An assisting device for a curved turning of an unmanned transport mine car

Abstract

The present application relates to a kind of unmanned transport mine car with bend turning assisting device, to solve the current unmanned transport mine car multiple through signal transmission, high-tech monitoring mode is assisted to reduce the technical problems of unstable signal transmission with high cost and turning, including second chassis frame and travel unit;Two travel units are symmetrically arranged at the two ends of the second chassis frame.The present application is set up symmetrically by four travel wheel assemblies, four-wheel synchronous same direction rotation work, in the track bending section, two diagonal distribution travel wheel assemblies are driven by the principle of Mecanum wheel, while advancing, to the inside of bend extrusion, so that travel wheel assembly friction end and track inside contact, to realize the effect of deceleration, and the above travel mode is controlled by mechanization linkage, without signal transmission, straight travel and bending travel rely on track bending change self-adapting adjustment switching.

Description

Technical Field

[0001] This invention relates to the field of mineral transportation technology, and in particular to an assistive device for turning curves on unmanned mining trucks. Background Technology

[0002] Mining cars are narrow-gauge railway vehicles used in mines to transport bulk materials such as coal, ore, and waste rock. They are generally pulled by locomotives or winches. Mining cars are classified into five main categories according to their structure and unloading method: stationary mining cars (material cars, flatbed cars), tipper mining cars, single-sided curved rail side-discharge mining cars, bottom (side) discharge mining cars, and shuttle mining cars. Unmanned mining cars refer to mining cars that are driven without human intervention through purely mechanical remote control or commissioning operation to transport mineral materials.

[0003] Existing unmanned mining trucks mostly adjust their transport speed through program settings or remote control during transport. They typically accelerate relatively during straight, level travel and decelerate relatively during turns to maintain stability. Both of these methods rely on remote control and sensor detection, requiring signal transmission. However, signal transmission is affected within the mine and is costly. Therefore, developing a mechanized device for maintaining constant speed on straight tracks and decelerating during curves is crucial. In this regard, we propose an assistive device for unmanned mining trucks to facilitate curves. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art, adapt to practical needs, and provide an assistive device for unmanned mining trucks to turn corners, so as to solve the technical problems of high cost and unstable signal transmission caused by the current unmanned mining trucks relying on signal transmission and high-tech monitoring methods to assist in deceleration and turning.

[0005] To achieve the objectives of this invention, the technical solution adopted is as follows: An assist device for turning on curves in an unmanned mining truck is designed, comprising a second chassis frame and a driving unit; two driving units are symmetrically arranged at both ends of the second chassis frame; wherein, each driving unit includes a power output structure, a clutch structure, a curve-adapting axle, a bogie, and a driving wheel assembly; two power output structures are symmetrically arranged at both ends of the second chassis frame; the clutch structure is arranged at the output end of the power output structure; two bogies are symmetrically arranged at the two output ends of the clutch structure; wherein, the bogie has an extension on the side furthest from the output motor; and the two curve-adapting axles are symmetrically and movably arranged. The bogie is connected to the second chassis frame; the travel wheel assembly is arranged on the bogie; wherein, the travel unit has a straight-line four-wheel uniform speed drive state and a cornering diagonal deceleration drive state; wherein, in the straight-line four-wheel uniform speed drive state, the two power output structures drive the two output ends of the clutch structure to rotate, causing the four symmetrically distributed travel wheel assemblies to drive at a uniform speed, forming a centrally located straight-line four-wheel drive structure; wherein, in the cornering diagonal deceleration drive state, the two power output structures drive one output end of the clutch structure to rotate, causing the two diagonally distributed travel wheel assemblies to decelerate, forming a cornering tilting deceleration drive structure.

[0006] Preferably, two adaptation adjustment cavities are provided on both axial sides of the second chassis frame; wherein, adjustment grooves are provided on both radial sides and the upper surface of the second chassis frame relative to the adaptation adjustment cavities; wherein, a limiting slide rail is provided on the surface of the second chassis frame relative to the adaptation adjustment cavity on the side closer to the power output structure.

[0007] Preferably, the power output structure includes an output motor and a keyed gear; at least two output motors are symmetrically arranged at both ends of the second chassis frame via mounting base A; and the output end of the output motor is provided with a drive gear A; the keyed gear is arranged on one side of the drive gear A via bearing seat A.

