CN219055907U - Full-floating oil gas shock-absorbing buffer system suitable for underground trackless vehicle - Google Patents

Abstract

The utility model provides a full-floating oil gas shock-absorbing buffer system suitable for an underground trackless vehicle, which belongs to the technical field of underground trackless vehicles and comprises a bidirectional full-floating swing frame, a shock-absorbing buffer hydraulic cylinder, an energy accumulator, an electrohydraulic integrated control valve and a controller; the bidirectional full-floating swing frame comprises a swing frame I, a swing frame II, a connecting frame and a connecting seat. The technical problem that the front and rear wheels relatively bounce due to the fact that the front and rear heights of the road surface are uneven can be effectively solved, bidirectional buffering is achieved, the rigidity (hardness) of the shock absorbing and buffering system can be dynamically adjusted according to the road surface condition, and severe jolting of a vehicle in the running process is effectively reduced.

Description

Full-floating oil gas shock-absorbing buffer system suitable for underground trackless vehicle

Technical Field

The utility model belongs to the technical field of underground trackless vehicles, and particularly discloses a full-floating oil gas shock-absorbing buffer system suitable for an underground trackless vehicle.

Background

The pavement condition in the mine underground roadway is poor, and the pits are uneven. When the underground trackless vehicle runs in the roadway, although the running speed is basically lower than 20km/h, the underground trackless vehicle is still subverted and violent, even wheels are suspended, so that the four wheels are not firmly grabbed, the driving force of the vehicle is affected, the driving experience of a driver and passengers is extremely uncomfortable, and the physical and psychological health and the working efficiency of personnel are affected.

CN201769881U discloses a swinging frame of an underground trackless vehicle, which can enable the swinging bridge to swing around the longitudinal central axis of the vehicle, so as to solve the problem that the left and right wheels relatively bounce due to the left and right uneven road surface, but fail to effectively improve the situation that the front and rear wheels relatively bounce due to the front and rear uneven road surface.

Disclosure of Invention

The utility model provides a full-floating oil gas shock-absorbing buffer system suitable for an underground trackless vehicle, which can effectively solve the technical problem that front and rear wheels relatively bounce due to uneven front and rear sides of a road surface, realize bidirectional buffer, dynamically adjust the rigidity (hardness) of the shock-absorbing buffer system according to the condition of the road surface, and effectively reduce severe jolt of the vehicle in the running process.

The full-floating oil gas shock-absorbing buffer system suitable for the underground trackless vehicle comprises a bidirectional full-floating swing frame, a shock-absorbing buffer hydraulic cylinder, an energy accumulator, an electrohydraulic integrated control valve and a controller; the bidirectional full-floating swing frame comprises a swing frame I, a swing frame II, a connecting frame and a connecting seat; the swing frame I comprises an axle mounting frame and a swing axle I; the swing shaft I is positioned on the center vertical line of the wheel axle mounting frame, and the first end of the swing shaft I is fixedly connected with the wheel axle mounting frame; the swing frame II is perpendicular to the swing shaft I, is provided with a front-back through shaft hole I, the left end and the right end of the swing frame II are swing shafts II, and the shaft hole I is rotationally connected with the second end of the swing shaft I through a bearing I; the connecting frame comprises a connecting plate I parallel to the swinging frame II and side plates arranged on the left side and the right side of the connecting plate I, and the side plates on the left side and the right side are fixed above the connecting plate I and are used for being connected with frames on the left side and the right side; the two groups of connecting seats are fixed on the left side and the right side of the connecting plate I, are positioned below the connecting plate I, and are provided with shaft holes II which are communicated left and right, and the shaft holes II are rotationally connected with the swinging shaft II through bearings II; the two groups of shock-absorbing buffer hydraulic cylinders are positioned on the left side and the right side of the swing frame II, are provided with displacement sensors, the bottom ends of the two groups of shock-absorbing buffer hydraulic cylinders are hinged with the swing frame I, and the top ends of the two groups of shock-absorbing buffer hydraulic cylinders are connected with the frame; the energy accumulator is a gas type energy accumulator filled with gas with preset pressure, and the oil port is connected with the oil port of the shock-absorbing buffer hydraulic cylinder through an electrohydraulic integrated control valve; the displacement sensor and the electrohydraulic integrated control valve are controlled by a controller.

