Charging and battery replacing integrated pure electric drive underground trackless mine car

Abstract

A battery charging and replacing integrated pure electric drive underground trackless mine car comprises a power supply system, a drive axle system, a brake system, a lifting system, a steering system, a cooling system, an auxiliary system, a power assembly, a frame, a carriage and a cab. The frame is a front-back hinged frame, the power supply system comprises a battery replacement module assembly, the power supply system transmits electric energy to the power assembly through an all-in-one controller, the power assembly comprises a traction motor and a speed reducer which are vertically connected, and torque output by the power assembly is transmitted to a front axle and a rear axle through a front transmission shaft and a rear transmission shaft; the covering part is arranged at the front end of the front frame, the cab is arranged on the left side of the front frame, the power system is arranged on the right side of the front frame, the power assembly is arranged at the rear end of the front frame, the all-in-one controller is arranged at the top of a fender of a wheel on the right side of a front axle, and the hydraulic oil tank is arranged behind the fender of the wheel on the right side of the front axle. A personnel channel is arranged behind a fender of a wheel on the left side of the front axle; and the carriage is arranged on the rear frame.

Description

Technical Field

[0001] The present invention relates to the technical field of ore transport vehicles, and in particular to a pure electric drive underground trackless ore transport vehicle with integrated charging and battery replacement. Background Art

[0002] At present, there are several main structural forms of underground trackless mining vehicles: First, in the power transmission of traditional underground trackless mining vehicles, the diesel engine serves as the power source, driving the torque converter. The torque converter transmits power to the transmission via a drive shaft. The transmission's dual-shaft output is then transmitted to the front and rear axles via the front and rear drive shafts, thereby driving the vehicle. Simultaneously, the torque converter is directly coupled to the transfer case, distributing the diesel engine's power to the hydraulic system, enabling functions such as steering and lifting. The main disadvantages of diesel underground mining vehicles are high energy consumption, loud diesel engine noise, and high maintenance costs. This is primarily due to the reliance on imported diesel engines, transmissions, and front and rear drive axles, resulting in long procurement costs and lead times for related parts during overhauls and maintenance.

[0003] The second is the electric wheel drive structure. From the perspective of structure and cost, it integrates motors, reducers, brakes and other components in the wheels, and the structure is highly compact and complex, resulting in extremely high manufacturing process requirements and a significant increase in initial R&D and production costs. Once a failure occurs, maintenance is difficult, and not only is the maintenance cycle long, but the cost of replacing parts is also high, which invisibly increases the cost of using the equipment throughout its life cycle. At the same time, the narrow and closed space of underground tunnels is not conducive to heat dissipation, affecting the working efficiency and service life of the brakes and motors.

[0004] The third type of pure electric drive vehicle with a full-vehicle overhead wiring system primarily consists of a catenary installed above the tunnel, a pantograph mounted on top of the vehicle, an onboard electrical control system, and a traction system. The overhead wiring system draws power from a surface substation via high-voltage cables and transmits it underground. The pantograph makes sliding contact with the overhead wiring system, directing the power into the vehicle. This power is regulated by the electrical control system, driving the traction motor, which then transmits power to the drive axle via a transmission, enabling the vehicle to move. However, the disadvantages of this type of vehicle are the large amount of overhead wiring required underground, resulting in high initial construction costs and significant difficulties in subsequent line inspection and maintenance. The vehicle's route is completely dependent on the overhead wiring layout, making it difficult to flexibly adjust and adapt to the complex and changing tunnel environment. Furthermore, the overhead wiring system, exposed to the humid and dusty underground environment for extended periods, is susceptible to insulation aging and wire breakage, posing a threat to the safety of personnel and equipment. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a pure electric drive underground trackless mining vehicle with integrated charging and battery replacement, which optimizes the layout of the entire vehicle and significantly improves the space utilization and transmission efficiency; the power supply system of the entire vehicle adopts an integrated charging and battery replacement energy replenishment form, which can meet the needs of different application environments; and adopts a single-motor system setting, with a simple motor control method, high reliability, and easy implementation.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: a charging and battery-swappable integrated pure electric drive underground trackless mining vehicle, including a power supply system, a drive axle system, a braking system, a lifting system, a steering system, a cooling system, an auxiliary system, a power assembly, a frame, a carriage and a cab; the frame is a front and rear articulated frame, which includes a front frame and a rear frame, and the front frame and the rear frame are connected by an articulated connection, the drive axle system includes a front axle provided on the front frame and a rear axle provided on the rear frame; the power supply system is controlled by an all-in-one controller. The controller transmits electrical energy to the powertrain, and the torque output by the powertrain is transmitted to the front and rear axles via the front and rear drive shafts; a cover is provided at the front end of the front frame, the cab is provided on the left side of the front frame, the power system is provided on the right side of the front frame, the powertrain is provided at the rear end of the front frame, the all-in-one controller is provided on the top of the fender of the right wheel of the front axle, a hydraulic oil tank is provided behind the fender of the right wheel of the front axle, and a personnel passage is provided behind the fender of the left wheel of the front axle; the carriage is provided on the rear frame; The power supply system includes a battery exchange module assembly arranged in the front frame installation area, a guide mechanism for guiding the disassembly and assembly of the battery exchange module assembly, and a locking mechanism for locking the battery exchange module assembly; the installation area is surrounded by a cover arranged in front of the front frame, a cab arranged on the left side of the front frame, and a right front wheel fender; the front frame includes a bottom plate, a mounting plate arranged above the bottom plate and horizontally arranged, and a support plate arranged between the bottom plate and the mounting plate; the battery exchange module assembly includes a power battery box, a power battery pack, a control box, a high-voltage box, a power control box, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink Management unit and thermal management expansion water tank, the power battery pack is arranged in the power battery box, the high-voltage box, power control box, thermal management unit and thermal management expansion water tank are arranged in the control box, the control box is arranged on one side of the power battery box, and the top of the power battery box is provided with a lifting lug; the battery swap module assembly realizes high-voltage electrical connection and low-voltage communication connection with the vehicle through a self-aligning battery swap connector, the self-aligning battery swap connector includes a vehicle-end connector arranged on the front frame and a battery-end connector arranged on the battery swap module assembly; the guide machine The structure includes a transverse guide column, a longitudinal guide column, a positioning pin, a left guide alignment structure, a rear guide alignment structure and a front guide alignment structure. The transverse guide column, the longitudinal guide column and the positioning pin are arranged at the bottom of the battery swap module assembly. The bottom surface of the battery swap module assembly cooperates with the mounting plate. The mounting plate is provided with a positioning pin hole that cooperates with the positioning pin. The front frame is provided with a guide groove that cooperates with the transverse guide column and the longitudinal guide column. The left guide alignment structure is arranged on the cab, and the front guide alignment structure is arranged on the front frame and is located at the mounting plate. The front of the area, the rear guide alignment structure is provided on the front frame and is located behind the installation area; the locking mechanism includes a locking pin working hole provided on the support plate, a locking pin seat provided at the bottom of the battery swap module assembly, a locking pin matched with the locking pin working hole and the locking pin seat, a travel switch for detecting the position of the locking pin, an operating rod connected to the locking pin, a handwheel and an operating rod seat for driving the operating rod to rotate, the operating rod seat is fixed to the side of the front frame, the operating rod is threadedly matched with the operating rod seat, and the front end of the operating rod is rotationally matched with the locking pin; The powertrain includes a traction motor and a reducer. The traction motor is arranged above the reducer and is connected to the reducer through a flange. The output shaft of the traction motor faces downward and is splined to the input shaft of the reducer. A transmission shaft is provided in the reducer. The input shaft and the transmission shaft of the reducer are arranged longitudinally, and the output shaft of the reducer is arranged transversely. The input shaft of the reducer is perpendicular to the output shaft. A first gear and a second gear are provided on the input shaft of the reducer. A third gear and a first bevel gear are provided on the transmission shaft of the reducer. A second bevel gear is provided on the output shaft of the reducer. The first gear meshes with the third gear and transmits power to the first bevel gear after a first speed change. The first bevel gear meshes with the second bevel gear. The first bevel gear meshes with the second bevel gear, further reducing the speed and increasing the torque, and changing the rotation direction. Finally, the power is output through the output shaft of the reducer. The second gear meshes with the oil pump gear and drives the oil pump after a first speed reduction. The oil pressure established by the oil pump lubricates and cools the reducer.

