Wheel type auxiliary operation vehicle for narrow roadway

Abstract

The invention discloses a narrow roadway wheel type auxiliary operation vehicle. The narrow roadway wheel type auxiliary operation vehicle comprises a walking system, a vehicle frame assembly and a mechanical arm assembly. The vehicle frame assembly is located on the middle rear portion of the walking frame, and the overall balance and stability of the vehicle can be kept through the layout. Due to the fact that the frame assembly concentrates the main weight of the vehicle, such as an engine, a fuel tank and a water replenishing tank, the gravity center of the vehicle can be lowered when the frame assembly is arranged on the middle rear portion, and the stability and safety of the vehicle in a narrow roadway are improved. Meanwhile, the layout also provides enough space for the working range of the swing arm, so that the swing arm can freely extend at the front part of the vehicle and is not interfered by the frame assembly, the whole vehicle body is narrowed, the vehicle can freely shuttle in the limited space, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mine tunnel equipment, and in particular relates to a wheeled auxiliary operation vehicle for narrow tunnels. Background Art

[0002] In the rapid mining process of coal mines, complete sets of equipment such as integrated excavators and anchoring machines, bolt transfer machines, bridge transfer machines and self-moving tail machines are arranged in the tunnels. Due to the limited tunnel width conditions, the space left for equipment and personnel to pass through is also relatively limited. During tunnel mining and the transfer of materials from the excavation equipment to the transport belt through the belt transfer machine and the self-moving tail machine, some coal particles leaked to the bottom of the equipment and in the channel. If they accumulate for a long time, they will scratch the transport belt, block the equipment working space, and affect the normal operation of the complete set of equipment. The accumulation of coal particles in the channel will also affect the normal operation of other transfer equipment. Completing construction operations such as cargo handling and tunnel repair in limited tunnel space is also an important part of mining and construction. Therefore, there is an urgent need for an auxiliary operation vehicle with multiple functions that can adapt to narrow spaces to meet the requirements of daily coal tunnel cleaning operations.

[0003] At present, the common method used in coal mines is manual cleaning with shovels. The cleaning efficiency is low, and the fallen coal at the bottom of the equipment close to the inner wall of the tunnel cannot be cleaned. It consumes a lot of labor and time costs, and there is a risk of coal particle splashing and injuring people. Summary of the invention

[0004] The purpose of the present disclosure is to provide a narrow lane wheeled auxiliary work vehicle to solve at least some of the problems in the prior art.

[0005] A first aspect of an embodiment of the present disclosure provides a narrow lane wheeled auxiliary work vehicle, the narrow lane wheeled auxiliary work vehicle comprising:

[0006] A walking system, comprising a walking frame and four wheels mounted on the walking frame;

[0007] A frame assembly is installed at the middle and rear of the walking frame;

[0008] The mechanical arm assembly includes a slewing reducer and a swing arm; the slewing reducer is installed on the front part of the traveling frame, one end of the swing arm is installed on the slewing reducer, and the other end of the swing arm is detachably installed with one of a fork, a bucket and a breaker.

[0009] The main technical effects achieved by the disclosed embodiment are: the frame assembly is located in the middle and rear part of the walking frame, and this layout helps to maintain the overall balance and stability of the vehicle. Since the frame assembly concentrates the main weight of the vehicle, such as the engine, fuel tank, water tank, etc., placing it in the middle and rear part can lower the center of gravity of the vehicle, thereby improving the stability and safety of the vehicle in narrow lanes. At the same time, this layout also provides sufficient space for the working range of the swing arm, so that the swing arm can be freely extended in the front of the vehicle without being interfered by the frame assembly, thereby narrowing the overall body, allowing the vehicle to shuttle freely in a limited space, and improving the working efficiency. The configuration of the four wheels provides a good weight distribution and enhances the stability and passability of the vehicle. One of the detachable forks, buckets and breaker hammers enables the vehicle to quickly replace the working accessories according to the working requirements, thereby improving the flexibility and efficiency of the operation. This reasonable design makes up for the defects of traditional transport vehicles in transporting large equipment in a small space, reduces the difficulty of large equipment passing through obstacles, reduces the difficulty of laying down and erecting large equipment, and reduces the safety risks of workers and large equipment.

