Split type coal mining machine carrier and speed synchronization method

Abstract

A split type coal mining machine carrier includes an explosion-proof power source vehicle and a self-driving carrying platform, and a synchronous walking control mechanism is arranged between the explosion-proof power source vehicle and the self-driving carrying platform, the synchronous walking control mechanism includes a buffer connection control device and a synchronous walking control system, the buffer connection control device is a buffer connecting rod, includes a first rod body and a second rod body, a buffer oil cylinder is arranged between the first rod body and the second rod body, first and second hinged pieces for connecting front and rear vehicles are respectively arranged at the ends of the first rod body and the second rod body away from the buffer oil cylinder, and the first rod body and the second rod body are mutually inserted, and the cross section of the insertion interface is square, the beneficial effects of the present application are that through the design of the synchronous walking control mechanism and the speed synchronization method, the coordinated movement of the explosion-proof power source vehicle and the self-driving carrying platform is realized, and the driving stability and operation efficiency of the coal mining machine carrier are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of underground transportation equipment technology, and in particular to a split-type coal mining machine transport vehicle and a speed synchronization method. Background Technology

[0002] With the development of current technology, large coal mining machines are gradually becoming more common in underground coal mine operations in various regions. However, as the size of coal mining machines increases, the traditional forklift transportation method has several shortcomings, such as the inability to completely lift the coal mining machine off the ground, which can easily cause sparks and safety accidents, difficulty in turning during transportation, slow travel speed, and low overall transportation efficiency.

[0003] To address the shortcomings of traditional material handling technologies, Chinese invention patent CN200910073881 discloses a split-type remotely operated ultra-low roadway coal mining equipment transport platform, comprising a power source vehicle and a self-propelled flatbed truck. Both vehicles have wheels connected to motors. The power source vehicle is equipped with a hydraulic power source and a main driver's cab and a co-driver's cab connected to the hydraulic power source. The power source vehicle's drive pump is connected to the motor on the power source vehicle via a first hose. The self-propelled flatbed truck's drive pump is connected to the input end of the front multi-way valve block via a second hose. The output end of the front multi-way valve block is connected to the input end of the rear multi-way valve block on the self-propelled flatbed truck via a third hose. The output end of the rear multi-way valve block is connected to the motor on the self-propelled flatbed truck. This design ensures that the transport platform retains the traditional advantages of a powered flatbed truck, such as self-driving capability and flexible movement, while solving the space requirements of the vehicle body in special working conditions such as coal mine roadways and tunnel excavation.

[0004] However, in the aforementioned patent documents, the power source vehicle and the self-propelled flatbed truck are connected by iron chains instead of rigidly, resulting in poor vehicle synchronization and a high risk of collisions due to speed differences during operation, leading to insufficient overall safety. If a traditional connecting rod is used, vibrations will occur due to the difference in movement trajectories between the power source vehicle and the self-propelled flatbed truck, and the lack of buffer between the two vehicles will cause wear and tear on vehicle parts, thus affecting their performance and lifespan. Both of these connection methods will lead to unstable operation and low efficiency of the coal mining machine transport vehicle. In addition, the self-propelled flatbed truck can only move independently, and a forklift is still required when loading and unloading the coal mining machine, so the overall operation process is not completely simplified and the loading and unloading efficiency is low.

[0005] Therefore, in view of the shortcomings of the existing technology, there is an urgent need to design a new type of split-type coal mining machine transport vehicle with stable driving and efficient loading and unloading, as well as a speed synchronization method. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a split-type coal mining machine transport vehicle with stable driving and efficient loading and unloading, and a speed synchronization method, in order to overcome the shortcomings of the prior art.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A split-type coal mining machine transport vehicle includes an explosion-proof power source vehicle and a self-driving transport platform, characterized by:

[0009] A synchronous walking control mechanism is provided between the explosion-proof power source vehicle and the self-driving transport platform.

[0010] The synchronous walking control mechanism includes a buffer connection control device and a synchronous walking control system.