[0007] As an improvement, the battery-end connector is arranged at the bottom of the control box, the vehicle-end connector is arranged on the mounting bracket, the mounting bracket is arranged on the front frame, and an avoidance space is formed between the bottom surface of the control box and the side of the power battery box. The mounting bracket is arranged in the avoidance space, and a movable cover is provided on the side of the battery exchange module assembly corresponding to the avoidance space position; a charging socket, a high-voltage status indicator light and a locking pin status indicator light are provided on the side of the control box.

[0008] As an improvement, a vibration-damping cushion is provided at the bottom of the battery exchange module assembly, and a buffer wear-resistant plate is provided on the side of the battery exchange module assembly.

[0009] As an improvement, the left-side guide alignment structure, the rear-side guide alignment structure and the front-side guide alignment structure all include upright posts and inclined blocks arranged at the upper ends of the upright posts. The left-side guide alignment structure and the front-side guide alignment structure are flush with each other and higher than the rear-side guide alignment structure. The transverse guide column and the longitudinal guide column all include upright plates and 45° inclined plates connected to the upright plates. A wear-resistant limit plate is provided in the guide groove and is attached to the upright plates.

[0010] As an improvement, an operating compartment is provided on the side of the front frame, the operating rod seat is provided in the operating compartment, the operating rod includes a rod and a rod sleeve sleeved on the rod, the operating rod seat includes a fixing plate and a cylindrical nut provided in the middle of the fixing plate, the rod sleeve is inserted into the cylindrical nut and engaged with its thread.

[0011] As an improvement, a cover inspection port is provided between the cab and the front cover. The front windshield of the cab is higher than the cover inspection port. The cover inspection port is connected to the cover by bolts. The air-conditioning outdoor unit, PTC heater, air-conditioning compressor, condenser and hydraulic accumulator are placed in the internal space. The air-conditioning outdoor unit and hydraulic system inspection port are set on the left side of the internal space; a grille is provided on the front of the cover, and an ATS radiator is provided on the inner side of the grille.

[0012] As an improvement, the handwheel of the locking mechanism is arranged on the right side of the front frame, and the left side of the front frame is provided with an inspection port for the power distribution box and a inspection port for the 24V battery.

[0013] As an improvement, the cooling system includes a battery thermal management system, a motor electronic control cooling system and an air conditioning system; the battery thermal management system is integrated in the battery exchange module assembly, which includes a compressor, a condenser, an electronic expansion valve, a low-temperature radiator, a plate heat exchanger, a PTC heater, a first water pump and an expansion kettle. The refrigerant output from the compressor output end passes through the condenser, the electronic expansion valve, and the plate heat exchanger in sequence and then returns to the compressor input end; the cooling water from the first water pump output end passes through the three-way valve, the plate heat exchanger, the PTC heater, and the power battery in sequence and then returns to the first water pump input end; the cooling water from the first water pump output end is returned to the first water pump input end according to the cooling water output end. The cooling water passes through the three-way valve, the low-temperature radiator and the power battery and then returns to the input end of the first water pump; the motor electronically controlled cooling system includes a second water pump, a third water pump, an expansion water tank and a radiator. The cooling water at the output end of the second water pump is connected to the input ends of the three-in-one auxiliary controller and the auxiliary motor assembly respectively through the first three-way valve, the output ends of the three-in-one auxiliary controller and the auxiliary motor assembly are connected to the first input end of the radiator through the second three-way valve, the first output end of the radiator is connected to the input end of the second water pump, the output end of the third water pump is connected to the second input end of the radiator after passing through the power assembly, and the second output end of the radiator is connected to the input end of the third water pump.

[0014] As an improvement, the battery exchange module assembly is internally integrated with an automatic fire extinguishing system, which includes a fire extinguishing agent tank, a four-in-one detector, a fire detection tube, a solenoid valve, an atomizing nozzle corresponding to each power battery pack, and a fire extinguishing controller. The smoke, high temperature, H2, and CO generated by the power battery pack fire will trigger the four-in-one detector. After the detector is triggered, it will be fed back to the fire extinguishing controller, and the fire extinguishing controller will feed back to the VCU. The VCU will sound a fire alarm in the cab and cut off the vehicle high voltage at the same time. The fire extinguishing controller will also send an electrical signal to the solenoid valve, and the atomizing nozzle will spray fire extinguishing agent to extinguish the fire and reduce the temperature. When the driver finds that a fire has occurred in the power battery box and the alarm has not sounded, he can extinguish the fire by pressing the fire extinguishing switch in the cab; if a fire occurs, due to a fault, the solenoid valve does not work, and the atomizing nozzles cannot spray fire extinguishing agent. When the fire spreads to the fire detection tube, the fire detection tube will crack due to the high temperature, and the crack will spray fire extinguishing agent to extinguish the flame, and spread to the entire power battery box to cool down and isolate the fire.

[0015] As an improvement, in charging mode: an external power supply recharges the battery swap module assembly through two charging sockets, and the BMS controls the pre-charging resistor to pre-charge the system capacitor to prevent large current shocks from damaging circuit components, and then continues to charge until it is fully charged; in battery swap mode: the entire battery swap module assembly is hoisted to the designated charging position, and then the fully charged battery swap module assembly is hoisted to the designated position of the vehicle. The fully charged battery swap module assembly supplies power to the entire vehicle through the connector, and the replaced low-power battery swap module assembly is connected to the two charging sockets through an external power supply to recharge the power battery.

