Anti-rollover mechanical stabilizing mechanism of underground rubber-tyred vehicle

Abstract

The invention relates to the technical field of underground rubber-tyred vehicles, in particular to an anti-rollover mechanical stabilizing mechanism of an underground rubber-tyred vehicle. According to the technical scheme, the anti-rollover mechanical stabilizing mechanism of the underground rubber-tyred vehicle comprises an underground rubber-tyred vehicle body, advancing wheels, an auxiliary support, auxiliary wheels, a mounting base, a first motor, a rotating shaft, a mounting support, an advancing crawler belt and a pressure detector, the advancing wheels are arranged on the bottom face of the underground rubber-tyred vehicle body, and the advancing crawler belt is arranged on the outer sides of the advancing wheels in a sleeving mode; an auxiliary support is arranged below the advancing wheels, auxiliary wheels are arranged at one end of the auxiliary support, and a mounting base is arranged at the other end of the auxiliary support. The first motor drives the supporting wheels to intelligently unfold, the pressure detector is matched to monitor the contact pressure in real time, an additional supporting face is formed at the moment of rollover, rollover of the vehicle can be effectively prevented, a driver is protected, meanwhile, road slope data can be detected, and the gravity center of the vehicle can be dynamically adjusted to achieve the purpose of preventing rollover of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of underground rubber-tyred vehicles, and particularly to an anti-roll mechanical stability mechanism for underground rubber-tyred vehicles. Background Art

[0002] An underground rubber-tyred vehicle is a type of underground transport vehicle, belonging to non-road motor transport equipment. Different from traditional rail mine cars, it uses an explosion-proof diesel engine or a battery as the traction power and can freely move in underground roadways through rubber tyres or crawlers to achieve the transportation of equipment, personnel, and materials.

[0003] Existing underground rubber-tyred vehicles only rely on the wheelbase and tyre friction to prevent rollover, and are prone to rollover on slippery roadways or sharp turns. At the same time, they lack a dynamic counterweight system, and when the load changes or encounters an inclined road surface, the amount of center-of-gravity offset is uncontrollable.

[0004] In view of the problems that existing underground rubber-tyred vehicles are prone to rollover on slippery roadways or sharp turns, and lack a dynamic counterweight system, and the center-of-gravity offset is uncontrollable when the load changes or encounters an inclined road surface, this solution intelligently unfolds the support wheels driven by a first motor, and cooperates with a pressure detector to monitor the contact pressure in real time, forming an additional support surface at the moment of rollover, which can effectively prevent the vehicle from rolling over and protect the driver. At the same time, it can detect the road surface slope data and dynamically adjust the vehicle's center of gravity to achieve the purpose of preventing the vehicle from rolling over. Summary of the Invention

[0005] In order to overcome the problems raised in the above background art.

[0006] The technical solution of the present invention is: an anti-roll mechanical stability mechanism for an underground rubber-tyred vehicle, including an underground rubber-tyred vehicle main body, traveling wheels, auxiliary brackets, auxiliary wheels, mounting bases, a first motor, a rotating shaft, mounting brackets, traveling crawlers, and pressure detectors. Traveling wheels are arranged on the bottom surface of the underground rubber-tyred vehicle main body, traveling crawlers are sleeved outside the traveling wheels, auxiliary brackets are arranged below the traveling wheels, one end of the auxiliary bracket is provided with an auxiliary wheel, the other end of the auxiliary bracket is provided with a mounting base, a first motor is arranged inside the mounting base, a rotating shaft is arranged on one side of the mounting base, mounting brackets are arranged outside the rotating shaft, support wheels are arranged inside the mounting brackets, and pressure detectors are arranged on one side of the mounting brackets.

[0007] Preferably, the traveling track is actively driven by the traveling wheels to rotate. The auxiliary wheels are installed through the auxiliary brackets, and the auxiliary wheels assist the main body of the underground rubber-tyred vehicle to move. The first motor is installed through the installation base. The first motor drives the rotating shaft to rotate, and the rotating shaft drives the installation bracket to rotate. The supporting wheels are installed through the installation brackets. The supporting pressure of the supporting wheels is detected by the pressure detector. When the main body of the underground rubber-tyred vehicle overturns, the first motor drives the rotating shaft to rotate, turns the installation bracket to the side of the main body of the underground rubber-tyred vehicle, and the supporting wheels assist the main body of the underground rubber-tyred vehicle to continue traveling, preventing the main body of the underground rubber-tyred vehicle from overturning.

