Mining explosion-proof lithium battery remote control carrier

Abstract

The utility model discloses a mining explosion-proof lithium battery remote control carrier, and relates to the technical field of mining transport vehicles. The carrier comprises a frame, a carriage, a walking part, a power system, a hoisting system, a control module and an environment sensing system. The lithium battery is used for supplying energy, the motor drives the hydraulic pump to provide power for the whole vehicle, rapid battery replacement or charging operation is supported, and the lithium battery can be rapidly replaced within 5-10 minutes; an environment sensing system is adopted to realize anti-collision and accurate positioning; in addition, the carrying vehicle further has the advantages of being high in escape capacity, high in motor heat dissipation efficiency and the like.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of mine transport vehicle, concretely relates to a mine explosion -proof lithium electric remote control carrier. BACKGROUND

[0002] With the promotion of intelligent and unmanned operation of coal mine, the demand for remote control operation vehicle is increasing. In the prior art, most of the mine carriers are driven by diesel, which has strong torque output and can easily cope with the complex floor conditions in the mine under full load, ensuring efficient and stable material transportation. However, the large amount of exhaust gas generated during the operation of the diesel engine contains particulate matter and nitrogen oxides, which will seriously affect the air quality in the mine and threaten the health of miners. At the same time, the high cost of diesel fuel is rising with the fluctuation of oil prices, and the maintenance of the equipment requires professional technology and high cost, which greatly increases the operating cost of the enterprise. The Chinese utility model patent with the publication number CN214989832U uses this structure. In addition, the Chinese utility model patent with the publication number CN218536919U discloses a new energy mine track carrier, which uses a charging and discharging source as the energy of the carrier and outputs power through the motor. Compared with the traditional diesel engine as the power source, the noise is relatively small, there is no exhaust pollution, energy saving and emission reduction, safety and environmental protection; compared with the traditional motor using external power supply, there is no need to drag the cable. However, due to the short working duration of the battery, frequent charging is required, and each charging time is relatively long, resulting in low work efficiency.

[0003] Therefore, there is an urgent need for a green and environmentally friendly mine explosion -proof lithium electric remote control carrier that can realize fast replacement of lithium battery, emergency braking and remote control operation. CONTENT OF THE UTILITY MODEL

[0004] In view of the above shortcomings of the prior art, the utility model discloses a mine explosion -proof lithium electric remote control carrier, which uses lithium battery power supply, provides whole vehicle power through motor driven hydraulic pump, supports quick battery replacement or charging operation, and can quickly replace lithium battery within 5-10 minutes; adopt environmental perception system, realize anti -collision and accurate positioning; in addition, the carrier also has the characteristics of strong escape ability, high motor heat dissipation efficiency and the like.

[0005] According to the utility model discloses a kind of mine explosion -proof lithium electric remote control carrier, including frame, carriage, walking part, power system, hoisting system, control module and environmental perception system;

[0006] The frame is used to install the equipment inside the carrier and the carriage;

[0007] The carriage is placed on the frame, and a plurality of lifting eyes are arranged in the carriage for quick hoisting of the carriage in cooperation with a crane;

[0008] The walking part comprises a track chassis, and the frame is fixedly installed on the track chassis;

[0009] The power system comprises a lithium battery, a power assembly, a motor controller and a plurality of hydraulic actuators; the lithium battery is installed in a limiting seat, and the limiting seat is fixedly installed on the frame; a pressing plate is horizontally arranged above the lithium battery, both ends of the pressing plate are arranged in a sliding groove arranged on the frame, and the pressing plate can move horizontally in the sliding groove to press or release the lithium battery;

[0010] The lifting system is arranged above the frame and comprises a vertical arm, a fixed arm, a telescopic arm and a lifting hook; one end of the vertical arm is fixedly connected to the frame, and the other end is movably connected to the fixed arm; a hydraulic cylinder for driving the fixed arm to pitch is arranged between the vertical arm and the fixed arm; one end of the fixed arm away from the vertical arm is slidably connected to the telescopic arm; a hydraulic cylinder for driving the telescopic arm to perform telescopic operation is arranged between the telescopic arm and the fixed arm; one end of the telescopic arm away from the fixed arm is movably connected to the lifting hook;