[0016] The beneficial effects brought about by the present invention compared with the prior art are: 1) The overall vehicle layout is optimized, significantly improving space utilization and transmission efficiency. The traction motor and reducer of the powertrain are installed vertically. Compared with a diesel engine drive, this eliminates one drive shaft, saving space while also improving transmission efficiency. 2) The vehicle's power supply system uses an integrated charging and swapping system to meet the needs of different customers. During charging, high-power fast charging technology can be used to reduce vehicle waiting time. When transportation volume meets demand, the number of power battery swap modules can be reduced, further reducing operating costs. During battery swapping, the process takes only a few minutes, which can quickly restore the vehicle's range. It is particularly suitable for operating vehicles, reducing their non-operating time and improving vehicle operating efficiency. At the same time, centralized charging during off-peak hours and centralized battery management can ensure balanced charging and maintenance of the batteries, avoiding overcharging, over-discharging and other conditions that damage the battery life, thereby extending the battery life. 3) Each system is highly integrated, and maintenance convenience is improved. The vehicle's power supply system adopts a modular design, with a built-in cooling system and fire extinguishing system. In addition, there is no need for human contact with high-voltage connectors and related equipment during battery replacement, and mechanical locking is used, which is safe and convenient. 4) The cooling systems are independent of each other, ensuring efficient operation of each system and avoiding water interference caused by different cooling requirements of multiple systems. The power battery swap module cooling system is built-in, and only the power supply system is cooled and heated on demand, ensuring that the power battery always operates in the high-efficiency range. The motor and electronic control are all water-cooled, and reasonable series and parallel methods are used to improve cooling efficiency based on different temperature sensitivities. 5) Higher safety: The power supply battery replacement module has a built-in automatic fire extinguishing system and adopts both active and passive fire extinguishing methods with mutual redundancy. When the power battery catches fire, it can effectively extend the escape time of the driver and passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional image of a mine truck.

[0018] Figure 2 This is the left side view of the ore transport vehicle.

[0019] Figure 3 This is the right side view of the ore truck.

[0020] Figure 4 This is the topological diagram of the entire vehicle structure.

[0021] Figure 5 Schematic diagram of the battery swap module assembly and the front frame.

[0022] Figure 6 This is a schematic diagram of the battery swap module assembly and front frame disassembled.

[0023] Figure 7 This is a schematic diagram of the bottom of the battery swap module assembly.

[0024] Figure 8 A schematic diagram of the guide docking structure on the front frame.

[0025] Figure 9 Schematic diagram of the guide groove on the front frame.

[0026] Figure 10 Schematic diagram of the locking mechanism cooperating with the front frame.

[0027] Figure 11 Schematic diagram of the locking mechanism status.

[0028] Figure 12 Exploded view of the locking pin.

[0029] Figure 13 This is the battery replacement flow chart.

[0030] Figure 14 Powertrain schematic.

[0031] Figure 15This is the internal transmission relationship diagram of the powertrain reducer.

[0032] Figure 16 This is the high voltage topology diagram of the power supply system.

[0033] Figure 17 This is the battery thermal management system piping diagram.

[0034] Figure 18 This is the piping diagram of the motor electronic control cooling system.

[0035] Figure 19 Schematic diagram of the automatic fire extinguishing system. DETAILED DESCRIPTION

[0036] The present invention will be further described below with reference to the accompanying drawings.

[0037] A pure electric drive underground trackless mining vehicle with integrated charging and battery replacement. The mining vehicle in this embodiment is a 20-ton mining vehicle, which includes a power supply system, a drive axle system, a braking system, a lifting system, a steering system, a cooling system, an auxiliary system, a powertrain, a frame, a carriage and a cab; in addition, the braking system and steering system of the entire vehicle have a wire control function, which can realize unmanned driving.

[0038] like Figures 1 to 3As shown, the vehicle frame is a front-to-rear articulated frame, comprising a front frame 1 and a rear frame 2, which are articulated. The drive axle system comprises a front axle mounted on the front frame 1 and a rear axle mounted on the rear frame 2. The power supply system transmits electrical energy to the powertrain 9 via an all-in-one controller 7, and the torque output by the powertrain 9 is transmitted to the front and rear axles via the front and rear drive shafts. A cover 5 is provided at the front end of the front frame 1, the cab 4 is located on the left side of the front frame 1, the power supply system 3 is located on the right side of the front frame 1, and the powertrain 9 is located at the rear end of the front frame 1. The all-in-one controller 7 is located on top of the fender of the right wheel of the front axle. A hydraulic oil tank 8 is located behind the fender of the right wheel of the front axle, and a personnel passage 14 is located behind the fender of the left wheel of the front axle. A cover inspection opening 10 is provided between the cab 4 and the front cover 5. The front windshield of the cab is higher than the cover inspection opening 10. The cover inspection opening 10 is connected to the cover by bolts. The air-conditioning outdoor unit, PTC heater, air-conditioning compressor, condenser and hydraulic accumulator are placed in the internal space. The air-conditioning outdoor unit and hydraulic system inspection opening 11 are provided on the left side of the internal space. A grille is provided on the front of the cover 5, and an ATS radiator is provided on the inner side of the grille. The auxiliary system includes an auxiliary controller and an auxiliary motor. The auxiliary motor of the whole vehicle is placed directly below the power battery replacement module. The auxiliary motor is powered by the all-in-one controller 7 and is matched with the controller itself. The auxiliary motor is the power source of the steering, lifting and braking systems of the whole vehicle, providing reliable power for the whole vehicle, and is a key component of the hydraulic system. The car body 6 is arranged on the rear frame 2, and the lifting cylinders of the lifting system are arranged on both sides of the car body. The layout of the whole vehicle is optimized, and the space utilization and transmission efficiency are significantly improved.

[0039] like Figure 4 As shown in the figure, under traction conditions, the all-electric underground mining vehicle's power supply efficiently transmits electricity to the powertrain via an all-in-one controller. The torque output by the traction motor is transmitted via the front and rear drive shafts to the original vehicle's mechanical drive axle, enabling the vehicle to drive. Simultaneously, the power supply system's high-voltage box utilizes a DC / DC converter to provide stable power to the all-in-one controller and battery thermal management unit. As the core energy management unit, the all-in-one controller not only provides power to the traction motor, auxiliary motor, 24V power supply, air conditioning compressor, and PTC heater, but also enables precise control of each component. During electric braking, the traction motor switches to power generation mode, converting the vehicle's kinetic energy into electricity. This generated energy is then recycled through the traction controller and high-voltage box, ultimately returning to the power supply. This regenerative approach significantly improves the system's overall energy utilization and reduces energy consumption.

