Carrying vehicle and carrying method for underground coal mine excavation equipment

Abstract

The invention discloses a coal mine underground excavation equipment carrier and a carrying method, and belongs to the technical field of design and manufacturing of coal mine underground trackless auxiliary transportation equipment.The coal mine underground excavation equipment carrier comprises a power tractor and a bearing flat car, and the bearing flat car comprises a traction part, a variable-height bearing flat plate and a multi-wheel bearing system; the height-variable bearing flat plate comprises a movable flat plate, a connecting plate and a bearing plate which are sequentially arranged from front to back, the rear end of the movable flat plate is hinged to the front end of the connecting plate, the rear end of the connecting plate is hinged to the front end of the bearing plate, a body of the front ejector is arranged below the connecting plate, and the extending end of a push rod of the front ejector is hinged to the lower portion of the movable flat plate. A main body of the rear ejector is arranged below the bearing plate, and the extending end of a push rod of the rear ejector is hinged to the lower portion of the connecting plate. In the process of carrying the excavating equipment, the excavating equipment and the movable flat plate are prevented from colliding with a roadway in a manner of lifting the movable flat plate.

Description

Technical Field

[0001] This invention belongs to the field of design and manufacturing technology of trackless auxiliary transportation equipment in coal mines, specifically a coal mine underground mining equipment transport vehicle and transport method. Background Technology

[0002] In recent years, with the introduction of the policy of "mechanization to replace manpower and automation to reduce manpower" in my country's coal mines, the application of various tunneling equipment in coal mines has shown explosive growth. According to incomplete statistics, the number of various tunneling equipment in use in my country can reach 15,000 sets, with an annual market demand of more than 2,500 sets, and this demand is showing a year-on-year growth trend. The number of times tunneling equipment is "relocated" exceeds 18,000 times per year, of which more than 70% of the relocations are between 2 and 20 km. However, the current dimensions (length × width × height) of tunneling equipment are generally between 9m × 2.3m × 1.5m and 12.4m × 7.0m × 3.0m, and the weight is generally between 50 and 140 tons, while the cross-sectional dimensions (width × height) of the roadway are mostly between 4.2m × 2m and 5m × 4.2m. The large size and weight of the tunneling equipment, coupled with the narrow roadway space, make the relocation problem particularly prominent.

[0003] Currently, when large equipment such as heavy-duty roadheaders, continuous mining machines, and roadheader-anchors are moved over long distances, two methods are commonly used: self-propelled transport and disassembly transport. When using self-propelled transport, the travel speed is only 0.4–0.7 km / h, occupying the roadway for a long time and preventing other production and transport equipment from passing. Furthermore, due to cable length limitations, frequent cable replacement and dragging are necessary over long distances, resulting in high labor intensity for workers and severe overheating of the equipment's travel system. This not only poses numerous safety hazards but also easily leads to malfunctions in the equipment's drive system, seriously affecting mine production efficiency. Disassembly transport, on the other hand, requires on-site disassembly, which necessitates specialized cranes and tools, and the disassembly and reassembly of a single piece of equipment can take 2–3 days. After disassembly, the equipment is transported to a designated location using rubber-wheeled vehicles, and then reassembled. In addition to professional cranes and tools, professional technicians are required to guide the assembly process. Otherwise, equipment damage or assembly quality problems are very likely to occur. The equipment requires high professional skills and it is difficult to guarantee the quality of disassembly and assembly, which leads to an increased equipment failure rate, reduced equipment lifespan, large workload, high labor intensity, and many safety hazards.

[0004] Existing flatbed trucks, due to their high load-bearing capacity requirements and the limitations of tire load-bearing capacity, have relatively high platform heights, resulting in insufficient maneuverability when transporting large equipment underground, and thus failing to meet the needs of underground transportation. Summary of the Invention

[0005] The purpose of this invention is to provide a coal mine underground mining equipment transport vehicle and transport method to solve the problems existing in the prior art. During the transport of mining equipment, the method of lifting and lowering the movable flatbed avoids collisions between the mining equipment and the roadway, while reducing the turning radius of the flatbed truck and improving its turning smoothness, thus effectively improving the passability of large underground transport equipment.

