阅读说明：本技术 一种矿井下开槽机履带推进装置及其控制方法 (Crawler propelling device of grooving machine under mine and control method thereof ) 是由 李雪原 李菘浩 朱昱铮 尹旭峰 于 2021-07-26 设计创作，主要内容包括：本发明属于煤炭技术领域,公开了一种矿井下开槽机履带推进装置及控制方法,前车后侧安装有液压缸基座,液压缸基座上侧安装有液压连接机构,液压连接机构与后车连接；前车和后车侧面安装有行走系统,行走系统设置有前车行走系统和后车行走系统；前车和后车底侧通过螺栓固定有可伸缩滑轨基座,可伸缩滑轨基座之间通过可伸缩滑轨相连。无驱动主动轮、负重轮、托带轮、诱导轮、无驱动主动轮、负重轮、托带轮、诱导轮啮合有前车履带。本发明利用仿生学原理,模拟爬虫类生物行走原理,在推进过程中,省去传动的驱动机构,这样不仅可以节约空间,还可以提高推进效率,减少能量损失,此外,省去驱动装置可以极大地节约成本。(The invention belongs to the technical field of coal and discloses a crawler propelling device of a grooving machine under a mine and a control method thereof.A hydraulic cylinder base is arranged at the rear side of a front vehicle, and a hydraulic connecting mechanism is arranged at the upper side of the hydraulic cylinder base and is connected with a rear vehicle; the side surfaces of the front vehicle and the rear vehicle are provided with traveling systems, and the traveling systems are provided with a front vehicle traveling system and a rear vehicle traveling system; the front vehicle and the rear vehicle are fixed with telescopic slide rail bases through bolts, and the telescopic slide rail bases are connected through telescopic slide rails. The non-driving wheel, the loading wheel, the supporting belt wheel, the inducer, the non-driving wheel, the loading wheel, the supporting belt wheel and the inducer are meshed with a front vehicle crawler belt. The invention utilizes the bionics principle, simulates the walking principle of reptile organisms, and saves a driving mechanism in the propelling process, thereby not only saving space, but also improving the propelling efficiency and reducing energy loss.)

1. A control method for a crawler propelling device of a grooving machine under a mine is characterized by comprising the following steps:

the movement of the vehicle is completed by the compression and the stretching of a hydraulic cylinder of the track propelling device of the grooving machine under the mine, and the movement state of the vehicle is different according to the different working states of the hydraulic cylinder; the connecting mechanism of the two vehicles comprises four bidirectional hydraulic cylinders, and the hydraulic cylinders work to provide hydraulic pressure for the vehicles to move on the crawler;

the crawler propelling device of the grooving machine under the mine is formed by connecting two sections of tracked vehicles through hydraulic cylinders, and in the working process of the grooving machine, the two tracks do not provide a driving function, and provide driving force through the hydraulic cylinders to advance and steer the vehicle; the propelling device propels once, and the slotting cutter completes one working stroke to form a propelling cycle;

after the two tracked vehicles are connected, a sliding rail for the grooving cutter to move longitudinally along the vehicles is arranged, and the cutter performs feeding motion along the sliding rail, so that grooving and pressure relief of a roadway are realized;

after the grooving cutter finishes one working cycle, the cutter is lifted from the pressure relief groove through a hydraulic system, and the next grooving pressure relief work is prepared.

2. The control method for the crawler propelling device of the underground grooving machine according to claim 1 is characterized in that the vehicle advances in a specific process:

when the crawler propelling device of the grooving machine under the mine needs to finish propelling work, the crawler vehicle on the rear side is braked along the advancing direction, and the crawler vehicle on the other side is in a propelling state and is pushed by a telescopic hydraulic cylinder in the middle of the two vehicles, so that the front vehicle advances along a crawler;

after the front vehicle is pushed to advance by the telescopic hydraulic cylinder, the two vehicles are switched, the front vehicle brakes, the rear vehicle is in a pushable state, and the rear vehicle is compressed by the hydraulic cylinder in the middle of the two vehicles and is pulled forward for a certain distance; the two vehicles are pushed and pulled in a reciprocating manner by the extension of the hydraulic oil cylinder, so that the whole vehicle moves forward.