[0010] Optionally, the frame assembly includes a main frame and a frame cover; the main frame is mounted on the traveling frame, and the frame cover is mounted on the main frame and cooperates with the main frame to form an installation space for accommodating a fuel tank, a water tank and an engine; wherein the main frame is partially mounted on the upper surface of the traveling frame and partially mounted on the rear side of the traveling frame; the installation space is partially located above the traveling frame and partially located behind the traveling frame.

[0011] The main technical effect achieved by the disclosed embodiment is that this design not only achieves a narrower body width, thereby improving the vehicle's passability in narrow alleys, but also optimizes weight distribution and enhances the vehicle's stability and maneuverability through the reasonable arrangement of internal components.

[0012] Optionally, the slewing reducer includes a slewing main unit and a slewing support seat; the slewing main unit is installed on the walking frame and is located directly above the front wheel in the front-to-back direction; the slewing support seat is fixedly installed on the slewing main unit, the swing arm is hingedly installed on the slewing support seat, and the hinge point between the swing arm and the slewing support seat is located behind the center of the wheel in the front-to-back direction.

[0013] The main technical effects achieved by the disclosed embodiment are: the installation position of the slewing reducer is directly above the front wheel, which helps to concentrate the weight, reduce the center of gravity offset of the vehicle during operation, and improve the stability of the operation. The hinge point between the swing arm and the slewing support seat is located behind the center of the wheel, which helps to maintain the balance of the vehicle during lifting and slewing operations.

[0014] Optionally, the slewing support seat includes a slewing base plate and a large arm plate; the slewing base plate is fixedly connected to the slewing main machine, and the large arm plate is fixedly connected to or integrally formed with the slewing base plate; wherein the large arm plate extends in an upward and backward direction, and the top of the large arm plate is hinged to the swing arm.

[0015] The main technical effect achieved by the embodiment of the present disclosure is: the design of the swivel support seat allows the large arm plate to extend upward and backward. Such a structural design helps to disperse the weight of the robot arm, reduce the pressure on the swivel support seat, and at the same time improve the flexibility and operating range of the robot arm.

[0016] Optionally, the robotic arm assembly further comprises a lifting cylinder, one end of which is hinged to the slewing support seat, and the other end of which is hinged to the swing arm.

[0017] The main technical effect achieved by the embodiment of the present disclosure is: the design of the lifting cylinder allows the robotic arm to be lifted flexibly, which helps to operate at different working heights. At the same time, the articulation of the lifting cylinder with the slewing support seat and the robotic arm helps to disperse the weight and improve the stability of the operation.

[0018] Optionally, the slewing support seat also includes a cylinder connecting ear plate arranged on the slewing base plate; the cylinder connecting ear plate extends in an upward and backward direction, and the top of the cylinder connecting ear plate is hinged to the lifting cylinder.

[0019] The main technical effect achieved by the embodiment of the present disclosure is: the design of the cylinder connecting ear plate allows the lifting cylinder to be stably connected to the revolving base plate. This upward and backward extending structure helps to disperse the weight of the cylinder, reduce the pressure on the revolving base plate, and improve the stability of the overall structure.

[0020] Optionally, the swing arm includes a connecting arm and a supporting arm; one end of the connecting arm is hinged to the slewing support seat, the other end of the connecting arm is connected to one end of the supporting arm, and the other end of the supporting arm is detachably installed with one of a fork, a bucket and a breaker; wherein the angle formed by the connecting arm and the supporting arm is an obtuse angle less than 135°, and the lifting cylinder is hinged to the supporting arm.

