstly,aiming at the discontinuous lifting prob- lem of reciprocating tramcar,a continuous transportation system of rail tramcar with suspended wire rope traction is de- signed. In order to solve the problem that the endless rope winch is difficult to adapt to long.distance transportation,a long-distance endless rope traction system with wear-resistant tape multi-point auxiliary drive is designed. In view of the limited application of trackless rubber tyred vehicle due to insufficient climbing capacity,a continuous transpor- tation system of trackless rubber tyred vehicle with wire rope assisted traction is designed. Secondly,the standard- ized design of the auxiliary transportation system is carried out. Based on the trackless and trackless standardized load- ing platforms,standardized containers with different sizes,specifications and opening forms are designed for differ- ent types of materials such as equipment,long materials,bulk materials and liquids. Through modular combination of standardized and serialized loading containers and loading platforms,the “container type” rapid shipment of materi- als transported in coal mines can be realized,laying the foundation for robotic auxiliary transportation. Thirdly,in order to meet the needs of intelligent construction of auxiliary transportation system in coal mines,the unmanned driv- ing system of trackless rubber tyred vehicle and monorail crane is developed and verified through field tests,and the unmanned operation scheme of endless rope transportation system is further presented,which can effectively solve the problems such as many jobs and human errors in traditional auxiliary transportation system. Furthermore,aiming at the intelligent problems that need to be solved urgently in the underground transfer link and the last 100 m transportation, an integrated multifunctional handling robot with “loading and shoveling” is designed. Finally,in view of the wide va- riety and application limitations of traditional auxiliary transport equipment, a new multi-function transport vehicle named MAGV with “ wheel rail combination ” and “ heaven earth connection ” is invented. Based on the MAGV,an adaptive continuous auxiliary transportation system of “two places and three rails” in coal mine is pro- posed,and the application schemes in inclined shaft and vertical shaft are given respectively. The research results can provide guidance for solving the long-standing practical problems of the auxiliary transportation system in coal mines, such as discontinuous transportation,many employment positions,and low standardization and intelligence,so as to promote the realization of “ continuous, standard, and intelligent ” unmanned auxiliary transportation system in coal mines.

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