Further, the full-floating oil gas shock absorbing and buffering system suitable for the underground trackless vehicle further comprises a touch display screen connected with the controller.

Further, the controller is a PLC controller.

Further, the bidirectional full-floating swing frame also comprises a gland I and an O-shaped ring I; the wheel axle mounting frame comprises a box frame, a concave top plate and a concave bottom plate, wherein the concave top plate and the concave bottom plate are arranged at the top and the bottom of the box frame; the box-shaped frame is perpendicular to the swing shaft I and is provided with a shaft hole III which is communicated front and back; the openings of the concave top plate and the concave bottom plate are positioned at the front side or the rear side of the box frame, and a wheel axle installation space is arranged between the concave top plate and the concave bottom plate; the gland I is arranged on the box frame through a bolt, and the end face of the shaft hole III facing the wheel shaft is sealed; the first end of the swinging shaft I passes through the shaft hole III and is connected with the gland I through a bolt; the O-shaped ring I is arranged in an annular groove of the swinging shaft I and is used for sealing a gap between the swinging shaft I and the shaft hole III.

Further, the bidirectional full-floating swing frame also comprises an oil seal seat I and an oil seal I; the swing frame II is provided with a lubricating oil hole communicated with a shaft hole I, and two bearings I are arranged in the shaft hole I; the second end of the swinging shaft I passes through the bearing I; the oil seal seat I is arranged in a shaft hole I of the swing frame II and is positioned between the end face of the shaft hole I and the bearing I; the oil seal I is arranged on the oil seal seat I and used for sealing a gap between the shaft hole I and the swinging shaft I.

Further, the bidirectional full-floating swing frame also comprises a distance sleeve I, an oil seal II, a retainer ring, an annular end cover, an O-shaped ring II, a distance sleeve II, an oil seal III and a gland II; the connecting seat comprises a connecting plate II which is connected with the connecting plate I and a bearing seat which is vertical to the connecting plate II, the shaft hole II is positioned on the bearing seat, the bearing seat is provided with a lubricating oil hole which is communicated with the shaft hole II, and two bearings II are arranged in the shaft hole II; the distance sleeve I is arranged in the shaft hole II and is positioned between the two bearings II; the oil seal II is arranged in the shaft hole II through a check ring and is used for sealing a gap between the shaft hole II and the swinging shaft II, and the check ring is positioned between the oil seal II and the end face of the shaft hole II, which faces the swinging shaft I; the annular end cover is fixed on the shaft hole II through a bolt, faces the frame, compresses the bearing II, and is provided with an O-shaped ring II between the bearing II and the shaft hole II, and the O-shaped ring II is used for sealing a gap between the shaft hole II and the annular end cover; the distance sleeve II is arranged in the annular end cover, an oil seal III is arranged between the outer wall and the annular end cover, the inner wall is flush with the inner wall of the bearing II and the inner wall of the distance sleeve I, and the oil seal III is used for sealing a gap between the distance sleeve II and the annular end cover; the swinging shaft II passes through the oil seal II, the bearing II, the distance sleeve I and the distance sleeve II; the gland II is fixedly connected with the swinging shaft II through a bolt, and the end face of the annular end cover, which faces the frame, is closed.

Further, the connecting plate I and the connecting plate II are connected through bolts.

Further, a triangular rib plate is arranged between the connecting plate I and the side plate.

