Crawler transport vehicle for ultra-narrow tunnels in coal mines

Abstract

The present invention is a crawler transport vehicle for ultra-narrow lanes in coal mines, and belongs to the technical field of auxiliary transport equipment in underground coal mines. The transport vehicle includes a frame, a traveling part, a carrying platform, a power system, a hydraulic control system, and an electrical control system; the traveling part is connected below the frame, the carrying platform is connected above the frame, the power system, the hydraulic control system, and the electrical control system are connected inside the frame, the power system is connected to the hydraulic control system and the electrical control system, and the hydraulic control system and the electrical control system are connected to the traveling part. The width of the transport vehicle body is less than 1m, and it adopts independent vehicle-mounted power, crawler chassis, open carrying platform, remote control and manual control compatible driving modes, and mechanical unlocking travel motor. It can flexibly enter and exit narrow lanes, has strong road adaptability, high operating safety, and can effectively solve the material transportation and pipeline operation problems in ultra-narrow lanes of coal mines such as mining working faces, advanced support areas, and belt conveyor transport lanes.

Description

Technical Field

[0001] The invention belongs to the technical field of auxiliary transportation equipment in underground coal mines, in particular to a crawler transport vehicle for ultra-narrow tunnels in coal mines. Background Art

[0002] The amount of pipelines installed and recovered on the pedestrian side of the belt conveyor transport lane in underground coal mines is large, and the pipeline laying length generally reaches tens of thousands of meters. The width of the pedestrian side of the belt conveyor transport lane is between 1.0 and 1.2m. The existing trackless transport vehicles cannot enter due to the large width. Pipeline transportation can only rely on manual pushing with homemade carts. The belt conveyor transport lane generally has air gates at about 1000m, and other connecting lanes are closed. During the installation and recovery of the pipeline, the transportation distance is long, the labor intensity of the workers is high, and the transportation efficiency is low, which poses a great safety hazard.

[0003] In addition, the advance support in the return air chute underground widely adopts the single pillar and step-type support technology, among which the single pillar support density is relatively large, and the average distance between the single pillars is only about 1m. In addition, the road surface is not hardened and relatively slippery, and the existing trackless transport vehicles cannot enter. At present, the transportation of single pillars still adopts the traditional manual transportation method of shoulder support and hand lifting, which is time-consuming, labor-intensive and unsafe.

[0004] In order to solve the problems of pipeline transportation, material transportation, and single column transportation in ultra-narrow tunnels or confined spaces such as underground belt conveyor transport tunnels and advanced support areas in coal mines, it is urgently necessary to develop a trackless transport vehicle with a body narrower than 1m, strong road adaptability, and the ability to load long pipe materials.

[0005] Due to the limited space in the ultra-narrow tunnels of coal mines, in order to improve the safety and convenience of vehicle control, and considering the space and layout of the narrow-body vehicle itself, it is appropriate to use remote control for the vehicle. However, due to the narrower parts of the tunnel or the protruding areas of the side wall anchors, the remote control driving control method alone cannot be fine-tuned at close range, and manual control is still required to adjust the vehicle's posture. Therefore, the crawler transport vehicle for ultra-narrow tunnels should be compatible with manual and remote control control methods. Summary of the invention

[0006] The purpose of the present invention is to solve the problems of pipeline transportation, material transportation, and single column transportation in ultra-narrow tunnels or confined spaces such as underground belt conveyor transport tunnels and advanced support areas in coal mines, and to provide a crawler transport vehicle for ultra-narrow tunnels in coal mines.

[0007] The present invention is achieved through the following technical solutions:

[0008] A crawler transport vehicle for ultra-narrow tunnels in coal mines comprises a frame, a traveling part, a carrying platform, a power system, a hydraulic control system and an electrical control system; the traveling part is connected below the frame, the carrying platform is connected above the frame, the power system, the hydraulic control system and the electrical control system are connected inside the frame, the power system is connected to the hydraulic control system and the electrical control system, and the hydraulic control system and the electrical control system are connected to the traveling part.

[0009] Furthermore, the frame includes a main frame and a cover. The main frame is a rectangular integral welded structure with a length greater than a width, that is, the main frame is a rectangular welded structure with a relatively large length and width. The main frame is surrounded by upright plates and supported by stepped plates at the bottom. The cover is fixed to the outside of the main frame. The cover is composed of a number of mesh cover plates, which are conducive to ventilation and heat dissipation in the frame.

[0010] Furthermore, the walking part includes a left track assembly, a right track assembly and a connecting frame, the left track assembly and the right track assembly are connected by the connecting frame, and the stepped plate supporting part at the bottom of the frame is seated on the connecting frame and connected and fixed; a left walking motor is arranged inside the left track assembly, and a right walking motor is arranged inside the right track assembly, the moving housing of the left walking motor is connected to the sprocket of the left track assembly, the stationary housing of the left walking motor is connected to the fixed plate of the left track assembly, the moving housing of the right walking motor is connected to the sprocket of the right track assembly, and the stationary housing of the right walking motor is connected to the fixed plate of the right track assembly.