[0008] Preferably, the clutch structure includes a meshing shaft sleeve, a bidirectional meshing sleeve, and a lever; the two meshing shaft sleeves are symmetrically arranged on the side of the keyed gear away from the output motor via bearing seat B; wherein the gap between the opposing surfaces of the two meshing shaft sleeves forms a clutch adjustment cavity; wherein the two ends of the clutch adjustment cavity are provided with a plurality of wavy meshing protrusions at equal intervals in an annular shape; the bidirectional meshing sleeve is movably arranged in the clutch adjustment cavity via a support shaft; and the two sides of the bidirectional meshing sleeve are provided with meshing grooves that are adapted to the meshing protrusions; wherein the middle end of the outer wall of the bidirectional meshing sleeve is fixedly provided with an output gear; and the two sides of the bidirectional meshing sleeve are provided with adjustment grooves opposite to the output gear; the lever is movably arranged on the limiting slide rail.

[0009] Preferably, the actuating lever is composed of a radial limiting sliding part, a compression adjusting part, and an output adjusting part; wherein the radial limiting sliding part slides in cooperation with the limiting slide rail; wherein the compression adjusting part is composed of two symmetrically distributed compression force-bearing blocks in the shape of a right trapezoid; and the relative gap between the two compression force-bearing blocks forms a compression force-bearing groove in the shape of a trapezoid; wherein the output adjusting part abuts in cooperation with the adjusting groove.

[0010] Preferably, the gap between the two radially opposite bogies forms a linkage cavity; wherein the curve adapter axle is arranged in the linkage cavity; and the bogie is hinged to the curve adapter axle; wherein the curve adapter axle, the second chassis frame and the two bogies are parallelogram hinged structures; and the curve adapter axle has an upwardly extending compression force protrusion at its middle end.

[0011] Preferably, the running wheel assembly includes a drive support mounting bracket, a drive helical gear shaft, a Mecanum wheel assembly, and a retaining gear; two drive support mounting brackets are symmetrically arranged radially at the ends of the second chassis frame; and the internal gaps of the drive support mounting brackets sequentially form a running wheel cavity, an internal meshing drive cavity, and a horizontal holding cavity; the drive helical gear shaft is arranged on the end of the meshing shaft sleeve and connected to the drive support mounting bracket via a universal joint; the Mecanum wheel assembly is movably arranged in the running wheel cavity; and the Mecanum wheel assembly has helical tooth grooves that mesh with the drive helical gear shaft; the retaining gear is movably arranged in the horizontal holding cavity; and the retaining gear meshes with the drive helical gear shaft.

[0012] Preferably, the driving wheel assembly further includes a spring plate and a friction plate; at least one of the spring plates is arranged on the side of the drive support mounting frame that is relatively away from the output motor; wherein the spring plate has an arc-shaped structure; and both ends of the spring plate are provided with rear auxiliary rollers; at least one of the friction plates is arranged on one side of the spring plate and connected to the drive support mounting frame.

[0013] A method for using an assistive device for turning curves on an unmanned mining truck includes the following steps:

[0014] S100: Installation and processing: The bottom wheel set of the unmanned mining truck can be directly removed and used as the chassis of the unmanned mining truck. Alternatively, the auxiliary device can be used as a traction end to connect with the unmanned mining truck for towing operations.

[0015] S200: Drive processing: Drive the drive gear A through the output motor, causing the keyed gear to rotate synchronously, so that the bidirectional meshing sleeve rotates as a whole.

[0016] S300: Clutch Adjustment:

[0017] If traveling on a straight track: the four traveling wheel assemblies maintain a straight direction, so that the rotation of the two radially opposite bogies can drive the compression force protrusion of the curve adapter shaft to remain in the middle position of the adapter adjustment cavity, so that the bidirectional meshing sleeve synchronously drives the two left and right distributed meshing shaft sleeves to rotate, so that the entire auxiliary device maintains a uniform speed for transportation.

