Mining flameproof lithium ion trackless rubber wheel vehicle

Abstract

The present invention discloses a flameproof lithium-ion trackless rubber-tyred vehicle for mining, which relates to the technical field of trackless rubber-tyred vehicles, and solves the problem that the flat plate on the top of the existing trackless rubber-tyred vehicle itself cannot limit the position of the goods, and the obstacle avoidance function of the laser radar on the side of the trackless rubber-tyred vehicle is difficult to use efficiently. The trackless rubber-tyred vehicle includes an outer frame and a flat plate arranged on the top of the outer frame, and also includes a steering wheel, a differential wheel steering gear, a limiting structure, an obstacle avoidance structure, a searchlight, and an inclination monitoring component; in the present invention, the limiting structure can be set to limit the position of the goods, and the entire limiting structure can be actually transformed according to the actual size of the goods, and has strong adaptability and better adaptability. It has excellent prospects when facing the scenes of transportation between ground warehouses in mining areas, from ground warehouses to underground equipment transfer centers (vertical shafts), and movement of large equipment maintenance assembly lines.

Description

Technical Field

[0001] The invention relates to the technical field of trackless rubber-tyred vehicles, in particular to a mine-used flameproof lithium-ion trackless rubber-tyred vehicle. Background Art

[0002] In the process of coal mining and processing, a large number of auxiliary transport vehicles are required, especially in coal processing workshops, where a large number of flatbed trackless rubber-wheeled vehicles are needed to load and unload materials.

[0003] The existing Chinese patent application with publication number CN115092033A discloses an explosion-proof lithium-ion battery trackless rubber-wheeled vehicle for mining, including a vehicle body, a storage box, a feed channel, a cover and a discharge mechanism. The storage box is arranged on the upper surface of the vehicle body, the feed channel is fixedly connected to the upper surface of the storage box, the cover is fixedly connected to the upper end of the feed channel, and the discharge mechanism is arranged on the storage box.

[0004] However, the rubber-tyred trackless vehicle still has the following defects when used:

[0005] 1. When loading and unloading goods, if the existing trackless rubber-wheeled vehicle only uses the flat plate on the top of the trackless rubber-wheeled vehicle to place the goods, since there is no structure on the top of the flat plate to limit the position of the goods, material boxes, material racks, etc. are often used to limit the position of the materials. If the material boxes, material racks, etc. are set, there is not only the problem of cumbersome disassembly between them and the flat plate, but also because the material boxes, material racks, etc. themselves will occupy a certain amount of operable space, so when carrying heavier goods, it is easy to cause problems such as handling operation limitations, which is not conducive to use. Therefore, it is urgent to design a trackless rubber-wheeled vehicle with a limiting structure;

[0006] 2. Existing rubber-tyred trackless vehicles use laser radar to avoid obstacles when moving. On the one hand, since the laser radar is set on the side of the trackless rubber-tyred vehicle, long-term exposure to the external environment will increase its degree of damage. On the other hand, only using laser radar for obstacle avoidance is prone to insufficient obstacle avoidance effect, especially at the four corners of the trackless rubber-tyred vehicle. Once there are obstacles at the four corners, it is most likely to cause the trackless rubber-tyred vehicle to deviate from the path, which will easily increase the probability of damage to the cargo on its top, which is not conducive to efficient use. Summary of the invention

[0007] The object of the present invention is to provide a flameproof lithium-ion trackless rubber-tyred vehicle for mining, so as to solve the problems raised in the above-mentioned background technology.

[0008] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0009] The flameproof lithium-ion trackless rubber-tyred vehicle for mining provided by the present invention comprises an outer frame and a flat plate arranged on the top of the outer frame, and further comprises:

[0010] A steering wheel, wherein a plurality of steering wheels are provided, and the plurality of steering wheels are all provided at the bottom of the outer frame;

[0011] A differential wheel steering gear, which is arranged at the bottom of the outer frame and connected to the steering wheel, and is used to drive the steering wheel to turn;

[0012] A limiting structure, which is arranged inside the flat plate and is used to limit the position of the goods on the top of the flat plate;

[0013] An obstacle avoidance structure, which is arranged inside the flat panel and is used to provide anti-collision protection for the flat panel and the side of the outer frame;

[0014] Searchlights, wherein a plurality of searchlights are provided, and the plurality of searchlights are equally arranged on four sides of the outer frame;

[0015] and an inclination monitoring component, wherein the inclination monitoring component is arranged inside the flat plate and is used for monitoring the inclination of the flat plate.

[0016] Preferably, the internal rectangular array of the plate has a plurality of placement cavities, and the top of the plate is provided with circular holes connected one by one with the plurality of placement cavities;

[0017] The number of the limiting structures is the same as the number of the placement cavities and they are placed inside the placement cavities one by one.

