Underground auxiliary moving device

Abstract

The utility model provides an underground auxiliary moving device, which comprises a vehicle body, an auxiliary moving device, an auxiliary moving device and an auxiliary moving device, the distance measuring mechanism is arranged on the side, facing the moving equipment, of the carriage, the distance measuring mechanism comprises a traction rope and a displacement sensor, the traction rope is arranged between the displacement sensor and the moving equipment and extends in the horizontal direction, and the displacement sensor can detect the displacement amount of the traction rope so as to detect the distance between the vehicle body and the moving equipment; the energy supply mechanism is arranged in the cavity and comprises a battery pack and a hydraulic system, the battery pack is electrically connected with the hydraulic system, the hydraulic system is provided with a first hydraulic pipeline, the hydraulic system is in driving connection with the moving equipment through the first hydraulic pipeline, and the battery pack can be electrically connected with the moving equipment so as to supply power to the moving equipment. By means of the technical scheme, the problem that in the prior art, underground equipment is low in moving efficiency can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of coal mine equipment relocation, and particularly relates to an underground auxiliary relocation device. Background Art

[0002] Currently, as Figure 1 shown, when the underground equipment 01 is relocated and turned over, it is necessary to connect to a nearby power supply to provide driving force for it to walk underground. When the underground equipment 01 takes power from the power supply A02 and reaches near the power supply B03, it is necessary to retract the cable 05 from the power supply C02 and then take power from the power supply 03 again. When the relocation equipment reaches near the power supply 04, the above steps need to be repeated. In this way, the cable 05 is repeatedly retracted and released and connected and disconnected from different power supplies for relocation. This not only has a large workload and wastes manpower, but also makes the relocation efficiency of the underground equipment 01 relatively low. Summary of the Utility Model

[0003] The utility model provides an underground auxiliary relocation device to solve the problem of low relocation efficiency of underground equipment in the prior art.

[0004] The utility model provides an underground auxiliary relocation device, which includes: a vehicle body with a carriage having a cavity; a ranging mechanism arranged on one side of the carriage facing the relocation equipment, the ranging mechanism includes a towing rope and a displacement sensor, the towing rope is arranged between the displacement sensor and the relocation equipment and extends horizontally, and the displacement sensor can detect the displacement of the towing rope to detect the distance between the vehicle body and the relocation equipment; a power supply mechanism arranged in the cavity, the power supply mechanism includes a battery pack and a hydraulic system, the battery pack is electrically connected to the hydraulic system, the hydraulic system has a first hydraulic pipeline, and the hydraulic system is drivingly connected to the relocation equipment through the first hydraulic pipeline, and the battery pack can be electrically connected to the relocation equipment to supply power to the relocation equipment.

[0005] Further, the ranging mechanism includes: a support base arranged at one end of the carriage close to the relocation equipment, and the displacement sensor is arranged on the support base; a wire winding assembly arranged on the support base, and the wire winding assembly is used for winding or unwinding the towing rope.

[0006] Further, the ranging mechanism further includes: a horizontal swing joint movably connected to the support base through a rotating shaft, the towing rope is arranged through the horizontal swing joint, the extending direction of the horizontal swing joint is the same as that of the towing rope, and the horizontal swing joint can swing synchronously with the towing rope; an angle sensor arranged above the rotating shaft, and the angle sensor can detect the rotation angle of the rotating shaft.

[0007] Further, the power supply mechanism further includes an electronic control system. The battery pack is electrically connected to the electronic control system. The vehicle body further has a traveling part. The electronic control system is electrically connected to the displacement sensor, the angle sensor, and the traveling part respectively. The electronic control system can obtain the data detected by the displacement sensor and the angle sensor and control the operation of the traveling part according to the data.

[0008] Further, there are two sets of ranging mechanisms. The two sets of ranging mechanisms are arranged side by side in the horizontal direction on both sides of the vehicle body. Both sets of ranging mechanisms are electrically connected to the electronic control system.