[0006] To achieve the above objectives, the present invention provides the following solution: This invention provides a coal mine underground mining equipment transport vehicle, including a powered tractor and a load-bearing flatbed. The load-bearing flatbed includes a traction unit, a variable-height load-bearing flatbed, and a multi-wheel load-bearing system. The variable-height load-bearing flatbed includes a movable flatbed, a connecting plate, and a load-bearing plate arranged sequentially from front to back. The rear end of the movable flatbed is hinged to the front end of the connecting plate, and the rear end of the connecting plate is hinged to the front end of the load-bearing plate. The main body of a front pusher is located below the connecting plate, and the extended end of the push rod of the front pusher is hinged to the lower part of the movable flatbed. The main body of a rear pusher is located below the load-bearing plate, and the extended end of the push rod of the rear pusher is hinged to the lower part of the connecting plate. The front end of the movable flatbed is connected to the traction end of the powered tractor through the traction unit, and the traction unit can move with the front end of the movable flatbed. The multi-wheel load-bearing system is located below the load-bearing plate and includes load-bearing wheels, a steering gear for driving the load-bearing wheels to steer, and a steering assist device.

[0007] In one embodiment, the front pusher is a front pusher hydraulic cylinder, the cylinder barrel of which is located below the connecting plate, and the extended end of the cylinder rod of which is hinged below the movable plate. There is at least one front pusher hydraulic cylinder, and when there are at least two front pusher hydraulic cylinders, multiple front pusher hydraulic cylinders are arranged in parallel, with the extended ends of the cylinder rods of the multiple front pusher hydraulic cylinders being flush. The rear pusher is a rear pusher hydraulic cylinder, the cylinder barrel of which is located below the bearing plate, and the extended end of the cylinder rod of the rear pusher hydraulic cylinder is hinged below the connecting plate. There is at least one rear pusher hydraulic cylinder, and when there are at least two rear pusher hydraulic cylinders, multiple rear pusher hydraulic cylinders are arranged in parallel, with the extended ends of the cylinder rods of the multiple rear pusher hydraulic cylinders being flush.

[0008] In one embodiment, the traction unit is a three-degree-of-freedom hinged unit, which includes a pitch connecting block, a slewing connecting block, a steering drive hydraulic cylinder, and a quick-connect fitting arranged sequentially from front to back. The front end of the pitch connecting block is horizontally hinged to the traction end of the powered tractor, allowing the three-degree-of-freedom hinged unit to swing up and down in front of the powered tractor. The front end of the slewing connecting block is vertically hinged to the rear end of the pitch connecting block, allowing the slewing connecting block and the quick-connect fitting to swing left and right in front of the powered tractor. The front end of the quick-connect fitting is hinged to the slewing connecting block. The rear end of the quick-connect fitting is fixedly connected to the front end of the carrying flatbed truck. The bottom of the cylinder body of the steering drive hydraulic cylinder is hinged to the pitch connecting block, and the extended end of the cylinder rod of the steering drive hydraulic cylinder is connected to the rotary connecting block. The steering drive hydraulic cylinder is horizontally arranged, and the bottom of the cylinder body of the steering drive hydraulic cylinder is located outside the extended end of the cylinder rod of the steering drive hydraulic cylinder. There are two steering drive hydraulic cylinders, which are symmetrically arranged on the left and right sides of the rotary connecting block.

[0009] In one embodiment, the steering assist device includes an assist push rod, the movable end of which is hinged to the steering structure of the steering gear. The load wheels are arranged in pairs, with at least one pair of load wheels symmetrically arranged on the left and right sides of the bearing plate. Each load wheel is matched with an independent steering assist device.

[0010] In one embodiment, the power steering device is a power steering hydraulic cylinder, the power steering push rod is the cylinder rod of the power steering hydraulic cylinder, and the inlet and return fluid system of one of the steering drive hydraulic cylinders is connected to the inlet and return fluid system of the power steering hydraulic cylinder on the same side.

[0011] In one embodiment, the load-bearing wheel includes two hubs, which are symmetrically arranged on a hub mounting bracket. The hub mounting bracket is installed below the bearing plate. There are three pairs of load-bearing wheels, which are arranged sequentially from front to back.