[0018] Preferably, the limiting structure includes:

[0019] A placing plate, a circular rotating box, a connecting shaft, a rotating roller, a first driving assembly, an arc block and an annular groove;

[0020] in,

[0021] The placement plate is arranged at the inner bottom of the placement cavity, the annular groove is opened at the center of the top of the placement plate, the bottom of the arc block is slidably connected to the inside of the annular groove, and the top of the arc block is fixed to the bottom of the circular rotating box, and,

[0022] The connecting shaft is rotatably connected to the inside of the circular rotating box in a transverse manner, the rotating roller is sleeved on the outside of the connecting shaft, and the top of the rotating roller penetrates to the outer top of the circular rotating box, the top surface of the circular rotating box is flush with the top surface of the flat plate, and the circular rotating box penetrates the circular hole and has the same cross section as the circular hole;

[0023] The first driving assembly is disposed on the top of the placement plate, and is used to drive the circular rotating box to rotate horizontally by ninety degrees.

[0024] Preferably, the first driving assembly comprises:

[0025] A rotating rod, a first gear, a first rack, a slide groove, a slide plate, an electric telescopic rod and a connecting plate;

[0026] in,

[0027] The rotating rod is rotatably connected to the center of the top of the placing plate, and the top of the rotating rod is fixed to the bottom center of the circular rotating box, the first gear is sleeved on the outside of the rotating rod, and,

[0028] The slide groove is opened at the top of the placement plate, the bottom of the slide plate is slidably connected to the inside of the slide groove, and the top of the slide plate is fixedly connected to the first rack, the first rack is meshed with the first gear, the electric telescopic rod is fixed to the top of the placement plate, and the output end of the electric telescopic rod is fixed to the connecting plate, and the side of the connecting plate is fixed to the side of the first rack.

[0029] Preferably, the limiting structure further includes:

[0030] A support plate, a fixed shaft, a first electromagnet and a first fixed magnet;

[0031] in,

[0032] The number of the support plates, the fixed shafts and the first electromagnets is four, the bottoms of the four support plates are respectively fixed at the center of the top edge of the placement plate, the four fixed shafts are fixed to the four support plates one by one, the four first electromagnets are fixed to the ends of the four fixed shafts one by one, and the ends of the four first electromagnets are all provided with a first arc surface, and,

[0033] Both ends of the connecting shaft penetrate the outside of the circular rotating box and are fixed with the first fixed magnet, and the end of the first fixed magnet is provided with a second arc surface that cooperates with the first arc surface.

[0034] Preferably, the four corners of the plate are provided with slots, and the side of the plate is provided with openings connected to the four slots one by one, the number of the obstacle avoidance structures is the same as the number of the slots, and the obstacle avoidance structure includes:

[0035] A rotating drum, a laser radar, a second driving assembly and a rotating shaft;

[0036] Among them, the top and bottom ends of the rotating drum are coaxially fixed with the rotating shaft, and the rotating shaft at the bottom end of the rotating drum is rotatably connected to the inner bottom end of the slot, the second driving component is arranged inside the slot and located above the rotating drum, and the second driving component is used to drive the rotating drum to rotate horizontally ninety degrees, the laser radar is arranged inside the rotating drum, and a visible window is opened on the side of the rotating drum, and the detection end of the laser radar faces the visible window.

[0037] Preferably, the second driving component includes:

[0038] a second gear, a C-shaped frame, a second rack, a sliding rod, a second permanent magnet, and a second electromagnet;

[0039] Wherein,

[0040] the second gear is sleeved outside the rotating shaft and located above the rotating cylinder, the number of the C-shaped frames is two and they are respectively fixed on the front and rear side walls of the slotted groove, the second rack is slidably matched with one of the C-shaped frames, the sliding rod is slidably matched with the other C-shaped frame, the second rack is meshed with the second gear, and one ends of the second rack and the sliding rod facing the middle of the flat plate are fixed to the second permanent magnet, the second electromagnet is arranged on the side wall of the slotted groove facing the second permanent magnet, and the second electromagnet and the second permanent magnet cooperate with each other.

[0041] Preferably, the obstacle avoidance structure further includes:

[0042] a sliding box, a movable plate, a collision avoidance rod, a spring, and a damping rod;

[0043] Wherein,

[0044] the end face of the sliding box is fixed to one ends of the second rack and the sliding rod away from the second permanent magnet, and the sliding box is slidably matched with the inside of the slotted groove, the movable plate is slidably arranged inside the sliding box, a plurality of collision avoidance rods are arranged at one end of the movable plate at equal intervals, and the collision avoidance rods penetrate to the outside of the flat plate, a spring is connected between the side of the movable plate away from the collision avoidance rods and the inner wall of the sliding box, and the damping rods are arranged on both sides of the spring, one end of the damping rod is connected to the end of the movable plate, and the other end of the damping rod is connected to the inner wall of the sliding box.

[0045] Preferably, the obstacle avoidance structure further includes:

[0046] a trigger switch and a display lamp;

[0047] Wherein,

[0048] the trigger switch is arranged on the inner wall of the sliding box, and the trigger end of the trigger switch faces the end of the movable plate away from the collision avoidance rods, the display lamp is arranged on the top of the flat plate, and the display lamp is electrically connected to the trigger switch.

