A fully floating oil-gas shock absorption and buffering system applicable to underground trackless vehicles

Abstract

The present invention provides a fully floating oil-gas shock absorption buffer system applicable to underground trackless vehicles, belonging to the technical field of underground trackless vehicles, which includes a bidirectional fully floating swing frame, a shock absorption buffer hydraulic cylinder, an accumulator, an electro-hydraulic integrated control valve, and a controller; the bidirectional fully floating swing frame includes swing frame Ⅰ, swing frame Ⅱ, a connecting frame, and a connecting seat. This patent can effectively improve the technical problem that the front and rear wheels relatively jump due to the unevenness of the road surface in the front and rear, achieve bidirectional buffering, and can dynamically adjust the stiffness (softness and hardness) of the shock absorption buffer system according to the road surface conditions, effectively reducing the severe bumps during the vehicle's driving.

Description

Technical Field

[0001] The invention belongs to the technical field of underground trackless vehicles, and specifically discloses a fully floating oil-gas shock absorption buffer system applicable to underground trackless vehicles. Background Art

[0002] The road surface conditions in underground mine roadways are poor, with potholes and unevenness. When an underground trackless vehicle travels in a roadway, although the driving speed is basically lower than 20 km / h, it still jolts violently, and even causes the wheels to be suspended, resulting in poor grip of the four wheels, affecting the driving force of the vehicle, and also causing extremely uncomfortable driving experiences for drivers and passengers, affecting the physical and mental health and work efficiency of personnel.

[0003] CN201769881U discloses a swing frame of an underground trackless vehicle, which can make the swing bridge rotate and swing around the longitudinal central axis of the vehicle, solving the problem of relative jumping of the left and right wheels caused by uneven left and right road surfaces, but it fails to effectively improve the situation of relative jumping of the front and rear wheels caused by uneven front and rear road surfaces. Summary of the Invention

[0004] The invention provides a fully floating oil-gas shock absorption buffer system applicable to underground trackless vehicles, which can effectively improve the technical problem of relative jumping of the front and rear wheels caused by uneven front and rear road surfaces, achieve two-way buffering, and can dynamically adjust the stiffness (softness and hardness) of the shock absorption buffer system according to road surface conditions, effectively reducing the violent jolting of the vehicle during driving.

[0005] The above-mentioned fully floating oil-gas shock absorption buffer system applicable to underground trackless vehicles includes a two-way fully floating swing frame, a shock absorption buffer hydraulic cylinder, an accumulator, an electro-hydraulic integrated control valve and a controller; the two-way fully floating swing frame includes a swing frame I, a swing frame II, a connecting frame and a connecting seat; the swing frame I includes a wheel axle mounting frame and a swing shaft I; the swing shaft I is located on the perpendicular bisector of the wheel axle mounting frame, and the first end is fixedly connected to the wheel axle mounting frame; the swing frame II is perpendicular to the swing shaft I, is provided with a through shaft hole I from front to back, and the left and right ends are swing shafts II, and the shaft hole I is rotationally connected to the second end of the swing shaft I through a bearing I; the connecting frame includes a connecting plate I parallel to the swing frame II and side plates arranged on the left and right sides of the connecting plate I, and the left and right side plates are fixed above the connecting plate I for connecting with the left and right frames; two groups of connecting seats are fixed on the left and right sides of the connecting plate I, are located below the connecting plate I, are provided with through shaft holes II from left to right, and the shaft holes II are rotationally connected to the swing shafts II through bearings II; two groups of shock absorption buffer hydraulic cylinders are located on the left and right sides of the swing frame II, are equipped with displacement sensors, the bottom ends are hinged to the swing frame I, and the top ends are used for connecting with the frame; the accumulator is a gas accumulator filled with gas at a preset pressure, and the oil port is connected to the oil port of the shock absorption buffer hydraulic cylinder through the electro-hydraulic integrated control valve; the displacement sensor and the electro-hydraulic integrated control valve are controlled by the controller.