[0018] When traveling on a curved track: The four travel wheel assemblies, responding to changes in track curvature, rotate and adjust. This causes the two radially opposite bogies at the front of the travel wheel to rotate synchronously, driving the pressure-bearing protrusions on the curve-adapting axle to move outwards from the bend. Simultaneously, the two radially opposite bogies at the rear of the travel wheel rotate synchronously, driving the pressure-bearing protrusions on the curve-adapting axle to move inwards from the bend. This causes the pressure-bearing protrusions to press against the pressure adjustment unit, resulting in the entire actuating lever sliding radially. This synchronously adjusts the position of the output adjustment unit, causing the bidirectional meshing sleeve to engage with one of the meshing... The engaging sleeve separates; the other engaging sleeve rotates, driving the Mecanum wheel assembly to rotate via the engaging sleeve and universal joint to drive the helical gear shaft. At this time, the Mecanum wheel assembly at the front end relative to the inside of the curve is not driven to rotate, and the Mecanum wheel assembly at the rear end relative to the outside of the curve is not driven to rotate. Based on the Mecanum wheel rotation driving away, the entire assisting device tilts relative to each other, compressing the spring plate, causing the spring plate to deform, and the friction plate to make frictional contact with the inner wall of the track, so that the assisting device can achieve deceleration and movement transportation.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. This invention utilizes four symmetrically arranged traveling wheel assemblies, based on the Mecanum wheel drive principle, to achieve synchronous and unidirectional rotation of the four wheels. Each traveling wheel assembly is in elastic contact with the track, ensuring the entire assistive device remains centered on the track for stable and uniform sliding movement. Simultaneously, in curved sections of the track, the traveling wheel assembly at the front end, closer to the inside of the curve, separates from the clutch mechanism, while the traveling wheel assembly at the front end, closer to the outside of the curve, continues to rotate. Similarly, the traveling wheel assembly at the rear end, closer to the inside of the curve, continues to rotate, and the traveling wheel assembly at the rear end, closer to the outside of the curve, separates from the clutch mechanism. Furthermore, based on the Mecanum wheel drive principle, while maintaining forward movement, the wheels are pushed towards the inside of the curve, causing the friction ends of the traveling wheel assemblies to contact the inside of the track, thus achieving a deceleration effect. This driving mode is achieved through mechanized linkage control, eliminating the need for signal transmission; straight-line and curved driving modes are automatically adjusted and switched based on changes in track curvature.

[0021] 2. This invention uses an adjusting groove to adapt to the required spatial position of the movable shaft in a curved path, and a limiting slide rail to radially limit the movable adjustment of the clutch structure, thus maintaining the clutch structure as intended. Figure 4 The left and right movements are shown.

[0022] 3. In this invention, the keyed gear has a longer radial dimension relative to the drive gear A and the input meshing end of the clutch structure. This keyed gear is used to adapt to the continuous power input required for the clutch structure meshing adjustment.

[0023] 4. In this invention, the bidirectional meshing sleeve is inserted between two relatively distributed meshing shaft sleeves through a support shaft, and the meshing shaft sleeve and the bidirectional meshing sleeve rotate movably. At the same time, the bidirectional meshing sleeve can partially contact the two bidirectional meshing sleeves respectively at the position of the central axis of the clutch adjustment cavity. Through the above operation, the two radially distributed driving wheel assemblies can maintain synchronous rotation and single rotation operation.

[0024] 5. This invention uses the extrusion drive of the curved adaptable shaft to cause the actuating rod to make relative radial sliding adjustment under the limit of the limiting slide rail, so that the output adjustment part can drive the bidirectional meshing sleeve to make sliding adjustment, realizing the adjustment drive required for the synchronous meshing state and the single meshing state of the bidirectional meshing sleeve and the meshing shaft sleeve.

[0025] 6. The present invention uses a parallelogram hinge structure for the curve adapting axle, the second chassis frame and the two bogies, so that the two radially opposite bogies can synchronously drive the curve adapting axle to adjust and move. The required meshing state is freely adjusted by the spatial displacement of the curve adapting axle pressing the actuating rod.

[0026] 7. The present invention uses a spring plate to help maintain the centering of the assisting device during straight track travel. During curve travel, based on the offset of the Mecanum wheel assembly relative to the inner side of the curve, the spring plate is squeezed, causing the inner wall of the friction plate to contact the inner track, thereby forming frictional force efficiency and realizing the deceleration function. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the three-dimensional structure of the clutch mechanism in this invention;

[0029] Figure 3 For the present invention Figure 2 A magnified view of the structure at point A in the middle;

[0030] Figure 4 This is a top view of the overall structure of the present invention;

[0031] Figure 5 For the present invention Figure 4 A magnified schematic diagram of the structure at point B in the middle;

[0032] Figure 6 This is a three-dimensional cross-sectional schematic diagram of the three-dimensional structure of the driving wheel assembly and the drive support mounting frame in this invention;

[0033] Figure 7 This is a three-dimensional cross-sectional view of the traveling wheel assembly in this invention;

[0034] Figure 8 This is a three-dimensional structural diagram of the driving wheel assembly in this invention.