[0011] Furthermore, the carrying platform includes a chassis, a cover plate, front and rear fences, side fences and an inspection port; the chassis is connected to the main frame; the cover plate is provided with a plurality of pieces, each piece has the same outer dimensions, and the plurality of cover plates are arranged in sequence and installed on the chassis through bolt connection; the front and rear fences and the side fences are fixed around the chassis; the inspection port is provided on the cover plate;

[0012] The bottoms of the front and rear fences and the side fences are provided with upright posts, and the bottom frame is provided with notches and pins. The upright posts of the front and rear fences and the side fences are vertically inserted into the notches on the bottom frame, and the pins are used to horizontally penetrate the notches and the upright posts to achieve the connection between the front and rear fences and the side fences and the bottom frame; the front and rear fences are provided with two pieces, and the two pieces are completely identical; the side fences are provided with several pieces, and the outer dimensions of each piece are consistent;

[0013] The inspection port includes an orifice, an inspection plate, a hinge, a magnet and a magnet fixing plate. The orifice is provided on the cover plate. The inspection plate is connected to the cover plate by a hinge and covers the orifice. The magnet is fixed to the magnet fixing plate. The magnet fixing plate is fixed to the cover plate. The plate edge of the inspection plate is supported on the magnet fixing plate and is sucked by the magnet. The inspection port is provided with a plurality of pieces, each with the same external dimensions, and each piece is provided on a different cover plate. The inspection plate is sucked by the magnet in a normal state, and the magnetic force can be overcome manually when it needs to be opened. This self-priming method avoids the cumbersomeness of other methods such as bolts and buckles. At the same time, the surface of the inspection plate is flat and has no protruding structure, which is convenient for loading.

[0014] Among them, the base frame adopts a rectangular frame with a length greater than the width, and is equal in width and length to the main frame; a plurality of rectangular frame openings for installing cover plates are formed on the base frame, and the cross-sectional shape of the frame edge of the base frame is T-shaped, consisting of a horizontal plate and a vertical plate, the horizontal plate is placed on the upper part of the upright plate of the main frame, and the vertical plate is sleeved inside the main frame; the horizontal plate and the vertical plate are surrounded by the upright plate of the main frame, and the outer side of the vertical plate is attached to the inner side of the upright plate of the main frame and is connected to the upright plate of the main frame by bolts; the base frame also plays the role of limiting and stabilizing the frame structure, and the base frame is composed of three parts along the length direction, and the adjacent parts are connected by bolts; a number of shackles are arranged at the frame edge of the base frame, and the shackles are used to lift the base frame and bundle long materials.

[0015] Furthermore, the power system includes an explosion-proof diesel engine, a hydraulic pump and a power box. The hydraulic pump and the power box are connected to the rear of the explosion-proof diesel engine. The explosion-proof diesel engine adopts an explosion-proof high-pressure common rail electronic injection diesel engine, and the hydraulic pump adopts a variable pump.

[0016] Furthermore, the hydraulic control system is connected to the rear of the hydraulic pump, and the hydraulic control system includes a solenoid reversing valve, a left travel motor, a right travel motor, a hydraulic oil tank, a travel main valve, a shift control valve, a manual control valve, a left travel motor combination valve, a right travel motor combination valve and a remote control proportional valve; the hydraulic control system realizes the manual / remote control locking function and travel function of the vehicle, and the travel function includes forward, backward, left turn, right turn, high speed and low speed driving.

[0017] Furthermore, a mechanical unlocking device is provided on the outer side of the left travel motor and the right travel motor, and the mechanical unlocking device includes a pressure cover and a screw. A groove is provided at the center of one side of the pressure cover, and the pressure cover is fixed to the tail of the travel motor by screws, and the groove thereon is set toward the inside of the travel motor or toward the outside of the travel motor, that is, the pressure cover can be assembled in both directions. When the groove is facing the inside of the travel motor, the sun gear and the planetary gear of the left travel motor and the right travel motor are in a meshing state, and the torque output by the motor is transmitted to the sprocket of the left track assembly and the right track assembly through the moving housing. At this time, the sprocket cannot be dragged by external force; when the groove is facing the outside of the travel motor, the sun gear and the planetary gear of the left travel motor and the right travel motor are in a disengaged state, and the motor output torque cannot be transmitted to the sprocket through the moving housing. At this time, the sprocket can be dragged by external force.

[0018] Furthermore, the electrical control system is connected to the rear of the power box, and the electrical control system includes an injection control box, a remote control power supply switch, a remote control receiving control box and a remote control transmitter; the electrical control system drives the electromagnetic reversing valve, the travel main valve and the remote control proportional valve in the hydraulic control system, and realizes injection control; after coming out of the power box, it is divided into two routes, one route supplies power to the injection control box to realize electronic control of injection; the other route supplies power to the remote control receiving control box through the remote control power supply switch, when the remote control power supply switch is closed, the remote control receiving control box is energized, and then the electromagnetic reversing valve is energized, at this time the operation mode is switched from manual operation to remote control operation, the travel main valve and the remote control proportional valve are energized at the same time, and the corresponding action can be realized when the remote control transmitter sends an instruction.

[0019] Furthermore, the solenoid reversing valve, hydraulic oil tank, travel main valve, shift control valve, manual control valve, left travel motor combination valve, right travel motor combination valve, remote control proportional valve, injection control box, remote control power supply switch, and remote control receiving control box are installed on the frame. The manual control valve is located at a corner of the frame and under one of the inspection ports. The remote control transmitter is held by the operator.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1) The crawler transport vehicle for ultra-narrow coal mine tunnels of the present invention has a body width of less than 1m, adopts independent vehicle-mounted power, crawler chassis, and an open transport platform, can flexibly enter and exit narrow tunnels, has strong adaptability to road surfaces, and is suitable for the transportation of anchor materials, electromechanical equipment, and pipe materials; the vehicle can effectively solve the material transportation and pipeline operation problems in ultra-narrow coal mine tunnels such as mining working faces, advanced support areas, and belt conveyor transport tunnels.