3. The control method for the crawler propelling device of the underground grooving machine according to claim 1, wherein the specific steering process of the vehicle is as follows:

the interface between the two chassis modules is in rigid and flexible connection, and the connecting mechanism is a hydraulic cylinder which assists the vehicle to steer while pushing the vehicle to advance; a mechanical interface, an energy interface and a communication and control interface are arranged between the two vehicles, and the work of the hydraulic cylinder and the work of the slotting cutter are controlled by a vehicle integrated controller;

when all the hydraulic cylinders work in the same state, namely the resultant force of the hydraulic cylinders moves along the longitudinal direction of the vehicle, the whole vehicle is in a linear running motion state; when the rear vehicle brakes, the front vehicle is pushed forward by the displacement of the working stroke of the hydraulic cylinder, then the front vehicle brakes, the hydraulic cylinder works reversely, and the rear vehicle is pulled forward by the displacement of the working stroke of the hydraulic cylinder;

in the working process of the hydraulic cylinder, the feeding speed is relatively slow, so that the propelling process of the crawler propelling device of the underground grooving machine is approximately a quasi-static process; after the vehicle passes through the repeated stretching and compression of the hydraulic cylinder and crosses the grooving cutter work completion area, starting the next grooving pressure relief period;

when only one side of the hydraulic cylinder works, namely the front vehicle is equivalent to the center of the vehicle by only one side of the driving force, the front vehicle can be decomposed into a longitudinal force and a steering moment; under the action of steering moment, one side of the front vehicle is pushed forward, and the other side is static, so that one-time steering with a small angle is completed;

because the mine tunnel is narrow, the vehicle can hardly complete the turning around in the tunnel, so turn to and only carry out the fine setting of direction under the condition that the working direction takes place the skew, turn around and turn to in many tunnel junctures.

4. A crawler propelling device of a grooving machine under a mine for implementing the control method according to any one of claims 1 to 3, wherein the crawler propelling device of the grooving machine under the mine is provided with: front vehicle;

a hydraulic cylinder base is arranged on the rear side of the front vehicle, a hydraulic connecting mechanism is arranged on the upper side of the hydraulic cylinder base, and the hydraulic connecting mechanism is connected with the rear vehicle;

the side surfaces of the front vehicle and the rear vehicle are provided with traveling systems, and the traveling systems are provided with a front vehicle traveling system and a rear vehicle traveling system.

5. The track propelling device of the underground grooving machine as claimed in claim 4, wherein telescopic slide rail bases are fixed to the bottom sides of the front car and the rear car through bolts and connected through telescopic slide rails.

6. The track propelling device of the underground grooving machine according to claim 4, wherein the front vehicle traveling system is provided with a non-driving wheel, a loading wheel, a carrier roller, an inducer, a non-driving wheel, a loading wheel, a carrier roller and an inducer;

the non-driving wheel, the loading wheel, the supporting belt wheel, the inducer, the non-driving wheel, the loading wheel, the supporting belt wheel and the inducer are meshed with a front vehicle crawler belt.

7. The track propelling device of the underground grooving machine according to claim 4, wherein the rear vehicle traveling system is provided with a non-driving wheel, a loading wheel, a carrier roller, an inducer, a non-driving wheel, a loading wheel, a carrier roller and an inducer;

the driving wheel, the loading wheel, the supporting belt wheel and the inducer are not driven, and the driving wheel, the loading wheel, the supporting belt wheel and the inducer are not driven and meshed with a rear vehicle track.

8. The track propelling device of the underground grooving machine as claimed in claim 7, wherein a large brake drum and a small brake drum are mounted on the upper side of the inducer on the rear vehicle.

9. The track propelling device of the underground grooving machine as claimed in claim 4, wherein the hydraulic connecting mechanism is provided with four bidirectional hydraulic cylinders, and the bidirectional hydraulic cylinders are hydraulic cylinders with piston rods on two sides of a piston and are driven by bidirectional hydraulic pressure.

10. The track propulsion device of the underground grooving machine of claim 9, wherein the bidirectional hydraulic cylinder comprises: the device comprises a cylinder barrel, a cylinder cover, a piston rod, a sealing device, a buffering device and an exhaust device.

Technical Field

The invention belongs to the technical field of coal, and particularly relates to a crawler propelling device of a grooving machine under a mine and a control method thereof.

Background

At present, with the continuous increase of national economic total and the further development of industrial scale, the total demand of China for coal is increased year by year, and with the increase of coal mining intensity, the mining depth of coal is increased year by year, so that a plurality of mine roadways have the problems of large deformation and the like, the stability of the roadway is seriously influenced, the life safety of workers is threatened, and the embarrassment of great treatment difficulty is faced. The pressure relief technology has a good effect on preventing and treating the problem of large roadway deformation, and the commonly used pressure relief technology comprises an explosion pressure relief technology, a drilling pressure relief technology, a pressure relief groove pressure relief technology and the like.