[0035] In the diagram: 1. Second chassis frame; 2. Running gear; 3. Power output structure; 4. Clutch structure; 5. Cornering adaptation axle; 7. Bogie; 8. Running wheel assembly;

[0036] 101. Limiting slide rail;

[0037] 301. Output motor; 302. Keyed gear;

[0038] 401. Engaging shaft sleeve; 4011. Engaging protrusion; 402. Bidirectional engagement sleeve; 4021. Engaging groove; 4022. Output gear; 4023. Adjusting groove; 403. Actuating rod; 4031. Radial limiting sliding part; 4032. Extrusion adjusting part; 4033. Output adjusting part;

[0039] 501. Protrusion under compression;

[0040] 701. Extension section;

[0041] 801. Drive support mounting bracket; 802. Drive helical gear shaft; 803. Mecanum wheel assembly; 804. Holding gear; 805. Spring plate; 806. Friction plate. Detailed Implementation

[0042] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0043] Example 1: An assist device for turning curves in an unmanned mining truck, see [link / reference] Figures 1 to 8 The system includes a second chassis frame 1 and a running unit 2. Two running units 2 are symmetrically arranged at both ends of the second chassis frame 1. Each running unit 2 includes a power output structure 3, a clutch structure 4, a cornering adapter axle 5, a bogie 7, and a running wheel assembly 8. Two power output structures 3 are symmetrically arranged at both ends of the second chassis frame 1. The clutch structure 4 is located at the output end of the power output structure 3. Two bogies 7 are symmetrically arranged at the two output ends of the clutch structure 4. An extension 701 is provided on the side of the bogie 7 that is away from the output motor 301. Two cornering adapter axles 5 are symmetrically and movably arranged on the second chassis frame 1 and connected to the bogies 7. The running wheel assembly 8 is arranged on the bogie 7; wherein, the running unit 2 has a straight four-wheel uniform speed driving state and a cornering diagonal deceleration driving state; wherein, in the straight four-wheel uniform speed driving state, the two power output structures 3 drive the two output ends of the clutch structure 4 to rotate, causing the four symmetrically distributed running wheel assemblies 8 to drive at a uniform speed; forming a centrally located straight four-wheel drive structure; wherein, in the cornering diagonal deceleration driving state, the two power output structures 3 drive one of the output ends of the clutch structure 4 to rotate, causing the two diagonally distributed running wheel assemblies 8 to decelerate; forming a cornering tilting deceleration driving structure. This invention utilizes four symmetrically arranged traveling wheel assemblies 8, based on the Mecanum wheel drive principle, to achieve synchronous and unidirectional rotation of the four wheels. Each traveling wheel assembly 8 elastically contacts the track, ensuring the entire assistive device remains centered on the track for stable and uniform sliding movement. Simultaneously, in curved sections of the track, the traveling wheel assembly 8 at the front end, closer to the inside of the curve, separates from the clutch structure 4, while the traveling wheel assembly 8 at the front end, closer to the outside of the curve, continues to rotate. Similarly, the traveling wheel assembly 8 at the rear end, closer to the inside of the curve, continues to rotate, while the traveling wheel assembly 8 at the rear end, closer to the outside of the curve, separates from the clutch structure 4. Based on the Mecanum wheel drive principle, while maintaining forward movement, the wheel assembly 8 is pressed towards the inside of the curve, causing the friction end of the traveling wheel assembly 8 to contact the inside of the track, thus achieving a deceleration effect. Furthermore, this driving mode is controlled by mechanical linkage, requiring no signal transmission; straight-line and curved driving modes are automatically adjusted and switched based on changes in track curvature.

[0044] Specifically, two adaptation adjustment cavities are provided on both axial sides of the second chassis frame 1; adjustment grooves are provided on both radial sides and the upper surface of the second chassis frame 1 relative to the adaptation adjustment cavities; and a limiting slide rail 101 is provided on the surface of the second chassis frame 1 relative to the adaptation adjustment cavities near the power output structure 3. This invention uses the adjustment grooves to accommodate the required spatial position of the curved adaptation shaft 5, and the limiting slide rail 101 to radially limit the movement of the clutch structure 4, maintaining the clutch structure 4 as intended. Figure 4 The left and right movements are shown.