[0012] In one embodiment, the rear end of the quick-connect fitting is a horizontally arranged tongue-shaped plug, the tongue-shaped plug is provided with a first connecting hole, the front end of the movable plate is provided with a recessed groove that matches the tongue-shaped plug, the upper end of the recessed groove is open and the lower end is provided with a second connecting hole that matches the first connecting hole, and the connecting pin passes through the first connecting hole and the second connecting hole.

[0013] In one embodiment, the sinking trough has wedge-shaped guide bridges on both sides, and the guide bridges are provided with forward-extending horizontal pins. The quick-connect fitting has a socket that matches the pins.

[0014] In one embodiment, the upper surface of the approach bridge and the upper surface of the movable plate are provided with raised metal strips.

[0015] This invention also provides a method for transporting underground mining equipment in coal mines, based on the aforementioned underground mining equipment transport vehicle, comprising the following steps: S1. Lower the movable platform until it touches the ground, disconnect the connection between the three-degree-of-freedom hinge and the movable platform, and disconnect the pipes and cables connecting the power tractor to the flatbed truck. S2. The mining equipment is moved onto the movable flatbed to complete the loading process; S3. Reconnect the traction unit and the movable flatbed, reconnect the pipes and cables connecting the power tractor to the flatbed truck, then lift the movable flatbed off the ground, and start the power tractor to begin transporting until it reaches the designated location. S4. During the transportation process in step S3, before the vehicle reaches the upper slope of the obstacle or ramp below, the movable platform is raised until it passes through without contacting the obstacle or ramp below. After passing through the obstacle or ramp below, the movable platform is lowered to its original height. Before the vehicle reaches the obstacle above, the movable platform is lowered until it passes through without contacting the obstacle above and without contacting the ground. After passing through the obstacle above, the movable platform is raised to its original height. S5. During the handling process in step S3, when the carrying flatbed truck turns, the steering assist device is activated to drive the front and rear wheels of the carrying flatbed truck to perform all-wheel steering, thereby achieving all-wheel steering based on the "Ackermann principle".

[0016] The present invention achieves the following technical effects compared to the prior art: This invention provides a coal mine underground mining equipment transport vehicle and method. During the transport of mining equipment, the movable flatbed is raised and lowered to prevent collisions between the equipment and the roadway. This also reduces the turning radius of the flatbed truck, improving its turning smoothness and effectively enhancing the maneuverability of large underground transport equipment. During transport, the movable flatbed can be raised off the ground to prevent collisions. Before the vehicle reaches an obstacle below or the incline of a slope, the push rods of the front and rear pushers extend forward simultaneously, raising the movable flatbed and connecting plate synchronously. The traction unit moves with the movable flatbed, increasing the distance between it and the ground, preventing collisions. Before the vehicle reaches an obstacle above, the push rods of the front and rear pushers retract simultaneously, lowering the movable flatbed and connecting plate synchronously. The traction unit moves with the movable flatbed, reducing the distance between it and the ground while maintaining a height that does not touch the ground, preventing the transported mining equipment from colliding with the obstacle above. When the flatbed truck turns, the power steering system is activated to increase the rotation angle of the load-bearing wheels and reduce the turning radius of the flatbed truck. This effectively improves the maneuverability of large equipment transported underground. The adjustable ground clearance of the movable flatbed makes it highly adaptable to low-ceilinged tunnels. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1a This is a schematic diagram of the overall structure of a power tractor and a load-bearing flatbed vehicle combined in an embodiment of the present invention; Figure 1b This is a side view of a combined power tractor and a flatbed trailer in an embodiment of the present invention. Figure 1c This is a top view schematic diagram of a combined power tractor and a carrying flatbed truck in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a powered tractor and a flatbed trailer in a disconnected state according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the bottom structure of a flatbed truck according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a three-degree-of-freedom hinge in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of an active flat plate according to an embodiment of the present invention.