[0006] Furthermore, the above-mentioned fully floating oil-gas shock absorption buffer system for underground trackless vehicles further includes a touch display screen connected to the controller.

[0007] Furthermore, the controller is a PLC controller.

[0008] Furthermore, the bidirectional fully floating swing frame further includes gland Ⅰ and O-ring Ⅰ; the axle mounting frame includes a box-shaped frame and concave top and bottom plates provided at the top and bottom of the box-shaped frame; the box-shaped frame is perpendicular to swing shaft Ⅰ and is provided with an axially through hole Ⅲ; the openings of the concave top and bottom plates are located at the front or rear side of the box-shaped frame, and a wheel axle mounting space is formed between the concave top and bottom plates; gland Ⅰ is mounted on the box-shaped frame by bolts to seal the end face of hole Ⅲ facing the wheel axle; the first end of swing shaft Ⅰ passes through hole Ⅲ and is connected to gland Ⅰ by bolts; O-ring Ⅰ is mounted in the annular groove of swing shaft Ⅰ for sealing the gap between swing shaft Ⅰ and hole Ⅲ.

[0009] Furthermore, the bidirectional fully floating swing frame further includes oil seal seat Ⅰ and oil seal Ⅰ; a lubricating oil hole communicating with hole Ⅰ is provided on swing frame Ⅱ, and two bearings Ⅰ are mounted in hole Ⅰ; the second end of swing shaft Ⅰ passes through bearings Ⅰ; oil seal seat Ⅰ is mounted in hole Ⅰ of swing frame Ⅱ, between the end face of hole Ⅰ and bearings Ⅰ; oil seal Ⅰ is mounted on oil seal seat Ⅰ for sealing the gap between hole Ⅰ and swing shaft Ⅰ.

[0010] Furthermore, the bidirectional fully floating swing frame further includes distance sleeve Ⅰ, oil seal Ⅱ, snap ring, annular end cover, O-ring Ⅱ, distance sleeve Ⅱ, oil seal Ⅲ and gland Ⅱ; the connecting seat includes connecting plate Ⅱ for connecting with connecting plate Ⅰ and a bearing seat perpendicular to connecting plate Ⅱ, hole Ⅱ is located on the bearing seat, a lubricating oil hole communicating with hole Ⅱ is provided on the bearing seat, and two bearings Ⅱ are mounted in hole Ⅱ; distance sleeve Ⅰ is mounted in hole Ⅱ, between the two bearings Ⅱ; oil seal Ⅱ is mounted in hole Ⅱ by a snap ring for sealing the gap between hole Ⅱ and swing shaft Ⅱ, and the snap ring is located between oil seal Ⅱ and the end face of hole Ⅱ facing swing shaft Ⅰ; the annular end cover is fixed to hole Ⅱ by bolts, facing the vehicle frame, pressing bearings Ⅱ, and an O-ring Ⅱ is mounted between the annular end cover and hole Ⅱ, and O-ring Ⅱ is used for sealing the gap between hole Ⅱ and the annular end cover; distance sleeve Ⅱ is mounted in the annular end cover, an oil seal Ⅲ is mounted between the outer wall of distance sleeve Ⅱ and the annular end cover, and the inner wall of distance sleeve Ⅱ is flush with the inner walls of bearings Ⅱ and distance sleeve Ⅰ, and oil seal Ⅲ is used for sealing the gap between distance sleeve Ⅱ and the annular end cover; swing shaft Ⅱ passes through oil seal Ⅱ, bearings Ⅱ, distance sleeve Ⅰ and distance sleeve Ⅱ; gland Ⅱ is fixedly connected to swing shaft Ⅱ by bolts to seal the end face of the annular end cover facing the vehicle frame.

[0011] Furthermore, connecting plate Ⅰ and connecting plate Ⅱ are connected by bolts.

[0012] Furthermore, a triangular rib plate is provided between the connecting plate I and the side plate.