[0009] Further, the electronic control system includes a controller. The electronic control system is electrically connected to the displacement sensor and the angle sensor through the controller. The vehicle body further includes two sets of traveling parts. The two sets of traveling parts are respectively arranged on both sides of the vehicle body along the traveling direction of the vehicle body. The traveling part is drivingly connected to the hydraulic system through a second hydraulic pipeline. An electromagnetic valve is arranged on the second hydraulic pipeline. The electromagnetic valve is electrically connected to the controller. The controller adjusts the traveling speeds of the two sets of traveling parts according to the data detected by the ranging mechanism.

[0010] Further, the electronic control system further includes an inverter. The battery pack is electrically connected to the inverter. The inverter is electrically connected to the relocation equipment through a cable.

[0011] Further, the hydraulic system includes a motor, a hydraulic pump, and an oil tank. The battery pack is electrically connected to the motor. The motor is drivingly connected to the hydraulic pump. The hydraulic pump has an oil suction port and an oil outlet. The oil suction port is communicated with the oil tank. The oil outlet is connected to the first hydraulic pipeline.

[0012] Further, the ranging mechanism further includes a safety chain. The safety chain is arranged between the carriage and the relocation equipment. The lengths of the cable and the first hydraulic pipeline are both greater than the length of the safety chain.

[0013] Further, the underground auxiliary relocation device further includes a hoisting mechanism. The hoisting mechanism is arranged on the vehicle body. The hoisting mechanism can hoist the battery pack.

[0014] Applying the technical solution of the present utility model, an energy supply mechanism is arranged inside the vehicle body. The hydraulic system in the energy supply mechanism can provide hydraulic energy for the relocation equipment through the first hydraulic pipeline to drive the relocation equipment to move underground. The energy supply mechanism forms a movable power source that can provide power for the relocation equipment in real time. In this way, the relocation equipment does not need to repeatedly retract and extend the cable and draw power from power sources at different positions during the walking process, simplifying the operation steps, reducing the waste of manpower, and thus improving the relocation efficiency of the relocation equipment. A distance measuring mechanism is also arranged on the vehicle body. The distance measuring mechanism includes a traction rope and a displacement sensor. The displacement of the traction rope can be detected through the displacement sensor, and then the distance between the vehicle body and the relocation equipment can be detected. In this way, the vehicle body and the relocation equipment can always maintain a relatively appropriate distance, ensuring the stability of the power provided by the energy supply mechanism and the stability of the walking of the relocation equipment, and further improving the relocation efficiency of the relocation equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings forming a part of this application are used to provide a further understanding of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0016] Figure 1 The relocation schematic diagram of underground equipment in the prior art is shown;

[0017] Figure 2 The relocation schematic diagram of the relocation equipment provided by the present utility model is shown;

[0018] Figure 3 The structural schematic diagram of the vehicle body provided by the present utility model is shown;

[0019] Figure 4 The top view schematic diagram of the connection between the vehicle body and the relocation equipment provided by the present utility model is shown.

[0020] Among them, the above-mentioned accompanying drawings include the following reference numerals:

[0021] 10, vehicle body; 11, carriage;

[0022] 20, distance measuring mechanism;

[0023] 21, traction rope;

[0024] 22, displacement sensor;

[0025] 23, safety chain;

[0026] 30, energy supply mechanism; 31, battery pack;

[0027] 32, hydraulic system; 321, first hydraulic pipeline;

[0028] 33. Electric control system;

[0029] 331. Controller; 332. Inverter;

[0030] 333. Cable;

[0031] 40. Traveling part;

[0032] 50. Hoisting mechanism;

[0033] 60. Fastener;

[0034] 100. Relocation equipment;

[0035] 01. Underground equipment; 02. Power supply A;

[0036] 03. Power supply B; 04. Power supply C;