The pressure relief technology of the pressure relief groove has a remarkable effect in controlling roadway deformation, and the purpose of pressure relief is achieved by changing the stress distribution of coal rock mass in the roadway. Because the grooving tool is very bulky and massive, an off-mine vehicle is required to carry the tool and pull it in motion. In the existing propelling technology in a mine tunnel, a crawler propelling device is one of the most important technologies for underground propelling, mainly because the road environment in the mine tunnel is poor, the crawler propelling device has better passing performance compared with a wheeled vehicle.

In the current coal mine roadway drilling field, the working speed of the heading machine is about 10 meters per day, the heading machine works for two shifts, and the working time of each day is about 16 hours. The working speed of the grooving machine is not higher than that of the tunneling machine, so the speeds of the grooving machine and the tunneling machine are almost kept consistent, namely 0.6 m/h, for the existing propelling vehicles in a roadway, most of the propelling vehicles are motor-driven vehicles, the advancing speed is very slow, a speed reducing mechanism with a large transmission ratio needs to be equipped, and the efficiency of the transmission device with the speed level is extremely low. Meanwhile, for large-tonnage and high-power vehicles, the control precision of the low-speed movement of the vehicles is more strictly required by the pressure relief working condition of the grooves in the roadway.

Through the above analysis, the problems and defects of the prior art are as follows: in the prior art, a motor drives a vehicle, a speed reducing mechanism with a large transmission ratio is required, and the working efficiency is reduced. Meanwhile, for large-tonnage and high-power vehicles, the control precision of low-speed movement of the vehicles is more strictly required by the pressure relief working condition of the grooves in the roadway.

The difficulty in solving the above problems and defects is:

the problem is solved, for the technical scheme of the existing electric transmission, a speed reducer with a high speed ratio needs to be designed, a large space occupation amount is needed, and low-speed large-torque output can be realized through multi-stage speed reduction. Meanwhile, under the low-speed working condition, higher requirements are provided for the control precision of the motor, and the problems of low control precision, poor robustness and the like exist in the low-speed control of the motor in the prior art.

The significance of solving the problems and the defects is as follows:

the problems and the defects are solved, namely the problems of large size, low efficiency and poor economy of the slotting pressure-relief propulsion device are solved. The volume of the propulsion device can be reduced, the cost can be saved, and great promotion and promotion effects can be achieved on economic and space utilization development of the coal industry.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a crawler propelling device of a grooving machine under a mine and a control method thereof.

The invention is realized in such a way that the crawler propelling device of the grooving machine under the mine is provided with a front vehicle; a hydraulic cylinder base is arranged on the rear side of the front vehicle, a hydraulic connecting mechanism is arranged on the upper side of the hydraulic cylinder base, and the hydraulic connecting mechanism is connected with the rear vehicle;

the side surfaces of the front vehicle and the rear vehicle are provided with traveling systems, and the traveling systems are provided with a front vehicle traveling system and a rear vehicle traveling system.

Furthermore, the front vehicle and the rear vehicle are fixed with telescopic slide rail bases through bolts, and the telescopic slide rail bases are connected through telescopic slide rails.

Further, the front vehicle traveling system is provided with a non-driving wheel, a loading wheel, a carrier wheel, an inducer, a non-driving wheel, a loading wheel, a carrier wheel and an inducer;

the non-driving wheel, the loading wheel, the supporting belt wheel, the inducer, the non-driving wheel, the loading wheel, the supporting belt wheel and the inducer are meshed with a front vehicle crawler belt.

Further, the rear vehicle traveling system is provided with a non-driving wheel, a loading wheel, a carrier wheel and an inducer, and the non-driving wheel, the loading wheel, the carrier wheel and the inducer are arranged;

the non-driving wheel, the loading wheel, the belt supporting wheel and the inducer are meshed with a rear vehicle crawler belt.

Further, a large brake drum and a small brake drum are mounted on the upper side of the inducer on the rear vehicle.

Furthermore, the hydraulic connecting mechanism is provided with four bidirectional hydraulic cylinders, and the bidirectional hydraulic cylinders are hydraulic cylinders with piston rods on two sides of a piston and driven by bidirectional hydraulic pressure.