[0008] As a preference, an installation platform is arranged on the bottom surface of one side of the main body of the underground rubber-tyred vehicle. A road surface detection sensor is arranged on one side of the installation platform. A plurality of groups of road surface detection sensors are provided. A high-transparency protective glass is arranged on the outer side of the road surface detection sensor. An information transmission cable is arranged on the other side of the installation platform.

[0009] As a preference, an installation box is arranged on the bottom surface of the main body of the underground rubber-tyred vehicle. An electromagnetic track is arranged inside the installation box. A magnetic base is sleeved on the outer side of the electromagnetic track. A connecting bracket is arranged on the bottom surface of the magnetic base. A counterweight is arranged inside the connecting bracket. A driving motor is arranged at one end of the installation box.

[0010] As a preference, a supporting base is arranged inside the main body of the underground rubber-tyred vehicle. A fixed rotating shaft is arranged on one side of the supporting base. A storage box is arranged on the surface of the fixed rotating shaft. A supporting platform is arranged on one side of the supporting base. An electric lifting rod is arranged on the top surface of the supporting platform. A connecting piece is arranged at the top end of the electric lifting rod. The connecting piece is connected to one end of the bottom surface of the storage box. An installation block is arranged on the outer side of the storage box. A lead screw is arranged inside the installation block. A connecting block is sleeved on the outer side of the lead screw. A connecting plate is arranged on the outer side of the connecting block. A second motor is arranged at the bottom end of the installation block. A blocking plate is arranged on one side of the connecting plate.

[0011] As a preference, when the anti-overturning mechanical stability mechanism of the underground rubber-tyred vehicle is working, it includes the following steps: S101: First, perform system initialization and self-check on the underground rubber-tyred vehicle; S102: Real-time monitor and give early warning to the road surface condition in front of the underground rubber-tyred vehicle; S103: Dynamically adjust the center of gravity of the underground rubber-tyred vehicle to keep the center of gravity stable during the driving process of the underground rubber-tyred vehicle; S104: When it is detected that the underground rubber-tyred vehicle is about to have the risk of overturning, the auxiliary wheels are intelligently deployed and supported for an emergency response to overturning; S105: State recovery and data recording.

[0012] As a preference, when performing system initialization and self-check, it includes the following steps: S201: Turn on the power of the underground rubber-tyred vehicle, initialize the control system, and load preset parameters, including vehicle size, weight, and center-of-gravity position; S202: The road surface detection sensor detects the road surface ahead through the high-transparency protective glass, and the road surface detection sensor performs self-check to see if it is clean and unobstructed; S203: The pressure detector checks the initial pressure value of the support wheel to prevent abnormal readings; S204: The first motor drives the rotating shaft to reset the mounting bracket and the support wheel to the storage position; S205: The drive motor controls the electromagnetic track to move the counterweight to the default center-of-gravity position.

[0013] Preferably, when performing real-time road surface monitoring and risk assessment, the following steps are included:; S301: The road surface detection sensor scans the road surface ahead in real time, and sends slope and obstacle parameter data to the control system through the information transmission cable; S302: The control system combines the vehicle's current speed, road surface slope, and obstacle position information, and uses the built-in algorithm to calculate the rollover risk index; S303: If the risk index exceeds the preset threshold, the system issues a warning through the sound and light alarm device to prompt the driver to slow down or adjust the direction.

[0014] Preferably, when performing dynamic support adjustment, the following steps are included S401: The first motor drives the rotating shaft to drive the mounting bracket to rotate, and turns the support wheel from the storage position to the side of the vehicle; S402: The pressure detector monitors the contact pressure between the support wheel and the ground in real time to ensure support stability; S403: The drive motor drives the electromagnetic track to adjust the position of the counterweight according to the road surface slope and vehicle load to maintain the center-of-gravity stability of the vehicle.

[0015] Preferably, when performing rollover emergency response, the following steps are included: S501: If the vehicle roll angle exceeds the critical value, the control system determines it as a rollover emergency state; S502: The first motor drives the support wheel to fully unfold at the maximum speed and locks the position; S503: The drive motor quickly adjusts the counterweight to the extreme position to form the maximum anti-rollover moment; S504: When the vehicle is determined to be about to roll over, trigger the vehicle braking system, combined with engine deceleration, to reduce the rollover kinetic energy.

