A pure electric driving underground trackless mine car with charging and replacing integrated

Abstract

A charging and replacing integrated pure electric driving underground trackless mine car, comprising 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 car body and a cab; the frame is a front and rear hinged frame, the power supply system comprises a battery replacing module assembly, the power supply system delivers electric energy to the power assembly through a multi-in-one controller, the power assembly comprises a vertical connection traction motor and a speed reducer, the torque output by the power assembly is transmitted to the front and rear axles through the front and rear transmission shafts; the front end of the front frame is provided with a cover, the cab is arranged on the left side of the front frame, the power supply 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 multi-in-one controller is arranged on the top of the fender of the right wheel of the front axle, a hydraulic oil tank is arranged behind the fender of the right wheel of the front axle, and a personnel passage is arranged behind the fender of the left wheel of the front axle; the car body is arranged on the rear frame.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine cars, in particular to a charging and replacing integrated pure electric driving underground trackless mine car. BACKGROUND

[0002] At present, there are mainly several structural forms of underground trackless mine cars:

[0003] First, in the power transmission of the traditional underground trackless mine car, the diesel engine is used as the power source to drive the hydraulic torque converter, the hydraulic torque converter transmits power to the gearbox through the transmission shaft, the gearbox outputs through double shafts, and then transmits to the front and rear drive axles through the front and rear transmission shafts, thereby driving the whole vehicle to run; at the same time, the hydraulic torque converter is directly coupled to the transfer case to distribute the power of the diesel engine to the hydraulic system to realize the functions of turning and lifting the whole vehicle. The main shortcomings of diesel underground mine cars are high energy consumption, large noise of diesel engine, and high maintenance cost, mainly because the diesel engine, gearbox and front and rear drive axles are dependent on imports, and the procurement cost and procurement cycle of related spare parts are long during major maintenance.

[0004] Second, the structural form of electric wheel drive, from the structure and cost point of view, integrates the motor, reducer, brake and other components in the wheel, the structure is compact and complex, which requires high manufacturing process, greatly increases the initial research and development and production cost; and once a fault occurs, the maintenance is difficult, not only the maintenance cycle is long, but also the replacement cost of parts is high, which increases the life cycle cost of the equipment; at the same time, it is not conducive to heat dissipation in the narrow and closed space of the underground roadway, which affects the working efficiency and service life of the brake and motor.

[0005] Third, the structural form of pure electric driving whole vehicle frame line, which is mainly composed of a contact netting erected above the roadway, a pantograph on the top of the vehicle, a vehicle-mounted electrical control system and a traction system. The contact netting obtains electric energy from the ground substation through high-voltage cable and transmits it to the underground, and the pantograph slides with the contact netting to introduce electric energy into the vehicle. After being adjusted by the electrical control system, the electric energy drives the traction motor to run, and then transmits power to the drive axle through the transmission device to realize the running of the whole vehicle. Its shortcomings are that a large amount of contact netting needs to be laid in the underground, the initial construction cost is high, and the line maintenance and repair are difficult in the later period; the vehicle driving route completely depends on the layout of the line, which is difficult to adjust flexibly and cannot adapt to the complex and variable roadway environment; the contact netting is in the damp and dusty underground environment for a long time, which is prone to insulation aging and wire breakage, threatening the safety of personnel and equipment. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a charging and battery replacement integrated pure electric driving underground trackless mine car, which has optimized vehicle layout, significantly improved space utilization and transmission efficiency, and can meet different application environment requirements by using charging and battery replacement integrated power supply system, and has simple motor control mode, high reliability and easy realization by using single motor system.

[0007] To solve the above technical problems, the technical scheme of the present application is as follows: a charging and battery replacement integrated pure electric driving underground trackless mine car, 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 power assembly, a vehicle frame, a vehicle compartment and a cab; the vehicle frame is a front-rear hinged vehicle frame, comprising a front vehicle frame and a rear vehicle frame, the front vehicle frame is hingedly connected with the rear vehicle frame, the drive axle system comprises a front axle arranged on the front vehicle frame and a rear axle arranged on the rear vehicle frame; the power supply system delivers electric energy to the power assembly through a multi-in-one controller, and the torque output by the power assembly is transmitted to the front axle and the rear axle through front and rear transmission shafts; a cover is arranged at the front end of the front vehicle frame, the cab is arranged on the left side of the front vehicle frame, the power supply system is arranged on the right side of the front vehicle frame, the power assembly is arranged at the rear end of the front vehicle frame, the multi-in-one controller is arranged on the top of the fender of the right wheel of the front axle, a hydraulic oil tank is arranged behind the fender of the right wheel of the front axle, and a personnel passage is arranged behind the fender of the left wheel of the front axle; the vehicle compartment is arranged on the rear vehicle frame.

[0008] The power supply system comprises a battery replacement module assembly arranged at a front frame mounting area, a guide mechanism for guiding the mounting and dismounting of the battery replacement module assembly, and a locking mechanism for locking the battery replacement module assembly; the mounting area is surrounded by a cover arranged in front of the front frame, a cab arranged at the left side of the front frame, and a right side front fender; the front frame comprises a bottom plate, a mounting plate arranged above the bottom plate and arranged horizontally, and a support plate arranged between the bottom plate and the mounting plate; the battery replacement module assembly comprises a power battery box, a power battery pack, a control box, a high-voltage box, a power supply control box, a thermal management unit, and a thermal management expansion tank; the power battery pack is arranged in the power battery box; the high-voltage box, the power supply control box, the thermal management unit, and the thermal management expansion tank are arranged in the control box; the control box is arranged at one side of the power battery box; the top of the power battery box is provided with an eye; the battery replacement module assembly is connected with the vehicle through a self-positioning battery replacement connector to realize high-voltage electrical connection and low-voltage communication connection; the self-positioning battery replacement connector comprises a vehicle end connector arranged on the front frame and a battery end connector arranged on the battery replacement module assembly; the guide mechanism comprises a transverse guide column, a longitudinal guide column, a positioning pin, a left side guide positioning structure, a rear side guide positioning structure, and a front side guide positioning structure; the transverse guide column, the longitudinal guide column, and the positioning pin are arranged at the bottom of the battery replacement module assembly; the bottom surface of the battery replacement module assembly is matched with the mounting plate; the mounting plate is provided with a positioning pin hole matched with the positioning pin; the front frame is provided with a guide groove matched with the transverse guide column and the longitudinal guide column; the left side guide positioning structure is arranged on the cab; the front side guide positioning structure is arranged on the front frame and located in front of the mounting area; the rear side guide positioning structure is arranged on the front frame and located behind the mounting area; the locking mechanism comprises a locking pin working hole arranged on the support plate, a locking pin seat arranged at the bottom of the battery replacement 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 with the locking pin, a hand wheel for rotating the operating rod, and an operating rod seat; the operating rod seat is fixed to the side of the front frame; the operating rod is threadedly matched with the operating rod seat; the front end of the operating rod is rotationally matched with the locking pin.