[0049] Preferably, two cavities are symmetrically formed inside the flat plate, and a limiting groove is formed at the center of the inner bottom end of each cavity; the inclination monitoring component includes:

[0050] a pressure sensor, a contact plate, and a steel ball;

[0051] in,

[0052] Two pressure sensors are arranged inside each cavity, and the two pressure sensors are symmetrically arranged on the inner wall of the cavity. The number of the contact plates is the same as the number of the pressure sensors, and the contact plates are connected to the output ends of the pressure sensors. The steel balls are located above the limit grooves.

[0053] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0054] 1. In the explosion-proof lithium-ion trackless rubber-wheeled vehicle for mining, when placing goods on the flat plate, the first driving component and the first electromagnet can be used to adjust and lock the position of the rotating roller, and the rotating roller itself has anti-skid and wear-resistant properties, so that the rotating rollers in different horizontal and vertical states can be used to limit the position of the goods to prevent the goods from running off the track. When unloading, the rolling rotating rollers can be unlocked to make it more conducive to unloading the goods. The overall use is more convenient and efficient, and it can be actually changed according to the actual size of the goods. It has strong adaptability and better adaptability. It has excellent prospects in the face of transportation between ground warehouses in mining areas, from ground warehouses to underground equipment transfer centers (vertical shafts), and large equipment maintenance assembly line movement.

[0055] 2. In the explosion-proof lithium-ion trackless rubber-tyred vehicle for mining, the second driving component can drive the drum to rotate 90 degrees, so that the laser radar in the drum can be rotated to the position corresponding to the visible window or facing away from the visible window. Therefore, when the trackless rubber-tyred vehicle is not in use, the exposure time of the laser radar in the drum can be reduced and its service life can be extended by rotating the drum 90 degrees to face the laser radar away from the visible window. When the trackless rubber-tyred vehicle is in use, the drum is reversed 90 degrees to face the laser radar directly to the visible window, so that the laser radar can be used normally, and the overall use effect is better, which is more conducive to the long-term and efficient use of the trackless rubber-tyred vehicle;

[0056] 3. In the explosion-proof lithium-ion rubber-tyred trackless vehicle for mining, when the laser radar is facing the visual window, as the second rack moves, the sliding box is driven by the second rack and the sliding rod, so that the anti-collision bar on the sliding box penetrates to the outside of the flat plate (a reserved hole for the anti-collision bar to penetrate is provided on the side of the flat plate), and because the anti-collision bar is at the four corners of the flat plate, combined with the high-strength material of the anti-collision bar itself (such as plastic), when the trackless rubber-tyred vehicle moves, its four corners are protected by the anti-collision bar, and when the anti-collision bar is slightly hit, it can be buffered and shock-absorbed under the action of the spring and the damping rod, and when it is hit harder, the movable plate will contact the trigger switch and make the display light light up, thereby realizing the anti-collision alarm. Combined with the use of laser radar, it is more conducive to the overall anti-collision protection of the trackless rubber-tyred vehicle and enhances its obstacle avoidance effect;

[0057] 4. In the explosion-proof lithium-ion trackless rubber-tyred vehicle for mining, in the initial stable state, the steel ball is limited by the limit groove and will always be inside the limit groove. The limit groove is set to have a certain depth. This depth allows the steel ball to remain inside the limit groove when the trackless rubber-tyred vehicle climbs a slope within a certain angle range (such as 8°). After exceeding the angle range, under the action of the steel ball's own gravity, the steel ball rolls out of the limit groove and rolls toward the lower end of the inclined direction, thereby pressing the contact plate in this direction, so that the contact plate transmits the pressure to the pressure sensor. When the pressure sensor detects the pressure, it will trigger the background alarm system, thereby warning people that the trackless rubber-tyred vehicle is climbing a large slope and cannot climb the slope, thereby ensuring the safe transportation of goods on the trackless rubber-tyred vehicle and improving the overall transportation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0059] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0060] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0061] Figure 2 The flat plate of the present invention is Figure 1 Schematic diagram of the structure after longitudinal sectioning in the middle P plane;

[0062] Figure 3 It is a structural schematic diagram of the limiting structure in the present invention;

[0063] Figure 4 is a longitudinal cross-sectional view of a circular rotating box in the present invention;

[0064] Figure 5 is an exploded view of the circular rotating box and the first driving assembly in the present invention, specifically an exploded view between the bottom end of the circular rotating box and the top end of the rotating rod;

[0065] Figure 6 is a schematic structural diagram of the first driving assembly in the present invention;

[0066] Figure 7 It is a structural schematic diagram of a corner of a flat plate in the present invention;

[0067] Figure 8 is the exploded view after the flat plate in the present invention is horizontally sectioned; Figure 7 in the present invention;

[0068] Fig. 9 is the structural schematic diagram of the second driving component in the present invention;

[0069] Fig.10 is the structural schematic diagram of the rotary drum in the present invention;

[0070] Fig.11 is the horizontal cross-sectional view of the sliding box in the present invention;

[0071] Fig.12 is the present invention Figure 2 the enlarged view at position A in;

[0072] In the figure:

[0073] 1. Outer frame; 2. Steering wheel;