[0019] Figure 6a This is a schematic diagram of the load-bearing state of an active flat plate in its lowest position according to an embodiment of the present invention; Figure 6b This is a schematic diagram of the load-bearing state of an active flat plate at its highest position in an embodiment of the present invention; Figure 7a This is a schematic diagram illustrating the state of a coal mine underground mining equipment transport vehicle during horizontal movement, as described in an embodiment of the present invention. Figure 7b This is a schematic diagram illustrating the state of a coal mine underground mining equipment transport vehicle when entering a downhill roadway, according to an embodiment of the present invention. Figure 7c This is a schematic diagram illustrating the state of a coal mine underground mining equipment transport vehicle when it is leaving a downhill roadway, according to an embodiment of the present invention. Figure 8a This is a schematic diagram illustrating the disconnection method between the power tractor and the load-bearing flatbed in an embodiment of the present invention; Figure 8b This is a schematic diagram illustrating the combination of the power tractor and the flatbed truck after loading the equipment in an embodiment of the present invention.

[0020] Among them, 1. Power traction vehicle; 2. Carrying flatbed vehicle; 21. Three-degree-of-freedom articulated part; 211. Pitch connection block; 212. Rotation connection block; 213. Steering drive hydraulic cylinder; 214. Quick-connect component; 22. Variable height carrying flatbed; 221. Movable flatbed; 222. Connecting plate; 223. Carrying plate; 224. Front pusher; 225. Rear pusher; 23. Multi-wheel carrying system; 1000. Mining equipment. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings of this specification are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the implementation conditions of the invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. In the description of this invention, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are merely for the convenience of describing the invention and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0023] It should also be noted that in the embodiments of this application, the same reference numerals are used to denote the same component or the same part.

[0024] The purpose of this invention is to provide a coal mine underground mining equipment transport vehicle and transport method to solve the problems existing in the prior art. During the transport of mining equipment, the method of lifting and lowering the movable flatbed avoids collisions between the mining equipment and the roadway, while reducing the turning radius of the flatbed truck and improving the turning smoothness of the flatbed truck, effectively improving the passability of large underground transport equipment.

[0025] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Example 1 like Figures 1a to 8bAs shown, the present invention provides a coal mine underground mining equipment transport vehicle, including a power traction vehicle 1 and a carrying flatbed vehicle 2. The carrying flatbed vehicle 2 includes a traction unit, a variable height carrying flatbed 22, and a multi-wheel carrying system 23. The variable height carrying flatbed 22 includes a movable flatbed 221, a connecting plate 222, and a carrying plate 223 arranged sequentially from front to back. The rear end of the movable flatbed 221 is hinged to the front end of the connecting plate 222, and the rear end of the connecting plate 222 is hinged to the front end of the carrying plate 223. The main body of the front pusher 224 is located below the connecting plate 222, and the extended end of the push rod of the front pusher 224 is hinged to the lower part of the movable flatbed 221. The main body of the rear pusher 225 is located below the carrying plate 223, and the extended end of the push rod of the rear pusher 225 is hinged to the lower part of the connecting plate 222. The front end of the movable plate 221 is connected to the traction end of the power tractor 1 through the traction unit. The traction unit can move with the front end of the movable plate 221. The multi-wheel load-bearing system 23 is set below the load-bearing plate 223. The multi-wheel load-bearing system 23 includes load wheels, a steering gear for driving the load wheels to turn, and a steering assist device.

[0027] Working principle: The mining equipment 1000 to be transported is fixed on the movable flatbed 221, and the power tractor 1 drives the carrying flatbed 2 to move in the roadway. Before the entire vehicle reaches the obstacle below or the incline point of the slope, the push rods of the front pusher 224 and the rear pusher 225 extend forward simultaneously, the movable flatbed 221 and the connecting plate 222 rise synchronously, and the traction unit moves with the movable flatbed 221, increasing the distance between the movable flatbed 221 and the ground to prevent the movable flatbed 221 from colliding with the obstacle below or the incline point of the slope. Before the entire vehicle reaches the obstacle above, the push rods of the front pusher 224 and the rear pusher 225 retract backward simultaneously, the movable flatbed 221 and the connecting plate 222 lower synchronously, and the traction unit moves with the movable flatbed 221, reducing the distance between the movable flatbed 221 and the ground but maintaining a height that does not touch the ground to prevent the transported mining equipment 1000 from colliding with the obstacle above. When the flatbed trolley 2 turns, the steering assist device is activated to increase the rotation angle of the load-bearing wheels and reduce the rotation radius of the flatbed trolley 2. This effectively improves the passability of transporting large equipment underground. The movable flatbed 221 has a variable ground clearance and is highly adaptable to low-ceilinged tunnels.