[0009] The power assembly comprises a traction motor and a reducer, the traction motor is arranged above the reducer, the traction motor and the reducer are connected through a flange, the output shaft of the traction motor is downward and connected with the input shaft of the reducer through a spline; the reducer is internally provided with a transmission shaft, the input shaft and the transmission shaft of the reducer are longitudinally arranged, the output shaft of the reducer is transversely arranged, the input shaft and the output shaft of the reducer are perpendicular, the input shaft of the reducer is provided with a first gear and a second gear, the transmission shaft of the reducer is provided with a third gear and a first conical gear, the output shaft of the reducer is provided with a second conical gear, the first gear is engaged with the third gear, the power is transmitted to the first conical gear after one-stage speed reduction, the first conical gear is engaged with the second conical gear, the power is further reduced and the torque is increased through the engagement of the first conical gear and the second conical gear, and the rotation direction is changed, and finally the power is output through the output shaft of the reducer; the second gear is engaged with an oil pump gear, and the oil pump is driven after one-stage speed reduction, and the oil pressure established by the oil pump is used for lubricating and cooling the reducer.

[0010] 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 vehicle frame, an avoiding 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 avoiding space, and a movable cover plate is arranged on the side surface of the battery swap module assembly and corresponds to the position of the avoiding space; the side surface of the control box is provided with a charging socket, a high-voltage state indicator lamp and a locking pin state indicator lamp.

[0011] As an improvement, the bottom of the battery swap module assembly is provided with a damping buffer pad, and the side surface of the battery swap module assembly is provided with a buffer wear-resistant plate.

[0012] As an improvement, the left side guiding and positioning structure, the rear side guiding and positioning structure and the front side guiding and positioning structure each comprise a vertical column and an inclined block arranged at the upper end of the vertical column, the heights of the left side guiding and positioning structure and the front side guiding and positioning structure are flush and higher than that of the rear side guiding and positioning structure; the transverse guide column and the longitudinal guide column each comprise a vertical plate and a 45° inclined plate connected with the vertical plate, and the guide groove is internally provided with a wear-resistant limiting plate attached to the vertical plate.

[0013] As an improvement, the side surface of the front vehicle frame is provided with an operation bin, the operation lever seat is arranged in the operation bin, the operation lever comprises a lever rod and a lever sleeve sleeved on the lever rod, the operation lever seat comprises a fixed plate and a cylindrical nut arranged in the middle of the fixed plate, and the lever sleeve is inserted into the cylindrical nut and threadedly matched with the cylindrical nut.

[0014] As improvement, the cab is provided with a cover access between the cab and the front cover, the front windshield of the cab is higher than the cover access, the cover access is connected with the cover by bolts, and the internal space is used for placing an air conditioner outdoor unit, a PTC heater, an air conditioner compressor, a condenser and a hydraulic accumulator, the left side of the internal space is provided with an air conditioner outdoor unit and a hydraulic system access; the front surface of the cover is provided with a grille, and the inner side of the grille is provided with an ATS radiator.

[0015] As improvement, the handle 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 a power distribution box access and a 24V storage battery access.

[0016] As improvement, the cooling system comprises a battery thermal management system, a motor electric control cooling system and an air conditioning system; the battery thermal management system is integrated in the battery replacement module assembly, and comprises 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 water kettle, the refrigerant output by the output end of the compressor is sequentially returned to the input end of the compressor through the condenser, the electronic expansion valve and the plate heat exchanger; the cooling water output by the output end of the first water pump is sequentially returned to the input end of the first water pump through a three-way valve, the plate heat exchanger, the PTC heater and the power battery; the cooling water output by the output end of the first water pump is sequentially returned to the input end of the first water pump through a three-way valve, a low-temperature radiator and the power battery; the motor electric control cooling system comprises a second water pump, a third water pump, an expansion water tank and a radiator, the cooling water output by the output end of the second water pump is connected with the input ends of a three-in-one auxiliary controller and an auxiliary motor assembly through a first three-way valve, the output ends of the three-in-one auxiliary controller and the auxiliary motor assembly are connected with the first input end of the radiator through a second three-way valve, the first output end of the radiator is connected with the input end of the second water pump, the output end of the third water pump is connected with the second input end of the radiator through a power assembly, and the second output end of the radiator is connected with the input end of the third water pump.

[0017] As an improvement, the automatic fire extinguishing system is integrated inside the battery replacement module assembly, the automatic fire extinguishing system comprises a fire extinguishing agent tank, a four-in-one detector, a fire detection pipe, 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 fire of the power battery pack will trigger the four-in-one detector, the detector will feed back to the fire extinguishing controller after triggering, the fire extinguishing controller feeds back to the VCU, the VCU issues a fire alarm in the cab and cuts off the high pressure of the vehicle at the same time, the fire extinguishing controller sends an electric signal to the solenoid valve at the same time, and the atomizing nozzle sprays fire extinguishing agent for fire extinguishing and cooling; when the driver finds that a fire occurs in the power battery box, but the alarm does not issue an alarm, the fire extinguishing switch in the cab is pressed to extinguish the fire; if a fire occurs, the solenoid valve does not act due to a fault, and each atomizing nozzle cannot spray fire extinguishing agent, when the fire spreads to the fire detection pipe, the fire detection pipe will crack due to high temperature, the cracking part will spray fire extinguishing agent to extinguish the flame, and the fire extinguishing agent will diffuse to the inside of the whole power battery box to cool and cut off the fire.

