CN206012708U - Underground coal mine automatic driving vehicle transfer - Google Patents
Underground coal mine automatic driving vehicle transfer Download PDFInfo
- Publication number
- CN206012708U CN206012708U CN201621047802.9U CN201621047802U CN206012708U CN 206012708 U CN206012708 U CN 206012708U CN 201621047802 U CN201621047802 U CN 201621047802U CN 206012708 U CN206012708 U CN 206012708U
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- CN
- China
- Prior art keywords
- steering
- right turn
- left steering
- drive mechanism
- worm screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of underground coal mine automatic driving vehicle transfer, including left steering wheel, right turn wheel, steering wheel power drive mechanism, left steering power drive mechanism and right turn power drive mechanism；Steering wheel power drive mechanism is included the first steering column and is connected to the decelerator of the first steering column bottom by clutch, the second steering column is connected with reducer output shaft, steering wheel is connected with the top of first steering column, the side of the first steering column is provided with steering wheel rotary electric machine, first steering column is provided with first gear, is connected with second gear on steering wheel rotary electric machine output shaft；The bottom of the second steering column is connected with rack and pinion steering gear, and left steering power drive mechanism includes left steering worm screw, left steering actuating motor and left steering turbine；Right turn power drive mechanism includes right turn worm screw, right turn actuating motor and right turn turbine.The utility model reduces labor strength, improves underground coal mine conevying efficiency, safe.
Description
Technical field
The utility model belongs to the intelligent vehicles technology field, and in particular to a kind of underground coal mine automatic driving vehicle is turned to
Device.
Background technology
At present, colliery is one of most important energy of China, and colliery is always in the production of China primary energy for a long time
Occupy sizable proportion.Although which is non-renewable and has occurred in that the trend for increasingly lacking at present, and following tens
Year coal remains the main energy sources and basic industry for supporting China's economic growth and social progress.It is well known that current coal
Mining conditions very severe, along with a lot of danger, safe coal production liability accident frequently occurs.The coal mining of China
The gap that technology also has this very big with World Developed Countries, China's coal-mine fatality rate per million tons are more than the 100 of world average level
Times.At present in external advanced technology, melting to few people and adopting or the development of unmanned direction of extraction, such as existing
In the assistant conveyance mode of transporting equipment, material and personnel, World Developed Countries are more to be transported using railless free-wheeled vehicle.Due to
Traditional Transportation mode has that operation link is more, travelling speed is slow, benefit is low, accident is more, more than occupancy personnel and equipment and safely,
The problems such as mobility and poor adaptability.Traditional means of transportation becomes a weakness of restriction coal in China production development
Link.Railless free-wheeled vehicle travelling speed is fast, transport capacity big, can save assistant conveyance personnel in a large number and improve Transportation Efficiency
Rate.The cost of transportation of railless free-wheeled vehicle coal per ton is also 1/10th of Traditional Transportation mode, and railless free-wheeled vehicle transport can
To greatly reduce quantity and the labour intensity of workman, so from for other side, also improving Coal Transportation safety.
But, the environment of underground coal mine is more severe, and much the mining depth in collieries reaches hundreds of meters at present for China, for nothing
The pavement behavior that rail rubber-tired cart is travelled is bad, but also can face great Po and Chang Po.A lot of large coal mines are gone into the well in tunnel, workman
It is frequently necessary to the continual driving railless free-wheeled vehicle of long-time and travels more than ten kilometers, the operation intensity of workman is quite big, therefore produces
The phenomenon of raw fatigue driving is inevitable, and due to the pavement conditions and lighting condition of coal mine down-hole tunnel all bad, trackless
The accident of rubber-tired cart also frequently occurs, and causes serious impact to the personal safety of workman and the production safety in colliery.In order to
Problem above is solved, people start to develop underground coal mine automatic driving vehicle, and in prior art, also lack simple structure, set
Meter rationally, realize convenient, job stability and reliability is high, practical, using effect is good underground coal mine automatic driving car
With transfer.