[0016] Preferably, when performing status recovery and data recording, the following steps are included: S601: When the vehicle is out of the risk of rollover, the first motor and the drive motor gradually restore the supporting wheels and the counterweight to the default state; S602: The control system records the time, location, risk index, and intervention measure data of the rollover event for subsequent analysis and optimization of the algorithm; S603: If wear of the supporting wheels or offset of the counterweight is detected, the system prompts the maintenance personnel to check.

[0017] Advantages of the present invention: 1. Compared with traditional underground rubber-tired vehicles, which rely only on wheelbase and tire friction to prevent rollover and are prone to rollover on slippery roadways or sharp turns, and lack a dynamic counterweight system, so that when the load changes or an inclined road surface is encountered, the center-of-gravity offset is uncontrollable. In this solution, the supporting wheels are intelligently deployed by the first motor, and the contact pressure is monitored in real time by the pressure detector to form an additional support surface at the moment of rollover, which can effectively prevent the vehicle from rolling over and protect the driver. At the same time, the road surface gradient data can be detected to dynamically adjust the vehicle's center of gravity to achieve the purpose of preventing the vehicle from rolling over.

[0018] 2. Compared with traditional underground rubber-tired vehicles, which lack an effective road surface monitoring system, resulting in a lower judgment accuracy of the driver for obstacles ahead, leading to a delay in evasive maneuvers, and lacking self-rescue ability after rollover and requiring manual intervention to recover. This solution adopts a fusion scheme of lidar and vision sensors, which can effectively detect the distance of obstacles in front of the vehicle, and can also completely record the parameters of the rollover event to provide a database for algorithm iteration. Description of the Drawings

[0019] Figure 1 Shown is the first three-dimensional structural schematic diagram of the rollover prevention mechanical stability mechanism of the underground rubber-tired vehicle of the present invention; Figure 2 Shown is the second three-dimensional structural schematic diagram of the rollover prevention mechanical stability mechanism of the underground rubber-tired vehicle of the present invention; Figure 3 Shown is the bottom three-dimensional structural schematic diagram of the rollover prevention mechanical stability mechanism of the underground rubber-tired vehicle of the present invention; Figure 4 Shown is the first partial three-dimensional structural schematic diagram of the rollover prevention mechanical stability mechanism of the underground rubber-tired vehicle of the present invention; Figure 5 Shown is the second partial three-dimensional structural schematic diagram of the rollover prevention mechanical stability mechanism of the underground rubber-tired vehicle of the present invention; Figure 6 Shown is the working process framework schematic diagram of the rollover prevention mechanical stability mechanism of the underground rubber-tired vehicle of the present invention; Description of reference numerals: 1. Main body of underground rubber-tyred vehicle; 201. Traveling wheel; 202. Auxiliary support; 203. Auxiliary wheel; 204. Installation base; 205. First motor; 206. Rotating shaft; 207. Installation bracket; 208. Traveling track; 209. Pressure detector; 210. Support wheel; 301. Installation table; 302. Road surface detection sensor; 303. High-transparency protective glass; 304. Information transmission cable; 401. Installation box; 402. Electromagnetic track; 403. Magnetic base; 404. Connection bracket; 405. Counterweight; 406. Driving motor; 501. Support base; 502. Fixed rotating shaft; 503. Storage tank; 504. Installation block; 505. Lead screw; 506. Connection block; 507. Second motor; 508. Connection plate; 509. Baffle; 510. Support table; 511. Electric lifting rod; 512. Connector. Detailed implementation manners

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0021] Please refer to Figure 4 - Figure 5 , the present invention provides an embodiment: an anti-roll mechanical stability mechanism for an underground rubber-tyred vehicle, including a main body 1 of the underground rubber-tyred vehicle, a traveling wheel 201, an auxiliary support 202, an auxiliary wheel 203, an installation base 204, a first motor 205, a rotating shaft 206, an installation bracket 207, a traveling track 208 and a pressure detector 209. A traveling wheel 201 is arranged on the bottom surface of the main body 1 of the underground rubber-tyred vehicle, a traveling track 208 is sleeved outside the traveling wheel 201, an auxiliary support 202 is arranged below the traveling wheel 201, an auxiliary wheel 203 is arranged at one end of the auxiliary support 202, an installation base 204 is arranged at the other end of the auxiliary support 202, a first motor 205 is arranged inside the installation base 204, a rotating shaft 206 is arranged on one side of the installation base 204, an installation bracket 207 is arranged outside the rotating shaft 206, a support wheel 210 is arranged inside the installation bracket 207, and a pressure detector 209 is arranged on one side of the installation bracket 207.