[0021] The main technical effect achieved by the embodiment of the present disclosure is: the design of the swing arm makes the angle formed by the connecting arm and the support arm an obtuse angle less than 135°. This design helps to concentrate the weight of the swing arm and reduce the center of gravity shift when lifting heavy objects. At the same time, the articulation of the lifting cylinder and the support arm helps to disperse the weight and improve the stability of the operation.

[0022] Optionally, the robotic arm assembly also includes a swing cylinder; the swing cylinder is horizontally installed at the other end of the swing arm, and one of the fork, bucket and breaker hammer is installed on the swing cylinder so that one of the fork, bucket and breaker hammer can swing up and down.

[0023] The main technical effect achieved by the embodiment of the present disclosure is: the design of the swing cylinder allows the fork, bucket and breaker to swing up and down, which helps to perform flexible operations in narrow spaces. At the same time, the horizontal installation of the swing cylinder helps to maintain even weight distribution and improve the stability of the operation.

[0024] Optionally, the robotic arm assembly further includes a quick-change assembly; one of the fork, bucket and breaker is mounted on the swing cylinder via the quick-change assembly.

[0025] The main technical effect achieved by the embodiment of the present disclosure is: the design of the quick-change assembly allows forks, buckets and breaker hammers to be quickly replaced, which helps to improve work efficiency. At the same time, the installation of the quick-change assembly helps to maintain an even distribution of weight and reduce the impact on vehicle balance when replacing accessories.

[0026] Optionally, the walking system further includes four sprockets; the four sprockets are respectively wound around the four wheels.

[0027] The main technical effect achieved by the embodiment of the present disclosure is: the design of four sprockets makes the drive of the wheels more stable, which helps to maintain the stability and passability of the vehicle on uneven ground. At the same time, the setting of the sprockets helps to disperse the weight of the drive system and reduce the pressure on the wheels. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of a narrow lane wheeled auxiliary work vehicle and its quick-change accessories in one embodiment of the present disclosure;

[0029] Figure 2 This is a schematic structural diagram of a mechanical arm assembly in one embodiment of the present disclosure;

[0030] Figure 3 It is a structural schematic diagram of a swivel support seat in one embodiment of the present disclosure.

[0031] Explanation of the reference numerals in the accompanying drawings: 1. Robot arm assembly; 2. Frame assembly; 3. Hydraulic system; 4. Electronic control system; 5. Power system; 6. Travel system; 7. Bucket; 8. Breaker; 9. Fork; 1.1. Slewing reducer; 1.2. Slewing support seat; 1.3. Lifting cylinder; 1.4. Swing arm; 1.5. Swing arm pin; 1.6. Boom connecting pin; 1.7. Swing cylinder; 1.8. Quick change device; 1.2.1. Slewing base plate; 1.2.2. Boom plate; 1.2.3. Cylinder connecting ear plate; 1.2.4. Cylinder connecting pin; 6.1. Travel frame; 6.2. Wheels; 2.1. Frame guard; 2.2. Main frame. DETAILED DESCRIPTION

[0032] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The modes described in the following exemplary embodiments do not represent all modes consistent with the present disclosure. Instead, they are merely examples of devices consistent with some aspects of the present disclosure as detailed in the appended claims.

[0033] The terms used in the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The words "first", "second" and similar words used in the present disclosure specification and claims do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not indicate a quantitative limitation, but indicate that there is at least one, and if only "one" is referred to, it will be separately described. "Multiple" or "several" means two or more. Unless otherwise specified, similar words such as "front", "rear", "lower" and / or "upper" are only for the convenience of explanation, and are not limited to one position or one spatial orientation. Similar words such as "include" or "comprise" mean that the elements or objects appearing in front of "include" or "comprise" cover the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. "Connected" or "connected" and similar words are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect. The singular forms "a", "said" and "the" used in this disclosure and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0034] like Figure 1-3 As shown, the first aspect of the embodiment of the present disclosure provides a narrow lane wheeled auxiliary work vehicle, which includes a mechanical arm assembly 1, a frame assembly 2, a hydraulic system 3, an electric control system 4, a power system 5, a walking system 6 and working accessories. The lower end of the mechanical arm assembly 1 is connected to the rotating upper end surface of the frame assembly 2; the other end of the mechanical arm assembly 1 is connected to the working accessories by bolts, and a variety of accessories can be replaced according to actual conditions.