[0011] The control module comprises a control box and a multi-way valve; the control box is arranged beside the carrier and is arranged in a cover of the control box and fixedly connected to the frame; the multi-way valve is arranged on one side of the vertical arm;

[0012] The environment sensing system comprises a vehicle-mounted radar, a camera, a methane sensor, a photoelectric alarm and a UWB vehicle locator; the vehicle-mounted radar is used for detecting obstacles in the tunnel and measuring the distance between the vehicle and the obstacles; the camera is used for collecting image information of the front and rear of the carrier in real time; the methane sensor is used for detecting the methane concentration in the underground environment and triggering an alarm when the methane concentration exceeds a limit; the photoelectric alarm is used for prompting the working state of the vehicle in the tunnel; and the UWB vehicle locator is used for positioning the position of the vehicle in the tunnel in real time.

[0013] Preferably, the car body is connected to the frame through a bolt; and the lifting rings are uniformly distributed on the inner side of the car body.

[0014] Preferably, the power assembly comprises a motor, a shaft coupling, a bell-shaped cover and a plunger pump; the power assembly is installed on a motor base through bolts, and the motor base is fixedly connected to the frame; and the motor base is provided with a damping layer.

[0015] Preferably, the carrier further comprises a heat dissipation structure; the heat dissipation structure comprises a water tank and a water pump; the water tank is arranged at the bottom of the carrier and fixedly connected to the frame; the motor is a water-cooled motor and is provided with a water-cooling channel inside; the water tank is connected to the water-cooling channel inside the motor through an external pipeline, and the water pump is arranged on the external pipeline and fixedly connected to the frame.

[0016] Preferably, four diagonal positions of the carrier are respectively provided with supporting legs, and the supporting legs are frog type supporting legs and are movably connected with the frame.

[0017] Compared with the prior art, the mine explosion-proof lithium battery remote control carrier has the advantages that:

[0018] (1) The utility model discloses a lithium battery as energy supply, replace traditional fuel power system, significantly reduce the tail gas emission in the mine transportation operation, have good environmental protection performance.

[0019] (2) The utility model discloses a modular lithium battery cooperates quick insertion type electric connection port design, combines the quick lifting structure of car compartment, can realize the quick disassembly of battery without the help of complex tool, greatly shorten the replacement time, satisfy the demand of high frequency, continuous operation in the underground operation;Lithium battery limit seat is fixed on the frame through bolt, and has the function of guiding, can guide the battery to go up and down in the vertical direction, ensure the guiding stability and alignment accuracy in the process of battery loading and unloading, reduce the manual alignment error;The pressing plate is connected with the frame through the sliding groove structure, supports horizontal direction sliding, realizes the quick compression and release of battery, and the operation is simple, and the reliability is high, avoids the battery loosening or displacement phenomenon in operation.

[0020] (3) The utility model discloses a motor controller and multiway valve cooperative work can realize the accurate control to hoist, walking, supporting leg and other actuators, and the operation is flexible, and the degree of automation is high;The mode of electric drive + hydraulic output reduces the loss in energy conversion chain, compared with traditional power system has higher energy efficiency ratio, prolongs the endurance time, and reduces the operation cost;The power system is compatible with remote control and manual double control mode, is suitable for intelligent remote control, also can be switched to manual intervention operation when man-machine communication is not smooth, improves the adaptability and fault tolerance of system whole.

[0021] (4) The utility model discloses the integrated environmental perception system, realizes the real -time detection and distance measurement to the obstacle in the roadway through vehicle-mounted radar, combines the front and rear image information of camera acquisition, significantly improves the barrier -free ability and driving safety of carrier in narrow, sight limited environment, can realize obstacle identification and environmental structure modeling simultaneously, is convenient for operator to master the periphery condition of vehicle remotely, reserves the basic condition for intelligent auxiliary driving system;UWB vehicle locator is installed in control box, has centimeter level positioning accuracy, can realize accurate monitoring to the running track and position of carrier in the roadway, is helpful to the operation of dispatching system implementation path optimization, task allocation and emergency avoidance. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical scheme of the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0023] Figure 1 The structure schematic diagram when the present application is not provided with the cover plate.

[0024] Figure 2 The structure schematic diagram when the present application is not provided with the cover plate.