[0018] As an improvement, in the charging mode: the external power supply supplies power to the battery replacement module assembly through two charging sockets, the BMS controls the pre-charging resistor to pre-charge the system capacitor to prevent damage to circuit elements caused by large current impact, and then continuously charges until full; in the battery replacement mode: the whole battery replacement module assembly is hoisted to the specified power supply position, then the full-power battery replacement module assembly is hoisted to the specified position of the vehicle, the full-power battery replacement module assembly supplies power to the whole vehicle through the connector, and the discharged battery replacement module assembly is connected to the two charging sockets by the external power supply to supply power to the power battery.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] 1) The vehicle layout is optimized, the space utilization rate and transmission efficiency are significantly improved, and the traction motor and reducer of the power assembly are installed vertically, compared with the transmission diesel engine drive, one transmission shaft is saved, the space is saved, and the transmission efficiency is improved;

[0021] 2) The vehicle power supply system adopts a charging and replacing integrated energy supply form, which can meet the different needs of customers; during charging, high-power fast charging technology can be used to reduce the waiting time of the vehicle, and under the condition that the transportation volume meets the demand, the number of power battery replacement modules can be reduced, further reducing the operation cost; during battery replacement, the replacement process only takes a few minutes, which can quickly restore the vehicle's endurance, especially for operating vehicles, which can reduce the non-operating time and improve the vehicle operating efficiency; at the same time, the batteries can be evenly charged and maintained by centralized management during the valley electricity period, avoiding overcharging, overdischarging and other damage to the service life of the battery, prolonging the service life of the battery;

[0022] 3) The integration of each system is high, which improves the convenience of maintenance. The vehicle power system adopts a modular design with built-in cooling and fire extinguishing systems. Furthermore, there is no need for human contact with high-voltage connectors and related equipment during battery swapping. Mechanical locking ensures safety and convenience.

[0023] 4) The cooling systems are independent of each other, ensuring efficient operation of each system and avoiding mutual interference of water circuits due to different cooling requirements of multiple systems; the power battery swapping module cooling system is built-in, only cooling and heating the power supply system as needed, ensuring that the power battery always works in the high-efficiency range; the motor and electronic control are all water-cooled, and reasonable series and parallel connection methods are adopted to improve cooling efficiency according to different temperature sensitivities.

[0024] 5) Enhanced safety: The power battery swapping module has a built-in automatic fire extinguishing system and uses both active and passive fire extinguishing methods with redundancy. When the power battery catches fire, it can effectively extend the escape time for drivers and passengers. Attached Figure Description

[0025] Figure 1 This is a 3D view of a ore transport vehicle.

[0026] Figure 2 This is a left-side view of the ore truck.

[0027] Figure 3 This is a right-side view of the ore truck.

[0028] Figure 4 This is a topology diagram of the entire vehicle structure.

[0029] Figure 5 This is a schematic diagram showing the connection between the battery swapping module assembly and the front frame.

[0030] Figure 6 This is a schematic diagram showing the battery swapping module assembly disassembled from the front frame.

[0031] Figure 7 This is a schematic diagram of the bottom of the battery swapping module assembly.

[0032] Figure 8 A schematic diagram to guide the docking structure on the front frame.

[0033] Figure 9 This is a schematic diagram of the guide groove on the front frame.

[0034] Figure 10 This is a schematic diagram showing the locking mechanism working in conjunction with the front frame.

[0035] Figure 11 This is a schematic diagram of the locking mechanism's state.

[0036] Figure 12 This is an exploded view of the locking pin.

[0037] Figure 13 is a current conversion flow chart.

[0038] Figure 14 is a schematic diagram of a powertrain.

[0039] Figure 15 is a schematic diagram of a powertrain decelerator internal transmission relationship.

[0040] Figure 16 is a high-voltage topology diagram of a power supply system.

[0041] Figure 17 is a pipeline diagram of a battery thermal management system.

[0042] Figure 18 is a pipeline diagram of a motor electric control cooling system.

[0043] Figure 19 is a schematic diagram of an automatic fire extinguishing system. DETAILED DESCRIPTION

[0044] The application will be further described below in conjunction with the accompanying drawings of the specification.

[0045] A charging and battery replacement integrated pure electric driving underground trackless mine car, the mine car of the embodiment is a 20-ton mine car, which comprises 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 car body and a cab; in addition, the whole vehicle braking system and the steering system have a drive-by-wire function, and unmanned driving can be realized.

[0046] As Figures 1 to 3As shown, the frame is a front and rear hinged frame, which includes a front frame 1 and a rear frame 2, and the front frame 1 is hingedly connected with the rear frame 2. The drive axle system includes a front axle arranged on the front frame 1 and a rear axle arranged on the rear frame 2; the power supply system delivers electric energy to the power assembly 9 through the all-in-one controller 7, and the torque output by the power assembly 9 is transmitted to the front and rear axles through the front and rear transmission shafts. The front end of the front frame 1 is provided with a cover 5, the cab 4 is arranged on the left side of the front frame 1, the power supply system 3 is arranged on the right side of the front frame 1, the power assembly 9 is arranged at the rear end of the front frame 1, the all-in-one controller 7 is arranged on the top of the fender of the right wheel of the front axle, the hydraulic oil tank 8 is arranged behind the fender of the left wheel of the front axle, and the personnel passage 14 is arranged behind the fender of the left wheel of the front axle. The cab 4 and the front cover 5 are provided with a cover access hole 10, the front windshield of the cab is higher than the cover access hole 10, the cover access hole 10 is connected with the cover through bolts, and the internal space is used to place an air conditioner outdoor unit, a PTC heater, an air conditioner compressor, a condenser and a hydraulic accumulator, and the left side of the internal space is provided with an air conditioner outdoor unit and a hydraulic system access hole 11; the front of the cover 5 is provided with a grille, and the inner side of the grille is provided with an ATS radiator. The auxiliary system includes an auxiliary controller and an auxiliary motor, the whole vehicle auxiliary motor is placed directly below the power battery replacement module, the auxiliary motor is powered by the all-in-one controller 7 and matches a controller itself; the auxiliary motor is the power source of the whole vehicle steering, lifting and braking system, provides reliable power for the whole vehicle, and is a key component of the hydraulic system. The vehicle compartment 6 is arranged on the rear frame 2, and the lifting cylinders of the lifting system are arranged on both sides of the vehicle compartment. The whole vehicle layout is optimized, and the space utilization rate and transmission efficiency are significantly improved.