[0074] 3. Flat plate; 301. Placing cavity; 302. Round hole; 303. Opening; 304. Groove; 305. Cavity; 306. Limiting groove;

[0075] 4. Limiting structure; 401. Placing plate; 402. Support plate; 403. Fixed shaft; 404. First electromagnet; 405. First arc surface; 406. Circular rotating box; 407. Connecting shaft; 408. Rotating roller; 409. First permanent magnet; 410. Second arc surface; 411. Arc-shaped block; 412. Annular groove; 413. First driving component; 4131. Rotating rod; 4132. First gear; 4133. First rack; 4134. Chute; 4135. Slide plate; 4136. Electric telescopic rod; 4137. Connecting plate;

[0076] 5. Obstacle avoidance structure; 501. Rotary drum; 502. Lidar; 503. Second driving component; 5031. Second gear; 5032. C-shaped frame; 5033. Second rack; 5034. Slide rod; 5035. Second permanent magnet; 5036. Second electromagnet; 504. Visual window; 505. Rotating shaft; 506. Sliding box; 507. Movable plate; 508. Anti-collision rod; 509. Spring; 510. Damping rod; 511. Trigger switch; 512. Display lamp;

[0077] 6. Inclination monitoring component; 601. Pressure sensor; 602. Contact plate; 603. Steel ball;

[0078] 7. Searchlight. Detailed implementation manners

[0079] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0080] See also Figure 1-Figure 12 , a flameproof lithium-ion rubber-tyred trackless vehicle for mining, comprises an outer frame 1 and a flat plate 3 arranged on the top of the outer frame 1, and also comprises a steering wheel 2, a differential wheel steering gear, a limit structure 4, an obstacle avoidance structure 5, a searchlight 7 and an inclination monitoring component 6. Among them, there are a plurality of steering wheels 2, and the plurality of steering wheels 2 are all arranged at the bottom of the outer frame 1; the differential wheel steering gear is arranged at the bottom of the outer frame 1 and connected to the steering wheel 2, which is used to drive the steering wheel 2 to turn. In the design of the entire rubber-tyred trackless vehicle, the vehicle body is compactly designed, has a large ground clearance, is highly adaptable to sites and roads, and adopts a heavy-loaded large-diameter differential steering wheel structure, which has high power, high speed and strong climbing ability;

[0081] In addition, a limiting structure 4 is arranged inside the flat plate 3, which is used to limit the cargo on the top of the flat plate 3; an obstacle avoidance structure 5 is arranged inside the flat plate 3, which is used to provide anti-collision protection for the flat plate 3 and the side of the outer frame 1; a plurality of searchlights 7 are arranged, and a plurality of searchlights 7 are equally arranged on the four sides of the outer frame 1; an inclination monitoring component 6 is arranged inside the flat plate 3, which is used to monitor the inclination of the flat plate 3.

[0082] Furthermore, the internal rectangular array of the plate 3 has several placement cavities 301, and the top of the plate 3 is provided with circular holes 302 connected to the several placement cavities 301 one by one. The number of the limiting structures 4 is the same as the number of the placement cavities 301 and they are placed one by one inside the placement cavities 301.

[0083] Furthermore, in this embodiment, the limiting structure 4 includes a placement plate 401, a circular rotating box 406, a connecting shaft 407, a rotating roller 408, a first driving assembly 413, an arc block 411 and an annular groove 412, wherein the placement plate 401 is arranged at the inner bottom of the placement cavity 301, the annular groove 412 is opened at the center of the top of the placement plate 401, the bottom of the arc block 411 is slidably connected to the inside of the annular groove 412, and the top of the arc block 411 is fixedly connected to the bottom of the circular rotating box 406. The circular rotating box 406 is fixed, and the connecting shaft 407 is connected to the inside of the circular rotating box 406 for transverse rotation. The rotating roller 408 is sleeved on the outside of the connecting shaft 407, and the top of the rotating roller 408 passes through the outer top of the circular rotating box 406. The top surface of the circular rotating box 406 is flush with the top surface of the flat plate 3, and the circular rotating box 406 passes through the circular hole 302 and has the same cross-section as the circular hole 302. The first driving component 413 is arranged on the top of the placing plate 401, which is used to drive the circular rotating box 406 to rotate transversely by ninety degrees.

[0084] At the same time, the first driving assembly 413 includes a rotating rod 4131, a first gear 4132, a first rack 4133, a slide 4134, a slide plate 4135, an electric telescopic rod 4136 and a connecting plate 4137, wherein the rotating rod 4131 is rotatably connected to the center of the top of the placement plate 401, and the top of the rotating rod 4131 is fixed to the bottom center of the circular rotating box 406, the first gear 4132 is sleeved on the outside of the rotating rod 4131, and the slide 4134 is connected to the bottom center of the circular rotating box 406. 34 is opened on the top of the placement plate 401, the bottom of the slide plate 4135 is slidably connected to the inside of the slide groove 4134, and the top of the slide plate 4135 is fixedly connected to the first rack 4133, the first rack 4133 is meshed with the first gear 4132, the electric telescopic rod 4136 is fixed to the top of the placement plate 401, and the output end of the electric telescopic rod 4136 is fixed to the connecting plate 4137, and the side of the connecting plate 4137 is fixed to the side of the first rack 4133.