[0025] Figure 3 The rear view when the present application is not provided with the cover plate.

[0026] Figure 4 The top view of the mine explosion-proof lithium battery remote control carrier.

[0027] Figure 5 The frog type supporting leg unfolding schematic diagram.

[0028] Figure 6 The lithium battery installation schematic diagram.

[0029] Figure 7 The structure schematic diagram of the power assembly.

[0030] Figure 8 The bottom view of the mine explosion-proof lithium battery remote control carrier.

[0031] In the drawings:

[0032] 1-carriage; 2-carriage; 3-vertical arm; 4-control box cover; 5-track chassis; 6-fixed arm; 7-telescopic arm; 8-hanging hook; 9-hanging ring; 10-supporting leg; 11-cover plate; 12-vehicle-mounted radar; 13-water tank; 14-camera; 15-lithium battery; 16-limiting seat; 17-pressing plate; 18-power assembly; 181-plunger pump; 182-clock cover; 183-coupling; 184-motor; 19-motor controller; 20-control box; 21-multi-way valve; 22-multi-way valve pull rod; 23-oil tank; 24-power assembly base; 25-water pump; 26-photoelectric alarm; 27-methane sensor. DETAILED DESCRIPTION

[0033] The specific embodiments of the present application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0034] Figures 1-8 The preferred embodiments of the present application are shown, and a detailed analysis is made.

[0035] Embodiment 1

[0036] As Figure 1-5 shown, a mine explosion-proof lithium battery remote control carrier includes a frame 1, a carriage 2, a walking part, a power system, a hoisting system, a control module and an environment sensing system.

[0037] The frame 1 is used for installing the equipment inside the carrier and the carriage 2. The carrier is covered with a cover plate 11 around the four sides, and the cover plate 11 is fixed on the frame 1 by bolts. The walking part includes a crawler chassis 5. The frame 1 is the main load-bearing structure of the whole vehicle and is rigidly connected with the crawler chassis 5 through a bolt set. Four frog type legs are installed at the four corners of the carrier. The frog type legs are hingedly connected with the frame 1 by a pin shaft. The carriage 2 is placed on the frame 1 and is used for carrying materials during the carrying process. A quick latch mechanism is arranged on the frame 1 and is positioned and matched with the bottom of the carriage 2 to form a self-locking detachable connection. A plurality of forged lifting rings 9 are uniformly distributed in the inside of the carriage 2 and are used for cooperating with a crane to quickly lift the carriage 2.

[0038] The power system adopts a modular new energy architecture and includes a lithium battery 15, a power assembly 18, a motor controller 19 and a plurality of hydraulic actuators. As Figure 6 shown, the lithium battery 15 is fixedly installed on the frame 1 by a limiting seat 16. Two pressing plates 17 are horizontally arranged above the lithium battery 15. The two ends of the pressing plates 17 are arranged in the sliding grooves arranged on the frame 1 and can move horizontally in the sliding grooves to press or release the lithium battery 15. The quick plug-in electrical connection interface cooperates with the carriage 2 lifting device to work together and can complete the overall replacement of the lithium battery 15 within 10 minutes. Figure 7As shown, the power assembly 18 includes a motor 184, a shaft coupling 183, a bell housing 182 and a plunger pump 181; the power assembly 18 connects the motor 184 and the plunger pump 181 through the shaft coupling 183, the lithium battery 15 provides power for the motor 184, the motor 184 drives the plunger pump 181 through the shaft coupling 183 to realize hydraulic energy supply; the plunger pump 181 provides hydraulic oil for the multi-way valve 21, the multi-way valve 21 is used for controlling the lifting, walking and leg 10 action of the vehicle; the hydraulic oil output by the multi-way valve 21 finally flows back to the oil tank 23, forming an open hydraulic circuit. The power assembly 18 is installed on the motor 184 base by bolts, the motor 184 base is fixedly connected with the vehicle frame 1 by bolts, and a rubber pad with shock absorption function is arranged below the motor 184 base.