[0022] 2) The crawler transport vehicle for ultra-narrow coal mine tunnels of the present invention adopts a remote control and manual control compatible mode. When the tunnel width suddenly changes or there are protrusions on the side wall, the control mode can be switched to adjust the vehicle posture to improve the tunnel passing performance. The remote control and manual control functions are interlocked with each other and operate independently. The two functions can also be used as a backup in case one fails, thereby improving the vehicle control and driving safety.

[0023] 3) The crawler transport vehicle for ultra-narrow tunnels in coal mines of the present invention adopts a mechanically unlocked travel motor, which can be quickly unlocked and towed away when the vehicle stops due to a fault, thereby avoiding blockage and affecting mining operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings herein are used to provide further explanation of the present invention and constitute a part of this application. The illustrative embodiments of the present invention and their description are used to explain the present invention and do not constitute improper limitations on the present invention.

[0025] Figure 1 It is a schematic diagram of the overall structure of the crawler transport vehicle for ultra-narrow tunnels in coal mines according to the present invention;

[0026] Figure 2 It is a schematic diagram of the explosion structure of the carrying platform of the crawler transport vehicle for ultra-narrow tunnels in coal mines according to the present invention;

[0027] Figure 3 It is a structural schematic diagram of the inspection port in the crawler transport vehicle for ultra-narrow tunnels in coal mines of the present invention;

[0028] Figure 4 for Figure 2 AA section view in;

[0029] Figure 5 It is a partial schematic diagram of the traveling part and traveling motor of the crawler transport vehicle for ultra-narrow tunnels in coal mines of the present invention;

[0030] Figure 6 for Figure 5 BB section view in;

[0031] Figure 7 This is a schematic diagram of the hydraulic control system in the crawler transport vehicle for ultra-narrow tunnels in coal mines of the present invention;

[0032] Figure 8 The present invention is a schematic diagram of the electrical control system of the crawler transport vehicle for ultra-narrow tunnels in coal mines.

[0033] In the figure: 1-frame, 2-travel part, 3-carrying platform, 4-power system, 5-hydraulic control system, 6-electrical control system, 7-electromagnetic reversing valve, 8-left travel motor, 9-right travel motor, 10-hydraulic oil tank, 11-travel main valve, 12-shift control valve, 13-manual control valve, 14-left travel motor combination valve, 15-right travel motor combination valve, 16-remote control proportional valve, 17-injection control box, 18-remote control power switch, 1 9-remote control receiving control box, 20-remote control transmitter, 1-1 main frame, 1-2 cover, 1-3 bolts, 2-1 left crawler assembly, 2-2 right crawler assembly, 2-3 connecting frame, 3-1 bottom frame, 3-2 cover plate, 3-3 front and rear fences, 3-4 side fences, 3-5 inspection port, 4-1 explosion-proof diesel engine, 4-2 hydraulic main pump, 4-3 power box, 8-1 moving shell, 8-2 stationary shell, 8-3 mechanical unlocking device, 8-4 sun gear, 8-5 planetary gear , 13-1 forward pressure reducing valve, 13-2 reverse pressure reducing valve, 13-3 right turn pressure reducing valve, 13-4 left turn pressure reducing valve, 13-5 first shuttle valve, 13-6 second shuttle valve, 13-7 third shuttle valve, 13-8 fourth shuttle valve, 14-1 first shift valve, 15-1 second shift valve, 16-1 fifth shuttle valve, 16-2 sixth shuttle valve, 16-3 seventh shuttle valve, 16-4 eighth shuttle valve, 16-5 left forward electric proportional pressure reducing valve, 16-6 right reverse electric proportional Pressure reducing valve, 16-7 right forward electric proportional pressure reducing valve, 16-8 left rear electric proportional pressure reducing valve, 1-1-1 upright plate, 2-1-1 sprocket, 2-1-2 fixed plate, 3-1-1 notch, 3-1-2 pin, 3-1-3 horizontal plate, 3-1-4 vertical plate, 3-1-5 shackle, 3-3-1 column, 3-5-1 inspection plate, 3-5-2 hinge, 3-5-3 magnet, 3-5-4 magnet fixing plate, 8-3-1 pressure cover, 8-3-2 screw. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In the description of the present invention, if the orientation description is involved, for example, the orientation or position relationship indicated by "up", "down", "front", "back", "left", "right", etc. is based on the attached Figure 1The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. When a feature is referred to as being "disposed", "fixed" or "connected" to another feature, it can be directly disposed, fixed or connected to the other feature, or indirectly disposed, fixed or connected to the other feature.

[0036] like Figure 1 As shown, a crawler transport vehicle for ultra-narrow tunnels in coal mines has a body width of less than 1m, which includes a frame 1, a traveling part 2, a carrying platform 3, a power system 4, a hydraulic control system 5 and an electrical control system 6; the traveling part 2 is connected to the bottom of the frame 1, the carrying platform 3 is connected to the top of the frame 1, the power system 4, the hydraulic control system 5 and the electrical control system 6 are connected inside the frame 1, the power system 4 is connected to the hydraulic control system 5 and the electrical control system 6, and the hydraulic control system 5 and the electrical control system 6 are connected to the traveling part 2.