The utility model has the following beneficial effects:

1. in the full-floating oil gas shock absorbing buffer system suitable for the underground trackless vehicle, the swing frame I is positioned on the longitudinal central axis of the vehicle, the swing frame I and the swing frame II form a cross shaft structure, when the left and right sides of the road surface are uneven, the swing frame I swings in a rotary way, so that the left and right wheels swing in a rotary way around the central axis of the swing frame I, when the front and rear sides of the road surface are uneven, the swing frame II swings in a rotary way, so that the left and right wheels swing in a rotary way around the central axis of the swing frame II, the suspension of the wheels is better avoided, the stability and the traction of the center of gravity of the vehicle in the running process are ensured, and the shock absorbing effect is achieved;

2. the system has the advantages of full floating, bidirectional buffering, accurate sensing, accurate transmission and feedback, flexible and convenient assembly on the frame, and no influence on the overall design layout of the vehicle;

3. the rigidity (hardness) of the shock absorbing buffer system can be adjusted according to road conditions, the body feeling and habit of drivers and passengers;

4. the active buffering and shock absorbing device is convenient to install and simple to maintain, really achieves the active buffering and shock absorbing function of the underground trackless vehicle, and is not only suitable for the field of the underground trackless vehicle, but also suitable for the field of other off-highway walking mechanical equipment.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is an overall view of a fully floating oil and gas shock absorbing buffer system suitable for use in a trackless vehicle in the pit;

FIG. 2 is a schematic diagram of the structure of a bi-directional full floating swing frame and shock absorbing buffer cylinders;

FIG. 3 is a front view of the swing frame I;

FIG. 4 is a side view of FIG. 3;

FIG. 5 is a cross-sectional view taken along the direction A-A in FIG. 3;

FIG. 6 is a front view of swing frame II;

FIG. 7 is a cross-sectional view taken in the direction B-B of FIG. 6;

FIG. 8 is a front view of the connector frame;

FIG. 9 is a front view of the connector base;

fig. 10 is a cross-sectional view taken along the direction C-C in fig. 9.

In the figure: 1-a swinging frame I; 1.1-a swinging shaft I; 1.2-a box frame; 1.3-concave bottom plate; 2-a swinging frame II; 2.1-shaft hole I; 2.2-a swinging shaft II; 3-connecting frames; 3.1-connecting plate I; 3.2-side plates; 3.3-rib plates; 4-connecting seats; 4.1-shaft hole II; 4.2-connecting plate II; 4.3-bearing seats; 5-bearing I; 6-a bearing II; 7-a gland I; 8-O-shaped ring I; 9-a bolt; 10-an oil seal seat I; 11-oil seal I; 12-distance sleeve I; 13-oil seal II; 14-check ring; 15-an annular end cap; 16-O-shaped ring II; 17-distance sleeve II; 18-oil seal III; 19-a gland II; 20-a shock-absorbing buffer hydraulic cylinder; 21-an accumulator; 22-electrohydraulic integrated control valve; 23-a controller; 24-touching the display screen; 101-an axle; 102-tyre; 103-a frame; 104-drive axle.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In this embodiment, the front direction is the front direction, the rear direction is the rear direction, and the tires on two sides are left and right.

The embodiment provides a full-floating oil gas shock-absorbing buffer system suitable for an underground trackless vehicle, which comprises a bidirectional full-floating swing frame, a shock-absorbing buffer hydraulic cylinder 20, an energy accumulator 21, an electrohydraulic integrated control valve 22, a controller 23 and a touch display screen 24.

The bidirectional full-floating swing frame comprises a swing frame I1, a swing frame II 2, a connecting frame 3 and a connecting seat 4; the swing frame I1 comprises a wheel shaft mounting frame and a swing shaft I1.1; the swinging shaft I1.1 is positioned on the middle vertical line of the wheel axle mounting frame, and the first end is fixedly connected with the wheel axle mounting frame; the swing frame II 2 is perpendicular to the swing shaft I1.1, is provided with a front-back through shaft hole I2.1, the left end and the right end of the swing frame are provided with the swing shaft II 2.2, and the shaft hole I2.1 is rotationally connected with the second end of the swing shaft I1.1 through a bearing I5; the connecting frame 3 comprises a connecting plate I3.1 parallel to the swinging frame II 2 and side plates 3.2 arranged on the left side and the right side of the connecting plate I3.1, and the side plates 3.2 on the left side and the right side are fixed above the connecting plate I3.1 and are used for being connected with the frames 103 on the left side and the right side; the two groups of connecting seats 4 are fixed on the left side and the right side of the connecting plate I3.1, are positioned below the connecting plate I3.1, are provided with shaft holes II 4.1 which are communicated left and right, and the shaft holes II 4.1 are rotationally connected with the swinging shaft II 2.2 through a bearing II 6; the bearing adopts a tapered roller bearing.