[0011] The buffer connection control device is a buffer connecting rod, including a first rod body and a second rod body. A buffer cylinder is provided between the first rod body and the second rod body. A first hinge for connecting to the front vehicle and a second hinge for connecting to the rear vehicle are respectively installed on the ends of the first rod body and the second rod body away from the buffer cylinder. The first rod body and the second rod body are interlocked, and the cross-section of the interlocking interface is square. The buffer cylinder includes a cylinder body, and a piston is provided inside the cylinder body. Two support rods, left and right, are respectively provided in the cavities on the left and right sides of the piston. The ends of the support rods away from the piston extend out of the cylinder body and are fixedly connected to the first rod body and the second rod body, respectively. The first rod body and the second rod body extend along the length direction through the buffer cylinder. The first hinge component includes a traction rod, one end of which is fixedly provided with a limiting baffle and slidably disposed in the first rod body along its length direction, and the other end of which passes through a through hole corresponding to the end face of the first rod body and extends out. The extended end is provided with a first vertical pin hole for hinged with the connecting part at the rear end of the front vehicle. A buffer elastic component is provided on the traction rod between the limiting baffle and the first rod body. The second hinge component includes a floating hinge seat, which includes a floating component and a swing component that are hinged to each other by a first horizontal pin. The other end of the floating component is hinged to the second rod body by a second horizontal pin, and the other end of the swing component is provided with a second vertical pin hole for hinged with the connecting part at the front end of the rear vehicle.

[0012] The synchronous walking control system includes: a connecting oil circuit for connecting the left and right chambers of the buffer cylinder, and a buffer control valve for controlling the opening and closing of the buffer cylinder is provided on the connecting oil circuit.

[0013] The left and right cavities of the buffer cylinder are connected to the hydraulic circuit of the explosion-proof power source vehicle through position control valves. The buffer cylinder is also equipped with a pressure sensor and a cylinder position sensor. There are two pressure sensors, which are respectively installed in the left and right cavities of the buffer cylinder. The pressure sensor, cylinder position sensor, buffer control valve and position control valve are all connected to the PLC controller through electrical signals.

[0014] The technical problem to be solved by the present invention can be further achieved by the following solution: two overflow pipes are provided between the left and right cavities of the buffer cylinder, and two sets of overflow valves are respectively installed on the overflow pipes.

[0015] The technical problem to be solved by the present invention can be further achieved by the following solution: the connecting oil line is provided with an adjustable flow valve for adjusting the flow rate.

[0016] The technical problem to be solved by the present invention can be further achieved through the following solution: the buffer control valve is specifically a two-position two-way solenoid directional valve with two working oil ports I, which are respectively connected to the left and right cavities of the buffer cylinder.

[0017] The technical problem to be solved by the present invention can be further achieved through the following solution: the position control valve is specifically a three-position four-way electromagnetic directional valve with four working ports II, wherein the first working port II is connected to the pressure port of the hydraulic oil circuit on the explosion-proof power source vehicle, the second working port II is connected to the return port of the hydraulic oil circuit, and the third working port II and the fourth working port II are respectively connected to the left and right cavities of the buffer cylinder.

[0018] The technical problem to be solved by the present invention can be further achieved through the following solution: the explosion-proof power source vehicle is equipped with a four-wheel steering mechanism, and the four-wheel steering mechanism includes a steering mode switching valve.

[0019] The technical problem to be solved by the present invention can be further achieved through the following solution: the walking mechanism includes symmetrically arranged walking units, there are a total of eight walking units, each walking unit is equipped with a separately controlled steering mechanism, the walking unit includes an independent suspension assembly, one end of the independent suspension assembly is connected to the wheel of the self-driven transport platform, and the other end is connected to the bottom of the frame of the self-driven transport platform, and a lifting cylinder is hinged inside the independent suspension assembly.

[0020] The technical problem to be solved by the present invention can be further achieved through the following solution: a support mechanism for loading and unloading goods is provided on the frame of the self-driven transport platform. The support mechanism includes a top support cylinder and a leg support cylinder. There are four sets of top support cylinders arranged symmetrically on the left and right. There are also four sets of leg support cylinders arranged symmetrically on the left and right. The top support cylinder can be raised upwards, and the leg support cylinder can be extended and retracted vertically downwards. An auxiliary cylinder for assisting in loading and unloading goods is provided in the middle of the frame of the self-driven transport platform. An auxiliary towing component is fixedly provided at the output end of the auxiliary cylinder. A traction mechanism is also provided at the front end of the self-driven transport platform.