[0037] 05. Cable. Detailed implementation manners

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way constitutes a limitation on the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0039] As Figures 2 to 4 shown, the present invention provides an underground auxiliary relocation device, and the underground auxiliary relocation device includes: a vehicle body 10, a ranging mechanism 20, and an energy supply mechanism 30. Among them, the vehicle body 10 has a carriage 11, and the carriage 11 has a cavity. The ranging mechanism 20 is arranged on the side of the carriage 11 facing the relocation equipment 100. The ranging mechanism 20 includes a towing rope 21 and a displacement sensor 22. The towing rope 21 is arranged between the displacement sensor 22 and the relocation equipment 100 and extends in the horizontal direction. The displacement sensor 22 can detect the displacement amount of the towing rope 21 to detect the distance between the vehicle body 10 and the relocation equipment 100. The energy supply mechanism 30 is arranged in the cavity. The energy supply mechanism 30 includes a battery pack 31 and a hydraulic system 32. The battery pack 31 is electrically connected to the hydraulic system 32. The hydraulic system 32 has a first hydraulic pipeline 321. The hydraulic system 32 is drivingly connected to the relocation equipment 100 through the first hydraulic pipeline 321. The battery pack 31 can be electrically connected to the relocation equipment 100 to supply power to the relocation equipment 100. Among them, the other end of the towing rope 21 is fixed to the relocation equipment 100 through a fastener 60.

[0040] Applying the technical solution of the present utility model, an energy supply mechanism 30 is arranged inside the vehicle body 10. The hydraulic system 32 in the energy supply mechanism 30 can provide hydraulic energy for the relocation equipment 100 through the first hydraulic pipeline 321 to drive the relocation equipment 100 to move and travel underground in the mine. The energy supply mechanism 30 forms a movable power source that can provide power for the relocation equipment 100 in real time. In this way, the relocation equipment 100 does not need to repeatedly retract and release the cable to obtain power from power sources at different positions during the walking process, which simplifies the operation steps, reduces the waste of manpower, and further improves the relocation efficiency of the relocation equipment 100. A ranging mechanism 20 is also arranged on the vehicle body 10. The ranging mechanism 20 includes a traction rope 21 and a displacement sensor 22. The displacement of the traction rope 21 can be detected through the displacement sensor 22, and then the distance between the vehicle body 10 and the relocation equipment 100 can be detected. In this way, the vehicle body 10 and the relocation equipment 100 can always maintain a relatively appropriate distance, ensuring the stability of the power provided by the energy supply mechanism 30 and the stability of the walking of the relocation equipment 100, and further improving the relocation efficiency of the relocation equipment 100.

[0041] Among them, in this embodiment, the relocation equipment 100 can be any equipment that can be driven to travel by hydraulic pressure underground in the mine, such as a roadheader, a full-face roadheader, a bolter jumbo, etc. In other embodiments, the relocation equipment 100 can also be an electric traction device. The voltage that the battery pack 31 can provide can be 3300 kv, 1140 kv, etc. Different specifications of the battery pack 31 can be selected according to the actual working conditions.

[0042] Specifically, the traction rope 21 can be a steel wire rope or a nylon rope, etc.

[0043] In this embodiment, the relocation equipment 100 travels in front of the vehicle body 10. In other embodiments of the present application, the relocation equipment 100 can also travel behind the vehicle body 10.

[0044] Specifically, the ranging mechanism 20 includes: a support seat and a wire winding assembly. Among them, the support seat is arranged at one end of the carriage 11 close to the relocation equipment 100, and the displacement sensor 22 is arranged on the support seat. In this way, the traction rope 21 is completely arranged between the vehicle body 10 and the relocation equipment 100. Compared with the traction rope 21 being arranged on the side of the vehicle body 10, the above setting of the present application enables the traction rope 21 to better reflect the distance between the vehicle body 10 and the relocation equipment 100. The wire winding assembly is arranged on the support seat, and the wire winding assembly is used to wind or release the traction rope 21. In this way, the flexibility of the arrangement of the traction rope 21 is improved. In this embodiment, the appropriate distance between the vehicle body 10 and the relocation equipment 100 is not limited, and the distance between the vehicle body 10 and the relocation equipment 100 can be adjusted according to the actual roadway size.