[0047] As Figure 4 shown, in the traction working condition, the power supply of the pure electric driving underground mine car transmits electric energy to the power assembly through the all-in-one controller, the torque output by the traction motor is transmitted to the original vehicle mechanical drive axle through the front and rear transmission shafts, and the whole vehicle is driven to run; meanwhile, the high-voltage tank of the power supply system uses a DC / DC converter to stably supply power to the all-in-one controller, the battery thermal management unit; the all-in-one controller as the core energy management unit not only provides electric energy for the traction motor, the auxiliary motor, the 24V power supply, the air conditioner compressor and the PTC heater, but also realizes precise control of each component. When entering the electric braking working condition, the traction motor switches to the power generation mode, converts the kinetic energy of the vehicle into electric energy, and the generated electric energy is sequentially transmitted to the power supply through the traction controller and the high-voltage tank, and finally recycled, so as to complete the regenerative utilization of energy, significantly improve the overall energy utilization rate of the system, and reduce energy consumption.

[0048] As Figure 5As shown, the power supply system comprises a battery replacement module assembly 31 arranged at the mounting area of the front frame 1, a guide mechanism for guiding the disassembly and assembly of the battery replacement module assembly 31, and a locking mechanism 32 for locking the battery replacement module assembly 31.

[0049] As shown, Figure 5 The mounting area is surrounded by a cover 5 arranged in front of the front frame 1, a cab 4 arranged on the left side of the front frame 1, and a front wheel mudguard 15. The right side of the mounting area is not blocked, and the side of the battery replacement module assembly 31 corresponding to the mudguard 15 is similar in shape, making full use of the effective space. The front frame 1 comprises a bottom plate, a mounting plate arranged above the bottom plate and arranged horizontally, and a support plate arranged between the bottom plate and the mounting plate. The bottom plate is slightly inclined upward, the mounting plate is supported by the support plate, and the battery replacement module assembly 31 is seated on the mounting plate, ensuring the stability of the installation of the battery replacement module assembly 31.

[0050] As shown, Figure 5 , 6 The battery replacement module assembly 31 comprises a power battery box 311, a power battery pack, a control box 312, a high-voltage box, a power supply control box, a thermal management unit, and a thermal management expansion tank. The power battery box 311 is in the shape of a cuboid, the power battery pack is arranged in the power battery box 311 in a stacked and grouped manner, the power battery box 311 is provided with lifting lugs 313 at the four corners of the top, and the lifting lugs 313 are in the shape of hooks. The lifting lugs 313 cooperate with lifting devices, the lifting devices are in the shape of H, comprising a crossbeam and lifting arms arranged at both ends of the crossbeam, and the two ends of the lifting arms are provided with convex columns cooperating with the lifting lugs. The control box 312 is arranged at the rear side of the power battery box 311, the control box 312 is in a special shape, the bottom surface of the control box 312 is higher than the bottom surface of the power battery box 311, an avoiding space is formed between the bottom surface of the control box 312 and the side surface 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 the bottom of the control box 312 is further provided with heat dissipation holes. The high-voltage box, the power supply control box, the thermal management unit, and the thermal management expansion tank are arranged in the control box 312, and can form an integrated module with the power battery pack for battery replacement. After the battery replacement is completed, the top surface of the power battery box 311 of the battery replacement module assembly 31 is flush with the top surface of the cover 5.

[0051] As shown, Figure 6 , 7As shown, the battery replacement module assembly 31 is connected with the vehicle through two sets of self-alignment battery replacement connectors for high-voltage electrical connection and low-voltage communication connection. The self-alignment battery replacement connector includes a vehicle end connector 34 arranged on the front frame 1 and a battery end connector 33 arranged on the battery replacement module assembly 31. The connector itself has a floating function, which can eliminate the error of docking adjustment during the battery replacement process and reduce the impact during docking. When the battery replacement starts, a high-voltage electrical disconnection check is performed. The high-voltage electrical connection and disconnection is controlled by a key switch in the cab 4 to control the high-voltage electrical connection and disconnection of the battery replacement module assembly 31, and the red indicator light installed on the right side skin of the battery replacement module assembly 31 is used to feedback the high-voltage electrical connection and disconnection. When the red indicator light on the right side of the battery replacement module assembly 31 is not lit, it indicates that the battery replacement module assembly 31 has been disconnected from the high-voltage electricity, and the battery replacement operation can be performed. Otherwise, the battery replacement 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, the mounting bracket 35 is arranged in the avoidance space, and the side of the battery replacement module assembly 31 is provided with a movable cover plate 3121 corresponding to the avoidance space position. During battery replacement, the movable cover plate 3121 can be opened to observe the docking condition of the connector.

[0052] As 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 side guide alignment structure 36, a rear side guide alignment structure 38 and a front side 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 replacement module assembly 31, the bottom surface of the battery replacement module assembly 31 is matched with a mounting plate, the mounting plate is provided with a positioning pin hole 3117 matched with the positioning pin 3113, the front frame 1 is provided with a guide groove 3115 matched with the transverse guide column 3111 and the longitudinal guide column 3112, by matching with the guide groove 3115 on the front frame 1, the hoisting swing of the battery replacement module assembly 31 is limited, and at the same time, the battery replacement module assembly 31 is guided to be correctly installed on the corresponding position. One transverse guide column 3111 and one longitudinal guide column 3112 form a guide assembly, the transverse guide column 3111 is perpendicular to the longitudinal guide column 3112, the bottom of the power battery box 311 is provided with four groups of guide assemblies distributed in a rectangular shape; the transverse guide column 3111 and the longitudinal guide column 3112 each include a vertical plate and a 45° inclined plate connected with the vertical plate, the guide groove 3115 is provided with a wear-resistant limiting plate 3116 attached to the vertical plate, and the guide column is used for guiding first, and then the positioning pin 3113 is used for accurate positioning. The left side guide alignment structure 36 is arranged on the cab 4, the front side guide alignment structure 37 is arranged on the front frame 1 and located in front of the mounting area, and the rear side guide alignment structure 38 is arranged on the front frame 1 and located behind the mounting area; the left side guide alignment structure 36, the rear side guide alignment structure 38 and the front side guide alignment structure 37 each include a vertical column and an inclined block arranged at the upper end of the vertical column, the heights of the left side guide alignment structure 36 and the front side guide alignment structure 37 are flush and higher than that of the rear side guide alignment structure 38; the top inclined block of the guide alignment structure is provided with a 20° inclined angle to facilitate the battery replacement module assembly 31 to enter the guide surface, wherein the heights of the left side guide alignment structure and the front side guide alignment structure are relatively high, and the right angle surface formed by the two is the main alignment reference during hoisting, and the height of the rear side guide alignment structure 38 is relatively low, at this time, after the battery replacement module assembly 31 is lowered through the alignment of the left side and the front side first-level guide, the swing range of the battery replacement module assembly 31 is relatively reduced, the rear side guide alignment structure 38 and the left side and the front side guide alignment structure 37 form three surface restrictions, so that the swing range of the battery replacement module assembly 31 is further reduced, and the battery replacement module assembly 31 is guided to enter the next-level guide stroke stage.