[0021] The technical problem to be solved by the present invention can be further achieved by the following solution: the buffer connection control rod is provided with two oil pipe brackets.

[0022] This invention also provides a speed synchronization method for explosion-proof power source vehicles and self-driving transport platforms, characterized by:

[0023] The PLC controller identifies the pressure sensor signals from the left and right chambers of the buffer cylinder.

[0024] When the pressure in the left chamber is less than 15 MPa, keep the buffer cylinder closed.

[0025] When the pressure in the left chamber is between 15MPa and 25MPa, the buffer cylinder is activated and the power source vehicle is switched to four-wheel drive mode to increase the traction of the vehicle in front.

[0026] When the pressure in the left chamber exceeds 25MPa, an alarm signal is sent to the driver, reminding him to stop and check.

[0027] When the pressure in the right chamber is less than 15 MPa, keep the buffer cylinder closed.

[0028] When the pressure in the right chamber is between 15MPa and 25MPa, the buffer cylinder is activated and the power source vehicle is switched to two-wheel drive mode to reduce the traction of the vehicle in front.

[0029] When the pressure in the right chamber exceeds 25 MPa, an alarm signal is sent to the driver, reminding him to stop and check.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] 1. By designing a synchronous walking control mechanism and speed synchronization method, the coordinated movement of the explosion-proof power source vehicle and the self-driving transport platform is realized, which significantly improves the driving stability and operating efficiency of the coal mining machine transport vehicle and ensures that the coal mining machine transport vehicle can travel stably and efficiently under different operating conditions.

[0032] 2. By setting up support and traction mechanisms on the self-driving transport platform, the coal mining machine transport vehicle can actively load the coal mining machine without the need for other transport devices to assist in hoisting, thereby improving the overall work efficiency of loading and unloading the coal mining machine and reducing labor costs. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of the buffer connection control device of the present invention;

[0035] Figure 3 This is a schematic diagram of the synchronous walking control system of the present invention;

[0036] In the diagram: 1-Explosion-proof power source vehicle; 2-Self-driven transport platform; 3-Buffer connection control device; 3-1 Buffer cylinder; 3-2 Buffer spring; 3-3 A-cavity overflow valve; 3-4 B-cavity overflow valve; 3-5 Buffer control valve; 3-6 Adjustable flow valve; 3-7 Position control valve; 3-8 A-cavity pressure sensor; 3-9 B-cavity pressure sensor; 3-10 Cylinder position sensor; 3-11 PLC controller; 3-12 Oil pipe bracket. Detailed Implementation

[0037] The specific technical solutions of the present invention are further described below to enable those skilled in the art to further understand the present invention, without constituting a limitation on its rights.

[0038] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0039] Reference Figure 1-3 A split-type coal mining machine transport vehicle includes an explosion-proof power source vehicle 1 and a self-driving transport platform 2 (i.e., a front vehicle and a rear vehicle). A synchronous travel control mechanism is provided between the explosion-proof power source vehicle and the self-driving transport platform. The synchronous travel control mechanism includes a buffer connection control device 3 and a synchronous travel control system.

[0040] Specifically, the explosion-proof power source vehicle is equipped with an explosion-proof engine, and the output end of the engine is connected to a drive oil pump. The drive oil pump is connected to the travel motors installed on the front and rear axles of the explosion-proof power source vehicle through a first hydraulic hose to supply oil, and is connected to the drive motor installed on the axle of the self-driving transport platform vehicle through a second hydraulic hose to supply oil. The drive and steering of the front and rear vehicles are controlled by two driver's cabs on the explosion-proof power source vehicle.

[0041] The explosion-proof power source vehicle is equipped with an integrated valve group at the rear end. A quick-connect coupling is installed on the integrated valve group. The hydraulic hose is connected to the self-driven transport platform for oil supply through the quick-connect coupling, making installation and disassembly convenient and quick.