[0040] like Figure 5As shown, the power supply system includes a battery exchange module assembly 31 arranged in the installation area of ​​the front frame 1, a guide mechanism for guiding the disassembly and assembly of the battery exchange module assembly 31, and a locking mechanism 32 for locking the battery exchange module assembly 31.

[0041] like Figure 5 As shown, the installation area is enclosed by a cover 5 located in front of the front frame 1, a cab 4 located on the left side of the front frame 1, and a front wheel fender 15. The right side of the installation area is unobstructed, and the battery swap module assembly 31 is similar in shape to the side corresponding to the fender 15, fully utilizing the available space. The front frame 1 includes a base plate, a horizontally arranged mounting plate located above the base plate, and a support plate located between the base plate and the mounting plate. The base plate is slightly tilted upward, and the base plate supports the mounting plate via the support plate. The battery swap module assembly 31 is seated on the mounting plate to ensure stable installation of the battery swap module assembly 31.

[0042] like Figure 5 、 6 As shown, the battery swap module assembly 31 includes a power battery case 311, a power battery pack, a control case 312, a high-voltage box, a power control box, a thermal management unit, and a thermal management expansion tank. The power battery case 311 is rectangular in shape, and the power battery packs are stacked and grouped within the power battery case 311. The four corners of the top of the power battery case 311 are provided with hook-shaped lifting lugs 313. The lifting lugs 313 cooperate with a sling. The sling is H-shaped and includes a crossbeam and lifting arms provided at both ends of the crossbeam. The ends of the lifting arms are provided with protruding posts that cooperate with the lifting lugs. The control box 312 is located behind the power battery box 311. It is shaped like a special case, with its bottom higher than the bottom of the power battery box 311. A clearance is formed between the bottom of the control box 312 and the sides of the power battery box 311. The top of the control box 312 is higher than the top of the power battery box 311, and cooling holes are provided around the bottom of the control box 312. The high-voltage box, power control box, thermal management unit, and thermal management expansion tank are housed within the control box 312 and can form an integrated module with the power battery for battery swapping. After battery swapping is complete, the top of the power battery box 311 of the battery swap module assembly 31 is flush with the top of the cover 5.

[0043] like Figure 6 、 7As shown, the battery exchange module assembly 31 realizes high-voltage electrical connection and low-voltage communication connection with the vehicle through two sets of self-aligning battery exchange connectors. The self-aligning battery exchange connectors include a vehicle-end connector 34 provided on the front frame 1 and a battery-end connector 33 provided on the battery exchange module assembly 31. The connector itself has a floating function, which can eliminate the error of docking adjustment during the battery exchange process and reduce the impact during docking. At the beginning of the battery exchange, a high-voltage power disconnection check must be performed. The high-voltage power is turned on and off by the key switch in the cab 4 to control the high-voltage power of the battery exchange module assembly 31. The red indicator light installed on the right side of the battery exchange module assembly 31 is used to feedback the high-voltage power on and off status. When the red indicator light on the right side of the battery exchange module assembly 31 is not on, it means that the battery exchange module assembly 31 has disconnected the high-voltage power and the battery exchange operation can be performed. Otherwise, the battery exchange operation cannot be performed. The battery-end connector 33 is arranged at the bottom of the control box 312, the vehicle-end connector 34 is arranged on the mounting bracket 35, the mounting bracket 35 is arranged on the front frame 1, and the mounting bracket 35 is arranged in the avoidance space. The side of the battery exchange module assembly 31 is provided with a movable cover 3121 corresponding to the avoidance space position. When exchanging batteries, the movable cover 3121 can be opened to observe the docking status of the connectors.

[0044] like Figures 7 to 9As shown, the guide mechanism includes a transverse guide column 3111, a longitudinal guide column 3112, a positioning pin 3113, a left guide alignment structure 36, a rear guide alignment structure 38 and a front guide alignment structure 37; the transverse guide column 3111, the longitudinal guide column 3112 and the positioning pin 3113 are arranged at the bottom of the battery exchange module assembly 31, and the bottom surface of the battery exchange module assembly 31 cooperates with the mounting plate, and the mounting plate is provided with a positioning pin hole 3117 that cooperates with the positioning pin 3113, and the front frame 1 is provided with a guide groove 3115 that cooperates with the transverse guide column 3111 and the longitudinal guide column 3112. By cooperating with the guide groove 3115 on the front frame 1, the battery exchange module assembly 31 is limited from swinging during hoisting, while guiding the battery exchange module assembly 31 to be correctly installed in the corresponding position. A transverse guide column 3111 and a longitudinal guide column 3112 form a set of guide components. The transverse guide column 3111 is perpendicular to the longitudinal guide column 3112. Four groups of rectangularly distributed guide components are provided at the bottom of the power battery box 311; the transverse guide column 3111 and the longitudinal guide column 3112 both include a vertical plate and a 45° inclined plate connected to the vertical plate. A wear-resistant limit plate 3116 is provided in the guide groove 3115 and is attached to the vertical plate. It is first guided by the guide column and then precisely positioned by the positioning pin 3113. The left side guide alignment structure 36 is provided on the cab 4, the front side guide alignment structure 37 is provided on the front frame 1 and is located in front of the installation area, and the rear side guide alignment structure 38 is provided on the front frame 1 and is located behind the installation area; the left side guide alignment structure 36, the rear side guide alignment structure 38 and the front side guide alignment structure 37 all include columns and inclined blocks provided at the upper ends of the columns, and the heights of the left side guide alignment structure 36 and the front side guide alignment structure 37 are flush and higher than the rear side guide alignment structure 38; the top inclined block of the guide alignment structure is provided with a 20° inclined angle for easy replacement The electric module assembly 31 enters the guide surface, among which the guide alignment structures on the left and front sides are relatively high, and the right-angled surface formed by the two is the main alignment reference during lifting, while the rear guide alignment structure 38 is relatively low. At this time, after the battery swap module assembly 31 has passed the left and front first-level guide alignment and dropped, the swing amplitude of the battery swap module assembly 31 has been relatively reduced. The rear guide alignment structure 38 and the left and front guide alignment structures 37 form a three-sided restriction, which further reduces the swing amplitude of the battery swap module assembly 31, guiding the battery swap module assembly 31 to prepare to enter the next level of guide stroke stage.

[0045] like Figure 7As shown, a vibration-damping cushion 3114 is provided at the bottom of the battery swap module assembly 31 to isolate vibration and reduce the impact of vibration on the battery swap module assembly 31 and its internal equipment. Buffer wear-resistant plates 3110 are provided on the sides of the battery swap module assembly 31. Buffer wear-resistant plates 3110 are provided on the front, left side, and rear of the battery swap module assembly 31 to meet the needs of cooperating with the battery swap structure of the front frame 1 during the battery swap process and reduce the impact of collision and friction on the battery swap module assembly 31.