[0013] The present invention has the following beneficial effects:

[0014] 1. In the above-mentioned fully floating oil-gas shock absorption and buffering system applicable to underground trackless vehicles, the swing frame I is located on the longitudinal central axis of the vehicle. The swing frame I and the swing frame II form a cross-axis structure. When the road surface is uneven left and right, the swing frame I rotates and swings, causing the left and right wheels to rotate and swing around the center line of the swing frame I. When the road surface is uneven front and back, the swing frame II rotates and swings, causing the left and right wheels to rotate and swing around the center line of the swing frame II, better avoiding the wheels from being suspended, ensuring the center of gravity stability and tractability of the vehicle during driving, and achieving the shock absorption effect.

[0015] 2. This system has the characteristics of full floating, two-way buffering, precise sensing, accurate transmission and feedback, and can be flexibly and conveniently assembled on the vehicle frame without affecting the overall design layout of the vehicle.

[0016] 3. The stiffness (softness and hardness) of the shock absorption and buffering system can be adjusted according to road conditions and the feelings and habits of the driver and passengers.

[0017] 4. It is easy to install and maintain, truly realizing the active shock absorption and buffering function of underground trackless vehicles, and is not only applicable to the field of underground trackless vehicles, but also applicable to other non-road walking mechanical equipment fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is an overall view of the fully floating oil-gas shock absorption and buffering system applicable to underground trackless vehicles;

[0020] Figure 2 It is a structural schematic diagram of the two-way fully floating swing frame and the shock absorption and buffering hydraulic cylinder;

[0021] Figure 3 It is the front view of the swing frame I;

[0022] Figure 4 It is for Figure 3 the side view of

[0023] Figure 5 It is for Figure 3 the sectional view in the A-A direction of

[0024] Figure 6 It is the front view of swing frame II;

[0025] Figure 7 It is Figure 6 the sectional view taken along the B-B direction in

[0026] Figure 8 the front view of the connecting frame;

[0027] Figure 9 the front view of the connecting seat;

[0028] Figure 10 It is Figure 9 the sectional view taken along the C-C direction in

[0029] In the figure: 1 - swing frame I; 1.1 - swing shaft I; 1.2 - box-shaped frame; 1.3 - concave bottom plate; 2 - swing frame II; 2.1 - shaft hole I; 2.2 - swing shaft II; 3 - connecting frame; 3.1 - connecting plate I; 3.2 - side plate; 3.3 - rib plate; 4 - connecting seat; 4.1 - shaft hole II; 4.2 - connecting plate II; 4.3 - bearing seat; 5 - bearing I; 6 - bearing II; 7 - gland I; 8 - O-ring I; 9 - bolt; 10 - oil seal seat I; 11 - oil seal I; 12 - distance sleeve I; 13 - oil seal II; 14 - retaining ring; 15 - annular end cover; 16 - O-ring II; 17 - distance sleeve II; 18 - oil seal III; 19 - gland II; 20 - shock-absorbing buffer hydraulic cylinder; 21 - accumulator; 22 - electro-hydraulic integrated control valve; 23 - controller; 24 - touch display screen; 101 - axle; 102 - tire; 103 - vehicle frame; 104 - drive axle. Specific embodiments

[0030] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] In this embodiment, the front of the vehicle head is defined as the front, the rear of the vehicle tail is defined as the rear, and the two side tires are defined as left and right.

[0032] This embodiment provides a fully floating oil-gas shock-absorbing buffer system applicable to underground trackless vehicles, including a two-way fully floating swing frame, a shock-absorbing buffer hydraulic cylinder 20, an accumulator 21, an electro-hydraulic integrated control valve 22, a controller 23, and a touch display screen 24.