[0022] Please refer to Figure 1 - 3, in this embodiment, an installation platform 301 is provided on one side bottom surface of the underground rubber-tyred vehicle main body 1. A road surface detection sensor 302 is provided on one side of the installation platform 301. Multiple groups of road surface detection sensors 302 are provided. A high-transparency protection glass 303 is provided on the outer side of the road surface detection sensor 302. An information transmission cable 304 is provided on the other side of the installation platform 301. During use, the road surface detection sensor 302 is installed through the installation platform 301. The slope and obstacles in front of the underground rubber-tyred vehicle main body 1 are detected through the road surface detection sensor 302. The road surface detection sensor 302 is protected through the high-transparency protection glass 303. The sensing information of the road surface detection sensor 302 is transmitted through the information transmission cable 304.

[0023] Preferably, an installation box 401 is provided on the bottom surface of the underground rubber-tyred vehicle main body 1. An electromagnetic track 402 is provided inside the installation box 401. A magnetic base 403 is sleeved on the outer side of the electromagnetic track 402. A connection bracket 404 is provided on the bottom surface of the magnetic base 403. A counterweight 405 is provided inside the connection bracket 404. A drive motor 406 is provided at one end of the installation box 401. During use, the electromagnetic track 402 is installed through the installation box 401. The magnetic base 403 is limited by the electromagnetic track 402. The connection bracket 404 is installed through the magnetic base 403. The counterweight 405 is installed through the connection bracket 404. The position of the counterweight 405 is driven to move through the electromagnetic track 402, dynamically adjusting the center of gravity position of the underground rubber-tyred vehicle main body 1 to prevent the underground rubber-tyred vehicle main body 1 from shifting.

[0024] Preferably, a support base 501 is provided inside the main body 1 of the underground rubber-tyred vehicle. A fixed rotating shaft 502 is provided on one side of the support base 501. A storage box 503 is provided on the surface of the fixed rotating shaft 502. A support platform 510 is provided on one side of the support base 501. An electric lifting rod 511 is provided on the top surface of the support platform 510. A connecting piece 512 is provided at the top end of the electric lifting rod 511. The connecting piece 512 is connected to one end of the bottom surface of the storage box 503. An installation block 504 is provided outside the storage box 503. A lead screw 505 is provided inside the installation block 504. A connecting block 506 is sleeved outside the lead screw 505. A connecting plate 508 is provided outside the connecting block 506. A second motor 507 is provided at the bottom end of the installation block 504. A blocking plate 509 is provided on one side of the connecting plate 508. During use, the fixed rotating shaft 502 is installed through the support base 501, the storage box 503 is rotatably connected through the fixed rotating shaft 502, the construction materials are stored and loaded through the storage box 503, the electric lifting rod 511 is installed through the support platform 510, the storage box 503 is tilted through the electric lifting rod 511, the storage box 503 and the electric lifting rod 511 are connected through the connecting piece 512, the lead screw 505 is installed through the installation block 504, the lead screw 505 is rotated through the second motor 507, the connecting block 506 is moved up and down through the lead screw 505, the connecting plate 508 is moved through the connecting block 506, the blocking plate 509 is installed through the connecting plate 508, and the materials in the storage box 503 are blocked through the blocking plate 509.

[0025] Please refer to Figure 6 , in this embodiment, when the anti-roll mechanical stability mechanism of the underground rubber-tyred vehicle is working, it includes the following steps: S101: First, initialize and self-check the underground rubber-tyred vehicle system; S102: Real-time monitor and warn of the road conditions in front of the underground rubber-tyred vehicle; S103: Dynamically adjust the center of gravity of the underground rubber-tyred vehicle to keep the center of gravity stable during driving; S104: When it is detected that the underground rubber-tyred vehicle is about to have a rollover risk, the auxiliary wheels are intelligently deployed and supported for an emergency rollover response; S105: State recovery and data recording.

[0026] Preferably, when initializing and self-checking the system, it includes the following steps: S201: Turn on the power of the underground rubber-tyred vehicle, initialize the control system, and load preset parameters, including vehicle size, weight, and center of gravity position; S202: The road surface detection sensor 302 detects the road surface ahead through the high-transparency protective glass 303, and the road surface detection sensor 302 performs self-check to see if it is clean and unobstructed; S203: The pressure detector 209 checks the initial pressure value of the support wheel 210 to prevent abnormal readings; S204: The first motor 205 drives the rotating shaft 206 to reset the mounting bracket 207 and the support wheel 210 to the storage position; S205: The drive motor 406 controls the electromagnetic track 402 to move the counterweight 405 to the default center of gravity position.