[0045] Furthermore, the power output structure 3 includes an output motor 301 and a keyed gear 302; at least two output motors 301 are symmetrically arranged at both ends of the second chassis frame 1 via mounting base A; and a drive gear A is provided at the output end of the output motor 301; the keyed gear 302 is arranged on one side of the drive gear A via bearing seat A. In this invention, the radial dimension of the keyed gear 302 is longer than that of the drive gear A and the input meshing end of the clutch structure 4, and the keyed gear 302 is used to adapt to the clutch structure 4 to adjust the required continuous power input.

[0046] Furthermore, the clutch structure 4 includes a meshing shaft sleeve 401, a bidirectional meshing sleeve 402, and a lever 403; the two meshing shaft sleeves 401 are symmetrically arranged on the side of the keyed gear 302 away from the output motor 301 via bearing seats B; the gap between the opposing surfaces of the two meshing shaft sleeves 401 forms a clutch adjustment cavity; the clutch adjustment cavity has several wavy meshing protrusions 4011 arranged in an annular pattern at equal intervals at both ends; the bidirectional meshing sleeve 402 is movably arranged in the clutch adjustment cavity via a support shaft; and the bidirectional meshing sleeve 402 has meshing grooves 4021 on both sides that are adapted to the meshing protrusions 4011; the output gear 4022 is fixedly provided at the middle of the outer wall of the bidirectional meshing sleeve 402; and the bidirectional meshing sleeve 402 has adjustment grooves 4023 on both sides opposite to the output gear 4022; the lever 403 is movably arranged on the limiting slide rail 101. In this invention, the bidirectional meshing sleeve 402 is inserted between two relatively distributed meshing shaft sleeves 401 through a support shaft, and the meshing shaft sleeve 401 and the bidirectional meshing sleeve 402 can rotate movably. At the same time, the bidirectional meshing sleeve 402 can partially contact the two bidirectional meshing sleeves 402 respectively at the position of the central axis of the clutch adjustment cavity. Through the above operation, the two radially distributed driving wheel assemblies 8 can maintain synchronous rotation and single rotation operation.

[0047] It is worth noting that the actuating lever 403 is composed of a radial limiting sliding part 4031, a compression adjusting part 4032, and an output adjusting part 4033. The radial limiting sliding part 4031 is slidably engaged with the limiting slide rail 101. The compression adjusting part 4032 consists of two symmetrically distributed compression force-bearing blocks in the shape of right-angled trapezoids. The relative gap between the two compression force-bearing blocks forms a trapezoidal compression force-bearing groove. The output adjusting part 4033 abuts against the adjusting groove 4023. This invention, through the compression drive of the curved adapting shaft 5, causes the actuating lever 403 to perform relative radial sliding adjustment under the limitation of the limiting slide rail 101. This allows the output adjusting part 4033 to drive the bidirectional meshing sleeve 402 to slide, achieving the adjustment drive required for the synchronous meshing state and single meshing state of the bidirectional meshing sleeve 402 and the meshing shaft sleeve 401.

[0048] It is worth noting that the gap between the two radially opposite bogies 7 forms a linkage cavity; the curve adapter axle 5 is arranged within the linkage cavity; and the bogies 7 and the curve adapter axle 5 are hingedly connected; the curve adapter axle 5, the second chassis frame 1, and the two bogies 7 form a parallelogram hinge structure; and the curve adapter axle 5 has an upwardly extending compression force-bearing protrusion 501 at its middle end. This invention, by using a parallelogram hinge structure for the curve adapter axle 5, the second chassis frame 1, and the two bogies 7, allows the two radially opposite bogies 7 to synchronously drive the curve adapter axle 5 for adjustment and movement. The spatial displacement of the curve adapter axle 5 compresses the actuating rod 403 to achieve the required free adaptation and adjustment of the meshing state.