[0042] During the movement of the transport vehicle, due to the difference in movement trajectories between the power source vehicle and the self-driven transport platform, a buffer connection control device 3 is installed to buffer and adjust the running speed of the power source vehicle and the self-driven transport platform, maintaining synchronous speeds when the two vehicles turn. The buffer connection control device controls the buffering force in stages through buffer cylinder 3-1 and buffer spring 3-2, reducing the impact on the power source vehicle and the self-driven transport platform.

[0043] like Figure 2 As shown, the buffer connection control device is a buffer connection rod, including a first rod body and a second rod body. A buffer cylinder is provided between the first rod body and the second rod body. The ends of the first rod body and the second rod body away from the buffer cylinder are respectively equipped with a first hinge for connecting the front vehicle and a second hinge for connecting the rear vehicle. The first rod body and the second rod body are interlocked, and the cross-section of the interlocking interface is square. The buffer cylinder includes a cylinder body, and a piston is provided in the cylinder body. Two support rods are respectively provided in the cavities on the left and right sides of the piston. The ends of the support rods away from the piston extend out of the cylinder body and are fixedly connected to the first rod body and the second rod body respectively. The first rod body and the second rod body are buffered by the buffer cylinder extending and retracting along the length direction. The first hinge includes a traction rod. One end of the traction rod is fixedly provided with a limiting baffle and is slidably disposed in the first rod body along the length direction. The other end passes through the through hole corresponding to the end face of the first rod body and extends out. The extended end is provided with a first vertical pin hole for hinged with the connection part of the rear end of the front vehicle. A buffer elastic component is provided on the traction rod between the limiting baffle and the first rod body.

[0044] The second hinge component includes a floating hinge seat, which comprises a floating component and a swing component hinged together by a first horizontal pin. The other end of the floating component is hinged to a second rod via a second horizontal pin. The other end of the swing component has a second vertical pin hole for hinged to the connecting part at the front of the rear vehicle. When the buffer cylinder is working, the second rod can partially retract into the first rod along its length after being compressed, thus providing a buffering effect. Furthermore, the buffer elastic component is specifically a buffer spring. The buffer spring is the main buffer component when the buffer cylinder is closed. When the traction force of the leading vehicle suddenly increases, the traction rod is pulled, and the limiting plate slides outward to compress the buffer spring. Under the tension of the buffer spring, the traction rod slowly slides outward, achieving buffering.

[0045] The synchronous walking control system includes: a connecting oil circuit for connecting the left and right chambers of the buffer cylinder, and a buffer control valve 3-5 for controlling the opening and closing of the buffer cylinder on the connecting oil circuit.

[0046] like Figure 3As shown, both the left and right chambers of the buffer cylinder are connected to the hydraulic circuit of the explosion-proof power source vehicle via position control valves 3-7. Pressure sensors 3-8 and 3-9 and a cylinder position sensor 3-10 are also installed on the buffer cylinder. There are two pressure sensors, one on each chamber. The pressure sensors, cylinder position sensors, buffer control valves, and position control valves are all connected to the PLC controller 3-11 via electrical signals. The PLC controller receives signals from these components and controls the power output of the front and rear vehicles according to the program settings, thereby maintaining speed balance and reducing the impact caused by asynchronous operation between the two vehicles. The cylinder position sensor helps the PLC controller identify the lever position of the buffer cylinder 3-1 in real time. When the cylinder rod exceeds the set position, the PLC controller 3-11 controls the position control valve 3-7 to reverse and return the lever of the buffer cylinder 3-1 to the middle position.

[0047] Furthermore, two overflow pipes are provided between the left and right cavities of the buffer cylinder, and two sets of overflow valves 3-3 and 3-4 are respectively installed on the overflow pipes. The overflow valves are closed by default and open when the oil pressure reaches 25MPa to prevent the cylinder from being damaged by overload.

[0048] Furthermore, the connecting oil line is equipped with an adjustable flow valve 3-6 for adjusting the flow rate. By adjusting the opening of the adjustable flow valve, the buffering force of the buffer cylinder can be further controlled. When the opening increases, the buffering force increases, and when the opening decreases, the buffering force decreases.