Further, the bidirectional hydraulic cylinder includes: the device comprises a cylinder barrel, a cylinder cover, a piston rod, a sealing device, a buffering device and an exhaust device.

The invention also aims to provide a control method of the crawler propelling device of the underground grooving machine under the mine, which comprises the following steps:

the movement of the vehicle is completed by the compression and the stretching of a hydraulic cylinder of the track propelling device of the grooving machine under the mine, and the movement state of the vehicle is different according to the different working states of the hydraulic cylinder; the connecting mechanism of the two vehicles comprises four bidirectional hydraulic cylinders, and the hydraulic cylinders work to provide hydraulic pressure for the vehicles to move on the crawler;

the crawler propelling device of the grooving machine under the mine is formed by connecting two sections of tracked vehicles through hydraulic cylinders, and in the working process of the grooving machine, the two tracks do not provide a driving function, and the hydraulic cylinders provide driving force to advance and steer the vehicle; the propelling device propels once, and the slotting cutter completes one working stroke to form a propelling cycle;

after the two tracked vehicles are connected, a sliding rail for the grooving cutter to move longitudinally along the vehicles is arranged, and the cutter performs feeding motion along the sliding rail, so that grooving and pressure relief of a roadway are realized;

after the grooving cutter finishes one working cycle, the cutter is lifted from the pressure relief groove through a hydraulic system, and the next grooving pressure relief work is prepared.

When the crawler propelling device of the grooving machine under the mine works, the control is realized through the flow change of oil liquid in the hydraulic cylinder, compared with the transmission propelling technology in the field, the crawler propelling device of the grooving machine under the mine does not have a complex software system, but can accurately control the working stroke of the hydraulic cylinder through simple hydraulic control, and has slow speed and high reliability in the control process. When the crawler propelling device of the underground grooving machine needs linear propelling, the speed and the working stroke of all hydraulic cylinders are controlled to be equal, so that the propelling distances of the crawler on the left side and the right side are equal, when the pistons of the hydraulic cylinders work in reverse strokes, namely, a front vehicle brakes, and when a rear vehicle is pulled to move forwards, the speed and the stroke are also controlled to be equal, so that the intelligent control of the linear propelling is realized. When the crawler propelling device of the underground grooving machine needs to steer, the hydraulic cylinder on one side works and the hydraulic cylinder on the other side does not work under the control of oil in a hydraulic system, namely, a front vehicle only receives the driving force on one side, is equivalent to the center of the vehicle and can be decomposed into a longitudinal force and a steering torque; under the action of steering torque, one side of the front vehicle is propelled forwards, and the other side is static, so that the track propelling device of the slotting machine under the mine is controlled to complete one-time steering in a small angle.

Further, the vehicle advancing specific process comprises:

when the crawler propelling device of the grooving machine under the mine needs to finish propelling work, the crawler vehicle on the rear side is braked along the advancing direction, and the crawler vehicle on the other side is in a propelling state and is pushed by a telescopic hydraulic cylinder in the middle of the two vehicles, so that the front vehicle advances along a crawler;

after the front vehicle is pushed to advance by the telescopic hydraulic cylinder, the two vehicles are switched, the front vehicle brakes, the rear vehicle is in a pushable state, and the rear vehicle is compressed by the hydraulic cylinder in the middle of the two vehicles and is pulled forward for a certain distance; the two vehicles are pushed and pulled in a reciprocating way by the extension of the hydraulic oil cylinder, so that the whole vehicle moves forward.

The interface between the two chassis modules is in rigid and flexible connection, and the connecting mechanism is a hydraulic cylinder which assists the vehicle to steer while pushing the vehicle to advance; a mechanical interface, an energy interface and a communication and control interface are arranged between the two vehicles, and the work of the hydraulic cylinder and the work of the slotting cutter are controlled by a vehicle integrated controller;

when all the hydraulic cylinders work in the same state, namely the resultant force of the hydraulic cylinders moves along the longitudinal direction of the vehicle, the whole vehicle is in a linear running motion state; when the rear vehicle brakes, the front vehicle is pushed forward by the displacement of the working stroke of the hydraulic cylinder, then the front vehicle brakes, the hydraulic cylinder works reversely, and the rear vehicle is pulled forward by the displacement of the working stroke of the hydraulic cylinder;