[0037] like Figure 1 As shown, the frame 1 includes a main frame 1-1 and a cover 1-2. The main frame 1-1 is a rectangular integral welded structure with a length greater than a width, that is, the main frame 1-1 is a rectangular welded structure with a relatively large length and width. The main frame 1-1 is surrounded by upright plates on all sides and supported by a stepped plate at the bottom; the cover 1-2 is fixed to the outside of the main frame, and the cover 1-2 is composed of a plurality of mesh cover plates, which are conducive to ventilation and heat dissipation in the frame.

[0038] like Figure 1 As shown, the walking part 2 includes a left crawler track assembly 2-1, a right crawler track assembly 2-2 and a connecting frame 2-3, the left crawler track assembly 2-1 and the right crawler track assembly 2-2 are connected by the connecting frame 2-3, and the stepped plate supporting part at the bottom of the frame 1 is seated on the connecting frame 2-3 and connected and fixed; a left walking motor 8 is arranged inside the left crawler track assembly 2-1, and a right walking motor 9 is arranged inside the right crawler track assembly 2-2, the moving housing 8-1 of the left walking motor 8 is connected to the sprocket 2-1-1 of the left crawler track assembly 2-1, and the stationary housing 8-2 of the left walking motor 8 is connected to the fixed plate 2-1-2 of the left crawler track assembly 2-1, the moving housing 8-1 of the right walking motor 9 is connected to the sprocket 2-1-1 of the right crawler track assembly 2-2, and the stationary housing 8-2 of the right walking motor 9 is connected to the fixed plate 2-1-2 of the right crawler track assembly 2-2.

[0039] like Figure 2As shown, the carrying platform 3 includes a base frame 3-1, a cover plate 3-2, front and rear fences 3-3, side fences 3-4 and an inspection port 3-5; the base frame 3-1 is connected to the main frame 1-1; the cover plate 3-2 is provided with a plurality of pieces, each piece has the same outer dimensions, and a plurality of cover plates 3-2 are arranged in sequence and installed on the base frame 3-1 by bolt connection; the front and rear fences 3-3 and the side fences 3-4 are fixed around the base frame 3-1; the inspection port 3-5 is provided on the cover plate 3-2. The bottom of the front and rear fences 3-3 and the side fences 3-4 are both provided with upright posts 3-3-1, and the bottom frame 3-1 is provided with notches 3-1-1 and pins 3-1-2. The upright posts 3-3-1 of the front and rear fences 3-3 and the side fences 3-4 are vertically inserted into the notches 3-1-1 on the bottom frame 3-1, and the pins 3-1-2 are used to horizontally penetrate the notches 3-1-1 and the upright posts 3-3-1, so as to realize the connection between the front and rear fences 3-3 and the side fences 3-4 and the bottom frame 3-1; the front and rear fences 3-3 are provided with two pieces, and the two pieces are completely identical; the side fences 3-4 are provided with several pieces, and the external dimensions of each piece are consistent. Figure 3 As shown, the inspection port 3-5 includes an orifice, an inspection plate 3-5-1, a hinge 3-5-2, a magnet 3-5-3 and a magnet fixing plate 3-5-4. The orifice is opened on the cover plate 3-2. The inspection plate 3-5-1 is flipped and connected to the cover plate 3-2 through the hinge 3-5-2 and covers the orifice. The magnet 3-5-3 is fixed on the magnet fixing plate 3-5-4. The magnet fixing plate 3-5-4 is fixed on the cover plate 3-2. The plate of the inspection plate 3-5-1 The side is supported on the magnet fixing plate 3-5-4 and is sucked by the magnet 3-5-3; the inspection port 3-5 is provided with several pieces, each with the same external dimensions, and is respectively provided on different cover plates 3-2; the inspection plate 3-5-1 is sucked by the magnet 3-5-3 in the normal state, and the magnetic force can be overcome manually when it needs to be opened. This self-priming method avoids the cumbersomeness of other methods such as bolts and buckles. At the same time, the surface of the inspection plate 3-5-1 is flat and has no protruding structure, which is convenient for loading. Figure 3 and Figure 4As shown, the bottom frame 3-1 adopts a rectangular frame with a length greater than a width, and is equal in width and length to the main frame 1-1; a plurality of rectangular frame openings for installing cover plates are formed on the bottom frame 3-1, and the cross-sectional shape of the frame edge of the bottom frame 3-1 is T-shaped, and is composed of a horizontal plate 3-1-3 and a vertical plate 3-1-4. The horizontal plate 3-1-3 is placed on the upper part of the vertical plate 1-1-1 of the main frame 1-1, and the vertical plate 3-1-4 is sleeved inside the main frame 1-1; the horizontal plate 3-1-3 and the vertical plate 3-1-4 are arranged along the vertical plate 1-1 of the main frame 1-1. The vertical plate 1-1-1 is surrounded by a circle, and the outer side of the vertical plate 3-1-4 is attached to the inner side of the upright plate 1-1-1 of the main frame 1-1 and is connected to the upright plate 1-1-1 of the main frame 1-1 through bolts 1-3; the base frame 3-1 also plays the role of limiting and stabilizing the frame structure. The base frame 3-1 is composed of three parts along the length direction, and the adjacent parts are connected by bolts; a number of shackles 3-1-5 are arranged at the edge of the base frame 3-1, and the shackles 3-1-5 are used to lift the base frame 3-1 and bundle long materials.