[0049] It is worth noting that the driving wheel assembly 8 includes a drive support mounting bracket 801, a drive helical gear shaft 802, a Mecanum wheel assembly 803, and a retaining gear 804. The two drive support mounting brackets 801 are symmetrically arranged radially at the ends of the second chassis frame 1. The internal gaps of the drive support mounting brackets 801 sequentially form a driving wheel cavity, an internal meshing drive cavity, and a horizontal retaining cavity. The drive helical gear shaft 802 is connected to the drive support mounting bracket 801 via a universal joint at the end of the meshing shaft sleeve 401. The Mecanum wheel assembly 803 is movably arranged within the driving wheel cavity. The Mecanum wheel assembly 803 has helical tooth grooves that mesh with the drive helical gear shaft 802. The retaining gear 804 is movably arranged within the horizontal retaining cavity and meshes with the drive helical gear shaft 802. This invention effectively maintains the overall connection strength and stability of the driving wheel assembly 8 structure through the meshing arrangement of the retaining gear 804 and the drive helical gear shaft 802.

[0050] It is worth emphasizing that the traveling wheel assembly 8 also includes a spring plate 805 and a friction plate 806; at least one spring plate 805 is arranged on the side of the drive support mounting frame 801 that is relatively far away from the output motor 301; wherein, the spring plate 805 has an arc-shaped structure; and, both ends of the spring plate 805 are provided with rear auxiliary rollers; at least one friction plate 806 is arranged on one side of the spring plate 805 and connected to the drive support mounting frame 801. In this invention, the arrangement of the spring plate 805 helps maintain the centering of the assisting device during straight track travel. During curve travel, based on the offset of the Mecanum wheel assembly 803 relative to the inner side of the curve, the spring plate 805 is compressed, causing the inner wall of the inner track of the friction plate 806 to contact, forming frictional force efficiency and achieving a deceleration function.

[0051] Example 2: A method for using an assistive device for turning curves in an unmanned mining truck, comprising the following steps:

[0052] S100: Installation and processing: The bottom wheel set of the unmanned mining truck can be directly removed and used as the chassis of the unmanned mining truck. Alternatively, the auxiliary device can be used as a traction end to connect with the unmanned mining truck for towing operations.

[0053] S200: Drive processing: Drive the drive gear A through the output motor 301, causing the key gear 302 to rotate synchronously, so that the bidirectional meshing sleeve 402 rotates as a whole.

[0054] S300: Clutch Adjustment:

[0055] If traveling on a straight track: the four traveling wheel assemblies 8 maintain a straight direction, so that the two radially opposite bogies 7 rotate to drive the compression force protrusion 501 of the curve adapter shaft 5 to remain in the middle position of the adapter adjustment cavity, so that the bidirectional meshing sleeve 402 synchronously drives the two left and right distributed meshing shaft sleeves 401 to rotate, so that the entire auxiliary device maintains a uniform speed for transportation.

[0056] When traveling on a curved track: the four traveling wheel assemblies 8 rotate in response to changes in track curvature, causing the two radially opposite bogies 7 at the front of the travel wheel to rotate synchronously. This drives the pressure-bearing protrusion 501 of the curve adapter axle 5 to move outwards from the curve, while the two radially opposite bogies at the rear of the travel wheel rotate synchronously. This drives the pressure-bearing protrusion 501 of the curve adapter axle 5 to move inwards from the curve. This causes the pressure-bearing protrusion 501 to press against the pressure adjustment part 4032, causing the actuating lever 403 to slide radially, simultaneously adjusting the position of the output adjustment part 4033, so that the bidirectional meshing sleeve 402 engages with one of them. The bushing 401 is separated; the other meshing bushing 401 is kept in rotation, and the meshing bushing 401 and the universal joint drive the helical gear shaft 802 to rotate, thereby driving the Mecanum wheel assembly 803 to rotate. At this time, the Mecanum wheel assembly 803 at the front end of the vehicle relative to the inside of the curve is not driven to rotate, and the Mecanum wheel assembly 803 at the rear end of the vehicle relative to the outside of the curve is not driven to rotate. Based on the rotation of the Mecanum wheel, the auxiliary device is tilted relative to each other, which compresses the spring plate 805, causing the spring plate 805 to deform. The friction plate 806 comes into frictional contact with the inner wall of the track, so that the auxiliary device can achieve deceleration and movement transportation.

[0057] The embodiments disclosed in this invention are preferred embodiments, but are not limited thereto. Those skilled in the art can easily understand the spirit of this invention based on the above embodiments and make different extensions and variations, but as long as they do not depart from the spirit of this invention, they are all within the protection scope of this invention.