[0046] like Figures 10 to 12 As shown, the locking mechanism 32 includes a locking pin working hole provided on the support plate, a locking pin seat 321 provided at the bottom of the battery exchange module assembly 31, a locking pin 326 cooperating with the locking pin working hole and the locking pin seat 321, a travel switch 327 for detecting the position of the locking pin 326, an operating rod 323 connected to the locking pin 326, a handwheel 325 and an operating rod seat 324 for driving the operating rod 323 to rotate. The front frame 1 is provided with a pin shaft cylinder 322, which is welded to the bottom surface of the mounting plate. The pin shaft cylinder is U-shaped, and the locking pin 326 passes through the pin shaft cylinder 322. Figure 2As shown, the distribution box and the 24V battery are placed directly below the cab, and the left side of the front frame is provided with a distribution box inspection port 12 and a 24V battery inspection port 13; the right side of the front frame 1 is provided with an operating compartment, and the operating rod seat 324 is provided in the operating compartment, and the operating rod 323 includes a rod and a rod sleeve sleeved on the rod, and the operating rod seat 324 includes a fixing plate and a cylindrical nut provided in the middle of the fixing plate, and the rod sleeve is inserted into the cylindrical nut and engaged with its thread. The front end of the operating rod is rotatably matched with the locking pin. The front end of the operating rod is provided with a rod baffle 328, which is locked on the rod by an inner hexagon screw; the locking pin 326 is composed of a small diameter section 3261 and a large diameter section 3262. The end face of the large diameter section 3262 is provided with a groove 32621, and a bidirectional thrust bearing 329 is provided in the groove 32621. The bearing is sealed in the groove 32621 through the pin cover 320. The front end of the operating rod 323 extends into the groove 32621, and the rod baffle 328 and the bidirectional thrust bearing 329 are locked. In order to achieve a rotational connection, the locking pin 326 can extend and retract as the operating rod 323 is advanced and retreated, but is not affected by the rotational movement of the operating rod 323. In this way, the operating rod 323 does not have much force in controlling the locking pin 326, and can also prevent the operating rod 323 from not moving due to the jamming of the locking pin 326, and also reduce the wear of the locking pin 326 and the pin shaft cylinder 322; the small diameter section 3261 of the locking pin 326 is solid, and is a working section that cooperates with the pin shaft hole on the pin shaft seat 321 installed at the bottom of the battery exchange module assembly 31. This embodiment is provided with two sets of locking mechanisms 32, and the two sets of locking correspond to the two locking pin indicator lights on the outer surface of the battery swap module assembly 31 respectively; two sets of locking mechanisms are used to meet the battery swap locking requirements, and the two sets of locking mechanisms are installed independently to disperse the workload and are redundant to each other; combined with the installation position of the battery swap module assembly 31, the two sets of locking mechanisms are arranged under the bottom plate of the frame battery swap module assembly 31 installation compartment, arranged in the lateral direction of the vehicle, and the operating hand wheel is facing the right side of the vehicle for easy operation.

[0047] like Figure 13 As shown, the power battery replacement method includes the following steps: (1) Battery replacement begins; (2) High-voltage disconnection check: The high-voltage power of the battery swap module assembly is controlled by the key switch in the cab, and the high-voltage power on and off status is fed back through the indicator light installed on the side of the battery swap module assembly; (3) Unlocking the battery swap module assembly when the battery is low on power: Operate the locking mechanism to make the locking pin leave the locking pin working hole and the locking pin seat, and feedback the unlocking status through the indicator light installed on the side of the battery swap module assembly; (4) Lifting the battery replacement module assembly when the battery is low; (5) Unloading the battery-exchange module assembly when the battery is low: Operate the crane to lift the battery-exchange module assembly from the vehicle to the designated place; (6) Lifting of the fully charged battery swap module assembly; (7) First-level guidance stage: After confirming that the fully charged battery swap module assembly is effectively connected to the lifting device, operate the crane to lift the fully charged battery swap module assembly to the installation area, and make the bottom surface of the fully charged battery swap module assembly slightly higher than the height of the rear guide alignment structure, and then move the fully charged battery swap module assembly close to the right angle surface formed by the left guide alignment structure and the front guide alignment structure until they are in contact; (8) The fully charged battery swap module assembly falls in the first stage. After the fully charged battery swap module assembly completes the first-level guide alignment, it falls slowly and orderly under the drive of the crane; (9) Secondary guidance stage: The three sides of the fully charged battery swap module assembly are respectively attached to the rear guide alignment structure, the left guide alignment structure and the front guide alignment structure; (10) The second stage of the fully charged battery swap module assembly falling: The fully charged battery swap module assembly falls slowly and orderly under the joint limitation of the rear guide alignment structure, the left guide alignment structure and the front guide alignment structure; (11) Positioning and guiding stage: The fully charged battery swap module assembly is guided and guided by the horizontal guide column, longitudinal guide column and positioning pin at the bottom, respectively, in conjunction with the guide groove and positioning pin hole on the front frame; (12) The third stage of the fully charged battery swap module assembly falling: The fully charged battery swap module assembly falls slowly and orderly during the positioning and correction stage; (13) Connector docking stage: The battery end connector and the vehicle end connector of the connector will also automatically dock during the positioning and correction process; (14) The fourth stage of the fully charged battery swap module assembly falls: finally it falls to the installation area set on the front frame 1; (15) The fully charged battery swap module assembly is hoisted into place: the top surface of the power battery box 311 of the battery swap module assembly is flush with the cover in front of the mining truck; (16) Connector docking status check: judge the connector docking status through the indicator light; (17) Locking operation of the fully charged battery swap module assembly: operate the locking mechanism to insert the locking pin into the locking pin working hole and the locking pin seat, and judge the locking status through the indicator light; (18) Battery replacement completed.

[0048] The vehicle offers two recharge modes: charging and battery swapping. Charging mode directly recharges the vehicle by connecting it to a power source. This mode is suitable for scenarios with moderate endurance requirements, low-intensity or intermittent operations, and where charging facilities are easily deployed. This mode eliminates the need for backup batteries, reducing initial equipment procurement costs, and allows charging facilities to be located in fixed locations within the mine, taking up minimal space. Battery swapping mode is suitable for scenarios with high operational continuity requirements, large mines, and limited charging time. Its advantage is the short battery swapping time (typically 5-10 minutes), enabling "swap and go" operations, significantly improving equipment utilization. In battery swapping mode, batteries are collectively returned to ground charging stations for in-depth maintenance through balanced charging and temperature control to extend their lifespan.