The swing frame I and the swing frame II form a cross shaft structure, so that the ground clearance of the vehicle can be ensured, the gravity center height of the vehicle is not increased, and the trafficability and adaptability of the whole vehicle are well balanced. The whole reasonable stress condition enables the bidirectional full-floating swing frame to reduce the phenomena of welding, fracture, abrasion and the like, which influence the service life and safe operation. The rolling pairs are respectively designed in the longitudinal direction and the transverse direction of the vehicle, tapered roller bearings are arranged in the rolling pairs, the rolling pairs bear large load and rotate flexibly, good lubrication and sealing are easy to realize, abrasion is not easy, maintenance is easy and convenient, and the working efficiency is greatly improved.

Further, the bidirectional full-floating swing frame suitable for the underground trackless vehicle further comprises a gland I7 and an O-shaped ring I8; the wheel axle mounting frame comprises a box frame 1.2 and a concave top plate and a concave bottom plate 1.3 which are arranged at the top and the bottom of the box frame 1.2; the box-type frame 1.2 is perpendicular to the swing shaft I1.1 and is provided with a shaft hole III which is communicated front and back; the openings of the concave top plate and the concave bottom plate 1.3 are positioned at the front side or the rear side of the box-shaped frame 1.1, an axle installation space is formed between the concave top plate and the concave bottom plate 1.3, and an axle 101 passes through the axle installation space; the gland I7 is arranged on the box frame 1.2 through a bolt 9, and the end face of the closed shaft hole III, which faces the wheel axle 101; the first end of the swinging shaft I1.1 passes through the shaft hole III and is connected with the gland I7 through the bolt 9 so as to be fixedly connected with the wheel shaft mounting frame; the O-shaped ring I8 is arranged in the annular groove of the swinging shaft I1.1 and is used for sealing a gap between the swinging shaft I1.1 and the shaft hole III.

Further, the bidirectional full-floating swing frame suitable for the underground trackless vehicle further comprises an oil seal seat I10 and an oil seal I11; the swing frame II 2 is provided with a lubricating oil hole communicated with the shaft hole I2.1, two bearings I5 are arranged in the shaft hole I2.1, and lubricating oil can be poured into the shaft hole I2.1 through the lubricating oil hole to lubricate the bearings I5; the second end of the swinging shaft I1.1 passes through the bearing I5; the oil seal seat I10 is arranged in the shaft hole I2.1 of the swing frame II 2 and is positioned between the end face of the shaft hole I2.1 and the bearing I5; the oil blanket I11 is installed on oil blanket seat I10 for seal the gap between shaft hole I2.1 and the oscillating axle I1.1, prevent that lubricating oil from revealing and dust from getting into in the shaft hole I2.1.