[0053] As Figure 7As shown, the bottom of the battery replacement module assembly 31 is provided with a damping cushion 3114, and the damping cushion 3114 is arranged at the bottom of the battery replacement module assembly 31 to isolate the vibration and reduce the influence of the vibration on the battery replacement module assembly 31 and the internal equipment thereof. The side of the battery replacement module assembly 31 is provided with a buffer wear plate 3110, and the buffer wear plate 3110 is arranged at the front, left side and rear of the battery replacement module assembly 31 to meet the requirement of cooperation with the battery replacement structure of the front frame 1 during the battery replacement process, and reduce the influence of the collision and friction on the battery replacement module assembly 31.

[0054] As shown in Figures 10 to 12 The locking mechanism 32 includes a locking pin working hole arranged on the support plate, a locking pin seat 321 arranged at the bottom of the battery replacement module assembly 31, a locking pin 326 matched 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 with the locking pin 326, a hand wheel 325 for rotating the operating rod 323, and an operating rod seat 324. The front frame 1 is provided with a pin shaft cylinder 322 welded on the bottom surface of the mounting plate, the pin shaft cylinder 322 is in a U shape, and the locking pin 326 penetrates through the pin shaft cylinder 322. As shown in Figure 2As shown, the cab is directly below the power distribution box and 24V battery, the left side of the front frame is provided with a power distribution box access hole 12 and a 24V battery access hole 13; the right side of the front frame 1 is provided with an operation bin, the operation lever seat 324 is arranged in the operation bin, the operation lever 323 includes a lever and a lever sleeve sleeved on the lever, the operation lever seat 324 includes a fixed plate and a cylindrical nut arranged in the middle of the fixed plate, the lever sleeve is inserted into the cylindrical nut and threadedly matched with it. The front end of the operation lever is rotatably connected with the locking pin, the front end of the operation lever is provided with a lever baffle 328, the lever baffle is locked on the lever by an internal hexagonal 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, a bidirectional thrust bearing 329 is arranged in the groove 32621, the bearing is blocked in the groove 32621 by a pin shaft cover plate 320, the front end of the operation lever 323 extends into the groove 32621, and the lever baffle 328 is connected with the bidirectional thrust bearing 329 to realize rotary connection, the locking pin 326 can be extended and retracted with the advance and retreat of the operation lever 323, but is not affected by the rotary action of the operation lever 323, so that the operation lever 323 controls the locking pin 326 with small force, and prevents the operation lever 323 from not working due to the locking pin 326 being stuck, and reduces 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 matched with the pin shaft hole of the pin shaft seat 321 arranged at the bottom of the battery replacement module assembly 31. This embodiment has two sets of locking mechanisms 32, and the two sets of locking mechanisms correspond to two locking pin indicator lights on the outer side of the battery replacement module assembly 31; two sets of locking mechanisms are used to meet the battery replacement locking requirement, the two sets of locking mechanisms are independently installed, the working load is dispersed, and they are redundant to each other; combined with the installation position of the battery replacement module assembly 31, the two sets of locking mechanisms are arranged below the bottom plate of the frame battery replacement module assembly 31 installation bin in the transverse direction of the vehicle, and the operation hand wheel is directed to the right side of the vehicle, which is convenient for operation.

[0055] As Figure 13 shown, the power battery replacement method includes the following steps:

[0056] (1) Start replacing the battery;

[0057] (2) High voltage disconnection check: the high voltage of the battery replacement module assembly is controlled by the key switch in the cab, and the on-off state of the high voltage is fed back through the indicator light arranged on the side of the battery replacement module assembly;

[0058] (3) Deficient battery replacement module assembly unlocking: the locking mechanism is operated to make the locking pin leave the locking pin working hole and the locking pin seat, and the unlocking condition is fed back through the indicator light arranged on the side of the battery replacement module assembly;

[0059] (4) The power shortage battery swap module assembly is lifted;

[0060] (5) The power shortage battery swap module assembly is lowered: the crane is operated to lift the power shortage battery swap module assembly from the vehicle to the designated place;

[0061] (6) The full power battery swap module assembly is lifted;

[0062] (7) The first stage of guiding: after confirming that the full power battery swap module assembly is effectively connected with the lifting tool, the crane is operated to lift the full power battery swap module assembly into the installation area, and the bottom surface of the full power battery swap module assembly is slightly higher than the height of the rear side guiding and positioning structure, and then the full power battery swap module assembly is moved close to the right angle surface formed by the left side guiding and positioning structure and the front side guiding and positioning structure until the full power battery swap module assembly is in contact with the right angle surface;

[0063] (8) The first stage of lowering of the full power battery swap module assembly: after the full power battery swap module assembly is guided and positioned in the first stage, the full power battery swap module assembly is slowly and orderly lowered under the driving of the crane;

[0064] (9) The second stage of guiding: the three side surfaces of the full power battery swap module assembly are respectively in contact with the rear side guiding and positioning structure, the left side guiding and positioning structure, and the front side guiding and positioning structure;

[0065] (10) The second stage of lowering of the full power battery swap module assembly: the full power battery swap module assembly is slowly and orderly lowered under the joint limiting of the rear side guiding and positioning structure, the left side guiding and positioning structure, and the front side guiding and positioning structure;

[0066] (11) The stage of positioning and guiding: the full power battery swap module assembly is guided and positioned through the horizontal guiding column, the vertical guiding column, and the positioning pin on the bottom of the full power battery swap module assembly, and the guiding groove and the positioning pin hole on the front vehicle frame are matched;

[0067] (12) The third stage of lowering of the full power battery swap module assembly: the full power battery swap module assembly is slowly and orderly lowered in the stage of positioning and guiding;

[0068] (13) The stage of connector butt joint: the battery end connector and the vehicle end connector of the connector are also automatically butt jointed in the stage of positioning and guiding;

[0069] (14) The fourth stage of lowering of the full power battery swap module assembly: the full power battery swap module assembly is finally lowered into the installation area provided on the front vehicle frame 1;

[0070] (15) The full power battery swap module assembly is lifted into position: the top surface of the power battery box 311 of the battery swap module assembly is flush with the height of the covering member in front of the mine transport vehicle;

[0071] (16) The inspection of the butt joint state of the connector: the butt joint state of the connector is determined through the indicator light;

[0072] (17) Full power battery replacement module assembly locking operation: operate the locking mechanism to insert the locking pin into the locking pin working hole and the locking pin seat, and judge the locking condition through the indicator light;

[0073] (18) Battery replacement is completed.