in the working process of the hydraulic cylinder, the feeding speed is relatively slow, so that the propelling process of the crawler propelling device of the underground grooving machine is approximately a quasi-static process; after the vehicle passes through the repeated stretching and compression of the hydraulic cylinder and crosses the grooving cutter work completion area, starting the next grooving pressure relief period;

further, the specific process of vehicle steering is as follows:

when only one side of the hydraulic cylinder works, namely the front vehicle is equivalent to the center of the vehicle by only one side of the driving force, the front vehicle can be decomposed into a longitudinal force and a steering moment; under the action of steering moment, one side of the front vehicle is pushed forward, and the other side is static, so that one-time steering with a small angle is completed;

because the mine tunnel is narrow, the vehicle can hardly complete the turning around in the tunnel, so turn to and only carry out the fine setting of direction under the condition that the working direction takes place the skew, turn around and turn to in many tunnel junctures.

By combining all the technical schemes, the invention has the advantages and positive effects that:

(1) the effect of claim 1. The invention can bear the cutter and realize the accurate control of low-speed movement in the mine roadway by the reciprocating work of the hydraulic cylinder connecting mechanism. The invention has high passing performance and good economic performance in the whole view.

(2) From the effect of claim 2. In the linear propelling process, the hydraulic cylinder piston is accurately controlled by controlling oil in a hydraulic system, so that the two side crawlers are pushed to propel the same displacement at the same speed. The linear propulsion is realized by reciprocating stretching, and the linear propulsion device has obvious advantages in the aspect of low-speed reliability.

(3) From the effect of claim 3. In the steering process, the hydraulic system controls oil liquid in the hydraulic system to realize accurate control of the piston of the hydraulic cylinder, so that the hydraulic cylinder pushes the crawler belt on one side to advance a certain displacement at a certain speed, small-angle steering can be realized in a narrow roadway, the steering angle is adjustable, and the control precision is higher compared with the existing motor-driven vehicle.

(4) Technical effect or experimental effect of comparison. Compared with the existing propelling device in the mine roadway, the propelling device provided by the invention omits a driving mechanism of the traditional propelling device, and greatly saves the cost. Meanwhile, compared with the control of a motor, the hydraulic cylinder connecting mechanism is simpler and more effective in control method and has higher control precision.

The invention carries a slotting cutter, provides a supporting function for the operation of the slotting cutter, and provides a sliding rail of the slotting cutter, so that the slotting cutter finishes feeding operation along the sliding rail; the articulated two-section crawler-type vehicle avoids the difficulties of well descending and steering caused by the overlong length of a single-section vehicle; the two sections of tracked vehicles are provided with the quick splicing mechanisms, so that the two sections of tracked vehicles can be quickly assembled and disassembled after going down a well, the working efficiency in a roadway can be improved, and the time waste caused by the connection of the two tracked vehicles is avoided; by utilizing the bionics principle and simulating the crawler biological walking principle, a driving mechanism is omitted in the propelling process, so that the space can be saved, the propelling efficiency can be improved, the energy loss is reduced, and in addition, the cost can be greatly saved by omitting a driving device. The invention omits the traditional driving device, namely, a driving wheel without driving capability is adopted, a hydraulic cylinder connecting mechanism is used for propelling the vehicle, the working characteristic of a hydraulic cylinder is utilized, namely, hydraulic energy is converted into mechanical energy, the energy conversion device for linear reciprocating motion is realized, and the form of the output mechanical energy is force and speed. The hydraulic cylinder has simple structure, reliable work and stable motion, and can output larger pulling force or pushing force.

The crawler propelling device of the underground grooving machine adopts a modular design, adopts a non-driving mode, is provided with a complete electric control system and a complete hydraulic system on a chassis, and can provide hydraulic energy and an accurate control system for functional installation. The crawler propelling device of the underground grooving machine comprises a complete electric control system and a hydraulic system so as to provide control and hydraulic energy for other functional modules.

Drawings

Fig. 1 is a schematic structural view of a crawler propelling device of a grooving machine under a mine according to an embodiment of the invention.

Fig. 2 is a side view provided by an embodiment of the present invention.

Fig. 3 is a schematic view of a hydraulic cylinder connection mechanism provided by an embodiment of the invention.

In the figure: 1. a front vehicle track; 2. a retractable slide rail; 3. a hydraulic cylinder base; 4. a bidirectional hydraulic cylinder; 5. a rear vehicle track; 6. a retractable slide rail base; 7. a bolt; 8. no driving wheel; 9. a loading wheel; 10. a belt supporting wheel; 11. an inducer; 12. a large brake drum; 13. a small brake drum.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Aiming at the problems in the prior art, the invention provides a crawler propelling device of a grooving machine under a mine well, and the invention is described in detail below with reference to the accompanying drawings.