Further, the bidirectional full-floating swing frame suitable for the underground trackless vehicle further comprises a distance sleeve I12, an oil seal II 13, a retainer ring 14, an annular end cover 15, an O-shaped ring II 16, a distance sleeve II 17, an oil seal III 18 and a gland II 19; the connecting seat 4 comprises a connecting plate II 4.2 used for being connected with the connecting plate I3.1 and a bearing seat 4.3 perpendicular to the connecting plate II 4.2, the shaft hole II 4.1 is positioned on the bearing seat 4.3, a lubricating oil hole communicated with the shaft hole II 4.1 is arranged on the bearing seat 4.3, and two bearings II 6 are arranged in the shaft hole II 4.1; the distance sleeve I12 is arranged in the shaft hole II 4.1 and is positioned between the two bearings II 6; the oil seal II 13 is arranged in the shaft hole II 4.1 through a retainer ring 14 and is used for sealing a gap between the shaft hole II 4.1 and the swinging shaft II 2.2, and the retainer ring 14 is positioned between the oil seal II 13 and the end face of the shaft hole II 4.1 facing the swinging shaft I1.1; the annular end cover 15 is fixed on the shaft hole II 4.1 through a bolt 9, faces the frame 103, compresses the bearing II 6, and is provided with an O-shaped ring II 16 between the bearing II and the shaft hole II 4.1, and the O-shaped ring II 16 is used for sealing a gap between the shaft hole II 4.1 and the annular end cover 15; the distance sleeve II 17 is arranged in the annular end cover 15, an oil seal III 18 is arranged between the outer wall and the annular end cover 15, the inner wall is flush with the inner wall of the bearing II 6 and the inner wall of the distance sleeve I12, and the oil seal III 18 is used for sealing a gap between the distance sleeve II 17 and the annular end cover 15; the swinging shaft II 2.2 passes through the oil seal II 13, the bearing II 6, the distance sleeve I12 and the distance sleeve II 17; the gland II 19 is fixedly connected with the swinging shaft II 2.2 through a bolt 9, and the end face of the closed annular end cover 15, which faces the frame 103.

Further, the connection plate I3.1 and the connection plate II 4.2 are connected by bolts 9.

Further, a triangular rib plate 3.3 is arranged between the connecting plate I3.1 and the side plate 3.2.

In summary, the bidirectional full-floating swing frame realizes the swing in the longitudinal and transverse directions, tapered roller bearings are arranged in each revolute pair, and a lubricating oil hole and an oil seal are designed, so that good sealing and lubrication are realized, dust and foreign matters are not easy to enter, and better bearing capacity and flexibility of actions are realized. The surfaces of the swinging frames I1 and II 2 are subjected to quenching treatment, so that the shaft has good wear resistance, long service life and greatly reduced maintenance workload, and the working efficiency and the operation safety of the vehicle are better ensured.

Two groups of shock-absorbing buffer hydraulic cylinders 20 are positioned on the left side and the right side of the swing frame II 2, displacement sensors are installed, the bottom end of each shock-absorbing buffer hydraulic cylinder is hinged with the swing frame I1, and the top end of each shock-absorbing buffer hydraulic cylinder is connected with the frame 103.

The accumulator 21 is a gas accumulator filled with gas with preset pressure, and an oil port is connected with an oil port of the shock-absorbing buffer hydraulic cylinder 20 through an electrohydraulic integrated control valve 22. The inflation pressure and volume of the accumulator 21 directly affect the stiffness (softness) of the entire shock absorbing cushioning system; a reasonable inflation pressure can be determined after a plurality of trafficability tests according to the actual running condition of the vehicle.

The displacement sensor CAN sense the height of a driving road surface by collecting the travel of the hydraulic cylinder, and transmits the travel to the controller 23 through the CAN bus, the controller 23 controls the action of the electrohydraulic integrated control valve 22 through the CAN bus, so that hydraulic oil in the shock-absorbing buffer hydraulic cylinder 20 is temporarily stored in the accumulator 21 or the hydraulic oil in the accumulator 21 flows into the buffer hydraulic cylinder 20, the travel and the reversing of the shock-absorbing buffer hydraulic cylinder 20 are automatically adjusted, and the system rigidity and the chassis height set by a driver are maintained in real time.

The touch display screen 24 is mainly used for dynamically displaying real-time road surface state data captured during the running process of the vehicle, so that a driver can reasonably control and adjust the rigidity and the travel of the shock absorbing buffer system according to the body feeling and the habit of the driver.

