Research on key technologies for underground long-distance remote control equipment train sets

In order to solve the safety risk problems caused by traditional winch traction equipment trains in coal mines using wire rope traction, frequent electrified moving traction winches, high-altitude suspended monorail cranes and track laying, and to avoid equipment trains from self-slip, falling off the track, etc. during transportation. In case of accidents such as car rollover, sports car, and wire rope breakage, the KDYZ 40-40/2000 mining electronically controlled hydraulic mobile train set was developed to provide safety guarantee for the power control equipment of the fully mechanized mining working face. The overall structure of the long-distance remote-controlled equipment train set is adopted. The equipment train adopts the overall synchronous lifting and step-by-step deviation adjustment system. The anchor traction device, the self-moving flat car and the automatic telescopic pipe and cable device solve the problem of synchronous movement and adjustment of the equipment train as the working surface advances. Problems such as deflection and automatic expansion and retraction of pipe and cables were analyzed. The grouped remote control electro-hydraulic control system, annular fluid supply and multi-sensor feedback closed-loop control methods adopted by the equipment train were analyzed to improve the long-distance control speed of the train and achieve synchronous, smooth and safe operation of the train.