[0028] In one embodiment, the front pusher 224 is a front pusher hydraulic cylinder. The cylinder barrel of the front pusher hydraulic cylinder is located below the connecting plate 222, and the extended end of the cylinder rod of the front pusher hydraulic cylinder is hinged to the lower part of the movable plate 221. There is at least one front pusher hydraulic cylinder. When there are at least two front pusher hydraulic cylinders, multiple front pusher hydraulic cylinders are arranged in parallel, and the extended ends of the cylinder rods of the multiple front pusher hydraulic cylinders are flush. The rear pusher 225 is a rear pusher hydraulic cylinder. The cylinder barrel of the rear pusher hydraulic cylinder is located below the bearing plate 223, and the extended end of the cylinder rod of the rear pusher hydraulic cylinder is hinged to the lower part of the connecting plate 222. There is at least one rear pusher hydraulic cylinder. When there are at least two rear pusher hydraulic cylinders, multiple rear pusher hydraulic cylinders are arranged in parallel, and the extended ends of the cylinder rods of the multiple rear pusher hydraulic cylinders are flush. The hydraulic cylinders have strong thrust and reliable performance. It is understandable that the front pusher 224 and the rear pusher 225 may also be other forms of devices that can push the movable plate 221 and the connecting plate 222.

[0029] In one embodiment, the traction unit is a three-degree-of-freedom hinged part 21. The three-degree-of-freedom hinged part 21 includes a pitch connecting block 211, a slewing connecting block 212, a steering drive hydraulic cylinder 213, and a quick-connect component 214 arranged sequentially from front to back. The front end of the pitch connecting block 211 is horizontally hinged to the traction end of the power tractor 1, so that the three-degree-of-freedom hinged part 21 swings up and down in front of the power tractor 1. The front end of the slewing connecting block 212 is vertically hinged to the rear end of the pitch connecting block 211, so that the slewing connecting block 212 and the quick-connect component 214 swing left and right in front of the power tractor 1. The front end of the quick-connect component 214 is hinged to the rear end of the slewing connecting block 212, so that the quick-connect component 214 rotates in the vertical plane. The rear end of the quick-connect component 214 is fixedly connected to the front end of the carrying flatbed 2. The bottom of the cylinder body of the steering drive hydraulic cylinder 213 is hinged to the pitch connecting block 211, and the extended end of the cylinder rod of the steering drive hydraulic cylinder 213 is connected to the rotary connecting block 212. The steering drive hydraulic cylinder 213 is horizontally positioned, with the bottom of the cylinder body located outside the extended end of the cylinder rod. There are two steering drive hydraulic cylinders 213, symmetrically arranged on the left and right sides of the rotary connecting block 212. The roadway surface is uneven. If the traction unit has only one horizontal rotational degree of freedom, the flatbed truck 2 can only turn left and right and cannot change its posture. Consequently, not all load-bearing wheels on the same plane will be in contact with the ground, and some load-bearing wheels will be suspended in the air. This will cause a sharp increase in load at the contact point in a short period. The mining equipment weighs several hundred tons; even a brief increase in load can damage the load-bearing wheels and steering gear. Therefore, it is essential to ensure that all load-bearing wheels are in contact with the ground during transportation. The three-degree-of-freedom hinge 21 has three degrees of freedom: pitch rotation, horizontal rotation, and horizontal plane swing. The three-degree-of-freedom hinge 21 does not strongly restrain the front end of the carrying flatbed 2. The front end of the carrying flatbed 2 can pitch and twist. When running on uneven road surfaces, the carrying flatbed 2 can change the posture of the load-bearing wheels set at its bottom by changing its own posture, so that the load-bearing wheels can always keep in contact with the uneven and changing roadway ground, thus avoiding damage to the carrying flatbed 2.

[0030] In one embodiment, the power steering device includes a power steering push rod, the movable end of which is hinged to the steering structure of the steering gear. The load wheels are arranged in pairs, with at least one pair of load wheels symmetrically arranged on the left and right sides of the support plate 223. Each load wheel is matched with an independent power steering device.