[0085] Furthermore, the limiting structure 4 also includes a support plate 402, a fixed shaft 403, a first electromagnet 404 and a first fixed magnet 409, wherein the number of the support plate 402, the fixed shaft 403 and the first electromagnet 404 are all four, the bottoms of the four support plates 402 are respectively fixed at the center of the top edge of the placement plate 401, the four fixed shafts 403 are fixed one by one on the four support plates 402, the four first electromagnets 404 are fixed one by one on the ends of the four fixed shafts 403, and the ends of the four first electromagnets 404 are all provided with a first arc surface 405, and both ends of the connecting shaft 407 pass through the outside of the circular rotating box 406 and are fixed with the first fixed magnet 409, and the end of the first fixed magnet 409 is provided with a second arc surface 410 that cooperates with the first arc surface 405.

[0086] Therefore, when the first driving component 413 is in use, after the electric telescopic rod 4136 is started by an external controller, the electric telescopic rod 4136 can drive the connecting plate 4137 and the first rack 4133 to move, and at the same time, the slide plate 4135 slides inside the slide groove 4134 along with the movement of the first rack 4133. Since the first rack 4133 is meshed with the first gear 4132, the first gear 4132 will drive the rotating rod 4131 and the circular rotating box 406 to rotate when the first gear 4132 rotates. In addition, within the entire telescopic range of the electric telescopic rod 4136, the first rack 4133 drives the first gear 4132 to rotate at an angle of 0-90°, thereby enabling the circular rotating box 406 to rotate within a range of 0-90°.

[0087] At the same time, when the circular rotating box 406 does not rotate or rotates to 90°, the rotating roller 408 on the circular rotating box 406 will have two states, vertical and horizontal. At this time, no matter the rotating roller 408 is in the horizontal or vertical state, the first fixed magnets 409 at both ends of the rotating roller 408 will fit between two of the first electromagnets 404. The design of the first arc surface 405 and the second arc surface 410 can facilitate the rotation of the first fixed magnet 409. When the first electromagnet 404 is energized, the first electromagnet 404 and the first fixed magnet 409 are magnetically attracted to each other, and the first fixed magnet 409 will be locked, so that the first fixed magnet 409 cannot drive the connecting shaft 407 and the rotating roller 408 to rotate. The purpose and benefit of this design are:

[0088] Combination Figure 1It can be seen that, after the circular rotating box 406 is controlled to rotate ninety degrees by the first driving component 413, the rotating roller 408 on the circular rotating box 406 has two states: a horizontal state and a vertical state. Regardless of the horizontal state or the vertical state, after the magnetic attraction between the first electromagnet 404 and the first fixed magnet 409 is utilized, the rotating roller 408 in this state will be locked. Moreover, since each limiting structure 4 is controlled by its own first driving component 413, the rotating roller 408 on each limiting structure 4 can be independently controlled and locked. This makes it possible to use the first driving component 413 and the first electromagnet 404 to control the rotating roller 408 when placing the goods on the flat plate 3. 8 is used to adjust and lock the position state, and then the rotating roller 408 itself has anti-skid and wear-resistant properties (its own material is anti-skid and wear-resistant material, such as rubber), so that the rotating roller 408 in different horizontal and vertical states can be used to limit the position of the goods to prevent the goods from running off the track. When unloading, the rotating roller 408 can be unlocked to make the rolling rotating roller 408 more conducive to the unloading of the goods. The overall use is more convenient and efficient, and it can be actually changed according to the actual size of the goods. It has strong adaptability and better adaptability. It has excellent prospects in the scenes of transportation between ground warehouses in mining areas, from ground warehouses to underground equipment transfer centers (vertical shafts) and movement of large equipment maintenance assembly lines.

[0089] Furthermore, slots 304 are provided at the four corners inside the plate 3, and openings 303 connected to the four slots 304 are provided on the side of the plate 3. The number of obstacle avoidance structures 5 is the same as the number of slots 304, and the obstacle avoidance structure 5 includes a rotating drum 501, a laser radar 502, a second driving assembly 503 and a rotating shaft 505, wherein the top and bottom ends of the rotating drum 501 are coaxially fixed with the rotating shaft 505, and the rotating shaft 505 at the bottom end of the rotating drum 501 is rotatably connected to the inner bottom end of the slot 304, the second driving assembly 503 is arranged inside the slot 304 and above the rotating drum 501, and the second driving assembly 503 is used to drive the rotating drum 501 to rotate horizontally by ninety degrees, the laser radar 502 is arranged inside the rotating drum 501, and a visible window 504 is provided on the side of the rotating drum 501, and the detection end of the laser radar 502 faces the visible window 504.