[0049] like Figure 16 As shown, in charging mode: the external power supply recharges the power battery through two charging sockets, and the BMS controls the pre-charging resistor to pre-charge the system capacitor to prevent large current shocks from damaging circuit components, and then continues charging until it is fully charged.

[0050] like Figure 16 As shown, in the battery swap mode: the entire power battery swap module is hoisted to the designated charging position, and then the fully charged power battery swap module is hoisted to the designated position of the vehicle. The fully charged power battery swap module supplies power to the entire vehicle through the battery swap connector, and the replaced low-power power battery swap module is connected to two charging sockets through an external power supply to recharge the power battery.

[0051] like Figure 14 As shown, the powertrain 9 includes a traction motor 91 and a reducer 92. The traction motor 91 is positioned above the reducer 92, with its output shaft facing downward and splined to the input shaft 921 of the reducer 92. The traction motor 91 is mounted vertically, attached to the primary reducer 92 via a flange. The torques of the traction motor 91 and reducer 92 are longitudinally coupled, while the output of the reducer 92 is transverse. Under traction conditions, the power supply supplies power to the traction motor 91 via the traction controller. The traction motor 91 drives the reducer 92, transmitting traction power via the front and rear axles to the original vehicle's mechanical drive axle to propel the vehicle. Under electric braking conditions, the traction motor 91 operates as a generator, converting kinetic energy into electrical energy, which is then recovered via the traction controller and high-voltage box and returned to the power supply, improving energy utilization.

[0052] like Figure 14 、 15As shown, a transmission shaft 929 is provided in the reducer 92 , the input shaft of the reducer 92 and the transmission shaft 929 are arranged longitudinally, the output shaft of the reducer 92 is arranged transversely, and the input shaft 921 of the reducer 92 is perpendicular to the output shaft 927 . The input shaft 921 of the reducer 92 is equipped with a first gear 922 and a second gear 923. The transmission shaft 929 of the reducer 92 is equipped with a third gear 924 and a first bevel gear 925. The output shaft 927 of the reducer 92 is equipped with a second bevel gear 926. The first gear 922 meshes with the third gear 924, and after a first speed change, the power is transmitted to the first bevel gear 925. The first bevel gear 925 meshes with the second bevel gear 926. The first bevel gear 925 is a small gear, and the second bevel gear 926 is a large gear. Through the meshing of the first bevel gear 925 and the second bevel gear 926, the torque is further reduced and the direction of rotation is changed. The power is ultimately output through the output shaft 927 of the reducer 92. The second gear 923 meshes with the oil pump gear 928, and after a first speed reduction, it drives the oil pump 94. The oil pressure generated by the oil pump 94 provides lubrication and cooling for the reducer 92.

[0053] like Figure 14 As shown, the traction motor 91 is an explosion-proof permanent magnet synchronous traction motor 91. Its explosion-proof design makes it suitable for use in underground environments characterized by high dust content, flammable and explosive gases, and relatively confined spaces. The traction motor 91 comprises a housing, a device housed within the housing, and a terminal box located outside the housing. The housing includes a water cooling channel connected to the cooling system. The water-cooling system boasts a high heat transfer coefficient, maintaining efficient motor operation and increasing power density to over 5kW / kg. Furthermore, its reliability is enhanced by precise temperature control, preventing permanent magnet demagnetization and extending insulation life. The high cooling efficiency enables a compact motor structure, saving installation space. The motor is highly adaptable, capable of handling high-load conditions and providing stable heat dissipation. Furthermore, it reduces noise and eliminates the need for components such as fans. The water cooling system is easy to maintain and has a long lifespan, balancing high performance and reliability. The maximum speed of the motor can reach 5000rpm, and the maximum torque can reach 2600Nm. It is a high-speed and high-torque traction motor 91. The high-speed + high-torque traction motor 91 configuration scheme can reduce its size and weight, optimize the transmission ratio, make the structure more compact, reduce the efficiency loss of the reducer 92, and improve the dynamic response sensitivity. At the same time, it reduces the material usage and processing difficulty of the reducer 92, reduces costs, improves reliability, and extends life. In addition, the heat generated by the reducer 92 is reduced, the heat dissipation system is simplified, and the maintenance cycle is extended.

[0054] like Figure 14 、 15As shown, the output shaft of the reducer 92 includes a front axle located on one side of the second bevel gear 926 and a rear axle located on the other side of the second bevel gear 926. The front axle drives the front axle of the ore transporter, and the rear axle drives the rear axle of the ore transporter. The outer wall of the reducer 92 is provided with a condenser 93, and the oil pump 94 is connected to the condenser 93. The internal water cooling of the traction motor 91 is connected to the condenser 93 through a water pipe, and the condenser 93 is connected to the cooling system. The reducer 92 has its own lubricating oil pump 94 and condenser 93, which makes the system design compact and has high cooling efficiency. A groove is provided on one side of the outer shell of the reducer 92. The reducer 92 is provided with an upper space, a middle space and a lower space. The first gear 922, the second gear 923, the oil pump gear and the oil pump are located in the upper space. One end of the oil pump 94 extends into the groove and is connected to the oil pipe. The front axle of the reducer 92 extends into the groove.

[0055] The cooling system includes a battery thermal management system, a motor electronic control cooling system and an air conditioning system.

[0056] like Figure 17 As shown, the battery thermal management system is integrated in the battery exchange module assembly, which includes a compressor, a condenser, an electronic expansion valve, a low-temperature radiator, a plate heat exchanger, a PTC heater, a first water pump and an expansion kettle. The refrigerant output from the output end of the compressor passes through the condenser, the electronic expansion valve, the plate heat exchanger and then returns to the input end of the compressor; the cooling water at the output end of the first water pump passes through the three-way valve, the plate heat exchanger, the PTC heater, and the power battery and then returns to the input end of the first water pump; the cooling water at the output end of the first water pump passes through the three-way valve, the low-temperature radiator, the power battery and then returns to the input end of the first water pump.

[0057] Refrigeration mode: The refrigerant is cooled using the compression refrigeration principle. After being connected to the coolant circuit, the coolant is cooled through a plate heat exchanger. The first water pump drives the coolant circulation to cool the power battery, effectively dealing with problems such as high temperature environment or excessive temperature rise caused by charging and discharging.

[0058] Heating mode: A pipe-type PTC heater is connected in series in the power battery water circuit. After the BMS sends a heating command, the heater is directly turned on through the control system. The PTC heating plate in the pipe starts to heat up. When the antifreeze flows through the heater, it is heated. At this time, the compressor cooling system stops working.

[0059] Self-circulation mode: The compressor is not started, and the electronic water pump drives the coolant circulation to meet the battery cooling under lower heat load conditions.