[0049] Furthermore, the buffer control valve is specifically a two-position two-way solenoid directional valve with two working ports I, which are respectively connected to the left and right cavities (i.e., cavity A and cavity B) of the buffer cylinder. When the buffer control valve is in the first working position (lower position in the figure), the working ports are disconnected, cavity A and cavity B are not connected, and the buffer cylinder does not work; when the buffer control valve is in the second working position (upper position in the figure), the working ports I are connected, cavity A and cavity B are connected, and the buffer cylinder starts to work.

[0050] Furthermore, the position control valve is specifically a three-position four-way solenoid directional valve with four working ports II. The first working port II is connected to the pressure port of the hydraulic circuit on the explosion-proof power source vehicle, the second working port II is connected to the return port of the hydraulic circuit, and the third and fourth working ports II are respectively connected to the left and right cavities of the buffer cylinder.

[0051] Specifically, the position control valve 3-7 is a three-position four-way solenoid directional valve with a first working port IIA, a second working port IIB, a third working port IIC, and a fourth working port IID. The first working port IIA and the second working port IIB are respectively connected to the pressure port and the return port of the hydraulic oil circuit of the power source vehicle, and the third working port IIC and the fourth working port IID are respectively connected to chamber A and chamber B.

[0052] When the position control valve is in the first working position (middle position in the figure), the first working port IIA, the second working port IIB, the third working port IIC and the fourth working port IID are separated, and the position of the buffer lever is not affected.

[0053] When the position control valve is in the second working position (left position in the figure), the first working port IIA is connected to the fourth working port IID, and the second working port IIB is connected to the third working port IIC. Hydraulic oil is input from the pressure port, passes through the first working port IIA and the fourth working port IID and enters the B chamber, pushing the lever of the buffer cylinder 1 to move to the right. Under the action of pressure, the hydraulic oil in the B chamber flows through the third working port IIC and the second working port IIB to the return port until the lever returns to the middle position.

[0054] When the position control valve is in the third working position (right position in the figure), the first working port IIA is connected to the third working port IIC, and the second working port IIB is connected to the fourth working port IID. Hydraulic oil is input from the pressure port, passes through the first working port IIA and the third working port IIC and enters the A chamber, pushing the lever of the buffer cylinder 1 to move to the right. Under the action of pressure, the hydraulic oil in the A chamber flows through the fourth working port IID and the second working port IIB to the return port until the lever returns to the neutral position.

[0055] Furthermore, the explosion-proof power source vehicle is equipped with a four-wheel steering mechanism. This mechanism includes a steering mode switching valve, a steering cylinder, and a steering tie rod passing through the cylinder. A piston cooperating with the steering cylinder is fixed along the central section of the tie rod. The left and right sides of the piston are respectively configured as the left and right chambers of the steering cylinder. These chambers are connected to the hydraulic circuit of the explosion-proof power source vehicle. The left and right chambers of the steering cylinder on the front axle and the rear axle are interconnected via the steering mode switching valve. Switching the steering mode switching valve allows the steering tie rod to deflect, thus achieving three steering modes: front-wheel steering, all-wheel steering, and crab steering. The four-wheel steering mechanism improves the passability of the explosion-proof power source vehicle and increases overall transportation efficiency.

[0056] Furthermore, the traveling mechanism includes symmetrically arranged traveling units, totaling eight units. Each traveling unit has an independently controlled steering mechanism. Each traveling unit includes an independent suspension assembly, one end of which is connected to the wheel of the self-driving transport platform, and the other end is connected to the bottom of the self-driving transport platform's frame. A lifting cylinder is hinged within the independent suspension assembly. The specific working process of the steering mechanism is as follows: the encoder connected to the steering wheel transmits the generated electrical signal to the PLC controller according to the steering wheel's rotation amplitude. This, in turn, drives the steering worm gear inside the frame to rotate through a pre-set program, thereby causing the slewing bearing fixedly mounted on the upper end of the independent suspension assembly to rotate, and thus driving the wheels to complete the corresponding steering amplitude. Since each steering mechanism is independent of each other, by switching different PLC program settings, the self-driving transport platform can achieve various steering modes such as front-wheel steering, diagonal steering, and figure-eight steering, greatly improving the self-driving transport platform's passability in the confined environment of mine tunnels. The independent suspension mechanism has an internal hinged lifting cylinder, which is connected to the hydraulic circuit of the power source vehicle. Due to the complex terrain in the mine, the chassis can be raised by operating the lifting cylinder when needed to enhance the vehicle's passability.