Utility model content
Technical problem to be solved in the utility model is for above-mentioned deficiency of the prior art, there is provided a kind of colliery
Down-hole automatic driving vehicle transfer, its simple structure are reasonable in design, realize convenient and low cost, using easy to operate,
The labour intensity of staff is reduced, underground coal mine conevying efficiency is improve, safe, functional reliability is high, practicality
By force, using effect is good, is easy to promote the use of.
For solving above-mentioned technical problem, the technical solution adopted in the utility model is：A kind of underground coal mine automatic driving car
With transfer, it is characterised in that：Including being separately positioned on the left steering wheel of the underground coal mine automatic driving vehicle left and right sides
With right turn wheel, and steering wheel power drive mechanism, left steering power drive mechanism and right turn power drive mechanism；Described
Steering wheel power drive mechanism is included the first steering column and is connected to the decelerator of the first steering column bottom by clutch, described
The second steering column is connected with the output shaft of decelerator, is connected with steering wheel at the top of first steering column, described first turn
The side of post is provided with steering wheel rotary electric machine, on first steering column, is provided with first gear, the steering wheel is rotated
The second gear engaged with first gear is connected with the output shaft of motor；The bottom of second steering column is connected with gear teeth
Bar formula steering gear, left steering worm screw that the left steering power drive mechanism includes being connected with rack and pinion steering gear, described
Left steering wheel is connected with left steering worm screw by left steering connecting rod, and the side of the left steering worm screw is provided with left steering and executes electricity
Machine, is fixedly connected with the left steering turbine being meshed with left steering worm screw on the output shaft of the left steering actuating motor；Described
Right turn power drive mechanism includes the right turn worm screw being connected with rack and pinion steering gear, the right turn wheel by turning right
It is connected to connecting rod with right turn worm screw, the side of the right turn worm screw is provided with right turn actuating motor, and the right turn is held
The right turn turbine being meshed with right turn worm screw is fixedly connected with the output shaft of row motor.
Above-mentioned underground coal mine automatic driving vehicle transfer, it is characterised in that：The clutch is open type
Dry-type multidisc electromagnetic clutch.
Above-mentioned underground coal mine automatic driving vehicle transfer, it is characterised in that：The steering wheel rotary electric machine, a left side
Turn to actuating motor and right turn actuating motor is brshless DC motor.
The utility model has advantages below compared with prior art：
1st, simple structure of the present utility model, reasonable in design, realizes convenient and low cost.
2nd, of the present utility model using easy to operate.
3rd, the utility model coordinates the automatic control system of underground coal mine automatic driving vehicle to use, and can realize coal mine
The self-steering of lower automatic driving vehicle, reduces staff's long-duration driving in the complicated coal mine down-hole tunnel of road conditions
Working strength, improves underground coal mine conevying efficiency, and the peril that can avoid causing due to operated by personnel's error.
4th, when the utility model coordinates the automatic control system of underground coal mine automatic driving vehicle to use, when automatically controlling it is
There is failure or when staff will carry out hand control in system, can achieve manually operated turn by controlling clutch and connecting
To improve the security of this transfer.
5th, functional reliability of the present utility model is high, and practical, using effect is good, is easy to promote the use of.
In sum, simple structure of the present utility model, reasonable in design, realizes convenient and low cost, using easy to operate,
The labour intensity of staff is reduced, underground coal mine conevying efficiency is improve, safe, functional reliability is high, practicality
By force, using effect is good, is easy to promote the use of.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Description of the drawings
Fig. 1 is structural representation of the present utility model.
Description of reference numerals:
1 steering wheel；2 steering wheel rotary electric machines；3 left steering wheels；
4 right turn wheels；5 second gears；6 right turn worm screws；
7 left steering turbines；8 left steering worm screws；9 left steering actuating motors；
10 rack and pinion steering gears；11 left steering connecting rods；12 second steering columns；
13 decelerators；14 clutches；15 first steering columns；
16 first gears；17 right turn connecting rods；18 right turn actuating motors；
19 right turn turbines.