[0035] The mechanical arm assembly 1 is composed of a slewing reducer 1.1, a lifting cylinder 1.3, a swing arm 1.4, a swing arm pin 1.5, a boom connecting pin 1.6, a swing cylinder 1.7, and a quick-change device 1.8. The slewing reducer 1.1 includes a slewing main engine and a slewing support seat 1.2; the slewing main engine is connected to the slewing support seat 1.2 by long screws, driving the working arm to achieve ±90° rotation; the slewing support seat 1.2 is composed of a slewing base plate 1.2.1, a boom plate 1.2.2, a cylinder connecting ear plate 1.2.3, and a cylinder connecting pin 1.2.4. The boom plate and the cylinder connecting ear plate are symmetrically welded to the upper end surface of the slewing base plate, and the cylinder connecting ear plate is welded closely to the outer side of the boom plate. One end of the lifting cylinder 1.3 is hinged to the cylinder connecting pin of the slewing support seat 1.2, and the other end is hinged to the outer end of the swing arm 1.4 through the swing arm pin 1.5. The lifting cylinder 1.3 is symmetrically arranged on the outside of the swing arm 1.4 to ensure that the cylinders are retracted and extended synchronously and the working device operates smoothly; wherein, the cylinder connecting ear plate 1.2.3 extends in the upward and backward directions, thereby reducing the pressure on the slewing base plate 1.2.1 and improving the stability of the overall structure. The swing arm 1.4 is hinged to the top of the arm plate 1.2.2 of the slewing support seat 1.2 through the arm connecting pin 1.6, so as to realize free rotation, and the arm plate 1.2.2 extends in the upward and backward directions, so that the hinge point between the swing arm 1.4 and the slewing support seat 1.2 is located behind the center of the wheel, which helps to maintain the balance of the vehicle during lifting and slewing operations; the swing cylinder 1.7 is fastened to the connecting plate at the lower end of the swing arm 1.4 by long bolts; the quick-change device 1.8 is symmetrically fastened to the outer end face of the swing cylinder 1.7 by bolts.

[0036] The swing arm 1.4 includes a connecting arm and a supporting arm; one end of the connecting arm is hinged to the slewing support seat, and the other end of the connecting arm is connected to one end of the supporting arm, and the other end of the supporting arm is detachably mounted with one of a fork, a bucket and a breaker; the angle formed by the connecting arm and the supporting arm is an obtuse angle less than 135°, and the lifting cylinder 1.3 is hinged to the supporting arm. The design of the swing arm 1.4 makes the angle formed by the connecting arm and the supporting arm an obtuse angle less than 135°, which helps to concentrate the weight of the swing arm 1.4 and reduce the center of gravity shift when lifting heavy objects. At the same time, the hinge connection of the lifting cylinder 1.3 and the supporting arm helps to disperse the weight and improve the stability of the operation.

[0037] The walking system 6 adopts the form of wheels, has a small body size, a fast walking speed, and is convenient for frequent backing up and turning; the chain drive adopts a bow-knot chain arrangement, which has a long service life even in very harsh environments. Specifically, the walking system includes a walking frame and four wheels 6.2 installed on the walking frame and four sprockets installed on the four wheels. The design of four sprockets makes the drive of the wheels 6.2 more stable, which helps to maintain the stability and passability of the vehicle on uneven ground. At the same time, the setting of the sprockets helps to disperse the weight of the drive system and reduce the pressure on the wheels.