Other steps can be adopted by those skilled in the art to implement the crawler propelling device for the underground mine grooving machine provided by the invention, and the crawler propelling device for the underground mine grooving machine provided by the invention in fig. 1 is only one specific embodiment.

As shown in fig. 1, in the crawler propelling device of the underground grooving machine provided by the embodiment of the invention, a hydraulic cylinder base 3 is installed on the rear side of a front vehicle, and a hydraulic connecting mechanism is installed on the upper side of the hydraulic cylinder base 3 and connected with a rear vehicle. The front vehicle and the rear vehicle are fixed with telescopic slide rail bases 6 at the bottom sides through bolts 7, the telescopic slide rail bases 6 are connected through telescopic slide rails 2, a supporting effect is provided for the operation of the slotting cutter, the slide rails of the slotting cutter are provided, and the feeding operation is completed along the slide rails.

As shown in fig. 2, in a side view of the crawler propelling device of the underground grooving machine provided by the embodiment of the invention, a non-driving wheel 8, a loading wheel 9, a carrier roller 10 and an inducer 11 are mounted on a front vehicle, and a front vehicle crawler 1 is engaged with the non-driving wheel 8, the loading wheel 9, the carrier roller 10 and the inducer 11; the rear vehicle is provided with a non-driving wheel, a loading wheel, a supporting belt wheel and an inducer, the non-driving wheel, the loading wheel, the supporting belt wheel and the inducer are meshed with a rear vehicle crawler belt 5, and a large brake drum 12 and a small brake drum 13 are arranged on the upper side of the inducer 11 on the rear vehicle. The bogie wheels 9 are used for supporting the vehicle body, and the carrier wheels 10 are used for supporting the crawler belt; the large brake drum 12 and the small brake drum 13 serve to brake the vehicle so that the vehicle does not move in the direction of the thrust force when the vehicle is subjected to the thrust force.

Through the above description, the front vehicle crawler 1, the rear vehicle crawler 5, the non-driving wheel 8, the loading wheel 9, the carrier wheel 10, the inducer 11, the large brake drum 12 and the small brake drum 13) form a walking system of the crawler propelling device of the slotting machine under the mine, although the walking device does not carry the driving device, the driving wheel, the inducer and the crawler are in a meshing relationship, and under the normal non-braking condition, each wheel can roll in the crawler; in the case of braking, the wheels cannot roll along the track and the vehicle remains stationary. The non-driving wheel and the inducing wheel on the crawler belt are directly meshed with the crawler belt, and are not shown in detail in the figure; namely, the linear speed of the caterpillar track is the same as that of the non-driving wheel and the inducer.

When the crawler propelling device of the underground grooving machine needs to finish propelling work, the crawler vehicle on the rear side is braked along the advancing direction, the crawler vehicle on the other side is in a propelling state, at the moment, pressure oil in an oil tank flows into a hydraulic cylinder between two vehicles through a hydraulic system, the pressure of the pressure oil enables a piston to output larger force along one direction, and because the front vehicle is not braked, when the hydraulic cylinders on two sides work simultaneously, the resultant force passes through the mass center of the vehicle, the front vehicle linearly advances along the crawler; after the front vehicle is pushed by the hydraulic cylinder connecting mechanism to advance, the two vehicles are switched, the large brake drum and the small brake drum of the front vehicle are used for braking, the rear vehicle is in a pushable state, and the rear vehicle is compressed by the hydraulic cylinder in the middle of the two vehicles to pull the rear vehicle forward for a certain distance; the hydraulic cylinders on the two sides work simultaneously, so that the pulling force on the rear vehicle is along the motion direction of the vehicle to finish the linear advance of the rear vehicle.

The two vehicles are pushed and pulled in a reciprocating manner by the extension of the hydraulic oil cylinder, so that the vehicles move forwards integrally; when only one side of the hydraulic cylinder works, namely the front vehicle is only subjected to the pushing force of one side, the pushing force is equivalent to the mass center of the vehicle and can be decomposed into a longitudinal force and a steering moment along the advancing direction of the vehicle; under the action of steering moment, one side of the front vehicle is pushed forward, and the other side is static, so that one-time steering with a small angle is completed; the steering function of the vehicle can be realized by repeatedly pushing and pulling the hydraulic cylinder connecting mechanism for many times. Because the slotting speed is millimeter level, the motor driving efficiency is very low, the control difficulty is also great, and the cost can also be improved by a wide margin, consequently use the pneumatic cylinder to promote the vehicle and advance not only can satisfy the requirement of low-speed work, also can greatly practice thrift the cost simultaneously.