Specific embodiment
Underground coal mine automatic driving vehicle transfer as shown in Figure 1, including be separately positioned on underground coal mine nobody
Drive the left steering wheel 3 and right turn wheel 4 of left and right vehicle wheel both sides, and steering wheel power drive mechanism, left steering power transmission
Mechanism and right turn power drive mechanism；The steering wheel power drive mechanism includes the first steering column 15 and by clutch 14
The decelerator 13 of 15 bottom of the first steering column is connected to, the second steering column 12, institute on the output shaft of the decelerator 13, is connected with
The top for stating the first steering column 15 is connected with steering wheel 1, and the side of first steering column 15 is provided with steering wheel rotary electric machine
2, first gear 16 is provided with first steering column 15, is connected with and on the output shaft of the steering wheel rotary electric machine 2
The second gear 5 of the engagement of one gear 16；The bottom of second steering column 12 is connected with rack and pinion steering gear 10, the left side
Steering power transmission mechanism includes the left steering worm screw 8 being connected with rack and pinion steering gear 10, the left steering wheel 3 by a left side
Steering link 11 is connected with left steering worm screw 8, and the side of the left steering worm screw 8 is provided with left steering actuating motor 9, the left side
It is fixedly connected with, on the output shaft for turning to actuating motor 9, the left steering turbine 7 being meshed with left steering worm screw 8；The right turn
Power drive mechanism includes that the right turn worm screw 6 being connected with rack and pinion steering gear 10, the right turn wheel 4 pass through right turn
Connecting rod 17 is connected with right turn worm screw 6, and the side of the right turn worm screw 6 is provided with right turn actuating motor 18, the right-hand rotation
The right turn turbine 19 being meshed with right turn worm screw 6 is fixedly connected with the output shaft of actuating motor 18.
In the present embodiment, dry-type multidisc electromagnetic clutch of the clutch 14 for open type.During use, when automatically controlling
During system worked well, dry-type multidisc electromagnetic clutch is open mode, and two ends are not in contact with when automatic control system has event
When barrier or staff will carry out hand control, produce magnetic field to electromagnetic clutch coil electricity, electromagnetic clutch two ends, produce
Raw the suction-combining force, clutch two ends engage.
In the present embodiment, the steering wheel rotary electric machine 2, left steering actuating motor 9 and right turn actuating motor 18 are
Brshless DC motor.Due to usually occurring in coal mine down-hole tunnel that the fuel gas such as gas, brshless DC motor will not be produced
Commutation spark, meets the security requirement of underground coal mine, is suitable for used in coal mine down-hole tunnel, and brshless DC motor knot
Structure is simple, and functional reliability is high.
When the utility model is used, when external automatic control system normal work, automatic control system is according to the external world
Environmental data and the displacement Data Control transfer carry out self-steering, and detailed process is：Automatic control system sends
Control signal is to steering wheel rotary electric machine 2, left steering actuating motor 9 and right turn actuating motor 18,9 band of left steering actuating motor
Dynamic left steering turbine 7 rotates, and left steering turbine 7 drives left steering worm screw 8 to rotate, and left steering worm screw 8 passes through left steering connecting rod 11
Left steering wheel 3 is driven to rotate；Right turn actuating motor 18 drives right turn turbine 19 to rotate, and right turn turbine 19 drives right turn
Worm screw 6 rotates, and right turn worm screw 6 drives right turn wheel 4 to rotate by right turn connecting rod 17；Steering wheel rotary electric machine 2 drives the
Two gears 5 rotate, and second gear 5 drives first gear 16 to rotate, and first gear 16 drives the first steering column 15 to rotate, first turn
Drive steering wheel 1 to rotate to post 15, realize self-steering.When automatic control system has failure or staff will enter pedestrian
When work is manipulated, decelerator 13 is connected by the 14 two ends engagement of automatic control system control clutch, clutch 14 with the first steering column 15
It is connected together, now, operates steering wheel 1, steering wheel 1 to drive the first steering column 15 to rotate, the first steering column 15 drives decelerator
13 rotate, and decelerator 13 drives the second steering column 12 to rotate, and the second steering column 12 drives rack and pinion steering gear 10 to rotate, tooth
Rack-and-pinion steering-gear 10 drives left steering worm screw 8 or right turn worm screw 6 to rotate, and left steering worm screw 8 passes through left steering connecting rod 11
Left steering wheel 3 is driven to rotate, right turn worm screw 6 drives right turn wheel 4 to rotate by right turn connecting rod 17, it is achieved that artificial operation
Turn to, improve the security of this transfer.