[0057] Furthermore, a support mechanism for loading and unloading goods is provided on the frame of the self-driven transport platform. The support mechanism includes a top support cylinder and a leg support cylinder. There are four sets of top support cylinders arranged symmetrically on the left and right. There are also four sets of leg support cylinders arranged symmetrically on the left and right. The top support cylinders can be raised upwards, and the leg support cylinders can be extended and retracted vertically downwards. An auxiliary cylinder for assisting in loading and unloading goods is provided in the middle of the frame of the self-driven transport platform. An auxiliary towing component is fixedly provided at the output end of the auxiliary cylinder. A traction mechanism is also provided at the front end of the self-driven transport platform.

[0058] Specifically, the support cylinders are symmetrically installed on the upper end of the self-driven transport platform frame, and the outrigger cylinders are symmetrically installed on the sides of the frame. The traction mechanism consists of two winches located inside the connecting beam at the front end of the frame. The loading process of the coal mining machine is as follows: First, the self-driven transport platform is driven to the front end of the coal mining machine. The lifting cylinder is operated to retract, lowering the independent suspension mechanism until the loading base plate is lowered to the ground. The outrigger cylinders are operated to extend downwards, adjusting the loading base plate to the loading angle. The support cylinders are operated to rise upwards and support the top of the roadway. After the traction preparation is completed, the winches are used to traction and load the coal mining machine. If the traction path deviates during the traction process, a chain can be used to connect the coal mining machine to the auxiliary towing component at the output end of the auxiliary cylinder installed on the frame. Activating the auxiliary cylinder provides auxiliary traction force for loading and unloading the coal mining machine and corrects the traction path.

[0059] The unloading process of the coal mining machine is the reverse of the loading process described above. The only difference is that after the unloading angle is adjusted, the coal mining machine can drive itself out of the self-driven transport platform. Of course, other traction components can also be used to tow the coal mining machine for unloading.

[0060] Furthermore, the buffer connection control rod is equipped with two oil pipe brackets 3-12. The oil pipe brackets are used to support and bundle the hydraulic hoses and corresponding cables. During vehicle operation, the protective bars erected on both sides of the brackets can effectively limit the position of the inner pipes, prevent scratches, and provide overall protection.

[0061] This invention also provides a speed synchronization method for explosion-proof power source vehicles and self-driving transport platforms:

[0062] The PLC controller identifies the pressure sensor signals from the left and right chambers of the buffer cylinder.

[0063] When the pressure in the left chamber is less than 15 MPa, keep the buffer cylinder closed.

[0064] When the pressure in the left chamber is between 15MPa and 25MPa, the buffer cylinder is activated and the power source vehicle is switched to four-wheel drive mode to increase the traction of the vehicle in front.

[0065] When the pressure in the left chamber exceeds 25MPa, an alarm signal is sent to the driver, reminding him to stop and check.

[0066] When the pressure in the right chamber is less than 15 MPa, keep the buffer cylinder closed.

[0067] When the pressure in the right chamber is between 15MPa and 25MPa, the buffer cylinder is activated and the power source vehicle is switched to two-wheel drive mode to reduce the traction of the vehicle in front.

[0068] When the pressure in the right chamber exceeds 25 MPa, an alarm signal is sent to the driver, reminding him to stop and check.

[0069] Specifically, when the speed of the self-driven transport platform is greater than that of the power source vehicle, the buffer connection control device is subjected to thrust, the pressure in the buffer cylinder A chamber rises, and the PLC controller 3-11 controls the buffer connection control device according to the pressure value of the A chamber pressure sensor 3-8. When the pressure is below 5MPa (thrust less than 20kN), the thrust of the buffer connection control device is borne by the buffer spring installed at the front end of the tie rod, and the buffer cylinder does not participate in the work. When the pressure in chamber A is between 5MPa and 15MPa (thrust between 50kN), the PLC controller 3-11 controls the buffer control valve 3-5 to open, and the hydraulic oil in chamber A of the buffer cylinder flows into chamber B, playing a hydraulic buffering role. The buffering speed can be controlled by adjusting the adjustable flow valve 3-6. When the pressure in chamber A is between 15MPa and 25MPa, the PLC controller 3-11 sends a control signal to switch the power source vehicle from 2-wheel drive mode to 4-wheel drive mode, increasing the traction of the power source vehicle (accelerating the front vehicle) and reducing the thrust of the connection buffer device. When the pressure in chamber A is greater than 25MPa, the overflow valve 3-3 of chamber A overflows the hydraulic oil to chamber B to prevent excessive thrust from damaging the mechanical structure of the connection buffer device. At the same time, the PLC controller sends an alarm signal to remind the driver to stop and check. The vehicle can only be driven normally after the fault is eliminated.