[0039] The lifting system is arranged above the vehicle frame 1 and includes a vertical arm 3, a fixed arm 6, a telescopic arm 7 and a lifting hook 8; one end of the vertical arm 3 is fixedly connected with the vehicle frame 1, the other end is movably connected with the fixed arm 6 through a pin shaft, and a hydraulic oil cylinder for driving the fixed arm 6 to pitch is arranged between the vertical arm 3 and the fixed arm 6; the end of the fixed arm 6 away from the vertical arm 3 is slidably connected with the telescopic arm 7, a hydraulic oil cylinder for driving the telescopic arm 7 to extend and retract is arranged between the telescopic arm 7 and the fixed arm 6; the end of the telescopic arm 7 away from the fixed arm 6 is movably connected with the lifting hook 8, and the lifting hook 8 is arranged above the vehicle compartment 2 and is used for realizing the lifting operation of the materials in the vehicle compartment 2.

[0040] The control module includes a control box 20 and a multi-way valve 21. The control box 20 is fixedly arranged on one side of the vehicle frame 1 and communicates with the multi-way valve 21 through a cable, the multi-way valve 21 forms a control loop with the hydraulic execution unit, and the multi-way valve 21 is fixedly connected with the vehicle frame 1 by bolts. The multi-way valve 21 is an explosion-proof electric proportional multi-way valve 21, which is controlled in real time by a PWM signal to realize precise adjustment of the output flow; the multi-way valve 21 is provided with an emergency manual valve rod for manual operation in case of communication signal failure.

[0041] The environment perception system includes a vehicle-mounted radar 12, a camera 14, a methane sensor 27, a photoelectric alarm 26 and a UWB vehicle locator. The vehicle-mounted radar 12 and the camera 14 are installed on the front and rear sides of the carrier and are rigidly connected with the vehicle frame 1; the methane sensor 27 is arranged on both sides of the crane, the photoelectric alarm 26 is integrated on the top of the vehicle frame 1, and the UWB vehicle locator is built-in in the control box 20; each sensor realizes signal transmission with the control box 20 through a bus. The vehicle-mounted radar 12 is used for detecting obstacles in the tunnel and measuring the distance between the obstacles; the camera 14 is used for collecting image information in front and rear of the carrier in real time; the methane sensor 27 is used for detecting the methane concentration in the underground environment and triggering an alarm when it exceeds the limit; the photoelectric alarm 26 has sound and light alarm functions and is used for prompting the working state of the vehicle in the tunnel; the UWB vehicle locator is used for positioning the position of the vehicle in the tunnel in real time.

[0042] Example 2

[0043] As Figure 8 shown, the rest is the same as example 1, except that:

[0044] The mine explosion-proof lithium battery remote control carrier also includes a heat dissipation structure for heat dissipation of the motor 184, and the heat dissipation structure includes a water tank 13 and a water pump 25; the water tank 13 is located at the bottom of the carrier and is fixedly connected with the frame 1 through bolts; the motor 184 is a water-cooled motor, and an internal water-cooling channel is arranged therein; the water tank 13 is connected with the internal water-cooling channel of the motor 184 through an external pipeline, and the water pump 25 is arranged on the external pipeline and is fixedly connected with the frame 1.

[0045] The basic working principle of the mine explosion-proof lithium battery remote control carrier is as follows: after an operator presses the explosion-proof starting button, the lithium battery 15 starts to supply power to the motor controller 19 and the control box 20. The lithium battery 15 with a voltage of 320V supplies stable power to the motor 184 with a working voltage of 380V through the motor controller 19. After the motor 184 is powered on, it rotates and drives the plunger pump 181 to operate through the shaft coupling 183 and the bell-shaped cover 182, so as to drive the hydraulic system to work. The plunger pump 181 extracts hydraulic oil from the oil tank 23, filters the hydraulic oil through the filter, controls the hydraulic oil through the multi-way valve 21, and finally returns to the oil tank 23, thereby forming an open hydraulic circuit. By manually or remotely operating the multi-way valve pull rod 22 on the multi-way valve 21, the switching of each reversing valve in the multi-way valve 21 can be realized, the on-off of the corresponding oil circuit is controlled, and the functions of the vehicle, such as walking, hoisting and leg 10 folding and unfolding, are realized. At the same time, the control box 20 controls the water pump 25 to work, extracts the cooling liquid from the water tank 13, and flows into the water-cooling channel in the motor controller 19 and the motor 184 through the external pipeline, thereby completing the effective heat dissipation of the power system.