[0060] Control strategy: The controller is connected to the BMS via CAN communication, receives and parses BMS messages, and controls the compressor through the controller based on the parsed parameters and built-in control strategy. It also controls the speed of the fan and water pump through PWM communication to automatically adjust the output power. At the same time, the controller status is uploaded to the BMS to meet battery thermal management requirements.

[0061] like Figure 18 As shown, the motor electronically controlled cooling system includes a second water pump, a third water pump, an expansion water tank and a radiator. The cooling water at the output end of the second water pump is connected to the input ends of the three-in-one auxiliary controller and the auxiliary motor assembly respectively through a first three-way connection. The output ends of the three-in-one auxiliary controller and the auxiliary motor assembly are connected to the first input end of the radiator through a second three-way connection. The first output end of the radiator is connected to the input end of the second water pump. The output end of the third water pump is connected to the second input end of the radiator after passing through the power assembly. The second output end of the radiator is connected to the input end of the third water pump.

[0062] The cooling system is controlled by the temperature of the motor: A. When the controller temperature is 45℃, the fan starts to work, and the initial fan speed is 30% of the full speed. When the motor controller temperature is 49℃, the fan runs at full speed. There are at least 5 levels of speed adjustment between 45℃ and 49℃. B. When the motor temperature reaches 70°C, the fan starts to work, and the initial fan speed is 30% of the full speed. When the motor temperature reaches 100°C, the fan runs at full speed. There are at least 10 speed adjustment levels between 70°C and 100°C; (Speed ​​adjustment mode: linear smooth speed change, stepless speed change, speed (30%-100%)); C. When the motor temperature is lower than 68℃ and the motor controller temperature is lower than 43℃, the motor and electronic control part fans will stop working; D. When any CAN signal between the motor and the motor controller is lost (with high voltage signal), the fan runs at 100% speed.

[0063] like Figure 19As shown, the battery swap module assembly is internally integrated with an automatic fire extinguishing system, which includes a fire extinguishing agent tank, a four-in-one detector, a fire detection tube, a solenoid valve, an atomizing nozzle corresponding to each power battery pack, and a fire extinguishing controller. The smoke, high temperature, H2, and CO generated by the power battery pack fire will trigger the four-in-one detector. After the detector is triggered, it will be fed back to the fire extinguishing controller, and the fire extinguishing controller will feed back to the VCU. The VCU will sound a fire alarm in the cab and cut off the vehicle high voltage at the same time. The fire extinguishing controller will also send an electrical signal to the solenoid valve, and the atomizing nozzle will spray fire extinguishing agent to extinguish the fire and reduce the temperature. When the driver finds that a fire has occurred in the power battery box and the alarm has not sounded, he can extinguish the fire by pressing the fire extinguishing switch in the cab; if a fire occurs, due to a fault, the solenoid valve does not work, and the atomizing nozzles cannot spray fire extinguishing agent. When the fire spreads to the fire detection tube, the fire detection tube will crack due to the high temperature, and the crack will spray fire extinguishing agent to extinguish the flame, and spread to the entire power battery box to cool down and isolate the fire.

Claims

1. A pure electric underground trackless mining vehicle with integrated charging and battery replacement, comprising a power supply system, a drive axle system, a braking system, a lifting system, a steering system, a cooling system, an auxiliary system, a powertrain, a frame, a carriage, and a cab; characterized by: The vehicle frame is a front-rear articulated frame, which includes a front frame and a rear frame, the front frame and the rear frame are connected by an articulated connection, and the drive axle system includes a front axle provided on the front frame and a rear axle provided on the rear frame; The power supply system transmits electrical energy to the powertrain through an all-in-one controller, and the torque output by the powertrain is transmitted to the front and rear axles via the front and rear drive shafts; a cover is provided at the front end of the front frame, the cab is provided on the left side of the front frame, the power supply system is provided on the right side of the front frame, and the powertrain is provided at the rear end of the front frame; the all-in-one controller is provided on the top of the fender of the right wheel of the front axle, a hydraulic oil tank is provided behind the fender of the right wheel of the front axle, and a personnel passage is provided behind the fender of the left wheel of the front axle; the carriage is provided on the rear frame; The power supply system includes a battery exchange module assembly arranged in the front frame installation area, a guide mechanism for guiding the disassembly and assembly of the battery exchange module assembly, and a locking mechanism for locking the battery exchange module assembly; the installation area is surrounded by a cover arranged in front of the front frame, a cab arranged on the left side of the front frame, and a right front wheel fender; the front frame includes a bottom plate, a mounting plate arranged above the bottom plate and horizontally arranged, and a support plate arranged between the bottom plate and the mounting plate; the battery exchange module assembly includes a power battery box, a power battery pack, a control box, a high-voltage box, a power control box, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink, a heat sink Management unit and thermal management expansion water tank, the power battery pack is arranged in the power battery box, the high-voltage box, power control box, thermal management unit and thermal management expansion water tank are arranged in the control box, the control box is arranged on one side of the power battery box, and the top of the power battery box is provided with a lifting lug; the battery swap module assembly realizes high-voltage electrical connection and low-voltage communication connection with the vehicle through a self-aligning battery swap connector, the self-aligning battery swap connector includes a vehicle-end connector arranged on the front frame and a battery-end connector arranged on the battery swap module assembly; the guide machine The structure includes a transverse guide column, a longitudinal guide column, a positioning pin, a left guide alignment structure, a rear guide alignment structure and a front guide alignment structure. The transverse guide column, the longitudinal guide column and the positioning pin are arranged at the bottom of the battery swap module assembly. The bottom surface of the battery swap module assembly cooperates with the mounting plate. The mounting plate is provided with a positioning pin hole that cooperates with the positioning pin. The front frame is provided with a guide groove that cooperates with the transverse guide column and the longitudinal guide column. The left guide alignment structure is arranged on the cab, and the front guide alignment structure is arranged on the front frame and is located at the mounting plate. The front of the area, the rear guide alignment structure is provided on the front frame and is located behind the installation area; the locking mechanism includes a locking pin working hole provided on the support plate, a locking pin seat provided at the bottom of the battery swap module assembly, a locking pin matched with the locking pin working hole and the locking pin seat, a travel switch for detecting the position of the locking pin, an operating rod connected to the locking pin, a handwheel and an operating rod seat for driving the operating rod to rotate, the operating rod seat is fixed to the side of the front frame, the operating rod is threadedly matched with the operating rod seat, and the front end of the operating rod is rotationally matched with the locking pin; The powertrain includes a traction motor and a reducer. The traction motor is arranged above the reducer and is connected to the reducer through a flange. The output shaft of the traction motor faces downward and is splined to the input shaft of the reducer. A transmission shaft is provided in the reducer. The input shaft and the transmission shaft of the reducer are arranged longitudinally, and the output shaft of the reducer is arranged transversely. The input shaft of the reducer is perpendicular to the output shaft. A first gear and a second gear are provided on the input shaft of the reducer. A third gear and a first bevel gear are provided on the transmission shaft of the reducer. A second bevel gear is provided on the output shaft of the reducer. The first gear meshes with the third gear and transmits power to the first bevel gear after a first speed change. The first bevel gear meshes with the second bevel gear. The first bevel gear meshes with the second bevel gear, further reducing the speed and increasing the torque, and changing the rotation direction. Finally, the power is output through the output shaft of the reducer. The second gear meshes with the oil pump gear and drives the oil pump after a first speed reduction. The oil pressure established by the oil pump lubricates and cools the reducer.