[0070] When the speed of the self-driven transport platform is less than that of the power source vehicle, the buffer connection control device is subjected to tension, and the pressure in chamber B of the buffer cylinder rises. The PLC controller 3-11 controls the buffer connection control device based on the pressure value of the chamber B pressure sensor 3-9. When the pressure is below 5MPa (tension less than 20kN), the tension on the buffer connection control device is borne by the buffer spring installed at the front end of the pull rod, and the buffer cylinder does not participate in the operation. When the pressure in chamber B is between 5MPa and 15MPa (tension between 50kN), the PLC controller 3-11 controls the buffer control valve 3-5 to open, and the hydraulic oil in chamber B of the buffer cylinder flows into chamber A, playing a hydraulic buffering role. The buffering speed can be controlled by adjusting the adjustable flow valve 3-6. When the pressure in chamber B is between 15MPa and 25MPa, the PLC controller 3-11 sends a control signal to switch the power source vehicle from 4-wheel drive mode to 2-wheel drive mode, reducing the traction of the power source vehicle (decelerating the front vehicle) and reducing the tension of the connecting buffer device. When the pressure in chamber B is greater than 25MPa, the overflow valve 3-4 in chamber B overflows the hydraulic oil to chamber A to prevent excessive tension from damaging the mechanical structure of the connecting buffer device. At the same time, the PLC controller sends an alarm signal to remind the driver to stop and check. The vehicle can only be driven normally after the fault has been eliminated.

[0071] The synchronous walking control system reads information from pressure sensors to control the opening and closing of the buffer cylinder, and works with the buffer connection control device to achieve speed synchronization between the front and rear vehicles.

[0072] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0073] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A split coal mining machine carrier, comprising an explosion-proof power source vehicle and a self-driving carrying platform, characterized in that: a synchronous walking control mechanism is arranged between the explosion-proof power source vehicle and the self-driving carrying platform; the synchronous walking control mechanism comprises a buffer connection control device and a synchronous walking control system; the buffer connection control device is a buffer connecting rod, comprising a first rod body and a second rod body, a buffer oil cylinder is arranged between the first rod body and the second rod body, a first hinged piece for connecting a front vehicle and a second hinged piece for connecting a rear vehicle are respectively arranged at the ends of the first rod body and the second rod body away from the buffer oil cylinder, the first rod body and the second rod body are inserted into each other, and the cross section of the insertion interface is square; the buffer oil cylinder comprises a cylinder body, a piston is arranged in the cylinder body, left and right cavities of the piston are respectively provided with left and right two supporting rods, the ends of the supporting rods away from the piston extend out of the cylinder body and are fixedly connected with the first rod body and the second rod body, respectively, and the first rod body and the second rod body are telescopically buffered along the length direction through the buffer oil cylinder; the first hinged piece comprises a traction rod, one end of the traction rod is fixedly provided with a limiting baffle and slidably arranged in the first rod body along the length direction, the other end of the traction rod passes through the corresponding through hole of the end surface of the first rod body and extends out, a first vertical pin hole for hinging with a connecting part at the tail end of the front vehicle is arranged on the extended end, and a buffer elastic component is arranged on the traction rod between the limiting baffle and the first rod body; the second hinged piece comprises a floating hinged seat, the floating hinged seat comprises a floating piece and a swing piece hingedly connected with each other through a first horizontal pin shaft, the other end of the floating piece is hingedly connected with the second rod body through a second horizontal pin shaft, and the other end of the swing piece is provided with a second vertical pin hole for hinging with a connecting part at the front end of the rear vehicle; the synchronous walking control system comprises a connecting oil way for connecting the left and right cavities of the buffer oil cylinder, a buffer control valve for controlling the opening and closing of the buffer oil cylinder is arranged on the connecting oil way, the left and right cavities of the buffer oil cylinder are connected with the hydraulic oil way on the explosion-proof power source vehicle through position control valves, a pressure sensor and an oil cylinder position sensor are further arranged on the buffer oil cylinder, the pressure sensor has two, which are arranged on the left and right cavities of the buffer oil cylinder, respectively, and the pressure sensor, the oil cylinder position sensor, the buffer control valve and the position control valve are connected to the PLC controller through electrical signals. two overflow pipelines are arranged between the left and right cavities of the buffer oil cylinder, and two sets of overflow valves are respectively arranged on the overflow pipelines.