[0027] Preferably, when performing real-time road surface monitoring and risk assessment, the following steps are included:; S301: The road surface detection sensor 302 scans the road surface ahead in real time, and sends the slope and obstacle parameter data to the control system through the information transmission cable 304; S302: The control system combines the current vehicle speed, road surface slope and obstacle position information, and uses the built-in algorithm to calculate the rollover risk index; S303: If the risk index exceeds the preset threshold, the system issues a warning through the sound and light alarm device to prompt the driver to decelerate or adjust the direction.

[0028] Preferably, when performing dynamic support adjustment, the following steps are included: S401: The first motor 205 drives the rotating shaft 206 to drive the mounting bracket 207 to rotate, and turns the support wheel 210 from the storage position to the side of the vehicle; S402: The pressure detector 209 monitors the contact pressure between the support wheel 210 and the ground in real time to ensure the support stability; S403: The drive motor 406 drives the electromagnetic track 402 to adjust the position of the counterweight 405 according to the road surface slope and vehicle load to maintain the center of gravity stability of the vehicle.

[0029] Preferably, when performing rollover emergency response, the following steps are included: S501: If the vehicle roll angle exceeds the critical value, the control system determines it as a rollover emergency state; S502: The first motor 205 drives the support wheel 210 to fully unfold at the maximum speed and locks the position; S503: The drive motor 406 quickly adjusts the counterweight 405 to the extreme position to form the maximum anti-rollover moment; S504: When the vehicle is determined to be about to roll over, trigger the vehicle braking system and combine with the engine speed reduction to reduce the rollover kinetic energy.

[0030] Preferably, when performing status recovery and data recording, the following steps are included: S601: After the vehicle is out of the risk of rollover, the first motor 205 and the drive motor 406 gradually restore the support wheels 210 and the counterweight 405 to the default state; S602: The control system records the time, location, risk index and intervention measure data of the rollover event for subsequent analysis and optimization of the algorithm; S603: If it is detected that the support wheels 210 are worn or the counterweight 405 is offset, the system prompts the maintenance personnel to check.

[0031] Embodiment 1 Scenario description: The roadway in a large coal mine is complex, with inclined slopes, slippery roads and the risk of sudden rockfalls. Traditional rubber-tyred vehicles are prone to rollover due to center-of-gravity offset or road obstacles. An underground rubber-tyred vehicle with an anti-roll mechanical stabilization mechanism is introduced for transporting coal and support materials, and the daily transport volume needs to reach 200 tons.

[0032] Implementation method: S701: After the miner starts the vehicle, the control system automatically loads the vehicle parameters, and the data are: vehicle length 6m, width 2.5m, weight 8 tons, and the default center of gravity is 3m from the front axle; S702: The road surface detection sensor 302 scans the road surface 5m ahead through the high-transparency protective glass 303. After confirming no obstruction, the sensor enters the working state; S703: The pressure detector 209 is installed on the support wheel bracket, and the initial pressure of the support wheel 210 is detected to be 0MPa, with no abnormal readings; S704: The first motor 205 drives the rotating shaft 206 to reset the support wheel 210 to the storage position; the drive motor 406 adjusts the counterweight 405 to the default center-of-gravity position; S705: When the vehicle is traveling at 10 km / h, the road surface detection sensor 302 scans the road surface ahead in real time, detects a sudden change in slope 3m to the left front, and sends it to the control system through the information transmission cable 304; S706: The control system calculates the rollover risk index by combining the vehicle speed and the slope. It is calculated that R = 65%, which is lower than the threshold of 80%. However, through the extended lateral acceleration sensor, the lateral acceleration is detected to reach 0.4g, triggering the audible and visual alarm to remind the driver to decelerate to 8 km / h; S707: After entering a 12° ramp, the drive motor 406 drives the electromagnetic track 402 to move the counterweight 405 backward by 0.5m to 3.5m from the front axle, reducing the risk of forward tilt; S708: The first motor 205 drives the rotating shaft 206 to expand the support wheel 210 to 0.8m from the vehicle body. The pressure detector 209 shows that the support pressure is 2MPa, confirming stable support; S709: When the vehicle reaches the middle section of the slope, a sudden rockfall hits the right wheel, causing the vehicle body roll angle to reach 25°. The control system determines it as an emergency state; S710: The first motor 205 drives the support wheel 210 to fully extend to 1.2 m away from the vehicle body at the maximum speed and locks the position; the drive motor 406 quickly moves the counterweight 405 to the limit position 4 m away from the front axle to form an anti-roll moment, effectively offsetting the roll moment; S711: At the same time, trigger the vehicle braking system, and the engine speed is reduced to the idle speed of 800 rpm to reduce the roll kinetic energy; S712: After the vehicle gets out of the risk, the first motor 205 and the drive motor 406 gradually restore the support wheel 210 and the counterweight 405 to the default state within 10 seconds; S713: The control system records the event data: the time is 14:25, the location is 200 m in section B of the roadway, the risk index is 95%, and the intervention measures are support wheel extension + counterweight adjustment + braking, and uploads it to the ground monitoring center through the wireless transmission module; S714: During the maintenance inspection the next day, it is found that the wear of the support wheel 210 reaches 10%, and the threshold is 15%. The system prompts that there is no need to replace; the counterweight 405 has no deviation, and it is confirmed that the mechanism operates normally.