[0045] Furthermore, the ranging mechanism 20 further includes: a horizontal swing joint and an angle sensor. The horizontal swing joint is movably connected to the support base through a rotating shaft. The towing rope 21 is arranged through the horizontal swing joint. The extending direction of the horizontal swing joint is the same as that of the towing rope 21, and the horizontal swing joint can swing synchronously with the towing rope 21. By providing the horizontal swing joint, the convenience of detecting the swing angle of the towing rope 21 is improved. The angle sensor is arranged above the rotating shaft. The angle sensor can detect the rotation angle of the rotating shaft. When the traveling directions of the vehicle body 10 and the relocation device 100 are not on the same axis, the towing rope 21 will swing in the horizontal direction. At this time, the towing rope 21 will drive the horizontal rotating joint to swing together, and transmit the swing angle of the towing rope 21 to the angle sensor through the rotating shaft, with a simple structure. And through the setting of the angle sensor, the swing angle of the towing rope 21 relative to the relocation device 100 during the movement of the vehicle body 10 can be monitored, so that when the vehicle body 10 is not in the same traveling direction as the relocation device 100, it can be detected in time by the angle sensor, and measures can be taken to prevent the vehicle body 10 from hitting the side wall of the roadway.

[0046] Among them, the power supply mechanism 30 further includes an electronic control system 33. The battery pack 31 is electrically connected to the electronic control system 33. The vehicle body 10 further has a traveling part 40, and the traveling part 40 can drive the vehicle body 10 to move and travel. The electronic control system 33 is electrically connected to the displacement sensor 22, the angle sensor and the traveling part 40 respectively. The electronic control system 33 can obtain the data detected by the displacement sensor 22 and the angle sensor and control the operation of the traveling part 40 according to the data. Through the above settings, the electronic control system 33 can not only receive the detection data of the displacement sensor 22 and the angle sensor, but also control the traveling part 40 according to the detection data. When the electronic control system 33 receives the detection data that the distance between the vehicle body 10 and the relocation device 100 is too close, the electronic control system 33 can control the traveling part 40 to increase the traveling speed to prevent the vehicle body 10 from colliding with the relocation device 100. When the electronic control system 33 receives the detection data that the distance between the vehicle body and the relocation device 100 is too far, the electronic control system 33 can control the traveling part 40 to reduce the traveling speed to prevent the distance between the vehicle body 10 and the relocation device 100 from being too far and affecting the power supply.

[0047] Specifically, there are two sets of ranging mechanisms 20, which are arranged side by side in the horizontal direction on both sides of the vehicle body 10. Both sets of ranging mechanisms 20 are electrically connected to the electric control system 33. The two towing ropes 21 are arranged side by side and parallel in the horizontal direction. Through the above arrangement, the two sets of ranging mechanisms 20 can simultaneously detect the displacement of the two towing ropes 21. In this way, when the displacements of the two towing ropes 21 are different, it can reflect that the traveling direction of the vehicle body 10 has deviated, and the traveling directions of the vehicle body 10 and the relocation equipment 100 are no longer on the same axis. At this time, the electric control system 33 can be used to control the traveling part 40 in time, so that the traveling part 40 reduces the traveling speed or stops running, so as to adjust the traveling direction of the vehicle body 10, so that the vehicle body 10 can smoothly follow the relocation equipment 100 to move.

[0048] In the present application, the electric control system 33 includes a controller 331. The electric control system 33 is electrically connected to the displacement sensor 22 and the angle sensor through the controller 331. The vehicle body 10 further includes two sets of traveling parts 40, which are respectively arranged on both sides of the vehicle body 10 along the traveling direction of the vehicle body 10. The traveling part 40 is drivingly connected to the hydraulic system 32 through a second hydraulic pipeline. An electromagnetic valve is arranged on the second hydraulic pipeline, and the electromagnetic valve is electrically connected to the controller 331. The controller 331 adjusts the traveling speeds of the two sets of traveling parts 40 according to the data detected by the ranging mechanism 20. Through the above arrangement, when the controller 331 receives different detection data from the two displacement sensors 22 or the two angle sensors on both sides, the controller 331 will respectively control the traveling speeds of the traveling parts 40 on both sides of the vehicle body, so that the detection data of the two displacement sensors 22 or the two angle sensors are the same.

[0049] Further, the traveling part 40 can be a sprocket, a roller or a tire.