The controller 23 is a PLC controller and may be installed in the vehicle cab or any suitable location; the touch display screen 24 can be selectively assembled with the PLC into a whole, and can be independently arranged at a position which is near the cab and is convenient to observe; the bidirectional full-floating swing frame is assembled with the vehicle drive axle 104 into a whole, and is fixedly assembled with the frame 103 by a bolt connection or welding mode; the bottom end of the shock absorbing buffer hydraulic cylinder 20 is hinged with the bidirectional full-floating swing frame through a pin shaft, and the top end is fixedly connected with the frame 103; the inflation pressure of the accumulator 21 is pre-charged in advance according to the design requirement and is fixed by selecting a proper position on the frame; the electrohydraulic integrated control valve 22 can select a proper position on the frame to be firmly assembled and connect the pipelines according to the specification; the pipeline system and accessories are composed of various pipe joints, hydraulic rubber pipes, pipe clamps, connecting pieces and the like, and the phenomenon that the rubber pipes cannot be twisted or otherwise stiff according to the pipeline trend during assembly is noticed. The working principle of the shock absorbing and buffering system is as follows:

when the vehicle is started, the shock absorbing buffer system is electrified, at the moment, the touch display screen 24 displays a standby page (zero position), the vehicle automatically changes into a working state after a plurality of seconds (can be set independently), and during the standby period, the shock absorbing buffer system can be manually initialized (for example, zero position calibration and working range setting) and stored in the shock absorbing buffer system;

after entering the working state, the shock absorbing and buffering system automatically detects whether the position of the shock absorbing and buffering hydraulic cylinder 20 is within the set central range: when the shock absorbing buffer system automatically detects that the position of the shock absorbing buffer hydraulic cylinder 20 is higher than the upper limit of the set central area range, the PLC controls the piston rod to retract through the CAN bus until the piston rod enters the set range; when the shock absorbing buffer system automatically detects that the position of the shock absorbing buffer hydraulic cylinder 20 is lower than the lower limit of the set central area range, the PLC controls the extension of the buffer piston rod through the CAN bus until the buffer piston rod enters the set range; this process is continuous, and regardless of whether the vehicle is bump up or down, the bump is under the shock absorbing bumper system control, thereby achieving bi-directional cushioning.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims (8)

1. The full-floating oil gas shock-absorbing buffer system suitable for the underground trackless vehicle is characterized by comprising a bidirectional full-floating swing frame, a shock-absorbing buffer hydraulic cylinder, an energy accumulator, an electrohydraulic integrated control valve and a controller;

the bidirectional full-floating swing frame comprises a swing frame I, a swing frame II, a connecting frame and a connecting seat;

the swing frame I comprises an axle mounting frame and a swing axle I;

the swing shaft I is positioned on the center vertical line of the wheel axle mounting frame, and the first end of the swing shaft I is fixedly connected with the wheel axle mounting frame;

the swing frame II is perpendicular to the swing shaft I, and is provided with a front-back through shaft hole I, the left end and the right end of the swing frame II are swing shafts II, and the shaft hole I is rotationally connected with the second end of the swing shaft I through a bearing I;

the connecting frame comprises a connecting plate I parallel to the swinging frame II and side plates arranged on the left side and the right side of the connecting plate I, and the side plates on the left side and the right side are fixed above the connecting plate I and are used for being connected with frames on the left side and the right side;

the two groups of connecting seats are fixed on the left side and the right side of the connecting plate I, are positioned below the connecting plate I, and are provided with shaft holes II which are communicated left and right, and the shaft holes II are rotationally connected with the swinging shaft II through bearings II;

the two groups of shock-absorbing buffer hydraulic cylinders are positioned on the left side and the right side of the swing frame II, are provided with displacement sensors, the bottom ends of the two groups of shock-absorbing buffer hydraulic cylinders are hinged with the swing frame I, and the top ends of the two groups of shock-absorbing buffer hydraulic cylinders are connected with the frame;

the energy accumulator is a gas type energy accumulator filled with gas with preset pressure, and the oil port is connected with the oil port of the shock-absorbing buffer hydraulic cylinder through an electrohydraulic integrated control valve;

the displacement sensor and the electrohydraulic integrated control valve are controlled by a controller.