[0033] The bidirectional full-floating swing frame includes swing frame Ⅰ 1, swing frame Ⅱ 2, connecting frame 3 and connecting seat 4; swing frame Ⅰ 1 includes a wheel axle mounting frame and swing shaft Ⅰ 1.1; swing shaft Ⅰ 1.1 is located on the perpendicular bisector of the wheel axle mounting frame, and the first end is fixedly connected to the wheel axle mounting frame; swing frame Ⅱ 2 is perpendicular to swing shaft Ⅰ 1.1, and is provided with an axially-through hole Ⅰ 2.1, and the left and right ends are swing shafts Ⅱ 2.2. Axial hole Ⅰ 2.1 is rotationally connected to the second end of swing shaft Ⅰ 1.1 through bearing Ⅰ 5; connecting frame 3 includes connecting plate Ⅰ 3.1 parallel to swing frame Ⅱ 2 and side plates 3.2 arranged on the left and right sides of connecting plate Ⅰ 3.1. The left and right side plates 3.2 are fixed above connecting plate Ⅰ 3.1 for connecting with the left and right vehicle frames 103; two groups of connecting seats 4 are fixed on the left and right sides of connecting plate Ⅰ 3.1, located below connecting plate Ⅰ 3.1, and are provided with axially-through hole Ⅱ 4.1. Axial hole Ⅱ 4.1 is rotationally connected to swing shaft Ⅱ 2.2 through bearing Ⅱ 6; the bearings adopt tapered roller bearings.

[0034] Swing frame Ⅰ and swing frame Ⅱ form a cross-axis structure, which can not only ensure the ground clearance of the vehicle but also not increase the center of gravity height of the vehicle, achieving a good balance in the vehicle's cross-country performance and adaptability. The overall reasonable stress situation enables the bidirectional full-floating swing frame to reduce the occurrence of phenomena such as open welding, fracture, and wear that affect the service life and safe operation. Rotating pairs are designed in the longitudinal and transverse directions of the vehicle respectively, and tapered roller bearings are installed in the rotating pairs, which have large load-bearing capacity, flexible rotation, are easy to achieve good lubrication and sealing, are not easily worn, and are easy to maintain and repair, greatly improving the work efficiency.

[0035] Furthermore, the above bidirectional full-floating swing frame applicable to underground trackless vehicles further includes gland Ⅰ 7 and O-ring Ⅰ 8; the wheel axle mounting frame includes box-shaped frame 1.2 and concave top plate and concave bottom plate 1.3 arranged at the top and bottom of box-shaped frame 1.2; box-shaped frame 1.2 is perpendicular to swing shaft Ⅰ 1.1 and is provided with an axially-through hole Ⅲ; the openings of the concave top plate and concave bottom plate 1.3 are located on the front or rear side of box-shaped frame 1.1, and the space between the concave top plate and concave bottom plate 1.3 is the wheel axle mounting space, through which wheel axle 101 passes; gland Ⅰ 7 is installed on box-shaped frame 1.2 through bolt 9 to seal the end face of axial hole Ⅲ facing wheel axle 101; the first end of swing shaft Ⅰ 1.1 passes through axial hole Ⅲ and is connected to gland Ⅰ 7 through bolt 9 to achieve fixed connection with the wheel axle mounting frame; O-ring Ⅰ 8 is installed in the annular groove of swing shaft Ⅰ 1.1 for sealing the gap between swing shaft Ⅰ 1.1 and axial hole Ⅲ.

[0036] Furthermore, the above-mentioned bidirectional fully floating swing frame applicable to underground trackless vehicles further includes a seal seat I 10 and a seal I 11; a lubricating oil hole communicating with the shaft hole I 2.1 is provided on the swing frame II 2, and two bearings I 5 are installed in the shaft hole I 2.1. Lubricating oil can be poured into the shaft hole I 2.1 through the lubricating oil hole to lubricate the bearings I 5; the second end of the swing shaft I 1.1 passes through the bearings I 5; the seal seat I 10 is installed in the shaft hole I 2.1 of the swing frame II 2, between the end face of the shaft hole I 2.1 and the bearings I 5; the seal I 11 is installed on the seal seat I 10 to seal the gap between the shaft hole I 2.1 and the swing shaft I 1.1, preventing lubricating oil leakage and dust from entering the shaft hole I 2.1.