The above, is only preferred embodiment of the present utility model, not the utility model is imposed any restrictions, every
Any simple modification, change and the equivalent structure change that above example is made according to the utility model technical spirit, still
Belong in the protection domain of technical solutions of the utility model.
Claims (3)
1. a kind of underground coal mine automatic driving vehicle transfer, it is characterised in that：Including be separately positioned on underground coal mine without
People drives the left steering wheel (3) and right turn wheel (4) of left and right vehicle wheel both sides, and steering wheel power drive mechanism, left steering are dynamic
Force transmission mechanism and right turn power drive mechanism；The steering wheel power drive mechanism includes the first steering column (15) and passes through
Clutch (14) is connected to the decelerator (13) of the first steering column (15) bottom, is connected with the output shaft of decelerator (13)
Second steering column (12), is connected with steering wheel (1), the side of the first steering column (15) at the top of the first steering column (15)
Side is provided with steering wheel rotary electric machine (2), is provided with first gear (16) on the first steering column (15), and the steering wheel turns
The second gear (5) engaged with first gear (16) is connected with the output shaft of dynamic motor (2)；Second steering column (12)
Bottom is connected with rack and pinion steering gear (10), and the left steering power drive mechanism includes and rack and pinion steering gear
(10) the left steering worm screw (8) that connects, the left steering wheel (3) are connected with left steering worm screw (8) by left steering connecting rod (11),
The side of left steering worm screw (8) is provided with left steering actuating motor (9), the output shaft of left steering actuating motor (9)
On be fixedly connected with the left steering turbine (7) being meshed with left steering worm screw (8)；The right turn power drive mechanism include with
Right turn worm screw (6) that rack and pinion steering gear (10) connects, the right turn wheel (4) by right turn connecting rod (17) with right
Steering screw (6) connects, and the side of right turn worm screw (6) is provided with right turn actuating motor (18), and the right turn is held
The right turn turbine (19) being meshed with right turn worm screw (6) is fixedly connected with the output shaft of row motor (18).
2. according to the underground coal mine automatic driving vehicle transfer described in claim 1, it is characterised in that：The clutch
(14) it is the dry-type multidisc electromagnetic clutch of open type.
3. according to the underground coal mine automatic driving vehicle transfer described in claim 1, it is characterised in that：The steering wheel
Rotary electric machine (2), left steering actuating motor (9) and right turn actuating motor (18) are brshless DC motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621047802.9U CN206012708U (en) | 2016-09-12 | 2016-09-12 | Underground coal mine automatic driving vehicle transfer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621047802.9U CN206012708U (en) | 2016-09-12 | 2016-09-12 | Underground coal mine automatic driving vehicle transfer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206012708U true CN206012708U (en) | 2017-03-15 |
Family
ID=58259949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621047802.9U Expired - Fee Related CN206012708U (en) | 2016-09-12 | 2016-09-12 | Underground coal mine automatic driving vehicle transfer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206012708U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229199A (en) * | 2017-07-11 | 2019-01-18 | 大众汽车有限公司 | Multi-functional steering column, motor vehicle and the method for running motor vehicle |
| CN113226891A (en) * | 2021-01-13 | 2021-08-06 | 华为技术有限公司 | Wire control independent steering mechanism with redundancy function and control method |
-
2016
- 2016-09-12 CN CN201621047802.9U patent/CN206012708U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229199A (en) * | 2017-07-11 | 2019-01-18 | 大众汽车有限公司 | Multi-functional steering column, motor vehicle and the method for running motor vehicle |
| US11459024B2 (en) | 2017-07-11 | 2022-10-04 | Volkswagen Ag | Multifunctional steering column, transportation vehicle, and method for operating a transportation vehicle |
| CN113226891A (en) * | 2021-01-13 | 2021-08-06 | 华为技术有限公司 | Wire control independent steering mechanism with redundancy function and control method |
| WO2022150998A1 (en) * | 2021-01-13 | 2022-07-21 | 华为技术有限公司 | Steer-by-wire independent steering mechanism having redundancy function and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170315 Termination date: 20170912 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |