Key Technology Research On Manned Rescue Lifting Equipment For Deep Hole With Large Diameter

Surface drilling rescue is to rescue the trapped personnel after the underground accident,firstly to construct a small-diameter life passage hole to provide life support for the trapped personnel,and then to construct a large-diameter hole and to use the manned rescue lifting equipment to lift the trapped person to the surface.Surface drilling rescue can effectively avoid large collapse area in roadway,prevent secondary accidents during rescue,and has high rescue efficiency.It is a new method and an effective way for mine emergency rescue in the new era,and is one of the mine rescue technologies focused at home and abroad.With the successful implementation of surface drilling rescue in foreign mine accidents and urgent need for manned rescue lifting equipment of domestic mine emergency rescue system construction and rapid rescue of underground emergency refuge chambers,the development of large-diameter deep hole manned rescue equipment suitable for China’s national conditions is especially important.Currently,the foreign manned rescue equipment has two different aspects: first,the equipment function is too simple to meet the needs of improving rescue;second,the equipment is suitable for large diameter due to high integration and cost,but the larger the drilling diameter,the more difficult it is to construct and the lower efficiency of hole formation.These are not able to meet the needs of China’s emergency rescue.In the process of R&D,domestic equipment only meets basic parameters,lacks the simulation research and experimental research process and deep well test conditions,and it needs to be further improved.In response to the above problems,relying on the 2015 Shaanxi Provincial Industrial Science and Technology Research Project “Surface Large Diameter Borehole Emergency Rescue Enhancement Process and Equipment R&D”(No.2015GY134),the key technology of large diameter deep hole manned rescue lifting equipment is taken as the research object.The research work is as follows:(1)Researches on lifting boom,lifting device,automatic rope-aligning system and other lifting equipment structure;lifting cabin and landing gear and other structures;wire rope structure focusing on coal mine rescue and wire rope-based communication system were carried out.(2)Research on the hoisting system technology: Based on the analysis of the operating conditions,the large capacity rope hoisting structure and the double-fold rope groove structure are studied and the one-time casting boss structure and rigidity and bearing capacity of the reel are improved;research on the parameters of the hoisting system,and theoretically giving the correspondence of maximum lifting capacity and the rope speed;designing a hydraulic control loop based on the combination of load sensitive control and proportional speed control,establishing the mathematical model of the closed-loop control system including verification of the steps of the lifting/lowering speed control unit and the stability of the control system.The stepresponse simulation study of the digital PID control and the variable speed PID control is carried out.The lifting process of the hoisting system is simplified to the vibration model of the elastic damping system with three masses and two degrees of freedom.The vibration differential equation is established and the corresponding parameters are studied.The simulation of the hoisting system is carried out,and the control effect of the application of the variable speed PID control method is compared.The simulation results verify the effectiveness of the control method.(3)Research on the brake system technology: Based on the analysis of the operating conditions,the commonly used brake structure types and braking objects are studied,and the combined braking structure for parking brake and deceleration braking suitable for hoisting braking is studied.The research on the method for the braking torque of the static and dynamic braking torque of the chip brake,the normally closed(safety)clamp and the effective braking force of the normally open(working)clamp,the average friction radius and the effective braking torque was carried out.The electrohydraulic brake circuit was designed.The working principle of the brake control valve group was studied in detail.The brake control method based on the double feedback of wire rope speed and tension was designed.The valve start-stop process and the overspeed process of the lowering process were emphasized.The simulation study of the dynamic characteristics of the dynamic conditions and the improved stuck condition provides a basis for optimizing the brake control loop and control method.(4)Research on the variable amplitude system technology: Based on the analysis of operating conditions,the layout of the hydraulic cylinder driving luffing mechanism commonly used in engineering machinery is studied,and the SQ12S-A3 lifting boom backward tilting luffing mechanism is preferred;In the process of lifting the lifting cabin at a constant speed of 2 m/s,the lifting cabin was suddenly stopped when the obstacles met,and the maximum deceleration,deceleration distance,maximum impact force and impact load of the boom subjected to the maximum impact load are studied.The load curve is given,and the optimal boom attitude suggestion is given.The electro-hydraulic control loop of the variable amplitude system is designed.A control method based on the arm head deflection deformation variable cylinder displacement compensation is proposed.The lifting boom calculation model and force are applied.The theoretical analysis and formula derivation of the analysis and end deflection are carried out,and the deflection of the arm head under the maximum wire rope load is calculated.The simulation model of the variable amplitude system is established,the study of slope speed and the dynamic characteristics of the boom in the maximum load condition of the lift cabin and the sinusoidal velocity control method was carried out following the characteristic simulation study and the effectiveness of the control method was verified.(5)The control complexity of large-diameter deep-hole manned rescue equipment was studied,and a multi-parameter collaborative control scheme was proposed.The electro-hydraulic control system was developed,and the hydraulic system was designed to study the main hydraulic components.The force limit control system was studied to ensure the safety of the rescue attitude.The remote control of the diesel engine speed was studied.A monitoring system was developed to study the graphical display and setting of key parameters of the boom attitude,lift cabin and hydraulic system.(6)The field trial study of the manned rescue lifting equipment was carried out in the escape hole of Pingshang Mine in Jincheng,Shanxi.The content and process of the field test were sorted out,and a series of tests such as no-load test,heavy-load test and manned test were carried out.The operating parameters such as automatic ropedischarging system,gas concentration measurement,wire rope speed and communication system were mainly studied.