[0038] The frame assembly 2 is composed of a frame guard 2.1, a main frame 2.2, and a slewing support frame. By rationally arranging the fuel tank, water tank, engine and other components, a narrower body width is achieved. Specifically, the main frame 2.2 is mounted on the traveling frame 6.1, and the frame guard 2.1 is mounted on the main frame 2.2 and cooperates with the main frame 2.2 to form an installation space for accommodating the fuel tank, water tank and engine; wherein the main frame 2.2 is partially mounted on the upper surface of the traveling frame 6.1 and partially mounted on the rear side of the traveling frame 6.1; the installation space is partially located above the traveling frame 6.1 and partially located behind the traveling frame 6.1. This design not only achieves a narrower body width and improves the vehicle's passability in narrow lanes, but also optimizes weight distribution and enhances the stability and maneuverability of the vehicle by rationally arranging internal components.

[0039] The hydraulic system 3 mainly realizes the functions of whole machine walking, mechanical arm assembly folding, extending and rotating. The working hydraulic system adopts a triple gear pump. The hydraulic walking system adopts an electronically controlled walking pump to drive the hydraulic motors on the left and right sides, and drives the wheels on both sides with a chain drive. Straight travel or turning is achieved by controlling the speed of the motors on both sides.

[0040] The electric control system 4 includes functions such as whole machine status monitoring, data uploading, equipment positioning, personnel approach prevention, automatic fire extinguishing and remote control operation. The whole machine is mainly remotely controlled and can be operated locally in an emergency.

[0041] The power system 5 adopts an explosion-proof diesel engine with intelligent independent heat dissipation function.

[0042] The working accessories include a bucket 7, a hydraulic breaker 8, and a fork 9. The quick-change device of the mechanical arm assembly adopts a sliding quick-change structure, which can realize rapid replacement of accessories under remote control and manual assistance. The bucket 7 can be flipped at a large angle with the swing cylinder to shovel and dump coal blocks in low spaces such as the bottom of the rigid frame and dump them onto the transport belt at the tail of a bridge-type loader or a self-moving machine, or can be used to shovel garbage and debris underground; the breaker 8 is mainly used for leveling uneven road surfaces and side walls in the tunnel, crushing large coal blocks, etc.; the fork 9 can be used for auxiliary work such as fork loading, shoveling, and lifting, such as unloading of transport vehicles and transportation of materials; the combination of multiple accessories is conducive to improving construction efficiency, greatly reducing the labor intensity of workers, and reducing the difficulty of coal block cleaning.

[0043] Workflow:

[0044] Under the remote control of the workers, the wheeled auxiliary work vehicle drives into the main coal transportation lane with its narrow body width, and has high maneuverability and flexibility, which is convenient for moving forward, backward, turning and U-turning in a limited space. Taking the bucket as an example, the auxiliary work vehicle pushes the bucket 7 forward close to the ground. After the bucket 7 is full, the lifting cylinder extends to lift the bucket 7 to a suitable height, and then the bucket 7 rotates with the slewing reducer to the top of the coal transportation belt, and the lifting cylinder 1.3 is extended and retracted to adjust the coal dropping position, and finally the swing cylinder 1.7 is flipped downward, so as to realize the transfer of the coal blocks in the bucket to the transportation belt.

[0045] Compared with existing mining auxiliary work vehicles, the auxiliary work vehicle in the disclosed embodiment has a narrower body width, which facilitates the vehicle to perform more actions in a limited space and is suitable for auxiliary operations in most underground tunnels with different width requirements. The working accessories in the front can be quickly replaced according to the actual situation of the tunnel, so as to achieve multi-purpose use of one machine and reduce equipment procurement and maintenance costs. At the same time, compared with existing underground wheeled transfer vehicles, the narrow tunnel wheeled auxiliary work vehicle in the disclosed embodiment adopts a bow-tie chain arrangement scheme, which does not require regular chain adjustment, saves maintenance costs, adapts to harsh working conditions, and is strong and durable.