As shown in fig. 3, the hydraulic connection mechanism provided in the embodiment of the present invention is provided with four bidirectional hydraulic cylinders 4, and the bidirectional hydraulic cylinders 4 are hydraulic cylinders having piston rods on both sides of a piston, and are generally driven by bidirectional hydraulic pressure, and can perform constant-speed reciprocating motion. The structure of the hydraulic cylinder can be basically divided into five parts, namely a cylinder barrel and a cylinder cover, a piston and a piston rod, a sealing device, a buffering device and an exhaust device, and a specific part diagram is not shown in a schematic diagram. Through the integral action of a hydraulic system which comprises a power hydraulic component, a control hydraulic component and other hydraulic components, the hydraulic actuating component for the hydraulic cylinder operation outputs hydraulic energy outwards to push a vehicle to move. The hydraulic energy is converted into the mechanical energy of the vehicle through the thrust of the hydraulic cylinder, so that the vehicle does not carry a driving module. The hydraulic cylinder is an energy conversion device which converts hydraulic energy into mechanical energy to realize linear reciprocating motion, and the form of the output mechanical energy is force and speed. The hydraulic cylinder has simple structure, reliable work and stable motion, and can output larger pulling force or pushing force. The bidirectional hydraulic oil cylinder takes oil as a working medium, transfers motion through the change of a sealed volume, and transfers power through the pressure in the oil. The bidirectional hydraulic cylinder is provided with a power element and is used for converting the mechanical energy of the prime mover into the hydraulic energy of the oil liquid; the hydraulic pump is provided with an actuating element, and the actuating element converts hydraulic pressure input by the hydraulic pump into mechanical energy for pushing the vehicle to move forwards and pulling the rear vehicle to move forwards; the control element is arranged and can control and adjust the pressure, flow and flow direction of the oil liquid; in addition, there are some auxiliary components in the hydraulic system, such as connecting mechanisms, sealing mechanisms, etc. In the propelling process, a driving mechanism is omitted, so that not only can the space be saved, but also the propelling efficiency can be improved, the energy loss is reduced, and in addition, the cost can be greatly saved by omitting a driving device.

The working principle of the invention is as follows: the crawler propelling device of the grooving machine under the mine is formed by connecting two sections of tracked vehicles through hydraulic cylinders, and in the working process of the grooving machine, the two tracks do not provide a driving function, but provide driving force through the hydraulic cylinders to advance and steer the vehicles; the propelling device propels once, and the slotting cutter finishes one working stroke to form a propelling cycle; after the two tracked vehicles are connected, a sliding rail for the grooving cutter to move longitudinally along the vehicles is arranged, and the cutter performs feeding motion along the sliding rail, so that grooving and pressure relief of a roadway are realized; after the grooving cutter finishes one working cycle, the cutter is lifted up from the pressure relief groove through a hydraulic system, and the next grooving pressure relief work is prepared.

The vehicle advancing process: when the crawler propelling device of the underground grooving machine needs to finish propelling work, the crawler vehicle on the rear side is braked along the advancing direction, and the crawler vehicle on the other side is in a propelling state and is pushed by a telescopic hydraulic cylinder between the two vehicles, so that the front vehicle advances along a crawler; after the front vehicle is pushed to advance by the telescopic hydraulic cylinder, the two vehicles are switched, the front vehicle brakes, the rear vehicle is in a pushable state, and the rear vehicle is compressed by the hydraulic cylinder in the middle of the two vehicles and is pulled forward for a certain distance; the two vehicles are pushed and pulled in a reciprocating manner by the extension of the hydraulic oil cylinder, so that the whole vehicle advances.