[0050] Among them, in this embodiment, before the relocation auxiliary equipment starts to work, a preset minimum distance value between the vehicle body 10 and the relocation equipment 100 will be input into the controller. When the vehicle body 10 follows the relocation equipment 100 to travel, the controller will monitor and compare the two displacement sensors 22 in real time. When the detection data fed back by the two displacement sensors 22 are not equal, the controller will adjust the traveling speeds of the traveling parts 40 on both sides until the detection data of the two displacement sensors 22 are the same.

[0051] Specifically, when the detection data of the displacement sensor 22 on one side is small, the traveling speed of the corresponding traveling part 40 on that side can be increased through the controller 331.

[0052] In this embodiment, the controller is a programmable logic controller.

[0053] Among them, the electric control system 33 further includes an inverter 332. The battery pack 31 is electrically connected to the inverter 332, and the inverter 332 is electrically connected to the relocation device 100 through a cable 333. By setting the inverter 332, the direct current output by the battery pack 31 is converted into alternating current for the use of the relocation device 100. Specifically, the cable 333 can be electrically connected to components such as lighting devices and control power supplies on the relocation device 100.

[0054] Among them, the ends of the cable 333 and the first hydraulic pipeline 321 are both quick-connect joints, which facilitates the installation and replacement of the circuit.

[0055] Furthermore, the hydraulic system 32 includes a motor, a hydraulic pump, and an oil tank. The battery pack 31 is electrically connected to the motor, the motor is drivingly connected to the hydraulic pump. The hydraulic pump has an oil suction port and an oil outlet. The oil suction port is communicated with the oil tank, and the oil outlet is connected to the first hydraulic pipeline 321. In this way, the energy supply mechanism supplies hydraulic energy to the relocation device 100. Among them, the traveling part 40 is drivingly connected to the hydraulic pump through a second hydraulic pipeline.

[0056] In this solution, the ranging mechanism 20 further includes a safety chain 23. The safety chain 23 is arranged between the carriage 11 and the relocation device 100. The lengths of the cable 333 and the first hydraulic pipeline 321 are both greater than the length of the safety chain 23. Through the above settings, it can be avoided that the distance between the vehicle body 10 and the relocation device 100 is too far, resulting in the cable 333 or the first hydraulic pipeline 321 being torn off, and the stable supply of the power source of the vehicle body 10 is ensured.

[0057] Furthermore, the underground auxiliary relocation device further includes a hoisting mechanism 50. The hoisting mechanism 50 is arranged on the vehicle body 10, and the hoisting mechanism 50 can hoist the battery pack 31. Through the above settings, the convenience of replacing the battery pack 31 is improved, and manpower is saved. Specifically, the hoisting mechanism 50 is a jib and is drivingly connected to the hydraulic system 32.

[0058] It should be noted that the terms used here are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0059] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present utility model. At the same time, it should be understood that, for the sake of convenience in description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the description. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0060] In the description of the present utility model, it should be understood that the orientation or positional relationships indicated by orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc. are usually based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Without contrary statements, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the protection scope of the present utility model; the orientation terms "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0061] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "above-mentioned", etc. can be used here to describe the spatial positional relationships between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations should be made for the spatial relative descriptions used here.

[0062] In addition, it should be noted that the use of words such as "first", "second", etc. to limit components is only for the convenience of distinguishing the corresponding components. Without otherwise stating, the above words have no special meanings, and thus cannot be construed as limiting the protection scope of the present utility model.

[0063] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An underground auxiliary relocation device, characterized in that: The underground auxiliary relocation device comprises: A vehicle body (10) having a vehicle box (11), wherein the vehicle box (11) has a cavity; a distance measuring mechanism (20) arranged on a side of the vehicle body (11) facing the relocation equipment (100), the distance measuring mechanism (20) comprising a traction rope (21) and a displacement sensor (22), the traction rope (21) being arranged between the displacement sensor (22) and the relocation equipment (100) and extending in a horizontal direction, the displacement sensor (22) being capable of detecting the displacement of the traction rope (21) to detect the distance between the vehicle body (10) and the relocation equipment (100); An energy supply mechanism (30) is arranged in the cavity, the energy supply mechanism (30) comprises a battery pack (31) and a hydraulic system (32), the battery pack (31) is electrically connected to the hydraulic system (32), the hydraulic system (32) has a first hydraulic pipeline (321), the hydraulic system (32) is drivingly connected to the relocation device (100) via the first hydraulic pipeline (321), and the battery pack (31) can be electrically connected to the relocation device (100) to supply power to the relocation device (100).