[0074] The whole vehicle provides two energy supplement modes: charging mode and battery replacement mode. The charging mode directly supplements the electric energy of the vehicle by connecting the power supply, which is suitable for scenarios with moderate endurance requirements, low-intensity operation, or intermittent operation, and convenient charging facility deployment. The advantage is that there is no need to reserve a backup battery, which reduces the initial equipment procurement cost, and the charging facility can be arranged in a fixed position in the mine, occupying a small space. The battery replacement mode is suitable for scenarios with high continuity requirements for operation and large mine scale, and the charging time is limited. The advantage is that the battery replacement time is short (usually 5-10 minutes), which can realize "replacement and walking", and greatly improve the equipment utilization rate. In the battery replacement mode, the battery can be uniformly recycled to the ground charging station for deep maintenance through equalization charging and temperature control to prolong the service life.

[0075] As shown in Figure 16 , in the charging mode: the external power supply supplements the power battery through two charging sockets, the BMS controls the pre-charging resistor to pre-charge the system capacitor to prevent damage to circuit components caused by large current impact, and then continuously charges until it is full.

[0076] As shown in Figure 16 , in the battery replacement mode: the entire power battery replacement module is hoisted to the designated power supplement position, and then the full-power power battery replacement module is hoisted to the designated position of the vehicle. The full-power power battery replacement module supplies power to the whole vehicle through the battery replacement connector, and the discharged power battery replacement module is connected to the two charging sockets through the external power supply to supplement the power battery.

[0077] As shown in Figure 14 , the power assembly 9 includes a traction motor 91 and a reducer 92, the traction motor 91 is arranged above the reducer 92, the output shaft of the traction motor 91 faces downward and is connected with the input shaft 921 of the reducer 92 through a spline, the traction motor 91 is installed in a vertical manner and is installed on the first reducer 92 through a flange plate, the torque of the traction motor 91 and the reducer 92 is longitudinally coupled, and the output of the reducer 92 is transverse. In the traction working condition, the power supply supplies power to the traction motor 91 through the traction controller, the traction motor 91 drives the reducer 92 to transmit the traction power to the original vehicle mechanical drive axle through the front axle and the rear axle to drive the whole vehicle to run; in the electric braking working condition, the traction motor 91 works in the generator state, converts the kinetic energy into electric energy, and then returns to the power supply through the traction controller and the high-voltage tank, thereby improving the energy utilization rate.

[0078] As shown in Figure 14 , 15As shown, the reducer 92 is provided with a transmission shaft 929, the input shaft of the reducer 92 is longitudinally arranged with the transmission shaft 929, the output shaft of the reducer 92 is transversely arranged, 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 provided with a first gear 922 and a second gear 923, the transmission shaft 929 of the reducer 92 is provided with a third gear 924 and a first bevel gear 925, and the output shaft 927 of the reducer 92 is provided with a second bevel gear 926. The first gear 922 is engaged with the third gear 924, and the power is transmitted to the first bevel gear 925 after one-stage speed reduction. The first bevel gear 925 is engaged with the second bevel gear 926, the first bevel gear 925 is a pinion, the second bevel gear 926 is a gear, the power is further reduced and the rotation direction is changed through the engagement of the first bevel gear 925 and the second bevel gear 926, and finally the power is output through the output shaft 927 of the reducer 92. The second gear 923 is engaged with the oil pump gear 928, and the oil pump 94 is driven after one-stage speed reduction. The oil pressure established by the oil pump 94 lubricates and cools the reducer 92.

[0079] As shown in the figure, Figure 14 The traction motor 91 is an explosion-proof permanent magnet synchronous traction motor 91, which can be applied to environments with high dust, flammable and explosive gases, and relatively closed spaces. The traction motor 91 includes a housing, devices arranged in the housing, and a junction box arranged outside the housing. The housing is provided with a water cooling channel connected with a cooling system. The water cooling system has high heat exchange coefficient, can maintain high efficiency of the motor, and the power density is improved to more than 5kW / kg. The system can precisely control the temperature, avoid demagnetization of the permanent magnet, and prolong the insulation life. The system has high cooling efficiency, compact structure, and saves installation space. The system is adaptable to high load conditions and stable heat dissipation. The system also reduces noise, reduces the number of fan components, and is easy to maintain. The system has long service life, balances high performance and reliability, and has high rotation speed and large torque. The maximum rotation speed of the motor can reach 5000rpm, and the maximum torque can reach 2600Nm. The high rotation speed and large torque configuration of the traction motor 91 can reduce the size and weight of the motor, optimize the transmission ratio, make the structure more compact, reduce the efficiency loss of the reducer 92, and improve the dynamic response sensitivity. The system also reduces the material consumption and processing difficulty of the reducer 92, reduces the cost, improves the reliability, prolongs the service life, reduces the heat generation of the reducer 92, simplifies the cooling system, and prolongs the maintenance period.

[0080] As shown in the figure, 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 mining car, and the rear axle drives the rear axle of the mining car. A condenser 93 is provided on the outer wall of the reducer 92. 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 via a water pipe. The condenser 93 is connected to the cooling system. The reducer 92 has its own lubricating oil pump 94 and condenser 93, resulting in a compact system design and high cooling efficiency. A groove is provided on one side of the reducer 92's outer casing. The reducer 92 has 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 an oil pipe. The front axle of the reducer 92 extends out of the groove.

[0081] The cooling system includes a battery thermal management system, a motor electronic control cooling system, and an air conditioning system.

[0082] like Figure 17 As shown, the battery thermal management system is integrated within the battery swapping module assembly. It includes a compressor, condenser, electronic expansion valve, low-temperature radiator, plate heat exchanger, PTC heater, first water pump, and expansion tank. The refrigerant output from the compressor passes through the condenser, electronic expansion valve, and plate heat exchanger sequentially before returning to the compressor input. The cooling water output from the first water pump passes through a three-way valve, plate heat exchanger, PTC heater, and power battery sequentially before returning to the first water pump input. The cooling water output from the first water pump also passes through a three-way valve, low-temperature radiator, and power battery sequentially before returning to the first water pump input.