2. A split conveyance vehicle as claimed in claim 1, characterised in that: an adjustable flow valve for adjusting the flow size is arranged on the connecting oil way.

3. The split conveyance vehicle of claim 1, wherein: the buffer control valve is a two-position two-way electromagnetic reversing valve, which has two working oil ports I, and the working oil ports I are respectively connected with the left and right cavities of the buffer oil cylinder.

4. The split conveyance vehicle of claim 1, wherein: the position control valve is a three-position four-way electromagnetic reversing valve, which has four working oil ports II, wherein the first working oil port II is connected with the pressure port of the hydraulic oil way on the explosion-proof power source vehicle, the second working oil port II is connected with the oil return port of the hydraulic oil way, and the third working oil port II and the fourth working oil port II are respectively connected with the left and right cavities of the buffer oil cylinder.

5. The split conveyance of claim 1, wherein: the explosion-proof power source vehicle is provided with a four-wheel steering mechanism, and the four-wheel steering mechanism comprises a steering mode switching valve.

6. The split conveyance vehicle of claim 1, wherein: ​ 7. The split conveyance of claim 1, wherein: The walking mechanism of the self-driving carrying platform comprises symmetrically arranged walking units, and there are eight walking units in total. Each walking unit is provided with a separately controlled steering mechanism. The walking unit comprises an independent suspension assembly, one end of which is connected to a wheel of the self-driving carrying platform, and the other end is connected to the bottom of the frame of the self-driving carrying platform. A lifting oil cylinder is hinged in the independent suspension assembly.

8. A split conveyance vehicle as claimed in claim 7, characterised in that: The frame of the self-driving carrying platform is provided with a support mechanism used during loading and unloading of goods. The support mechanism comprises four groups of support oil cylinders and four groups of support leg oil cylinders, which are symmetrically arranged left and right. The support oil cylinders can be upwardly supported, and the support leg oil cylinders can be vertically extended downward. An auxiliary oil cylinder is arranged in the middle of the frame of the self-driving carrying platform for assisting in loading and unloading of goods. An auxiliary dragging element is fixedly arranged at the output end of the auxiliary oil cylinder. The front end of the self-driving carrying platform is further provided with a traction mechanism.

9. The split conveyance of claim 1, wherein: Two oil pipe brackets are arranged on the buffer connecting rod.

10. A speed synchronization method for the explosion-proof power source vehicle and the self-driving carrying platform according to any one of claims 1-9, characterized in that: The PLC controller identifies the pressure sensor signals of the left and right cavities of the buffer oil cylinder, When the left cavity pressure is less than 15 MPa, the buffer oil cylinder is kept closed, When the left cavity pressure is between 15 MPa and 25 MPa, the buffer oil cylinder is opened and the power source vehicle is switched to four-wheel drive mode, and the front vehicle traction is improved, When the left cavity pressure exceeds 25 MPa, an alarm signal is sent to the driver to remind the driver to stop and check; When the right cavity pressure is less than 15 MPa, the buffer oil cylinder is kept closed, When the right cavity pressure is between 15 MPa and 25 MPa, the buffer oil cylinder is opened and the power source vehicle is switched to two-wheel drive mode, and the front vehicle traction is reduced, When the right cavity pressure exceeds 25 MPa, an alarm signal is sent to the driver to remind the driver to stop and check.

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