2. The underground auxiliary relocation device according to claim 1, characterized in that: The distance measuring mechanism (20) comprises: A support seat, arranged at one end of the vehicle box (11) close to the relocation equipment (100), and the displacement sensor (22) is arranged on the support seat; A winding assembly is arranged on the support seat, and the winding assembly is used to reel in or unwind the traction rope (21).

3. The underground auxiliary relocation device according to claim 2, characterized in that: The distance measuring mechanism (20) further comprises: A horizontal swing joint is movably connected to the support seat via a rotating shaft, the traction rope (21) is passed through the horizontal swing joint, the extension direction of the horizontal swing joint is the same as the extension direction of the traction rope (21), and the horizontal swing joint can swing synchronously with the traction rope (21); An angle sensor is arranged above the rotating shaft, and the angle sensor can detect the rotation angle of the rotating shaft.

4. The underground auxiliary relocation device according to claim 3, characterized in that: The energy supply mechanism (30) further comprises an electric control system (33), the battery pack (31) being electrically connected to the electric control system (33), the vehicle body (10) further comprising a walking part (40), the electric control system (33) being electrically connected to the displacement sensor (22), the angle sensor and the walking part (40) respectively, and the electric control system (33) being capable of acquiring data detected by the displacement sensor (22) and the angle sensor and controlling the operation of the walking part (40) according to the data.

5. The underground auxiliary relocation device according to claim 4, characterized in that: The distance measuring mechanisms (20) have two groups, and the two groups of distance measuring mechanisms (20) are arranged side by side on both sides of the vehicle body (10) in a horizontal direction, and the two groups of distance measuring mechanisms (20) are electrically connected to the electric control system (33).

6. The underground auxiliary relocation device according to claim 5, characterized in that: The electric control system (33) comprises a controller (331), and the electric control system (33) is electrically connected to the displacement sensor (22) and the angle sensor through the controller (331). The vehicle body (10) further comprises two groups of walking parts (40), and the two groups of walking parts (40) are respectively arranged on both sides of the vehicle body (10) along the travel direction of the vehicle body (10). The walking parts (40) are connected to the hydraulic system (32) by driving through a second hydraulic pipeline, and a solenoid valve is arranged on the second hydraulic pipeline, and the solenoid valve is electrically connected to the controller (331). The controller (331) adjusts the travel speed of the two groups of walking parts (40) according to the data detected by the distance measuring mechanism (20).

7. The underground auxiliary relocation device according to claim 4, characterized in that: The electric control system (33) further comprises an inverter (332), the battery pack (31) is electrically connected to the inverter (332), and the inverter (332) is electrically connected to the relocation device (100) via a cable (333).

8. The underground auxiliary relocation device according to claim 1, characterized in that: The hydraulic system (32) comprises a motor, a hydraulic pump and an oil tank, the battery pack (31) is electrically connected to the motor, the motor is drivingly connected to the hydraulic pump, the hydraulic pump has an oil suction port and an oil outlet, the oil suction port is connected to the oil tank, and the oil outlet is connected to the first hydraulic pipeline (321).

9. The underground auxiliary relocation device according to claim 7, characterized in that: The distance measuring mechanism (20) further comprises a safety chain (23), wherein the safety chain (23) is arranged between the vehicle box (11) and the relocation equipment (100), and the lengths of the cable (333) and the first hydraulic pipeline (321) are both greater than the length of the safety chain (23).

10. The underground auxiliary relocation device according to claim 1, characterized in that: The underground auxiliary relocation device further comprises a hoisting mechanism (50), wherein the hoisting mechanism (50) is arranged on the vehicle body (10), and the hoisting mechanism (50) is capable of hoisting the battery pack (31).

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