[0046] The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A wheeled auxiliary working vehicle for narrow lanes, characterized in that: The narrow lane wheeled auxiliary operation vehicle comprises: A walking system, comprising a walking frame and four wheels mounted on the walking frame; A frame assembly is installed at the middle and rear of the walking frame; The mechanical arm assembly includes a slewing reducer and a swing arm; the slewing reducer is installed on the front part of the traveling frame, one end of the swing arm is installed on the slewing reducer, and the other end of the swing arm is detachably installed with one of a fork, a bucket and a breaker.

2. A wheeled auxiliary working vehicle for narrow lanes according to claim 1, characterized in that: The frame assembly includes a main frame and a frame shield; the main frame is mounted on the traveling frame, and the frame shield is mounted on the main frame and cooperates with the main frame to form an installation space for accommodating a fuel tank, a water tank and an engine; wherein the main frame is partially mounted on the upper surface of the traveling frame and partially mounted on the rear side of the traveling frame; the installation space is partially located above the traveling frame and partially located behind the traveling frame.

3. The narrow lane wheeled auxiliary operation vehicle according to claim 1, characterized in that: The slewing reducer includes a slewing main unit and a slewing support seat; the slewing main unit is installed on the walking frame and is located directly above the front wheel in the front-to-back direction; the slewing support seat is fixedly installed on the slewing main unit, the swing arm is hingedly installed on the slewing support seat, and the hinge point between the swing arm and the slewing support seat is located behind the center of the wheel in the front-to-back direction.

4. A narrow lane wheeled auxiliary operation vehicle according to claim 3, characterized in that: The slewing support seat includes a slewing base plate and a large arm plate; the slewing base plate is fixedly connected to the slewing main machine, and the large arm plate is fixedly connected to or integrally formed with the slewing base plate; wherein the large arm plate extends in an upward and backward direction, and the top of the large arm plate is hinged to the swing arm.

5. The narrow lane wheeled auxiliary operation vehicle according to claim 4, characterized in that: The mechanical arm assembly also includes a lifting cylinder, one end of which is hinged to the slewing support seat, and the other end of which is hinged to the swing arm.

6. A narrow lane wheeled auxiliary operation vehicle according to claim 5, characterized in that: The slewing support seat also includes a cylinder connecting ear plate arranged on the slewing bottom plate; the cylinder connecting ear plate extends in an upward and backward direction, and the top of the cylinder connecting ear plate is hinged to the lifting cylinder.

7. The narrow lane wheeled auxiliary operation vehicle according to claim 6, characterized in that: The swing arm includes a connecting arm and a supporting arm; one end of the connecting arm is hinged to the slewing support seat, the other end of the connecting arm is connected to one end of the supporting arm, and the other end of the supporting arm is detachably mounted with one of a fork, a bucket and a breaker hammer; wherein the angle formed by the connecting arm and the supporting arm is an obtuse angle less than 135°, and the lifting cylinder is hinged to the supporting arm.

8. The narrow lane wheeled auxiliary operation vehicle according to claim 7, characterized in that: The mechanical arm assembly also includes a swing cylinder; the swing cylinder is horizontally installed at the other end of the swing arm, and one of the fork, bucket and breaker hammer is installed on the swing cylinder so that one of the fork, bucket and breaker hammer can swing up and down.

9. The narrow lane wheeled auxiliary operation vehicle according to claim 8, characterized in that: The mechanical arm assembly also includes a quick-change assembly; one of the fork, bucket and breaker is installed on the swing cylinder through the quick-change assembly.

10. The wheeled auxiliary working vehicle for narrow lanes according to claim 1, characterized in that: The walking system also includes four sprockets; the four sprockets are respectively wound around the four wheels.

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