[0033] Implementation effect: The rollover accident rate is reduced by 80%, effectively avoiding casualties and equipment damage. Under complex road conditions, the transportation speed is increased by 20%, and the daily average transportation volume reaches 220 tons. At the same time, through data recording, the maintenance requirements are predicted, the service life of the support wheel is extended by 30%, and the annual maintenance cost is reduced by 150,000 yuan.

[0034] The above has described the embodiments of the present invention in detail with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the purpose of the present invention.

Claims

1. Underground rubber-tyred vehicle anti-roll mechanical stability mechanism; characterized in that: It includes an underground rubber-tyred vehicle main body (1), traveling wheels (201), auxiliary supports (202), auxiliary wheels (203), installation bases (204), a first motor (205), a rotating shaft (206), installation brackets (207), traveling tracks (208) and pressure detectors (209). The bottom surface of the underground rubber-tyred vehicle main body (1) is provided with traveling wheels (201). A traveling track (208) is sleeved outside the traveling wheels (201). An auxiliary support (202) is arranged below the traveling wheels (201). One end of the auxiliary support (202) is provided with an auxiliary wheel (203). The other end of the auxiliary support (202) is provided with an installation base (204). A first motor (205) is arranged inside the installation base (204). A rotating shaft (206) is arranged on one side of the installation base (204). An installation bracket (207) is arranged outside the rotating shaft (206). A support wheel (210) is arranged inside the installation bracket (207). A pressure detector (209) is arranged on one side of the installation bracket (207).

2. The mechanical stability mechanism for preventing rollover of the underground rubber-tyred vehicle according to claim 1, wherein: An installation platform (301) is arranged on one side of the bottom surface of the underground rubber-tyred vehicle main body (1). A road surface detection sensor (302) is arranged on one side of the installation platform (301). Multiple groups of road surface detection sensors (302) are provided. A high-transparency protection glass (303) is arranged outside the road surface detection sensors (302). An information transmission cable (304) is arranged on the other side of the installation platform (301).

3. The mechanical stability mechanism for preventing rollover of the underground rubber-tyred vehicle according to claim 2, characterized in that: An installation box (401) is arranged on the bottom surface of the underground rubber-tyred vehicle main body (1). An electromagnetic track (402) is arranged inside the installation box (401). A magnetic base (403) is sleeved outside the electromagnetic track (402). A connection bracket (404) is arranged on the bottom surface of the magnetic base (403). A counterweight block (405) is arranged inside the connection bracket (404). A drive motor (406) is arranged at one end of the installation box (401).

4. The mechanical stability mechanism for preventing rollover of the underground rubber-tyred vehicle according to claim 3, characterized in that: A support base (501) is arranged inside the underground rubber-tyred vehicle main body (1). A fixed rotating shaft (502) is arranged on one side of the support base (501). A storage box (503) is arranged on the surface of the fixed rotating shaft (502). A support platform (510) is arranged on one side of the support base (501). An electric lifting rod (511) is arranged on the top surface of the support platform (510). A connecting member (512) is arranged at the top end of the electric lifting rod (511). The connecting member (512) is connected to one end of the bottom surface of the storage box (503). An installation block (504) is arranged outside the storage box (503). A lead screw (505) is arranged inside the installation block (504). A connecting block (506) is sleeved outside the lead screw (505). A connecting plate (508) is arranged outside the connecting block (506). A second motor (507) is arranged at the bottom end of the installation block (504). A blocking plate (509) is arranged on one side of the connecting plate (508).