[0090] Moreover, the above-mentioned second driving assembly 503 includes a second gear 5031, a U-shaped frame 5032, a second rack 5033, a slide bar 5034, a second permanent magnet 5035, and a second electromagnet 5036. Among them, the second gear 5031 is sleeved outside the rotating shaft 505 and is located above the rotating cylinder 501. The number of U-shaped frames 5032 is two, and they are respectively fixed on the front and rear side walls of the slot 304. The second rack 5033 is slidably engaged with one of the U-shaped frames 5032, and the slide bar 5034 is slidably engaged with the other U-shaped frame 5032. The second rack 5033 meshes with the second gear 5031. And the ends of the second rack 5033 and the slide bar 5034 facing the middle of the flat plate 3 are fixed to the second permanent magnet 5035. The second electromagnet 5036 is arranged on the side wall of the slot 304 facing the second permanent magnet 5035, and the second electromagnet 5036 cooperates with the second permanent magnet 5035.

[0091] Therefore, when the above-mentioned second driving assembly 503 and the obstacle avoidance structure 5 are in use, after the second electromagnet 5036 is controlled to be energized by an external controller, magnetic attraction or magnetic repulsion can be achieved between the second electromagnet 5036 and the second permanent magnet 5035 (by changing the direction of the current in the coil inside the second electromagnet 5036 to change the magnetic field, which is prior art and will not be elaborated here). When there is magnetic repulsion or attraction between the second electromagnet 5036 and the second permanent magnet 5035, the second permanent magnet 5035 will drive the second rack 5033 to move, and then the second gear 5031 will drive the rotating shaft 505 and the rotating cylinder 501 to rotate. And within the maximum movement distance of the second rack 5033, the second gear 5031 can only rotate ninety degrees. Therefore, the second driving assembly 503 provided can drive the rotating cylinder 501 to rotate ninety degrees, so that the lidar 502 in the rotating cylinder 501 can rotate to the position directly corresponding to the visual window 504 or face away from the visual window 504. Therefore, when the rail-less rubber-tired vehicle is not in use, by rotating the rotating cylinder 501 ninety degrees to make the lidar 502 face away from the visual window 504, the exposure time of the lidar 502 in the rotating cylinder 501 can be reduced, and its service life can be extended. When the rail-less rubber-tired vehicle is in use, then rotate the rotating cylinder 501 ninety degrees in the reverse direction to make the lidar 502 face the visual window 504, and the normal use of the lidar 502 can be realized. The overall use effect is better, which is more conducive to the long-term and efficient use of the rail-less rubber-tired vehicle.

[0092] Furthermore, in order to improve the use effect of the above-mentioned obstacle avoidance structure 5, the obstacle avoidance structure 5 also includes a sliding box 506, a movable plate 507, an anti-collision rod 508, a spring 509 and a damping rod 510, wherein the end face of the sliding box 506 is fixed to the second rack 5033 and the end of the sliding rod 5034 away from the second fixed magnet 5035, and the sliding box 506 is slidably matched with the inside of the slot 304, the movable plate 507 is slidably arranged inside the sliding box 506, a plurality of anti-collision rods 508 are arranged at one end of the movable plate 507 at equal intervals, and the anti-collision rods 508 penetrate to the outside of the flat plate 3, and the movable plate 507 is away from the anti-collision rod 508. A spring 509 is connected between one side of the impact rod 508 and the inner wall of the sliding box 506, and a damping rod 510 is arranged on both sides of the spring 509, and one end of the damping rod 510 is connected to the end of the movable plate 507, and the other end of the damping rod 510 is connected to the inner wall of the sliding box 506; the obstacle avoidance structure 5 also includes a trigger switch 511 and a display light 512, wherein the trigger switch 511 is arranged on the inner wall of the sliding box 506, and the trigger end of the trigger switch 511 is toward one end of the movable plate 507 away from the anti-collision rod 508, and the display light 512 is arranged on the top of the flat plate 3, and the display light 512 is electrically connected to the trigger switch 511.

[0093] Combination Fig.11 It can be seen that when the laser radar 502 is facing the visual window 504, as the second rack 5033 moves, the sliding box 506 is driven by the second rack 5033 and the sliding rod 5034, so that the anti-collision rod 508 on the sliding box 506 penetrates to the outside of the flat plate 3 (a reserved hole for the anti-collision rod 508 to penetrate is provided on the side of the flat plate 3), and because the anti-collision rod 508 is at the four corners of the flat plate 3, combined with the high-strength material of the anti-collision rod 508 itself (such as plastic), when the trackless rubber-tyred vehicle moves, its four corners are protected by the anti-collision rod 508, and when the anti-collision rod 508 is slightly hit, it can be buffered and shock-absorbed under the action of the spring 509 and the damping rod 510, and when it is hit harder, the movable plate 507 will contact the trigger switch 511 and make the display light 512 light up, thereby realizing the anti-collision alarm, and combined with the use of the laser radar 502, it is more conducive to the overall anti-collision protection of the trackless rubber-tyred vehicle and enhances its obstacle avoidance effect.