[0037] Furthermore, the above-mentioned bidirectional fully floating swing frame applicable to underground trackless vehicles further includes a distance sleeve I 12, a seal II 13, a retaining ring 14, an annular end cover 15, an O-ring II 16, a distance sleeve II 17, a seal III 18 and a gland II 19; the connecting seat 4 includes a connecting plate II 4.2 for connecting with the connecting plate I 3.1 and a bearing seat 4.3 perpendicular to the connecting plate II 4.2. The shaft hole II 4.1 is located on the bearing seat 4.3, and a lubricating oil hole communicating with the shaft hole II 4.1 is provided on the bearing seat 4.3. Two bearings II 6 are installed in the shaft hole II 4.1; the distance sleeve I 12 is installed in the shaft hole II 4.1, between the two bearings II 6; the seal II 13 is installed in the shaft hole II 4.1 through the retaining ring 14 to seal the gap between the shaft hole II 4.1 and the swing shaft II 2.2. The retaining ring 14 is located between the seal II 13 and the end face of the shaft hole II 4.1 facing the swing shaft I 1.1; the annular end cover 15 is fixed to the shaft hole II 4.1 by bolts 9, facing the vehicle frame 103, pressing the bearings II 6, and an O-ring II 16 is installed between the annular end cover 15 and the shaft hole II 4.1. The O-ring II 16 is used to seal the gap between the shaft hole II 4.1 and the annular end cover 15; the distance sleeve II 17 is installed in the annular end cover 15, and a seal III 18 is installed between the outer wall and the annular end cover 15. The inner wall is flush with the inner walls of the bearings II 6 and the distance sleeve I 12. The seal III 18 is used to seal the gap between the distance sleeve II 17 and the annular end cover 15; the swing shaft II 2.2 passes through the seal II 13, the bearings II 6, the distance sleeve I 12 and the distance sleeve II 17; the gland II 19 is fixedly connected to the swing shaft II 2.2 by bolts 9 to close the end face of the annular end cover 15 facing the vehicle frame 103.

[0038] Furthermore, the connecting plate I 3.1 and the connecting plate II 4.2 are connected by bolts 9.

[0039] Furthermore, a triangular rib plate 3.3 is provided between the connecting plate I 3.1 and the side plate 3.2.

[0040] In summary, the bidirectional fully floating swing frame realizes rotary swing in both the longitudinal and transverse directions. Tapered roller bearings are installed in each rotating pair, and lubricating oil holes and oil seals are designed to achieve good sealing and lubrication. Dust and foreign objects are not easily introduced, and it has better load-bearing capacity and flexibility of movement. The surfaces of swing frame I 1 and swing frame II 2 are quenched, the shaft has good wear resistance and long service life, and the maintenance workload is greatly reduced, which better ensures the working efficiency and operation safety of the vehicle.

[0041] Two groups of shock-absorbing buffer hydraulic cylinders 20 are located on the left and right sides of swing frame II 2. Displacement sensors are installed, the bottom ends are hinged to swing frame I 1, and the top ends are used to connect to the vehicle frame 103.

[0042] The accumulator 21 is a gas accumulator filled with gas at a preset pressure. The oil port is connected to the oil port of the shock-absorbing buffer hydraulic cylinder 20 through an electro-hydraulic integrated control valve 22. The inflation pressure and volume of the accumulator 21 directly affect the stiffness (softness and hardness) of the entire shock-absorbing buffer system; a reasonable inflation pressure needs to be determined through several passability tests according to the actual driving conditions of the vehicle.