[0031] In one embodiment, the power steering device is a power steering hydraulic cylinder, and the power steering push rod is the cylinder rod of the power steering hydraulic cylinder. The fluid inlet and return system of a steering drive hydraulic cylinder 213 is connected to the fluid inlet and return system of the power steering hydraulic cylinder on the same side. The power steering hydraulic cylinder and the steering drive hydraulic cylinder 213 form a feedback loop. For example, when the power tractor 1 turns left, the left steering drive hydraulic cylinder 213 is compressed, and hydraulic fluid flows into the left power steering hydraulic cylinder, causing the cylinder rod of the power steering hydraulic cylinder to extend, pushing the left load wheel to increase its rotation angle. Meanwhile, the right steering drive hydraulic cylinder 213 extends to extract the hydraulic fluid from the right power steering hydraulic cylinder, and the hydraulic rod of the right power steering hydraulic cylinder shortens, pulling the right load wheel to rotate and increasing its rotation angle, and vice versa.

[0032] In one embodiment, the load-bearing wheel includes two hubs, which are symmetrically arranged on a hub mounting bracket. The hub mounting bracket is installed below the bearing plate 223. There are three pairs of load-bearing wheels, which are arranged sequentially from front to back.

[0033] In one embodiment, the rear end of the quick-connect fitting 214 is a horizontally arranged tongue-shaped plug with a first connecting hole. The front end of the movable plate 221 is provided with a recessed groove that matches the tongue-shaped plug. The upper end of the recessed groove is open, and the lower end is provided with a second connecting hole that matches the first connecting hole. The connecting pin passes through the first connecting hole and the second connecting hole.

[0034] In one embodiment, the sinkhole has wedge-shaped approach bridges on both sides, each with a forward-extending horizontal pin. A quick-connect fitting 214 has a matching pin socket. The approach bridges guide and assist the mining equipment 1000 onto the carrying flatbed, and the pins improve connection reliability.

[0035] In one embodiment, raised metal strips are provided on the upper surface of the approach bridge and the upper surface of the movable plate 221.

[0036] Example 2 like Figures 1a to 8b As shown, the present invention also provides a method for transporting underground mining equipment in coal mines, based on the aforementioned underground mining equipment transport vehicle, comprising the following steps: S1. Lower the movable flatbed 221 until it touches the ground, disconnect the connection between the three-degree-of-freedom hinge 21 and the movable flatbed 221, and disconnect the pipes and cables connecting the power tractor 1 to the flatbed 2. In this step, the pipes and cables to be disconnected include hydraulic pipes, power supply lines, and signal transmission lines. The ends of the pipes and cables in the power tractor 1 section are equipped with quick-connect male (female) connectors, and the ends of the pipes and cables in the flatbed 2 section are equipped with matching quick-connect female (male) connectors.

[0037] S2. The mining equipment 1000 moves onto the movable platform 221, completing the boarding process. Preferably, in this step, the mining equipment 1000 actively moves to board the vehicle. During boarding, the mining equipment 1000 first travels to the approach bridge, and after boarding the approach bridge, it further moves to board the movable platform 221. It is understood that the mining equipment 1000 can also be moved onto the movable platform 221 by passive handling.

[0038] S3. Reconnect the traction unit and the movable flatbed 221, reconnect the pipes and cables connecting the power tractor 1 to the flatbed 2, then lift the movable flatbed 221 off the ground, and start the power tractor 1 to begin transporting until it reaches the designated location. In this step, the distance between the movable flatbed 221 and the ground is generally controlled between 100 mm and 300 mm, and can be adjusted as needed in special road conditions.

[0039] S4. During the transport process in step S3, before the vehicle reaches the upper slope point of the lower obstacle or ramp, the movable plate 221 is raised until it passes through without contacting the lower obstacle or ramp. After passing through the upper slope point of the lower obstacle or ramp, the movable plate 221 is lowered to its original height. Before the vehicle reaches the upper obstacle, the movable plate 221 is lowered until it passes through without contacting the upper obstacle and without contacting the ground. After passing through the upper obstacle, the height of the movable plate 221 is raised to its original height.