[0094] In addition, in this embodiment, two cavities 305 are symmetrically opened inside the flat plate 3, and a limit groove 306 is opened at the center of the inner bottom end of each cavity 305; the inclination monitoring component 6 includes a pressure sensor 601, a contact plate 602 and a steel ball 603, wherein two pressure sensors 601 are arranged inside each cavity 305, and the two pressure sensors 601 are symmetrically arranged on the inner wall of the cavity 305, the number of contact plates 602 is the same as the number of pressure sensors 601, and the contact plate 602 is connected to the output end of the pressure sensor 601, and the steel ball 603 is located above the limit groove 306.

[0095] The use process of the above-mentioned inclination detection component is as follows: in the initial stable state, the steel ball 603 is limited by the limit groove 306 and will always be inside the limit groove 306, and the limit groove 306 is set to have a certain depth, which makes the steel ball 603 still remain inside the limit groove 306 when the trackless rubber-tyred vehicle climbs a slope within a certain angle range (such as 8° range), and after exceeding the angle range, under the action of the steel ball 603's own gravity, the steel ball 603 rolls out of the limit groove 306 and rolls toward the lower end of the inclination direction, thereby pressing the contact plate 602 in this direction, so that the contact plate 602 transmits the pressure to the pressure sensor 601, and when the pressure sensor 601 detects the pressure, it will trigger the background alarm system (existing technology), thereby warning people that the trackless rubber-tyred vehicle is climbing a large slope and cannot climb the slope, thereby ensuring the safe transportation of goods on the trackless rubber-tyred vehicle and improving the overall transportation effect.

[0096] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A flameproof lithium-ion trackless rubber-wheeled vehicle for mining, comprising an outer frame (1) and a flat plate (3) arranged on the top of the outer frame (1), characterized in that: Also includes: A steering wheel (2), wherein a plurality of the steering wheels (2) are provided, and the plurality of steering wheels (2) are all provided at the bottom of the outer frame (1); A differential wheel steering gear, the differential wheel steering gear being arranged at the bottom of the outer frame (1) and connected to the steering wheel (2), and being used for driving the steering wheel (2) to steer; A limiting structure (4), the limiting structure (4) is arranged inside the flat plate (3) and is used to limit the position of goods on the top of the flat plate (3); An obstacle avoidance structure (5), the obstacle avoidance structure (5) being arranged inside the flat plate (3) and used for providing anti-collision protection to the flat plate (3) and the side of the outer frame (1); Searchlights (7), wherein a plurality of searchlights (7) are provided, and the plurality of searchlights (7) are equally provided on four sides of the outer frame (1); and an inclination monitoring component (6), wherein the inclination monitoring component (6) is arranged inside the flat plate (3) and is used to monitor the inclination of the flat plate (3); The internal rectangular array of the plate (3) has a plurality of placement cavities (301), and the top of the plate (3) is provided with circular holes (302) which are connected one by one with the plurality of placement cavities (301); The number of the limiting structures (4) is the same as the number of the placement cavities (301) and they are placed one by one inside the placement cavities (301); The limiting structure (4) comprises: A placement plate (401), a circular rotating box (406), a connecting shaft (407), a rotating roller (408), a first driving assembly (413), an arc block (411) and an annular groove (412); in, The placement plate (401) is arranged at the inner bottom of the placement cavity (301), the annular groove (412) is opened at the center of the top of the placement plate (401), the bottom of the arc block (411) is slidably connected to the inside of the annular groove (412), and the top of the arc block (411) is fixed to the bottom of the circular rotating box (406), and, The connecting shaft (407) is rotatably connected to the inside of the circular rotating box (406) in a transverse manner, the rotating roller (408) is sleeved on the outside of the connecting shaft (407), and the top of the rotating roller (408) penetrates to the outer top of the circular rotating box (406), the top surface of the circular rotating box (406) is flush with the top surface of the flat plate (3), and the circular rotating box (406) penetrates the circular hole (302) and has the same cross section as the circular hole (302); The first driving assembly (413) is disposed on the top of the placement plate (401), and is used to drive the circular rotating box (406) to rotate horizontally by ninety degrees.

2. The explosion-proof lithium-ion trackless rubber-tyred vehicle for mining according to claim 1, characterized in that: The first driving assembly (413) comprises: A rotating rod (4131), a first gear (4132), a first rack (4133), a slide groove (4134), a slide plate (4135), an electric telescopic rod (4136) and a connecting plate (4137); in, The rotating rod (4131) is rotatably connected to the center of the top of the placing plate (401), and the top of the rotating rod (4131) is fixed to the bottom center of the circular rotating box (406), the first gear (4132) is sleeved on the outside of the rotating rod (4131), and, The slide groove (4134) is opened at the top of the placement plate (401), the bottom of the slide plate (4135) is slidably connected to the inside of the slide groove (4134), and the top of the slide plate (4135) is fixedly connected to the first rack (4133), the first rack (4133) is meshed with the first gear (4132), the electric telescopic rod (4136) is fixed to the top of the placement plate (401), and the output end of the electric telescopic rod (4136) is fixed to the connecting plate (4137), and the side of the connecting plate (4137) is fixed to the side of the first rack (4133).