Claims

1. A turning assist device for unmanned mining trucks, characterized in that, Includes a second chassis frame (1) and a driving unit (2); Two driving units (2) are symmetrically arranged at both ends of the second chassis frame (1); The driving unit (2) includes a power output structure (3), a clutch structure (4), a cornering adaptation axle (5), a bogie (7), and a driving wheel assembly (8). The two power output structures (3) are symmetrically arranged at both ends of the second chassis frame (1), and the power output structure (3) includes an output motor (301). The clutch structure (4) is arranged at the output end of the power output structure (3); The two bogies (7) are arranged symmetrically at the two output ends of the clutch structure (4); wherein, the bogie (7) is provided with an extension (701) on the side away from the output motor (301). The two curve adapter axles (5) are symmetrically and movably arranged on the second chassis frame (1) and connected to the bogie (7); The running wheel assembly (8) is arranged on the bogie (7); The driving unit (2) has a straight-line four-wheel uniform speed driving state and a curve diagonal deceleration driving state. In the driving unit (2) under the state of straight four-wheel uniform speed driving, the two power output structures (3) drive the two output ends of the clutch structure (4) to rotate, causing the four symmetrically distributed driving wheel assemblies (8) to drive at a uniform speed, forming a central straight four-wheel drive structure. In the case of the driving unit (2) in the diagonal deceleration drive state of the curve, the driving wheel assembly (8) is subjected to the change of track curvature and rotates. The two radially opposite bogies (7) can synchronously drive the curve adapter shaft (5) to adjust and move. The two power output structures (3) drive one of the output ends of the clutch structure (4) to rotate. This causes the two diagonally distributed driving wheel assemblies (8) to decelerate. Based on the Mecanum wheel drive principle, a curve tilting deceleration drive structure is formed. While maintaining forward movement, it squeezes towards the inside of the curve, so that the friction end of the driving wheel assembly (8) contacts the inside of the track.

2. The assist device for turning curves in unmanned mining trucks as described in claim 1, characterized in that, The second chassis frame (1) has two adapter adjustment cavities on both sides of the axial direction; wherein, the second chassis frame (1) has adjustment grooves on both sides of the radial direction and the upper surface of the adapter adjustment cavity; wherein, the surface of the second chassis frame (1) is provided with a limiting slide rail (101) on the side of the adapter adjustment cavity closer to the power output structure (3).

3. The assist device for turning curves in unmanned mining trucks as described in claim 2, characterized in that, The power output structure (3) also includes a keyed gear (302). At least two output motors (301) are symmetrically arranged at both ends of the second chassis frame (1) via mounting base A; and the output end of each output motor (301) is provided with a drive gear A. The keyed gear (302) is arranged on one side of the drive gear A via bearing housing A.

4. The assist device for turning curves in unmanned mining trucks as described in claim 3, characterized in that, The clutch structure (4) includes a meshing shaft sleeve (401), a bidirectional meshing sleeve (402), and a lever (403). The two meshing shaft sleeves (401) are symmetrically arranged on the side of the keyed gear (302) away from the output motor (301) via bearing seat B; wherein, the gap between the opposing surfaces of the two meshing shaft sleeves (401) forms a clutch adjustment cavity; wherein, the two ends of the clutch adjustment cavity are provided with a number of wave-shaped meshing protrusions (4011) at equal intervals in an annular shape. The bidirectional engagement sleeve (402) is movably arranged in the clutch adjustment cavity via a support shaft; and the bidirectional engagement sleeve (402) has engagement grooves (4021) on both sides that are adapted to the engagement protrusion (4011); wherein, an output gear (4022) is fixedly provided at the middle end of the outer wall of the bidirectional engagement sleeve (402); and the bidirectional engagement sleeve (402) has adjustment grooves (4023) on both sides opposite to the output gear (4022). The actuating lever (403) is movably arranged on the limiting slide rail (101).

5. The assistive device for turning curves in unmanned mining trucks as described in claim 4, characterized in that, The actuating lever (403) is composed of a radial limiting sliding part (4031), a compression adjusting part (4032), and an output adjusting part (4033); wherein the radial limiting sliding part (4031) is slidably engaged with the limiting slide rail (101); wherein the compression adjusting part (4032) is composed of two symmetrically distributed compression force blocks in the shape of right-angled trapezoids; and the relative gap between the two compression force blocks forms a compression force groove in the shape of a trapezoid; wherein the output adjusting part (4033) is in abutting engagement with the adjusting groove (4023).