[0040] S5. During the handling process in step S3, when the carrying flatbed trolley 2 turns, the power steering device is activated to drive the front and rear wheels of the carrying flatbed trolley 2 to perform all-wheel steering, achieving all-wheel steering based on the "Ackermann principle." The Ackermann principle, also known as Ackermann steering geometry, aims to ensure that when the vehicle turns at low speeds, the axes of all wheels approximately intersect the extension line of the rear axle. When a vehicle turns, it moves around a center point. The radius of the trajectory of the wheel closer to the center is smaller, while the radius of the trajectory of the wheel farther from the center is larger. If the two front wheels have the same steering angle, they will attempt to draw two circles of the same radius, which will cause severe slippage and scraping between the tires and the ground, exacerbating tire wear and resulting in inaccurate steering. Ackermann geometry achieves a state of pure rolling or near-pure rolling by allowing the inner wheel to rotate at a larger angle, enabling multiple wheels to roll smoothly around the same center point. Each steering wheel can turn according to a pre-set steering angle. The steering angle is determined by the dimensions of the carrying flatbed trolley 2, the shape of the aisle, and the available space.

[0041] It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0042] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A coal mine underground mining equipment transport vehicle, characterized in that: It includes a power tractor (1) and a load-bearing flatbed (2), wherein the load-bearing flatbed (2) includes a traction unit, a variable height load-bearing flatbed (22) and a multi-wheel load-bearing system (23). The variable height bearing plate (22) includes a movable plate (221), a connecting plate (222), and a bearing plate (223) arranged sequentially from front to back. The rear end of the movable plate (221) is hinged to the front end of the connecting plate (222), and the rear end of the connecting plate (222) is hinged to the front end of the bearing plate (223). The main body of the front pusher (224) is located below the connecting plate (222), and the extended end of the push rod of the front pusher (224) is hinged to the lower part of the movable plate (221). The main body of the rear pusher (225) is located below the bearing plate (223), and the extended end of the push rod of the rear pusher (225) is hinged to the lower part of the connecting plate (222). The front end of the movable plate (221) is connected to the traction end of the power tractor (1) through a traction unit. The traction unit can move with the front end of the movable plate (221). The multi-wheel load-bearing system (23) is located below the load-bearing plate (223). The multi-wheel load-bearing system (23) includes a load-bearing wheel, a steering gear for driving the load-bearing wheel to turn, and a steering assist device.

2. The coal mine underground mining equipment transport vehicle according to claim 1, characterized in that: The front pusher (224) is a front pusher hydraulic cylinder. The cylinder barrel of the front pusher hydraulic cylinder is located below the connecting plate (222). The extended end of the cylinder rod of the front pusher hydraulic cylinder is hinged to the lower part of the movable plate (221). There is at least one front pusher hydraulic cylinder. When there are at least two front pusher hydraulic cylinders, multiple front pusher hydraulic cylinders are arranged in parallel, and the extended ends of the cylinder rods of multiple front pusher hydraulic cylinders are flush. The rear pusher (225) is a rear pusher hydraulic cylinder. The cylinder barrel of the rear pusher hydraulic cylinder is located below the bearing plate (223). The extended end of the cylinder rod of the rear pusher hydraulic cylinder is hinged to the lower part of the connecting plate (222). There is at least one rear pusher hydraulic cylinder. When there are at least two rear pusher hydraulic cylinders, multiple rear pusher hydraulic cylinders are arranged in parallel, and the extended ends of the cylinder rods of multiple rear pusher hydraulic cylinders are flush.

3. The coal mine underground mining equipment transport vehicle according to claim 1, characterized in that: The traction unit is a three-degree-of-freedom articulated part (21), which includes a pitch connecting block (211), a slewing connecting block (212), a steering drive hydraulic cylinder (213), and a quick-connect component (214) arranged sequentially from front to back. The front end of the pitch connecting block (211) is horizontally hinged to the traction end of the power tractor (1), so that the three-degree-of-freedom hinge part (21) swings up and down in front of the power tractor (1). The front end of the rotary connecting block (212) is vertically hinged to the rear end of the pitch connecting block (211), so that the rotary connecting block (212) and the quick-connect fitting (214) swing left and right in front of the power tractor (1). The front end of the quick connector (214) is hinged to the rear end of the rotary connecting block (212), so that the quick connector (214) can rotate in the vertical plane, and the rear end of the quick connector (214) is fixedly connected to the front end of the carrying flatbed (2). The bottom of the cylinder body of the steering drive hydraulic cylinder (213) is hinged to the pitch connecting block (211), and the extended end of the cylinder rod of the steering drive hydraulic cylinder (213) is connected to the rotary connecting block (212). The steering drive hydraulic cylinder (213) is horizontally arranged, and the bottom of the cylinder body of the steering drive hydraulic cylinder (213) is located outside the extended end of the cylinder rod of the steering drive hydraulic cylinder (213). There are two steering drive hydraulic cylinders (213), and the two steering drive hydraulic cylinders (213) are symmetrically arranged on the left and right sides of the rotary connecting block (212).