2. The all-electric underground trackless mining vehicle with integrated charging and battery replacement according to claim 1, characterized in that: The battery-end connector is arranged at the bottom of the control box, the vehicle-end connector is arranged on the mounting bracket, the mounting bracket is arranged on the front frame, and an avoidance space is formed between the bottom surface of the control box and the side surface of the power battery box. The mounting bracket is arranged in the avoidance space, and a movable cover is provided on the side surface of the battery exchange module assembly corresponding to the avoidance space position; a charging socket, a high-voltage power status indicator light and a locking pin status indicator light are provided on the side surface of the control box.

3. The all-electric underground trackless mining vehicle with integrated charging and battery replacement according to claim 1, characterized in that: A vibration-damping cushion is provided at the bottom of the battery exchange module assembly, and a buffer wear-resistant plate is provided on the side of the battery exchange module assembly.

4. The all-electric underground trackless mining vehicle with integrated charging and battery replacement according to claim 1, characterized in that: The left side guide alignment structure, the rear side guide alignment structure and the front side guide alignment structure all include a column and an inclined block arranged at the upper end of the column. The heights of the left side guide alignment structure and the front side guide alignment structure are flush and higher than the rear side guide alignment structure; the horizontal guide column and the longitudinal guide column all include a vertical plate and a 45° inclined plate connected to the vertical plate, and a wear-resistant limit plate is provided in the guide groove and is attached to the vertical plate.

5. The all-electric underground trackless mining vehicle with integrated charging and battery replacement according to claim 1, characterized in that: An operating compartment is provided on the side of the front frame, and the operating rod seat is provided in the operating compartment. The operating rod includes a rod and a rod sleeve sleeved on the rod. The operating rod seat includes a fixing plate and a cylindrical nut provided in the middle of the fixing plate. The rod sleeve is inserted into the cylindrical nut and engaged with its thread.

6. The all-electric underground trackless mining vehicle with integrated charging and battery replacement according to claim 1, characterized in that: A cover inspection port is provided between the cab and the front cover. The front windshield of the cab is higher than the cover inspection port. The cover inspection port is connected to the cover by bolts. The air-conditioning outdoor unit, PTC heater, air-conditioning compressor, condenser and hydraulic accumulator are placed in the internal space. The air-conditioning outdoor unit and hydraulic system inspection port are set on the left side of the internal space; a grille is provided on the front of the cover, and an ATS radiator is provided on the inner side of the grille.

7. The all-electric underground trackless mining vehicle with integrated charging and battery replacement according to claim 1, characterized in that: The hand wheel of the locking mechanism is arranged on the right side of the front frame, and the left side of the front frame is provided with an inspection port for the power distribution box and a inspection port for the 24V battery.

8. The all-electric underground trackless mining vehicle with integrated charging and battery replacement according to claim 1, characterized in that: The cooling system includes a battery thermal management system, a motor electronic control cooling system and an air conditioning system; the battery thermal management system is integrated in the battery exchange module assembly, which includes a compressor, a condenser, an electronic expansion valve, a low-temperature radiator, a plate heat exchanger, a PTC heater, a first water pump and an expansion kettle. The refrigerant output from the compressor output end passes through the condenser, the electronic expansion valve, and the plate heat exchanger and then returns to the compressor input end; the cooling water from the first water pump output end passes through the three-way valve, the plate heat exchanger, the PTC heater, and the power battery and then returns to the first water pump input end; the cooling water from the first water pump output end passes through the three-way valve, the plate heat exchanger, the PTC heater, and the power battery and then returns to the first water pump input end; the cooling water from the first water pump output end passes through the three-way valve, the plate heat exchanger, the PTC heater, and the power battery and then returns to the first water pump input end. The cooling water at the output end of the second water pump is connected to the input end of the three-in-one auxiliary controller and the auxiliary motor assembly respectively through the first three-way valve, the output end of the three-in-one auxiliary controller and the auxiliary motor assembly is connected to the first input end of the radiator through the second three-way valve, the first output end of the radiator is connected to the input end of the second water pump, the output end of the third water pump is connected to the second input end of the radiator after passing through the power assembly, and the second output end of the radiator is connected to the input end of the third water pump.

9. The all-electric underground trackless mining vehicle with integrated charging and battery replacement according to claim 1, characterized in that: The battery swap module assembly has an integrated automatic fire extinguishing system, which includes a fire extinguishing agent tank, a four-in-one detector, a fire detection tube, a solenoid valve, an atomizing nozzle corresponding to each power battery pack, and a fire extinguishing controller. The smoke, high temperature, H2, and CO generated by the power battery pack fire will trigger the four-in-one detector. After the detector is triggered, it will be fed back to the fire extinguishing controller, and the fire extinguishing controller will feed back to the VCU. The VCU will sound a fire alarm in the cab and cut off the vehicle high voltage at the same time. The fire extinguishing controller will also send an electrical signal to the solenoid valve, and the atomizing nozzle will spray fire extinguishing agent to extinguish the fire and reduce the temperature. When the driver finds that a fire has occurred in the power battery box and the alarm has not sounded, he can extinguish the fire by pressing the fire extinguishing switch in the cab; if a fire occurs, due to a fault, the solenoid valve does not work, and the atomizing nozzles cannot spray fire extinguishing agent. When the fire spreads to the fire detection tube, the fire detection tube will crack due to the high temperature, and the crack will spray fire extinguishing agent to extinguish the flame, and spread to the entire power battery box to cool down and isolate the fire.

10. The all-electric underground trackless mining vehicle with integrated charging and battery replacement according to claim 1, characterized in that: In charging mode: an external power supply recharges the battery swap module assembly through two charging sockets, and the BMS controls the pre-charging resistor to pre-charge the system capacitor to prevent large current shock from damaging circuit components, and then continues to charge until it is fully charged; in battery swap mode: the entire battery swap module assembly is hoisted to the designated charging position, and then the fully charged battery swap module assembly is hoisted to the designated position of the vehicle. The fully charged battery swap module assembly supplies power to the entire vehicle through the connector, and the replaced low-power battery swap module assembly is connected to the two charging sockets through an external power supply to recharge the power battery.

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