3. The explosion-proof lithium-ion trackless rubber-tyred vehicle for mining according to claim 1, characterized in that: The limiting structure (4) also includes: A support plate (402), a fixed shaft (403), a first electromagnet (404) and a first fixed magnet (409); in, The number of the support plates (402), the fixed shafts (403) and the first electromagnets (404) is four, the bottoms of the four support plates (402) are respectively fixed to the center of the top edge of the placement plate (401), the four fixed shafts (403) are fixed to the four support plates (402) one by one, the four first electromagnets (404) are fixed to the ends of the four fixed shafts (403) one by one, and the ends of the four first electromagnets (404) are all provided with first arc surfaces (405), and, Both ends of the connecting shaft (407) penetrate the outside of the circular rotating box (406) and are fixed with the first fixed magnet (409), and the end of the first fixed magnet (409) is provided with a second arc surface (410) that cooperates with the first arc surface (405).

4. The explosion-proof lithium-ion trackless rubber-tyred vehicle for mining according to claim 1, characterized in that: The four corners of the plate (3) are all provided with slots (304), and the side of the plate (3) is provided with openings (303) which are connected one by one with the four slots (304), the number of the obstacle avoidance structures (5) is the same as the number of the slots (304), and the obstacle avoidance structure (5) comprises: A rotating drum (501), a laser radar (502), a second driving assembly (503) and a rotating shaft (505); The top and bottom ends of the rotating drum (501) are coaxially fixed with the rotating shaft (505), and the rotating shaft (505) at the bottom end of the rotating drum (501) is rotatably connected to the inner bottom end of the slot (304), the second driving component (503) is arranged inside the slot (304) and located above the rotating drum (501), and the second driving component (503) is used to drive the rotating drum (501) to rotate horizontally by ninety degrees, the laser radar (502) is arranged inside the rotating drum (501), and a visible window (504) is opened on the side of the rotating drum (501), and the detection end of the laser radar (502) faces the visible window (504).

5. The explosion-proof lithium-ion trackless rubber-tyred vehicle for mining according to claim 4 is characterized in that: The second driving component (503) includes: A second gear (5031), a U-shaped frame (5032), a second rack (5033), a sliding rod (5034), a second fixed magnet (5035), and a second electromagnet (5036); Wherein, The second gear (5031) is sleeved outside the rotating shaft (505) and is located above the rotating cylinder (501). The number of the U-shaped frames (5032) is two and they are respectively fixed on the front and rear side walls of the slot (304). The second rack (5033) is slidably engaged with one of the U-shaped frames (5032), the sliding rod (5034) is slidably engaged with the other U-shaped frame (5032). The second rack (5033) meshes with the second gear (5031), and the ends of the second rack (5033) and the sliding rod (5034) facing the middle of the flat plate (3) are fixed to the second fixed magnet (5035). The second electromagnet (5036) is arranged on the side wall of the slot (304) facing the second fixed magnet (5035), and the second electromagnet (5036) cooperates with the second fixed magnet (5035).

6. The explosion-proof lithium-ion trackless rubber-tyred vehicle for mining according to claim 5, characterized in that: The obstacle avoidance structure (5) further includes: A sliding box (506), a movable plate (507), a collision prevention rod (508), a spring (509), and a damping rod (510); Wherein, The end face of the sliding box (506) is fixed to the ends of the second rack (5033) and the sliding rod (5034) away from the second fixed magnet (5035), and the sliding box (506) is slidably engaged with the inside of the slot (304). The movable plate (507) is slidably arranged inside the sliding box (506). A plurality of collision prevention rods (508) are arranged at one end of the movable plate (507) at equal intervals, and the collision prevention rods (508) penetrate to the outside of the flat plate (3). A spring (509) is connected between the side of the movable plate (507) away from the collision prevention rod (508) and the inner wall of the sliding box (506), and the damping rods (510) are arranged on both sides of the spring (509). One end of the damping rod (510) is connected to the end of the movable plate (507), and the other end of the damping rod (510) is connected to the inner wall of the sliding box (506).

7. The explosion-proof lithium-ion trackless rubber-tyred vehicle for mining according to claim 6, characterized in that: The obstacle avoidance structure (5) further includes: A trigger switch (511) and a display lamp (512); Wherein, The trigger switch (511) is arranged on the inner wall of the sliding box (506), and the trigger end of the trigger switch (511) faces the end of the movable plate (507) away from the collision prevention rod (508). The display lamp (512) is arranged on the top of the flat plate (3), and the display lamp (512) is electrically connected to the trigger switch (511).

8. The explosion-proof lithium-ion trackless rubber-tyred vehicle for mining according to claim 1, characterized in that: Two cavities (305) are symmetrically formed inside the flat plate (3), and a limiting groove (306) is formed at the center of the inner bottom end of each cavity (305); The inclination monitoring component (6) includes: A pressure sensor (601), a contact plate (602), and a steel ball (603); Wherein, Two pressure sensors (601) are arranged inside each cavity (305), and the two pressure sensors (601) are symmetrically arranged on the inner wall of the cavity (305), the number of the contact plates (602) is the same as the number of the pressure sensors (601), and the contact plates (602) are connected to the output ends of the pressure sensors (601), and the steel balls (603) are located above the limiting grooves (306).

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