4. The coal mine underground mining equipment transport vehicle according to claim 3, characterized in that: The steering assist device includes an assist push rod, the movable end of which is hinged to the steering structure of the steering gear. The load wheels are arranged in pairs, with at least one pair of load wheels symmetrically arranged on the left and right sides of the bearing plate (223). Each load wheel is matched with an independent steering assist device.

5. The coal mine underground mining equipment transport vehicle according to claim 4, characterized in that: The steering assist device is a power assist hydraulic cylinder, the power assist push rod is the cylinder rod of the power assist hydraulic cylinder, and the inlet and return fluid system of one of the steering drive hydraulic cylinders (213) is connected to the inlet and return fluid system of the power assist hydraulic cylinder on the same side.

6. The coal mine underground mining equipment transport vehicle according to claim 5, characterized in that: The load-bearing wheel includes two hubs, which are symmetrically arranged on a hub mounting bracket. The hub mounting bracket is installed below the bearing plate (223). There are three pairs of load-bearing wheels, which are arranged sequentially from front to back.

7. The coal mine underground mining equipment transport vehicle according to claim 3, characterized in that: The rear end of the quick-connect fitting (214) is a horizontally arranged tongue-shaped plug, and the tongue-shaped plug is provided with a first connecting hole. The front end of the movable plate (221) is provided with a recessed groove that matches the tongue-shaped plug. The upper end of the recessed groove is open, and the lower end is provided with a second connecting hole that matches the first connecting hole. The connecting pin passes through the first connecting hole and the second connecting hole.

8. The coal mine underground mining equipment transport vehicle according to claim 7, characterized in that: The sinking trough has wedge-shaped guide bridges on both sides, and the guide bridges are provided with forward-extending horizontal pins. The quick-connect fitting (214) has a matching insertion hole for the pins.

9. The coal mine underground mining equipment transport vehicle according to claim 8, characterized in that: The upper surface of the approach bridge and the upper surface of the movable plate (221) are provided with raised metal strips.

10. A method for transporting underground mining equipment in a coal mine, characterized in that: The coal mine underground mining equipment transport vehicle according to any one of claims 1 to 9 includes the following steps: S1. Lower the movable flatbed (221) until it touches the ground, disconnect the connection between the three-degree-of-freedom hinge (21) and the movable flatbed (221), and disconnect the pipes and cables connecting the power tractor (1) to the flatbed vehicle (2); S2. The mining equipment (1000) is moved onto the movable flatbed (221) to complete the loading process; S3. Reconnect the traction unit and the movable flatbed (221), reconnect the power traction vehicle (1) to the pipes and cables of the carrying flatbed vehicle (2), then lift the movable flatbed (221) so that the movable flatbed (221) is off the ground, and then start the power traction vehicle (1) to start transporting until it reaches the designated location. S4. During the transport process in step S3, before the vehicle reaches the upper slope of the obstacle or ramp below, the movable plate (221) is raised until it passes through without contacting the obstacle or ramp below. After passing through the obstacle or ramp below, the movable plate (221) is lowered to its original height. Before the vehicle reaches the obstacle above, the movable plate (221) is lowered until it passes through without contacting the obstacle above and without contacting the ground. After passing through the obstacle above, the height of the movable plate (221) is raised to its original height. S5. During the handling process in step S3, when the carrying flatbed truck (2) turns, the steering assist device is activated to drive the front and rear wheels of the carrying flatbed truck (2) to perform full-wheel steering, thereby realizing full-wheel steering based on the "Ackermann principle".

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