Because the slotting speed is millimeter level, the motor driving efficiency is very low, the control difficulty is also great, and the cost can also be improved by a wide margin, therefore use the pneumatic cylinder to promote the vehicle and advance not only can satisfy the requirement of low-speed work, also can greatly practice thrift the cost simultaneously. Because the space of the mine roadway is narrow, enough space is reserved for a transport vehicle to transport waste materials while the pressure relief groove is opened. The crawler propelling device of the underground grooving machine has the characteristic of small volume, and the whole vehicle formed by connecting two sections of vehicles is not wider than 1200mm and not higher than 1500 mm; because the mine roadway is a non-paved road, the road surface tunneled by the tunneling machine is not flat. The invention has certain climbing capability, can climb small slopes in mine roadways, and the whole vehicle has the capability of climbing 15 degrees; the chassis and the upper part can be separated from each other by adopting a modular design; by adopting the modular design, the serialization, standardization and generalization of the product, namely the three-transformation level, are improved, and the subsequent burden of purchasing, logistics and training reduction is greatly reduced.

The vehicle steering process is as follows: the interface between the two chassis modules can be in rigid and flexible connection, and the connecting mechanism is a hydraulic cylinder, so that the vehicle can be assisted to steer while the vehicle is pushed to advance. A mechanical interface, an energy interface and a communication and control interface are arranged between the two vehicles, and the work of the hydraulic cylinder and the work of the slotting cutter are controlled by a vehicle integrated controller; the whole vehicle is provided with the sliding rail for the grooving cutter to move, the grooving cutter moves on the sliding rail to complete feeding movement, stability of grooving pressure relief is guaranteed, and meanwhile, shaking errors and control difficulty of grooving pressure relief by vehicle movement can be avoided. The crawler propelling device of the underground grooving machine is not provided with a driving module, the movement of a vehicle is completed by the compression and the stretching of a hydraulic cylinder, and the movement state of the vehicle is different according to the different working states of the hydraulic cylinder; the linkage mechanism for the two vehicles includes four bi-directional hydraulic cylinders which operate to provide hydraulic pressure for moving the vehicle on the track.

When all the hydraulic cylinders work in the same state, namely the resultant force of the hydraulic cylinders moves along the longitudinal direction of the vehicle, the whole vehicle is in a linear running motion state; when the rear vehicle brakes, the front vehicle is pushed forward by the displacement of the working stroke of the hydraulic cylinder, then the front vehicle is braked, the hydraulic cylinder works reversely, and the rear vehicle is pulled forward by the displacement of the working stroke of the hydraulic cylinder. The feeding speed is relatively slow in the working process of the hydraulic cylinder, so that the propelling process of the crawler propelling device of the mine undercutting machine is approximately a quasi-static process; after the vehicle passes through the repeated stretching and compression of the hydraulic cylinder and crosses the grooving cutter work completion area, starting the next grooving pressure relief period; when only one side of the hydraulic cylinder works, namely the front vehicle is equivalent to the center of the vehicle by only one side of the driving force, the front vehicle can be decomposed into a longitudinal force and a steering moment; under the action of steering moment, one side of the front vehicle is pushed forward, and the other side is static, so that one-time steering with a small angle is completed; because the mine roadway is narrow, the vehicle can hardly complete the turning around in the roadway, so the steering only carries out the fine adjustment of the direction under the condition that the working direction deviates; a crawler propelling device of a grooving machine under a mine carries out turning and steering at junctions of a plurality of roadways.

The invention is applied to mine tunnels, and the requirements of small volume, high trafficability, accurate control of low-speed working conditions and the like are met when the mine tunnel is operated in the environment. In certain situations, the economy and reliability of the present invention are much higher than existing roadway propulsion technologies. The use of track propulsion greatly improves the throughput of the propulsion device, taking into account the complex road environment in the roadway. Meanwhile, a large amount of methane exists in the roadway, and special explosion-proof treatment is needed by adopting the existing motor driving technology, so that the cost and the occupied space are further improved, and therefore, the invention has good innovation and reliability in the coal mine industry. The hydraulic cylinder connecting mechanism provided by the invention consists of 4 bidirectional hydraulic cylinders, and propelling devices with different tonnages and functions can use different numbers of hydraulic cylinders, which does not mean that only 4 hydraulic cylinder mechanisms can be used. When the mass of the cutter or the propelling device is increased and the pushing force and the pulling force acting on the propelling device when the 4 hydraulic cylinders work can not make the vehicle finish the propelling work, the number of the hydraulic cylinder groups needs to be increased.

The following table shows a comparison table between the invention and the prior art, and the following table shows that the track propulsion device of the slotting machine under the mine has better controllability and economic performance compared with the prior propulsion technology.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing and simplifying the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed in the present invention should be covered within the scope of the present invention.