[0083] Cooling mode: The refrigerant is cooled using the principle of compression refrigeration. 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, so as to effectively deal with problems such as excessive temperature rise caused by high temperature environment or charging and discharging.

[0084] Heating mode: A pipeline PTC heater is connected in series in the power battery water circuit. After the BMS sends a heating command, the heater is turned on directly through the control system. The PTC heating element in the pipeline starts to heat up. When the antifreeze flows through the heater, it is heated. At this time, the compressor cooling circuit stops working.

[0085] Self-circulation mode: The compressor does not start, and the electric water pump drives the coolant circulation to meet the battery cooling needs under low heat load conditions.

[0086] Control strategy: the controller CAN communication is connected with the BMS, receives and analyzes the BMS message, controls the compressor according to the analyzed parameters and the built-in control strategy, controls the speed of the fan and the water pump through PWM communication to automatically adjust the output power, and uploads the controller state to the BMS to meet the battery thermal management demand.

[0087] As shown in Figure 18 The motor electric control 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 with the input end of the three-in-one auxiliary controller and the auxiliary motor assembly through a first three-way joint. The output end of the three-in-one auxiliary controller and the auxiliary motor assembly is connected with the first input end of the radiator through a second three-way joint. The first output end of the radiator is connected with the input end of the second water pump. The output end of the third water pump is connected with the second input end of the radiator through a power assembly. The second output end of the radiator is connected with the input end of the third water pump.

[0088] The cooling system is controlled by the temperature of the motor electric control:

[0089] A. When the temperature of the controller is 45℃, the fan starts to work, and the initial speed of the fan is 30% of the full speed. When the temperature of the motor controller is 49℃, the fan runs at full speed. There are at least 5 levels of speed regulation between 45℃ and 49℃.

[0090] B. When the temperature of the motor is 70℃, the fan starts to work, and the initial speed of the fan is 30% of the full speed. When the temperature of the motor is 100℃, the fan runs at full speed. There are at least 10 levels of speed regulation between 70℃ and 100℃. (Speed regulation method: linear smooth speed regulation, stepless speed regulation, speed (30%-100%))

[0091] C. When the temperature of the motor is lower than 68℃ and the temperature of the motor controller is lower than 43℃, the fan of the motor and the motor controller stops working.

[0092] D. When the CAN signal of the motor and the motor controller is lost (with high voltage signal), the fan runs at 100% speed.

[0093] As shown in Figure 19As shown, the power 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, atomizing nozzles corresponding to each power battery pack, and a fire extinguishing controller. Smoke, high temperature, H2, and CO generated by a fire in the power battery pack will trigger the four-in-one detector. After the detector is triggered, it will feed back to the fire extinguishing controller, which will feed back to the VCU. The VCU will issue a fire alarm in the cab and cut off the high voltage of the vehicle at the same time. The fire extinguishing controller will send an electrical signal to the solenoid valve at the same time, and the atomizing nozzles will spray fire extinguishing agent for fire extinguishing and cooling. When the driver discovers a fire in the power battery box, but the alarm does not sound, the fire extinguishing switch in the cab can be pressed to extinguish the fire. If a fire occurs and the solenoid valve does not act due to a fault, 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 high temperature, and the cracked part will spray fire extinguishing agent to extinguish the flame and diffuse to the entire power battery box to cool and isolate the fire.

Claims

1. A fully electric, chargeable and swappable trackless mining vehicle, comprising a power 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 driver's cab; characterized in that: The vehicle 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 articulation. The drive axle system includes a front axle mounted on the front frame and a rear axle mounted on the rear frame. The power system delivers electrical energy to the powertrain via a multi-function controller. The torque output from the powertrain is transmitted to the front and rear axles via the front and rear drive shafts. The front of the front frame is covered, the cab is located on the left side of the front frame, the power system is located on the right side of the front frame, the powertrain is located at the rear of the front frame, the multi-function controller is located on top of the mudguard of the right wheel of the front axle, a hydraulic oil tank is located behind the mudguard of the right wheel of the front axle, and a personnel passage is located behind the mudguard of the left wheel of the front axle. The cargo box is located on the rear frame. The power system includes a battery swapping module assembly located in the front frame mounting area, a guide mechanism for guiding the battery swapping module assembly during installation and removal, and a locking mechanism for locking the battery swapping module assembly. The mounting area is enclosed by a cover located in front of the front frame, a cab located on the left side of the front frame, and a right front wheel mudguard. The front frame includes a floor plate, a horizontally mounted mounting plate located above the floor plate, and a support plate located between the floor plate and the mounting plate. The battery swapping module assembly includes a power battery housing, a power battery pack, a control box, a high-voltage box, a power control box, and a heat exchanger. The system includes a management unit and a thermal management expansion tank. The power battery pack is housed within a power battery enclosure. The high-voltage box, power control box, thermal management unit, and thermal management expansion tank are housed within a control box, which is located on one side of the power battery enclosure. The top of the power battery enclosure is equipped with lifting lugs. The battery swapping module assembly achieves high-voltage electrical connection and low-voltage communication connection with the vehicle via a self-aligning battery swapping connector. The self-aligning battery swapping connector includes a vehicle-end connector mounted on the front frame and a battery-end connector mounted on the battery swapping module assembly. A guide mechanism is also included. The structure includes a transverse guide post, a longitudinal guide post, a positioning pin, a left-side guide alignment structure, a rear-side guide alignment structure, and a front-side guide alignment structure. The transverse guide post, longitudinal guide post, and positioning pin are located at the bottom of the battery swapping module assembly. The bottom surface of the battery swapping module assembly mates with a mounting plate. The mounting plate has positioning pin holes that mate with the positioning pins. The front frame has guide grooves that mate with the transverse and longitudinal guide posts. The left-side guide alignment structure is located on the cab, and the front-side guide alignment structure is located on the front frame and positioned at the mounting plate. In front of the area, the rear guide alignment structure is located on the front frame and behind the installation area; the locking mechanism includes a locking pin working hole on the support plate, a locking pin seat at the bottom of the battery swapping module assembly, a locking pin that cooperates with the locking pin working hole and the locking pin seat, a limit switch for detecting the position of the locking pin, an operating rod connected to the locking pin, a handwheel that drives the operating rod to rotate, and an operating rod seat. The operating rod seat is fixed on the right side of the front frame, the operating rod is threadedly engaged with the operating rod seat, and the front end of the operating rod is rotatably engaged with the locking pin. The powertrain includes a traction motor and a reducer. The traction motor is located above the reducer and is connected to the reducer via a flange. The output shaft of the traction motor faces downward and is connected to the input shaft of the reducer via a spline. The reducer contains a drive shaft. The input shaft and drive shaft of the reducer are arranged longitudinally, while the output shaft of the reducer is arranged laterally. The input shaft and output shaft of the reducer are perpendicular. The input shaft of the reducer has a first gear and a second gear. The drive shaft of the reducer has a third gear and a first bevel gear. The output shaft of the reducer has a second bevel gear. The first gear meshes with the third gear, and after one stage of speed reduction, the power is transmitted to the first bevel gear. The first bevel gear meshes with the second bevel gear. Through the meshing of the first bevel gear and the second bevel gear, the speed is further reduced and the torque is increased, and the direction of rotation is changed. Finally, the power is output through the output shaft of the reducer. The second gear meshes with the oil pump gear, and after one stage of speed reduction, it drives the oil pump. The oil pressure built up by the oil pump lubricates and cools the reducer.