6. The assist device for turning curves in unmanned mining trucks as described in claim 5, characterized in that, The gap between the two radially opposite bogies (7) forms a linkage cavity; wherein the curve adapter shaft (5) is arranged in the linkage cavity; and the bogie (7) is hinged to the curve adapter shaft (5); wherein the curve adapter shaft (5), the second chassis frame (1) and the two bogies (7) are parallelogram hinged structures; and the curve adapter shaft (5) is provided with an upwardly extending compression force protrusion (501) at the middle end.

7. The assist device for turning curves in unmanned mining trucks as described in claim 6, characterized in that, The driving wheel assembly (8) includes a drive load-bearing mounting bracket (801), a drive helical gear shaft (802), a Mecanum wheel assembly (803), and a holding gear (804). The two drive bearing mounting brackets (801) are arranged radially in a symmetrical manner at the end of the second chassis frame (1); and the internal gap of the drive bearing mounting bracket (801) sequentially forms a driving wheel cavity, an internal meshing drive cavity, and a horizontal holding cavity; The drive helical gear shaft (802) is arranged at the end of the meshing shaft sleeve (401) via a universal joint and connected to the drive bearing mounting bracket (801). The Mecanum wheel assembly (803) is movably arranged in the driving wheel cavity; and the Mecanum wheel assembly (803) is provided with helical tooth grooves that mesh with the driving helical gear shaft (802); The holding gear (804) is movably arranged in the horizontal holding cavity; and the holding gear (804) meshes with the driving helical gear shaft (802).

8. The assist device for turning curves in unmanned mining trucks as described in claim 7, characterized in that, The driving wheel assembly (8) also includes a spring plate (805) and a friction plate (806). At least one of the spring plates (805) is arranged on the side of the drive support mounting frame (801) that is relatively away from the output motor (301); wherein the spring plate (805) has an arc-shaped structure; and both ends of the spring plate (805) are provided with rear auxiliary rollers; At least one of the friction plates (806) is arranged on one side of the spring plate (805) and connected to the drive support mounting bracket (801).

9. The method of using the assistive device for turning curves for unmanned mining cars as described in any one of claims 1-8, characterized in that, Includes the following steps: S100: Installation and processing: Directly remove the bottom wheel set of the unmanned mining truck and use the auxiliary device as the chassis of the unmanned mining truck, or use the auxiliary device as the traction end to connect with the unmanned mining truck for towing work. S200: Drive processing: Drive the drive gear A through the output motor (301), causing the key gear (302) to rotate synchronously, so that the bidirectional meshing sleeve (402) rotates as a whole; S300: Clutch Adjustment: If traveling on a straight track: the four driving wheel assemblies (8) maintain a straight direction, so that the two radially opposite bogies (7) rotate to drive the compression force protrusion (501) of the curve adapter shaft (5) to remain in the middle position of the adapter adjustment cavity, so that the bidirectional meshing sleeve (402) synchronously drives the two left and right distributed meshing shaft sleeves (401) to rotate, so that the entire auxiliary device maintains a uniform speed for transportation. If traveling on a curved track: the four traveling wheel assemblies (8) are affected by the track curvature and rotate accordingly, causing the two radially opposite bogies (7) at the front of the travel wheel to rotate synchronously, which drives the pressure-bearing protrusion (501) of the curve adapter axle (5) to move outward from the curve. The two radially opposite bogies (7) at the rear of the travel wheel to rotate synchronously, which drives the pressure-bearing protrusion (501) of the curve adapter axle (5) to move inward from the curve. This causes the pressure-bearing protrusion (501) to press against the pressure adjustment part (4032), causing the actuating rod (403) to slide radially, synchronously adjusting the position of the output adjustment part (4033), so that the bidirectional meshing sleeve (402) meshes with one of them. The bushing (401) is separated; the other bushing (401) is kept in rotation and driven to rotate. The helical gear shaft (802) is driven to rotate through the bushing (401) and the universal joint to drive the Mecanum wheel assembly (803) to rotate. At this time, the Mecanum wheel assembly (803) at the front end of the vehicle relative to the inside of the curve is not driven to rotate, and the Mecanum wheel assembly (803) at the rear end of the vehicle relative to the outside of the curve is not driven to rotate. Based on the rotation of the Mecanum wheel, the auxiliary device is tilted relative to the whole, which squeezes the spring plate (805) and causes the spring plate (805) to deform. The friction plate (806) comes into frictional contact with the inner wall of the track, so that the auxiliary device can achieve deceleration and movement transportation.

Images