[0046] The above description of the disclosed embodiments enables a person skilled in the art to implement and use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit and scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will be consistent with the widest scope of the principles and novel features disclosed herein.

Claims

1. A mining explosion-proof lithium battery remote-controlled transport vehicle, characterized in that, It includes a frame (1), a carriage (2), a running gear, a power system, a hoisting system, a control module, and an environmental perception system; The frame (1) is used to install the equipment and the carriage (2) inside the transport vehicle; The carriage (2) is placed on the frame (1), and multiple lifting rings (9) are provided inside the carriage (2) to cooperate with the crane to achieve rapid lifting of the carriage (2); The walking unit includes a tracked chassis (5), and the frame (1) is fixedly mounted on the tracked chassis (5); The power system includes a lithium battery (15), a powertrain (18), a motor controller (19), and multiple hydraulic actuators; the lithium battery (15) is installed in a limiting seat (16) under the carriage (2), and the limiting seat (16) is fixedly installed on the frame (1); a pressure plate (17) is placed horizontally above the lithium battery (15), and the two ends of the pressure plate (17) are placed in the sliding grooves provided on the frame (1), and can move horizontally in the sliding grooves to press or release the lithium battery (15); The hoisting system is located above the vehicle frame (1) and includes a vertical boom (3), a fixed boom (6), a telescopic boom (7), and a hook (8). One end of the vertical boom (3) is fixedly connected to the vehicle frame (1), and the other end is movably connected to the fixed boom (6). A hydraulic cylinder for driving the fixed boom (6) to pitch is provided between the vertical boom (3) and the fixed boom (6). The end of the fixed boom (6) away from the vertical boom (3) is slidably connected to the telescopic boom (7). A hydraulic cylinder for driving the telescopic boom (7) to extend and retract is provided between the telescopic boom (7) and the fixed boom (6). The end of the telescopic boom (7) away from the fixed boom (6) is movably connected to the hook (8). The control module includes a control box (20) and a multi-way valve (21); the control box (20) is located on the side of the transport vehicle, inside the control box cover (4), and is fixedly connected to the frame (1); the multi-way valve (21) is located on one side of the boom (3); The environmental perception system includes a vehicle-mounted radar (12), a camera (14), a methane sensor (27), a photoelectric alarm (26), and a UWB vehicle locator. The vehicle-mounted radar (12) is used to detect obstacles in the tunnel and measure the distance between the vehicle and the obstacles. The camera (14) is used to collect image information of the front and rear of the transport vehicle in real time. The methane sensor (27) is used to detect the methane concentration in the underground environment and trigger an alarm when the concentration exceeds the limit. The photoelectric alarm (26) is used to indicate the operating status of the vehicle in the tunnel. The UWB vehicle locator is used to locate the position of the vehicle in the tunnel in real time.

2. The mining explosion-proof lithium battery remote control transport vehicle according to claim 1, characterized in that, The carriage (2) is connected to the frame (1) by a pin; the lifting rings (9) are evenly distributed on the inside of the carriage (2).

3. The mining explosion-proof lithium battery remote control transport vehicle according to claim 1, characterized in that, The powertrain (18) includes a motor (184), a coupling (183), a bell housing (182), and a plunger pump (181); the powertrain (18) is bolted to the base of the motor (184), and the base of the motor (184) is fixedly connected to the frame (1); the base of the motor (184) is provided with a shock-absorbing pad layer.

4. The mining explosion-proof lithium battery remote-controlled transport vehicle according to claim 1, characterized in that, The transport vehicle also includes a heat dissipation structure; the heat dissipation structure includes a water tank (13) and a water pump (25); the water tank (13) is located at the bottom of the transport vehicle and is fixedly connected to the frame (1); the motor (184) is a water-cooled motor with an internal water-cooling channel; the water tank (13) is connected to the internal water-cooling channel of the motor (184) through an external pipeline; the water pump (25) is located on the external pipeline and is fixedly connected to the frame (1).

5. A mining explosion-proof lithium battery remote-controlled transport vehicle according to claim 1, characterized in that, The transport vehicle is equipped with outriggers (10) at the four opposite corners. The outriggers (10) are frog-shaped outriggers and are movably connected to the frame (1).

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