2. The charging and swapping integrated pure electric drive trackless underground mining vehicle according to claim 1, characterized in that: The battery connector is located at the bottom of the control box, the vehicle connector is located on the mounting bracket, the mounting bracket is located on the front frame, a clearance space is formed between the bottom surface of the control box and the side of the power battery box, the mounting bracket is located within the clearance space, and a movable cover plate is provided on the side of the battery swapping module assembly corresponding to the clearance space position; the side of the control box is provided with a charging socket, a high voltage status indicator light and a lock pin status indicator light.

3. The integrated charging and swapping pure electric drive trackless mining vehicle according to claim 1, characterized in that: The bottom of the battery swapping module assembly is provided with a vibration damping pad, and the sides of the battery swapping module assembly are provided with a buffer wear-resistant plate.

4. The integrated charging and swapping pure electric drive trackless mining vehicle 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 at the upper end of the column. The left-side guide alignment structure and the front-side guide alignment structure are at the same height and are higher than the rear-side guide alignment structure. The transverse guide column and the longitudinal guide column all include a vertical plate and a 45° inclined plate connected to the vertical plate. The guide groove is provided with a wear-resistant limiting plate that is attached to the vertical plate.

5. The integrated charging and swapping pure electric drive trackless underground mining vehicle according to claim 1, characterized in that: The front frame has an operating compartment on its side, and the operating lever seat is located inside the operating compartment. The operating lever includes a rod and a sleeve fitted on the rod. The operating lever seat includes a fixing plate and a cylindrical nut located in the middle of the fixing plate. The sleeve is inserted into the cylindrical nut and is threaded into it.

6. The integrated charging and swapping pure electric drive trackless mining vehicle according to claim 1, characterized in that: A maintenance access panel is provided between the cab and the front cover. The windshield of the cab is higher than the maintenance access panel. The maintenance access panel is connected to the cover by bolts. The interior space houses the outdoor air conditioning unit, PTC heater, air conditioning compressor, condenser, and hydraulic accumulator. The maintenance access panel for the outdoor air conditioning unit and hydraulic system is located on the left side of the interior space. The front of the cover has a grille, and the inner side of the grille has an ATS radiator.

7. The integrated charging and swapping pure electric drive trackless mining vehicle according to claim 1, characterized in that: The handwheel of the locking mechanism is located on the right side of the front frame, and the left side of the front frame is provided with a power distribution box access port and a 24V battery access port.

8. The integrated charging and swapping pure electric drive trackless mining vehicle 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 within the battery swapping module assembly and includes a compressor, condenser, electronic expansion valve, low-temperature radiator, plate heat exchanger, PTC heater, first water pump, and expansion tank. The refrigerant output from the compressor passes sequentially through the condenser, electronic expansion valve, and plate heat exchanger before returning to the compressor input. The cooling water output from the first water pump passes sequentially through a three-way valve, plate heat exchanger, PTC heater, and power battery before returning to the first water pump input. The cooling water output from the first water pump passes sequentially through a three-way valve, plate heat exchanger, PTC heater, and power battery before returning to the first water pump input. The cooling water from the outlet valve, low-temperature radiator, and power battery returns to the input end of the first water pump. The motor-controlled cooling system includes a second water pump, a third water pump, an expansion tank, and a radiator. The cooling water from 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 via a 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 via a 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 via the power assembly. The second output end of the radiator is connected to the input end of the third water pump.

9. The integrated charging and swapping pure electric drive trackless mining vehicle according to claim 1, characterized in that: The battery swapping module assembly integrates an automatic fire suppression system, which includes a fire extinguishing agent tank, a four-in-one detector, a fire detection tube, a solenoid valve, atomizing nozzles corresponding to each power battery pack, and a fire suppression controller. Smoke, high temperatures, H2, and CO generated by a power battery pack fire will trigger the four-in-one detector. The detector will then send a feedback signal to the fire suppression controller, which in turn sends a feedback signal to the VCU (Vehicle Control Unit). The VCU will issue a fire alarm in the driver's cab and simultaneously cut off the vehicle's high voltage. The fire suppression controller will also send an electrical signal to the solenoid valve, causing the atomizing nozzles to spray fire extinguishing agent for cooling and extinguishing the fire. If the driver discovers a fire inside the power battery pack but the alarm has not sounded, they can extinguish the fire by pressing the fire suppression switch in the driver's cab. If a fire occurs but the solenoid valve fails to activate due to a malfunction, the atomizing nozzles will not spray fire extinguishing agent. When the fire spreads to the fire detection tube, the tube will crack due to the high temperature, and fire extinguishing agent will spray from the crack to extinguish the flames and spread throughout the entire power battery pack to cool and isolate the fire.

10. The integrated charging and swapping pure electric drive trackless underground mining vehicle according to claim 1, characterized in that: In charging mode: The external power supply replenishes the battery swapping module assembly through two charging sockets. The BMS controls the pre-charging resistor to pre-charge the system capacitor to prevent large current surges from damaging circuit components. Then, charging continues until fully charged. In battery swapping mode: The entire battery swapping module assembly is hoisted to the designated charging location. Then, the fully charged battery swapping module assembly is hoisted to the designated location on the vehicle. The fully charged battery swapping module assembly supplies power to the vehicle through the self-aligning battery swapping connector. The depleted battery swapping module assembly is connected to two charging sockets through an external power supply to replenish the power battery.

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