5. The anti-roll mechanical stability mechanism for underground rubber-tyred vehicles according to claims 1-4, characterized in that: When the anti-roll mechanical stability mechanism of the underground rubber-tyred vehicle is working, it includes the following steps: S101: First, initialize and self-check the underground rubber-tyred vehicle system; S102: Real-time monitor and give early warning of the road surface condition in front of the underground rubber-tyred vehicle; S103: Dynamically adjust the center of gravity of the underground rubber-tyred vehicle to keep the center of gravity stable during the driving process of the underground rubber-tyred vehicle; S104: When it is detected that the underground rubber-tyred vehicle is about to have the risk of rollover, the auxiliary wheels are intelligently deployed and supported for emergency rollover response; S105: Status recovery and data recording.

6. The mechanical anti-rollover stability mechanism for underground rubber-tyred vehicles according to claim 5, characterized in that: When performing system initialization and self-check, it includes the following steps: S201: Turn on the power of the underground rubber-tyred vehicle, the control system is initialized, and preset parameters are loaded, including vehicle size, weight and center of gravity position; S202: The road surface detection sensor (302) detects the road surface in front through the high-transparency protective glass (303), and the road surface detection sensor (302) performs self-check to see if it is clean and unobstructed; S203: The pressure detector (209) checks the initial pressure value of the support wheel (210) to prevent abnormal readings; S204: The first motor (205) drives the rotating shaft (206) to reset the mounting bracket (207) and the support wheel (210) to the storage position; S205: The drive motor (406) controls the electromagnetic track (402) to move the counterweight (405) to the default center of gravity position.

7. The mechanical stability mechanism for preventing rollover of the underground rubber-tyred vehicle according to claim 5, characterized in that: When performing real-time road surface monitoring and risk assessment, it includes the following steps: ； S301: The road surface detection sensor (302) scans the road surface in front in real time, and sends the slope and obstacle parameter data to the control system through the information transmission cable (304); S302: The control system combines the current vehicle speed, road surface slope and obstacle position information, and uses the built-in algorithm to calculate the rollover risk index; S303: If the risk index exceeds the preset threshold, the system issues an early warning through the sound and light alarm device to prompt the driver to decelerate or adjust the direction.

8. The mechanical stability mechanism for preventing rollover of the underground rubber-tyred vehicle according to claim 5, characterized in that: When performing dynamic support adjustment, it includes the following steps: S401: The first motor (205) drives the rotating shaft (206) to drive the mounting bracket (207) to rotate, and turns the support wheel (210) from the storage position to the side of the vehicle; S402: The pressure detector (209) monitors the contact pressure between the support wheel (210) and the ground in real time to ensure the support stability; S403: The drive motor (406) drives the electromagnetic track (402) to adjust the position of the counterweight (405) according to the road surface slope and vehicle load to maintain the center of gravity stability of the vehicle.

9. The mechanical stability mechanism for preventing rollover of the underground rubber-tyred vehicle according to claim 5, characterized in that: When performing emergency rollover response, it includes the following steps: S501: If the vehicle roll angle exceeds the critical value, the control system determines it as an emergency rollover state; S502: The first motor (205) drives the support wheel (210) to fully deploy at the maximum speed and locks the position; S503: The drive motor (406) quickly adjusts the counterweight (405) to the limit position to form the maximum anti-rollover moment; S504: When it is determined that the vehicle is about to roll over, trigger the vehicle braking system and combine with the engine speed reduction to reduce the rollover kinetic energy.

10. The anti-roll mechanical stability mechanism of the underground rubber-tyred vehicle according to claim 5, characterized in that: When performing status recovery and data recording, it includes the following steps: S601: When the vehicle is out of the risk of rollover, the first motor (205) and the drive motor (406) gradually restore the support wheels (210) and the counterweight (405) to the default state; S602: The control system records the time, location, risk index, and intervention measure data of the rollover event for subsequent analysis and optimization of the algorithm; S603: If it is detected that the support wheels (210) are worn or the counterweight (405) is offset, the system prompts the maintenance personnel to check.

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