2. The full floating hydrocarbon shock absorber system for a downhole trackless vehicle of claim 1, further comprising a touch display screen connected to the controller.

3. The fully floating oil and gas shock absorbing and buffering system for underground trackless vehicles according to claim 2, wherein the controller is a PLC controller.

4. The full floating oil and gas shock absorbing and buffering system for use in a downhole trackless vehicle of claim 1, wherein the bi-directional full floating swing frame further comprises a gland i, bolts and O-rings i;

the wheel axle mounting frame comprises a box frame, a concave top plate and a concave bottom plate, wherein the concave top plate and the concave bottom plate are arranged at the top and the bottom of the box frame;

the box-shaped frame is perpendicular to the swing shaft I and is provided with a shaft hole III which is communicated in the front-back direction;

the openings of the concave top plate and the concave bottom plate are positioned at the front side or the rear side of the box frame, and a wheel axle installation space is formed between the concave top plate and the concave bottom plate;

the gland I is arranged on the box frame through a bolt, and the end face of the shaft hole III, which faces the wheel shaft, is closed;

the first end of the swinging shaft I penetrates through the shaft hole III and is connected with the gland I through a bolt;

the O-shaped ring I is arranged in an annular groove of the swinging shaft I and is used for sealing a gap between the swinging shaft I and the shaft hole III.

5. The full floating oil and gas shock absorbing and buffering system for use in a downhole trackless vehicle of claim 4, wherein the bi-directional full floating swing frame further comprises an oil seal seat i and an oil seal i;

the swing frame II is provided with a lubricating oil hole communicated with a shaft hole I, and two bearings I are arranged in the shaft hole I;

the second end of the swing shaft I passes through the bearing I;

the oil seal seat I is arranged in a shaft hole I of the swing frame II and is positioned between the end face of the shaft hole I and the bearing I;

the oil seal I is arranged on the oil seal seat I and is used for sealing a gap between the shaft hole I and the swinging shaft I.

6. The full floating oil and gas shock absorbing and buffering system for a downhole trackless vehicle according to claim 5, wherein the bidirectional full floating swing frame further comprises a distance sleeve i, an oil seal ii, a retainer ring, an annular end cap, an O-ring ii, a distance sleeve ii, an oil seal iii and a gland ii;

the connecting seat comprises a connecting plate II which is connected with the connecting plate I and a bearing seat which is vertical to the connecting plate II, the shaft hole II is positioned on the bearing seat, the bearing seat is provided with a lubricating oil hole which is communicated with the shaft hole II, and two bearings II are arranged in the shaft hole II;

the distance sleeve I is arranged in the shaft hole II and is positioned between the two bearings II;

the oil seal II is arranged in the shaft hole II through a check ring and is used for sealing a gap between the shaft hole II and the swinging shaft II, and the check ring is positioned between the oil seal II and the end face of the shaft hole II, which faces the swinging shaft I;

the annular end cover is fixed on the shaft hole II through a bolt, faces the frame, compresses the bearing II, and is provided with an O-shaped ring II between the bearing II and the shaft hole II, and the O-shaped ring II is used for sealing a gap between the shaft hole II and the annular end cover;

the distance sleeve II is arranged in the annular end cover, an oil seal III is arranged between the outer wall and the annular end cover, the inner wall of the oil seal III is flush with the inner wall of the bearing II and the inner wall of the distance sleeve I, and the oil seal III is used for sealing a gap between the distance sleeve II and the annular end cover;

the swinging shaft II passes through the oil seal II, the bearing II, the distance sleeve I and the distance sleeve II;

the gland II is fixedly connected with the swinging shaft II through a bolt, and the end face of the annular end cover, which faces the frame, is closed.

7. The full floating oil and gas shock absorbing system for a downhole trackless vehicle of claim 6, wherein the connecting plate i and the connecting plate ii are bolted.

8. The full floating oil and gas shock absorbing and buffering system for underground trackless vehicles according to claim 7, wherein triangular rib plates are arranged between the connecting plate I and the side plates.

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