[0040] like Figure 1 As shown, the power system 4 includes an explosion-proof diesel engine 4-1, a hydraulic pump 4-2 and a power box 4-3. The rear of the explosion-proof diesel engine 4-1 is connected to the hydraulic pump 4-2 and the power box 4-3; the explosion-proof diesel engine 4-1 adopts an explosion-proof high-pressure common rail electronic injection diesel engine, and the hydraulic pump 4-2 adopts a variable pump.

[0041] The hydraulic control system 5 is connected to the rear part of the hydraulic pump 4-2. The hydraulic control system 5 includes a solenoid reversing valve 7, a left travel motor 8, a right travel motor 9, a hydraulic oil tank 10, a travel main valve 11, a shift control valve 12, a manual control valve 13, a left travel motor combination valve 14, a right travel motor combination valve 15 and a remote control proportional valve 16.

[0042] like Figure 5 and Figure 6 As shown, the outer sides of the left travel motor 8 and the right travel motor 9 are both provided with a mechanical unlocking device 8-3, and the mechanical unlocking device 8-3 includes a pressure cover 8-3-1 and a screw 8-3-2. A groove is provided at the center of one side of the pressure cover 8-3-1, and the pressure cover 8-3-1 is fixed to the tail of the travel motor by the screw 8-3-2. The groove thereon is arranged toward the inside of the travel motor or toward the outside of the travel motor, that is, the pressure cover 8-3-1 can be assembled in both positive and negative directions. When the groove is toward the inside of the travel motor, the sun gear 8-4 and the planetary gear 8-5 of the left travel motor 8 and the right travel motor 9 are in a meshing state, as shown in FIG. Figure 6 As shown in C in the figure, the torque output by the motor is transmitted to the sprocket 2-1-1 of the left track assembly 2-1 and the right track assembly 2-2 through the moving housing 8-1. At this time, the sprocket 2-1-1 cannot be dragged by external force; when the groove is facing the outside of the travel motor, the sun gear 8-4 and the planetary gear 8-5 of the left travel motor 8 and the right travel motor 9 are in a disengaged state, as shown in FIG. Figure 6As shown in D, the motor output torque cannot be transmitted to the sprocket 2-1-1 through the movable housing 8-1. At this time, the sprocket 2-1-1 can be dragged by external force.

[0043] The electrical control system 6 is connected to the rear of the power box 4-3. The electrical control system 6 includes an injection control box 17, a remote control power switch 18, a remote control receiving control box 19 and a remote control transmitter 20. The electrical control system 6 drives the electromagnetic reversing valve 7, the travel main valve 11 and the remote control proportional valve 16 in the hydraulic control system 5 and realizes the injection control. The specific electrical control principles of each function are as follows: Figure 8 As shown, the specific control process is as follows:

[0044] After coming out of the power box 4-3, it is divided into two paths. One path supplies power to the fuel injection control box 17 to realize electronic control of the fuel injection; the other path supplies power to the remote control receiving control box 19 through the remote control power supply switch 18. When the remote control power supply switch 18 is closed, the remote control receiving control box 19 is energized, and then the electromagnetic reversing valve 7 is energized. At this time, the operation mode is switched from manual operation to remote control operation, and the travel main valve 11 and the remote control proportional valve 16 are energized at the same time. When the remote control transmitter 20 sends an instruction, the corresponding action can be realized.

[0045] The electromagnetic reversing valve 7, the hydraulic oil tank 10, the main travel valve 11, the shift control valve 12, the manual control valve 13, the left travel motor combination valve 14, the right travel motor combination valve 15, the remote control proportional valve 16, the injection control box 17, the remote control power supply switch 18, and the remote control receiving control box 19 are installed on the frame 1. The manual control valve 13 is located at a corner of the frame 1 and below one of the inspection ports 3-5. The remote control transmitter 20 is held by the operator.

[0046] The hydraulic control system 5 in the crawler transport vehicle for ultra-narrow tunnels in coal mines of the present invention realizes the manual / remote control locking function and the walking function of the vehicle. The walking function includes forward, backward, left turn, right turn, high speed and low speed driving. The specific hydraulic control principle of each function is as follows: Figure 7 As shown, the specific control process is as follows:

[0047] Manual / remote control locking function: During manual control, the electromagnetic switching valve 7 is in the left position, the valve P and A ports are connected, and the pressure oil from the hydraulic pump 4-2 enters the shift control valve 12 and the manual control valve 13 respectively; when the vehicle needs remote control, the electromagnetic switching valve 7 is energized and switched to the right position, the valve P and B ports are connected, and the pressure oil from the hydraulic pump 4-2 enters the remote control proportional valve 16. Manual control and remote control are locked through the electromagnetic switching valve 7. When manual control is performed, even if the remote control transmitter 20 issues a command, it will not malfunction, and vice versa.

[0048] The process of manual forward operation: In the manual operation state, the manual control valve group 13 is operated, and the valve handle compresses the forward pressure reducing valve 13-1, so that the pressure reaches the first shuttle valve 13-5 and the third shuttle valve 13-7. Under the action of the pressure oil, the two shuttle valves pass through the fifth shuttle valve 16-1 and the seventh shuttle valve 16-3 to reach the K3 and K1 ports of the travel main valve 11, pushing the travel main valve 11 to operate, and the pressure oil from the hydraulic main pump 4-2 to the travel main valve 11 reaches the valves B2 and B1, B2 is connected to the P2 port of the left travel motor combination valve 14, and B1 is connected to the P2 port of the right travel motor combination valve 15, and at the same time enters the a1 port of the left travel motor 8 and the right travel motor 9, pushing the left travel motor 8 and the right travel motor 9 to rotate forward, thereby driving the vehicle forward.

[0049] The process of manual operation to achieve reverse: in the manual operation state, operate the manual control valve group 13, the valve handle compresses the reverse pressure reducing valve 13-2, so that the pressure reaches the second shuttle valve 13-6 and the fourth shuttle valve 13-8. Under the action of the pressure oil, the two shuttle valves pass through the sixth shuttle valve 16-2 and the eighth shuttle valve 16-4 to reach the K2 and K4 ports of the travel main valve 11, pushing the travel main valve 11 to operate, and the pressure oil from the hydraulic main pump 4-2 to the travel main valve 11 reaches the valves A1 and A2, A1 is connected to the P1 port of the right travel motor combination valve 15, A2 is connected to the P1 of the left travel motor combination valve 14, and enters the a2 port of the left travel motor 8 and the right travel motor 9 at the same time, pushing the left travel motor 8 and the right travel motor 9 to rotate in the opposite direction, thereby driving the vehicle to move backward.

[0050] Manual right turn implementation process: Under manual operation state, operate the manual control valve group 13, the valve handle compresses the right turn pressure reducing valve 13-3, so that the pressure reaches the first shuttle valve 13-5 and the second shuttle valve 13-6, and the two shuttle valves, under the action of the pressure oil, pass through the fifth shuttle valve 16-1 and the sixth shuttle valve 16-2 to reach the K3 and K2 ports of the travel main valve 11, pushing the travel main valve 11 to operate, and the pressure oil from the hydraulic main pump 4-2 to the travel main valve 11 reaches the valve B2 and A1, B2 is connected to the P2 port of the left travel motor combination valve 14, A1 is connected to the P1 of the right travel motor combination valve 15, and at the same time enters the a1 port of the left travel motor 8 and the a2 port of the right travel motor 9, the left travel motor 8 rotates forward, and the right travel motor 9 rotates reversely, thereby driving the vehicle to turn right.

[0051] The process of manually operating a left turn: In the manual operation state, the manual control valve group 13 is operated. The valve handle compresses the left turn pressure reducing valve 13-4, so that the pressure reaches the third shuttle valve 13-7 and the fourth shuttle valve 13-8. Under the action of the pressure oil, the two shuttle valves pass through the seventh shuttle valve 16-3 and the eighth shuttle valve 16-4 to reach the K1 and K4 ports of the travel main valve 11, pushing the travel main valve 11 to operate. The pressure oil from the hydraulic main pump 4-2 to the travel main valve 11 reaches the valves B1 and A2. A2 is connected to the P1 port of the left travel motor combination valve 14, and B1 is connected to the P2 of the right travel motor combination valve 15. At the same time, it enters the a2 port of the left travel motor 8 and the a1 port of the right travel motor 9. The left travel motor 8 rotates in the opposite direction, and the right travel motor 9 rotates forward, thereby driving the vehicle to turn left.

[0052] Remote control forward control process: the remote control receiving control box 19 simultaneously supplies power to the left front electric proportional pressure reducing valve 16-5 and the right front electric proportional pressure reducing valve 16-7, and the pressure oil reaches the K3 and K1 ports of the travel main valve 11 through these two proportional pressure reducing valves, the fifth shuttle valve 16-1 and the seventh shuttle valve 16-3, pushing the travel main valve 11 to operate, and the pressure oil from the hydraulic main pump 4-2 to the travel main valve 11 reaches the valves B2 and B1, B2 is connected to the P2 port of the left travel motor combination valve 14, and B1 is connected to the P2 port of the right travel motor combination valve 15, and enters the a1 port of the left travel motor 8 and the right travel motor 9 at the same time, pushing the left travel motor 8 and the right travel motor 9 to rotate forward, thereby driving the vehicle forward.

[0053] The process of achieving reverse operation by remote control: the remote control receiving control box 19 supplies power to the right reverse electric proportional pressure reducing valve 16-6 and the left reverse electric proportional pressure reducing valve 16-8 at the same time, and the pressure oil reaches the K2 and K4 ports of the travel main valve 11 through these two proportional pressure reducing valves, the sixth shuttle valve 16-2 and the eighth shuttle valve 16-4, pushing the travel main valve 11 to operate, and the pressure oil from the hydraulic main pump 4-2 to the travel main valve 11 reaches the valves A1 and A2, A1 is connected to the P1 port of the right travel motor combination valve 15, A2 is connected to the P1 port of the left travel motor combination valve 14, and enters the a2 port of the left travel motor 8 and the right travel motor 9 at the same time, pushing the left travel motor 8 and the right travel motor 9 to rotate in the opposite direction, thereby driving the vehicle to move backward.

[0054] The process of realizing right turn by remote control: the remote control receiving control box 19 supplies power to the left forward electric proportional pressure reducing valve 16-5 and the right reverse electric proportional pressure reducing valve 16-6 respectively, and the pressure oil reaches the K3 and K2 ports of the travel main valve 11 through these two proportional pressure reducing valves, the fifth shuttle valve 16-1 and the sixth shuttle valve 16-2, pushing the travel main valve 11 to operate, and the pressure oil from the hydraulic main pump 4-2 to the travel main valve 11 reaches the valves B2 and A1, B2 is connected with the P2 port of the left travel motor combination valve 14, and A1 is connected with the P1 of the right travel motor combination valve 15, and at the same time enters the a1 port of the left travel motor 8 and the a2 port of the right travel motor 9, the left travel motor 8 rotates forward, and the right travel motor 9 rotates reversely, thereby driving the vehicle to turn right.

[0055] The process of realizing left turn by remote control: the remote control receiving control box 19 supplies power to the right forward electric proportional pressure reducing valve 16-7 and the left reverse electric proportional pressure reducing valve 16-8 respectively, and the pressure oil reaches the K1 and K4 ports of the travel main valve 11 through these two proportional pressure reducing valves, the seventh shuttle valve 16-3 and the eighth shuttle valve 16-4, pushing the travel 11 to move, and the pressure oil from the hydraulic main pump 4-2 to the travel main valve 11 reaches the valves B1 and A2, A2 is connected with the P1 port of the left travel motor combination valve 14, and B1 is connected with the P2 of the right travel motor combination valve 15, and enters the a2 port of the left travel motor 8 and the a1 port of the right travel motor 9 at the same time, the left travel motor 8 rotates in the opposite direction, and the right travel motor 9 rotates forward, thereby driving the vehicle to turn left.

[0056] The process of realizing low speed and high speed: In the manual operation state, the pressure oil from the hydraulic pump 4-2 enters the shift control valve 12 and the manual control valve 13 respectively. The vehicle is traveling at a low speed in the default state, that is, the shift control valve 12 is in the right position by default, the Ps port of the left travel motor combination valve 14 is connected to the hydraulic oil tank, without pressure, the first shift valve 14-1 is in the left position, and the GS port of the motor variable cylinder is connected to the hydraulic oil tank; when the shift control valve 12 is operated to the left position, the pressure oil reaches the Ps port of the left travel motor combination valve 14 through the valve, and the first shift valve 14-1 is switched to the right position under the action of the pressure oil, and the pressure oil of the P1 or P2 port of the left travel motor combination valve 14 reaches the GS port of the motor variable cylinder, pushing the motor variable cylinder to move, and the motor becomes a small displacement, so that the vehicle can travel at a high speed. The right travel motor combination valve 15 has the same principle as the left travel motor combination valve 14, and the second shift valve 15-1 has the same operating principle as the first shift valve 14-1, which will not be described again. In the remote control state, the pressure oil cannot enter the shift control valve 12, so the high and low speed of the vehicle cannot be switched by remote control. When the vehicle is remotely controlled, the vehicle is only guaranteed to run at a low speed, thereby ensuring the safe operation of the vehicle and realizing different driving controls of manual high and low speed and remote control low speed.

[0057] The scope of protection claimed by the present invention is not limited to the above specific embodiments. For those skilled in the art, the present invention may have various deformations and changes. Any modifications, improvements and equivalent substitutions made within the concept and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A crawler transport vehicle for ultra-narrow coal mine tunnels, characterized in that: It includes a frame, a traveling part, a carrying platform, a power system, a hydraulic control system and an electrical control system; the bottom of the frame is connected to the traveling part, the top of the frame is connected to the carrying platform, the inside of the frame is connected to the power system, the hydraulic control system and the electrical control system, the power system is connected to the hydraulic control system and the electrical control system, and the hydraulic control system and the electrical control system are connected to the traveling part; The frame includes a main frame and a cover. The main frame is a rectangular integral welded structure with a length greater than a width. It is surrounded by upright plates and supported by a stepped plate at the bottom. The cover is fixed to the outside of the main frame and is composed of a number of mesh cover plates. The walking part includes a left crawler track assembly, a right crawler track assembly and a connecting frame, the left crawler track assembly and the right crawler track assembly are connected by the connecting frame, and the stepped plate supporting part at the bottom of the frame is seated on the connecting frame and connected and fixed; a left walking motor is arranged inside the left crawler track assembly, and a right walking motor is arranged inside the right crawler track assembly, the moving housing of the left walking motor is connected to the sprocket of the left crawler track assembly, the stationary housing of the left walking motor is connected to the fixed plate of the left crawler track assembly, the moving housing of the right walking motor is connected to the sprocket of the right crawler track assembly, and the stationary housing of the right walking motor is connected to the fixed plate of the right crawler track assembly; The loading platform includes a chassis, a cover, front and rear rails, side rails and an inspection port; The base frame is connected to the main frame; there are several cover plates, each with the same external dimensions, and the multiple cover plates are arranged in sequence and installed on the base frame through bolt connection; the front and rear fences and the side fences are fixed around the base frame; the inspection port is set on the cover plate; The bottoms of the front and rear fences and the side fences are provided with upright posts, and the bottom frame is provided with notches and pins. The upright posts of the front and rear fences and the side fences are vertically inserted into the notches on the bottom frame, and the pins are used to horizontally penetrate the notches and the upright posts to achieve the connection between the front and rear fences and the side fences and the bottom frame; the front and rear fences are provided with two pieces, and the two pieces are completely identical; the side fences are provided with several pieces, and the outer dimensions of each piece are consistent; The inspection port includes an orifice, an inspection plate, a hinge, a magnet and a magnet fixing plate. The inspection plate is connected to the cover plate by a hinge and covers the orifice. The magnet is fixed to the magnet fixing plate. The magnet fixing plate is fixed to the cover plate. The plate edge of the inspection plate is supported on the magnet fixing plate and is attracted by the magnet. The inspection port is provided with a plurality of pieces, each of which has the same external dimensions and is respectively provided on different cover plates. The bottom frame adopts a rectangular frame with a length greater than a width, and is equal in width and length to the main frame; the cross-section of the frame edge of the bottom frame is T-shaped, and is composed of a horizontal plate and a vertical plate. The horizontal plate is placed on the upper part of the vertical plate of the main frame, and the vertical plate is sleeved inside the main frame, forming a circle along the vertical plate of the main frame. The outer side of the vertical plate is attached to the inner side of the vertical plate of the main frame, and is connected to the vertical plate of the main frame by bolts; a number of shackles are arranged at the frame edge of the bottom frame; The power system includes an explosion-proof diesel engine, a hydraulic pump and a power box. The rear of the explosion-proof diesel engine is connected to the hydraulic pump and the power box. The explosion-proof diesel engine adopts an explosion-proof high-pressure common rail electronic injection diesel engine, and the hydraulic pump adopts a variable displacement pump. The hydraulic control system is connected to the rear of the hydraulic pump. The hydraulic control system includes a solenoid reversing valve, a left travel motor, a right travel motor, a hydraulic oil tank, a travel main valve, a shift control valve, a manual control valve, a left travel motor combination valve, a right travel motor combination valve and a remote control proportional valve; The electrical control system is connected to the rear of the power box. The electrical control system includes an injection control box, a remote control power supply switch, a remote control receiving control box and a remote control transmitter. The electrical control system drives the electromagnetic reversing valve, the travel main valve and the remote control proportional valve in the hydraulic control system and realizes the injection control. After the power box comes out, it is divided into two routes. One route supplies the power injection control box to realize the electronic control of the injection. The other route supplies the power to the remote control receiving control box through the remote control power supply switch. When the remote control power supply switch is closed, the remote control receiving control box is energized, and then the electromagnetic reversing valve is energized. At this time, the operation mode is switched from manual operation to remote control operation, and the travel main valve and the remote control proportional valve are energized at the same time. When the remote control transmitter sends a command, the corresponding action can be realized. The electromagnetic reversing valve, hydraulic oil tank, main travel valve, shift control valve, manual control valve, left travel motor combination valve, right travel motor combination valve, remote control proportional valve, injection control box, remote control power switch, and remote control receiving control box are installed on the frame. The manual control valve is located at one corner of the frame and under one of the inspection ports. The remote control transmitter is held by the operator. The hydraulic control system realizes the manual / remote control locking function and the driving function of the vehicle. The driving functions include forward, reverse, left turn, right turn, high-speed and low-speed driving. The specific control process of the manual / remote control locking function is that when manually operated, the solenoid switching valve is in the left position, the valve P and A ports are connected, and the pressure oil from the hydraulic pump enters the shift control valve and the manual control valve respectively; when the vehicle needs remote control, the solenoid switching valve is energized and switched to the right position, the valve P and B ports are connected, and the pressure oil from the hydraulic pump enters the remote control proportional valve; manual operation and remote control operation are locked by the solenoid switching valve. When manually operated, even if the remote control transmitter issues a command, it will not malfunction, and vice versa; low-speed and high-speed realization process: in the manual operation state, the pressure oil from the hydraulic pump enters the shift control valve and the manual control valve respectively; the vehicle is traveling at a low speed in the default state, that is, the shift control valve It is in the right position by default, the Ps port of the left travel motor combination valve is connected to the hydraulic oil tank without pressure, the first shift valve is in the left position, and the GS port of the motor variable cylinder is connected to the hydraulic oil tank; when the shift control valve is manipulated to the left position, the pressure oil reaches the Ps port of the left travel motor combination valve through the valve, and the first shift valve is switched to the right position under the action of the pressure oil, and the pressure oil of the P1 or P2 port of the left travel motor combination valve reaches the GS port of the motor variable cylinder, pushing the motor variable cylinder to move, and the motor becomes a small displacement, so that the vehicle can travel at high speed; the right travel motor combination valve has the same principle as the left travel motor combination valve, and the second shift valve has the same operating principle as the first shift valve; in the remote control state, the pressure oil cannot enter the shift control valve, so the high and low speed of the vehicle cannot be switched by remote control; when the vehicle is remotely controlled, it is only guaranteed that the vehicle runs at a low speed, thereby ensuring the safe operation of the vehicle and realizing different driving controls of manual high and low speed and remote control low speed.

2. The crawler transport vehicle for ultra-narrow tunnels in coal mines according to claim 1, characterized in that: Mechanical unlocking devices are provided on the outside of the left travel motor and the right travel motor. The mechanical unlocking devices include a pressure cover and screws. A groove is provided at the center of one side of the pressure cover. The pressure cover is fixed to the tail of the travel motor by screws, and the groove thereon is provided toward the inside of the travel motor or toward the outside of the travel motor.

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