[0043] The displacement sensor can sense the height of the driving road surface by collecting the hydraulic cylinder stroke and transmit it to the controller 23 through the CAN bus. The controller 23 controls the action of the electro-hydraulic integrated control valve 22 through the CAN bus, so that the hydraulic oil in the shock-absorbing buffer hydraulic cylinder 20 is temporarily stored in the accumulator 21 or the hydraulic oil in the accumulator 21 flows into the buffer hydraulic cylinder 20, realizing automatic adjustment of the stroke and commutation of the shock-absorbing buffer hydraulic cylinder 20, and maintaining the system stiffness and chassis height set by the driver in real time.

[0044] The touch display screen 24 is mainly used to dynamically display the real-time road surface state data captured during the vehicle operation, so that the driver can reasonably control and adjust the stiffness and stroke of the shock-absorbing buffer system according to his own physical feeling and habits.

[0045] The controller 23 is a PLC controller and can be installed in the vehicle cab or any suitable position; the touch display screen 24 can be selected to be integrated with the PLC or installed separately at a position near the cab for easy observation; the two-way full-floating swing frame is integrated with the vehicle drive axle 104 and is fixedly assembled with the vehicle frame 103 by means of bolt connection or welding; the bottom end of the shock-absorbing buffer hydraulic cylinder 20 is hinged to the two-way full-floating swing frame through a pin shaft, and the top end is connected and fixed to the vehicle frame 103; the charging pressure of the accumulator 21 is pre-charged in advance according to the design requirements and installed and fixed at a suitable position on the frame; the electro-hydraulic integrated control valve 22 can be firmly assembled at a suitable part on the frame and the pipelines are connected according to the specifications; the pipeline system and accessories are composed of various types of pipe joints, hydraulic hoses, pipe clamps, connectors, etc. Note that when assembling, the hoses should be straightened according to the pipeline direction without twisting or binding. The working principle of the above shock-absorbing buffer system is as follows:

[0046] When the vehicle starts, the shock-absorbing buffer system is powered on. At this time, the touch display screen 24 displays the standby page (zero position). After several seconds (which can be set independently), it automatically enters the working state. During the standby period, the shock-absorbing buffer system can also be manually initialized (such as zero position calibration, working range setting) and stored in the shock-absorbing buffer system;

[0047] After entering the working state, the shock-absorbing buffer system automatically detects whether the position of the shock-absorbing buffer hydraulic cylinder 20 is within the set central range: when the shock-absorbing buffer system automatically detects that the position of the shock-absorbing buffer hydraulic cylinder 20 is higher than the upper limit of the set central area range, the PLC controller controls the piston rod to retract through the CAN bus until it enters the set range; when the shock-absorbing buffer system automatically detects that the position of the shock-absorbing buffer hydraulic cylinder 20 is lower than the lower limit of the set central area range, the PLC controller controls the buffer piston rod to extend through the CAN bus until it enters the set range; this process is continuous, and no matter whether the vehicle bounces up or down, it is under the control of the shock-absorbing buffer system, thus realizing two-way buffering.

[0048] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully floating oil-gas shock absorption buffer system applicable to underground trackless vehicles, characterized in that, it includes a bidirectional fully floating swing frame, a shock absorption buffer hydraulic cylinder, an accumulator, an electro-hydraulic integrated control valve, a controller, and a touch display screen connected to the controller; The bidirectional fully floating swing frame includes swing frame I, swing frame II, a connecting frame, a connecting seat, gland I, bolts, and O-ring I; Swing frame I includes a wheel axle mounting frame and swing shaft I; Swing shaft I is located on the perpendicular bisector of the wheel axle mounting frame, and the first end is fixedly connected to the wheel axle mounting frame; Swing frame II is perpendicular to swing shaft I, and is provided with an axially through hole I. The left and right ends are swing shafts II, and the axially through hole I is rotatably connected to the second end of swing shaft I through bearing I; The connecting frame includes a connecting plate I parallel to swing frame II and side plates arranged on the left and right sides of the connecting plate I. The side plates on the left and right sides are fixed above the connecting plate I for connecting to the frames on the left and right sides; Two groups of connecting seats are fixed on the left and right sides of the connecting plate I, located below the connecting plate I, and are provided with axially through holes II. The axially through holes II are rotatably connected to swing shafts II through bearing II; The wheel axle mounting frame includes a box-shaped frame and concave top and bottom plates arranged on the top and bottom of the box-shaped frame; The box-shaped frame is perpendicular to swing shaft I and is provided with an axially through hole III; The openings of the concave top and bottom plates are located on the front or rear side of the box-shaped frame, and the space between the concave top and bottom plates is a wheel axle mounting space; Gland I is installed on the box-shaped frame through bolts to seal the end face of the axially through hole III facing the wheel axle; The first end of swing shaft I passes through the axially through hole III and is connected to gland I through bolts; O-ring I is installed in the annular groove of swing shaft I for sealing the gap between swing shaft I and the axially through hole III; Two groups of shock absorption buffer hydraulic cylinders are located on the left and right sides of swing frame II, equipped with displacement sensors, and the bottom ends are hinged to swing frame I, and the top ends are used for connecting to the frame; The accumulator is a gas accumulator filled with gas at a preset pressure, and the oil port is connected to the oil port of the shock absorption buffer hydraulic cylinder through an electro-hydraulic integrated control valve; The displacement sensor and the electro-hydraulic integrated control valve are controlled by the controller.

2. The fully floating oil-gas shock absorption buffer system applicable to underground trackless vehicles according to claim 1, wherein the controller is a PLC controller.

3. The fully floating oil-gas shock absorption buffer system applicable to underground trackless vehicles according to claim 1, characterized in that, the bidirectional fully floating swing frame further includes an oil seal seat I and an oil seal I; There is a lubricating oil hole communicated with the axially through hole I on swing frame II, and two bearings I are installed in the axially through hole I; The second end of swing shaft I passes through bearing I; Oil seal seat I is installed in the axially through hole I of swing frame II, located between the end face of the axially through hole I and bearing I; Oil seal I is installed on oil seal seat I for sealing the gap between the axially through hole I and swing shaft I.

4. The fully floating oil-gas shock absorption buffer system applicable to underground trackless vehicles according to claim 3, characterized in that, the bidirectional fully floating swing frame further includes a distance sleeve I, an oil seal II, a retaining ring, an annular end cover, an O-ring II, a distance sleeve II, an oil seal III, and gland II; The connecting seat includes a connecting plate II for connecting with the connecting plate I and a bearing seat perpendicular to the connecting plate II. The shaft hole II is located on the bearing seat, and a lubricating oil hole communicating with the shaft hole II is provided on the bearing seat. Two bearing II are installed in the shaft hole II; The distance sleeve I is installed in the shaft hole II and is located between the two bearing II; The oil seal II is installed in the shaft hole II through a retaining ring for sealing the gap between the shaft hole II and the swing shaft II. The retaining ring is located between the oil seal II and the end face of the shaft hole II facing the swing shaft I; The annular end cover is fixed on the shaft hole II by bolts, faces the vehicle frame, presses the bearing II, and an O-ring II is installed between the annular end cover and the shaft hole II. The O-ring II is used for sealing the gap between the shaft hole II and the annular end cover; The distance sleeve II is installed in the annular end cover, and an oil seal III is installed between the outer wall and the annular end cover. The inner wall is flush with the inner walls of the bearing II and the distance sleeve I. The oil seal III is used for sealing the gap between the distance sleeve II and the annular end cover; The swing shaft II passes through the oil seal II, the bearing II, the distance sleeve I and the distance sleeve II; The gland II is fixedly connected to the swing shaft II by bolts to close the end face of the annular end cover facing the vehicle frame.

5. The fully floating oil-gas shock absorption buffer system applicable to underground trackless vehicles according to claim 4, characterized in that, The connecting plate I and the connecting plate II are connected by bolts.

6. The fully floating oil-gas shock absorption buffer system applicable to underground trackless vehicles according to claim 5, characterized in that, A triangular rib plate is provided between the connecting plate I and the side plate.

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